void send_over_ftdi(BYTE servo_acc, BYTE servo_whl)
{
int n_rc;
BYTE data[3];
DWORD dw_byte_to_write, dw_bytes_written;
DWORD n_gle;
data[0] = 0x17; // Stream - 0x17 servo control
data[1] = (BYTE)servo_acc;
data[2] = (BYTE)servo_whl;
dw_byte_to_write = sizeof(data);
n_rc = FT_W32_WriteFile(
gh_dev,
data,
dw_byte_to_write,
&dw_bytes_written,
>_dev_tx_overlapped);
if (!n_rc)
{
n_gle = FT_W32_GetLastError(gh_dev);
if (n_gle != ERROR_IO_PENDING)
{
n_rc = FALSE;
// goto cleanup_dev_tx;
}
}
n_rc = FT_W32_GetOverlappedResult(gh_dev, >_dev_tx_overlapped, &dw_bytes_written, TRUE);
if (!n_rc || (dw_byte_to_write != dw_bytes_written))
{
n_rc = FALSE;
}
}
int main()
{
char cBufWrite[BUF_SIZE];
char * pcBufRead = NULL;
char * pcBufLD[MAX_DEVICES + 1];
char cBufLD[MAX_DEVICES][64];
DWORD dwRxSize = 0;
DWORD dwBytesWritten, dwBytesRead, dwErrors;
FT_STATUS ftStatus;
FT_HANDLE ftHandle[MAX_DEVICES];
int iNumDevs = 0;
int i, j;
int iDevicesOpen;
FTDCB ftDCB, ftnewDCB;
FTCOMSTAT ftComStat;
FTTIMEOUTS ftTimouts, ftnewTimouts;
struct timeval tv;
struct timezone tz;
for(i = 0; i < MAX_DEVICES; i++) {
pcBufLD[i] = cBufLD[i];
}
pcBufLD[MAX_DEVICES] = NULL;
ftStatus = FT_ListDevices(pcBufLD, &iNumDevs, FT_LIST_ALL | FT_OPEN_BY_SERIAL_NUMBER);
if(ftStatus != FT_OK) {
printf("Error: FT_ListDevices(%d)\n", ftStatus);
return 1;
}
for(j = 0; j < BUF_SIZE; j++) {
cBufWrite[j] = j;
}
for(i = 0; ( (i <MAX_DEVICES) && (i < iNumDevs) ); i++) {
printf("Device %d Serial Number - %s\n", i, cBufLD[i]);
}
for(i = 0; ( (i <MAX_DEVICES) && (i < iNumDevs) ) ; i++) {
memset(&ftDCB, 0, sizeof(FTDCB));
ftHandle[i] = FT_W32_CreateFile(
cBufLD[i],
0, // GENERIC_READ|GENERIC_WRITE ignored
0, // ignored
0, // ignored
0, // OPEN_EXISTING ignored
FT_OPEN_BY_SERIAL_NUMBER, // ignored FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED | FT_OPEN_BY_SERIAL_NUMBER,
0 // ignored
);
/* Setup */
if(ftHandle[i] == (FT_HANDLE)INVALID_HANDLE_VALUE){
/*
This can fail if the ftdi_sio driver is loaded
use lsmod to check this and rmmod ftdi_sio to remove
also rmmod usbserial
*/
printf("Error FT_W32_CreateFile(%d), device\n", i);
return 1;
}
printf("Opened device %s\n", cBufLD[i]);
ftDCB.BaudRate = 9600;
if(FT_W32_SetCommState(ftHandle[i], &ftDCB) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_SetCommState = %d)\n", ftStatus);
return 1;
}
if(FT_W32_GetCommState(ftHandle[i], &ftnewDCB) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_GetCommState = %d)\n", ftStatus);
return 1;
}
if(ftnewDCB.BaudRate != ftDCB.BaudRate) {
printf("New baud rate does not match baud rate set\n");
}
ftTimouts.ReadIntervalTimeout = 0; // ignored by library
ftTimouts.ReadTotalTimeoutMultiplier = 0; // ignored by library
ftTimouts.ReadTotalTimeoutConstant = 1000; // 1 second
ftTimouts.WriteTotalTimeoutMultiplier = 0; // ignored by library
ftTimouts.WriteTotalTimeoutConstant = 1000; // 1 second
// 1 second for both read and write
if(FT_W32_SetCommTimeouts(ftHandle[i], &ftTimouts) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_GetCommState = %d)\n", ftStatus);
return 1;
}
if(FT_W32_GetCommTimeouts(ftHandle[i], &ftnewTimouts) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_GetCommState = %d)\n", ftStatus);
return 1;
}
else {
printf("ftTimouts.ReadIntervalTimeout = %d\n", ftTimouts.ReadIntervalTimeout);
printf("ftTimouts.ReadTotalTimeoutMultiplier = %d\n", ftTimouts.ReadTotalTimeoutMultiplier);
printf("ftTimouts.ReadTotalTimeoutConstant = %d\n", ftTimouts.ReadTotalTimeoutConstant);
printf("ftTimouts.WriteTotalTimeoutMultiplier = %d\n", ftTimouts.WriteTotalTimeoutMultiplier);
printf("ftTimouts.WriteTotalTimeoutConstant = %d\n", ftTimouts.WriteTotalTimeoutConstant);
}
for(j = 0 ; j < 10; j++) {
if(FT_W32_ReadFile(ftHandle[i], cBufWrite, BUF_SIZE, &dwBytesRead, NULL) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
gettimeofday(&tv, &tz);
printf("%d secs, %d usecs\n", tv.tv_sec, tv.tv_usec);
// printf("Error FT_W32_ReadFile = %d)\n", ftStatus);
// return 1;
}
else if(dwBytesRead != BUF_SIZE) {
gettimeofday(&tv, &tz);
printf("%d secs, %d usecs\n", tv.tv_sec, tv.tv_usec);
}
}
printf("dwBytesRead = %d\n", dwBytesRead);
}
iDevicesOpen = i;
/* Cleanup */
for(i = 0; i < iDevicesOpen; i++) {
if(FT_W32_CloseHandle(ftHandle[i]) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_CloseHandle = %d, device = %d)\n", ftStatus, i);
}
printf("Closed device %s\n", cBufLD[i]);
}
if(pcBufRead)
free(pcBufRead);
return 0;
}
void Widget::initDevice()
{
wchar_t name[] = L"MD212rev1 #2";
ui->textEdit->append("<font color = \"blue\">Поиск устройства MD212rev1 #2...</font>");
ftStatus = FT_ListDevices(0, name, FT_LIST_BY_INDEX | FT_OPEN_BY_DESCRIPTION);
if(ftStatus != FT_OK)
{
ui->textEdit->append("<font color = \"red\">Устройство не найдено!</font>");
ui->pushButton->setEnabled(false);
return;
}
ui->textEdit->append("Устройство найдено");
ftHandle = FT_W32_CreateFile(name, GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FT_OPEN_BY_DESCRIPTION, 0);
if(ftHandle == INVALID_HANDLE_VALUE)
ui->textEdit->append(tr("<font color = \"red\">Ошибка при открытии устройства: ") + FT_W32_GetLastError(ftHandle));
else ui->textEdit->append(tr("<font color = \"green\">Готово</font>"));
}
void Widget::on_pushButton_clicked()
{
data = ui->spinBox->text();
DWORD dataWrited;
char d = data.toUtf8().toInt(0, 16);
ftStatus = FT_W32_WriteFile(ftHandle, &d, sizeof(d), &dataWrited, NULL);
ftStatus = FT_W32_WriteFile(ftHandle, &d, sizeof(d), &dataWrited, NULL);
ftStatus = FT_W32_WriteFile(ftHandle, &d, sizeof(d), &dataWrited, NULL);
ftStatus = FT_W32_WriteFile(ftHandle, &d, sizeof(d), &dataWrited, NULL);
ftStatus = FT_W32_WriteFile(ftHandle, &d, sizeof(d), &dataWrited, NULL);
if(ftStatus != 0)
ui->textEdit->append(tr("Значение успешно передано: ") + data);
else ui->textEdit->append(tr("<font color = \"red\">Произошла ошибка во время передачи значнеия: ") + FT_W32_GetLastError(ftHandle));
}
int main()
{
char cBufWrite[BUF_SIZE];
char * pcBufLD[MAX_DEVICES + 1];
char cBufLD[MAX_DEVICES][64];
DWORD dwRxSize = 0;
DWORD dwBytesWritten, dwBytesRead, dwErrors, dwRead;
FT_STATUS ftStatus;
int iNumDevs = 0;
int i, j;
int iDevicesOpen = 0;
FTDCB ftDCB, ftnewDCB;
FTCOMSTAT ftComStat;
for(i = 0; i < MAX_DEVICES; i++) {
pcBufLD[i] = cBufLD[i];
ftHandle[i] = NULL;
}
pcBufLD[MAX_DEVICES] = NULL;
ftStatus = FT_ListDevices(pcBufLD, &iNumDevs, FT_LIST_ALL | FT_OPEN_BY_SERIAL_NUMBER);
if(ftStatus != FT_OK) {
printf("Error: FT_ListDevices(%d)\n", ftStatus);
return 1;
}
for(j = 0; j < BUF_SIZE; j++) {
cBufWrite[j] = j;
}
for(i = 0; ( (i <MAX_DEVICES) && (i < iNumDevs) ); i++) {
printf("Device %d Serial Number - %s\n", i, cBufLD[i]);
}
signal(SIGINT, quit); // trap ctrl-c call quit fn
for(i = 0; ( (i <MAX_DEVICES) && (i < iNumDevs) ) ; i++) {
memset(&ftDCB, 0, sizeof(FTDCB));
ftHandle[i] = FT_W32_CreateFile(
cBufLD[i],
0, // GENERIC_READ|GENERIC_WRITE ignored
0, // ignored
0, // ignored
0, // OPEN_EXISTING ignored
FT_OPEN_BY_SERIAL_NUMBER, // ignored FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED | FT_OPEN_BY_SERIAL_NUMBER,
0 // ignored
);
/* Setup */
if(ftHandle[i] == (FT_HANDLE)INVALID_HANDLE_VALUE){
/*
This can fail if the ftdi_sio driver is loaded
use lsmod to check this and rmmod ftdi_sio to remove
also rmmod usbserial
*/
printf("Error FT_W32_CreateFile(%d), device\n", i);
return 1;
}
printf("Opened device %s\n", cBufLD[i]);
ftDCB.BaudRate = 9600;
if(FT_W32_SetCommState(ftHandle[i], &ftDCB) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_SetCommState = %d)\n", ftStatus);
return 1;
}
if(FT_W32_GetCommState(ftHandle[i], &ftnewDCB) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_GetCommState = %d)\n", ftStatus);
return 1;
}
if(ftnewDCB.BaudRate != ftDCB.BaudRate) {
printf("New baud rate does not match baud rate set\n");
}
iDevicesOpen++;
cBufWrite[0] = 'h';
cBufWrite[1] = 'e';
cBufWrite[2] = 'l';
cBufWrite[3] = 'l';
cBufWrite[4] = 'o';
cBufWrite[5] = ' ';
cBufWrite[6] = 'f';
cBufWrite[7] = 't';
cBufWrite[8] = 'd';
cBufWrite[9] = 'i';
cBufWrite[10] = 'w';
cBufWrite[11] = 'o';
cBufWrite[12] = 'r';
cBufWrite[13] = 'l';
cBufWrite[14] = 'd';
cBufWrite[15] = '\n';
cBufWrite[16] = '\0';
if(FT_W32_WriteFile(ftHandle[i], cBufWrite, BUF_SIZE, &dwBytesWritten, NULL) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_WriteFile = %d)\n", ftStatus);
return 1;
}
sleep(1); // give it a chance to be received in a loopback test
if(FT_W32_ClearCommError(ftHandle[i], &dwErrors, &ftComStat) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_ClearCommError = %d)\n", ftStatus);
return 1;
}
printf("ftComStat.cbInQue = %d\n", ftComStat.cbInQue);
FT_GetQueueStatus(ftHandle[i], &dwErrors);
dwRead = ftComStat.cbInQue;
if(ftComStat.cbInQue > BUF_SIZE) {
dwRead = BUF_SIZE;
}
else {
dwRead = ftComStat.cbInQue;
}
if(FT_W32_ReadFile(ftHandle[i], cBufWrite, dwRead, &dwBytesRead, NULL) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_ReadFile = %d)\n", ftStatus);
return 1;
}
printf("dwBytesRead = %d\n", dwBytesRead);
}
printf("i = %d\n", i);
iDevicesOpen = i;
printf("iDevicesOpen = %d\n", iDevicesOpen);
/* Cleanup */
for(i = 0; i < iDevicesOpen; i++) {
if(ftHandle[i] != NULL) {
if(FT_W32_CloseHandle(ftHandle[i]) == FALSE) {
ftStatus = FT_W32_GetLastError(ftHandle[i]);
printf("Error FT_W32_CloseHandle = %d, device = %d)\n", ftStatus, i);
}
printf("Closed device %s\n", cBufLD[i]);
ftHandle[i] = NULL;
}
}
return 0;
}
