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#include <stdio.h> /* Standard input/output definitions */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <sys/types.h>
#include <sys/stat.h>
#define BAUDRATE B9600
#define PORT_0 "/dev/ttyUSB0"
#define _POSIX_SOURCE 1 /* POSIX compliant source */
#define FALSE 0
#define TRUE 1
volatile int STOP=FALSE;
int fd;
ssize_t size = 9;
fd_set input_fdset;
int writeport(int, unsigned char *);
int readport(int , unsigned char *);
int getbaud(int );
int initport(void );
void checksum(unsigned char *);
int main(void) {
int counter, i;
unsigned char Cmd[10];
unsigned char Result[10];
printf("open USB0......\n");
printf("initPort: %d\n",initport());
printf("baud after init = %d\n", getbaud(fd));
Cmd[0] = 0x02; // Module 2
Cmd[1] = 0x06; // Get Axis Parameter (GAP)
Cmd[2] = 0xD1; // 209 Get Encoder Position
Cmd[3] = 0x01; // Encoder number 1
Cmd[4] = 0; Cmd[5] = 0; Cmd[6] = 0; Cmd[7] = 0;
checksum(Cmd);
printf("write...");
printf("%d bytes!\n",writeport(fd, Cmd));
for(i = 0; i < 9; i++) printf("%d; ", Cmd[i]); printf("\n");
usleep(500000); // sleep 500 ms
fcntl(fd, F_SETFL, FNDELAY); // don't block serial read
printf("read...\n");
printf("%d bytes\n", readport(fd,Result));
printf("read = "); for(i = 0; i < 9; i++) printf("%d; ", Cmd[i]); printf("\n");
close(fd); ssize_t size = 10;
return 0;
}
void checksum(unsigned char *Cmd){
int i; Cmd[8] = 0;
for(i = 0; i < 8; i++) Cmd[8] += Cmd[i];
return;
}
int writeport(int fd, unsigned char *Cmd)
{
int check; char n;
fd_set nfds;
struct timeval timeout;
timeout.tv_sec = 5;
timeout.tv_usec = 0;
printf("write(2) function\n");
check = write(fd, Cmd, size); //originally strlen(bCmd) but there are some zero Bytes in the Cmd
tcdrain(fd); //waits until all output written to the object referred to by fildes is transmitted
if (check < 0) {
fputs("write failed!\n", stderr);
close(fd);
return -1;
}
else if(check == 0){
printf("no bytes transmitted");
close(fd);
return 0;
}
return check;
}
int readport(int fd, unsigned char *Result)
{
printf("read(2) function\n");
int max = 12; // 9 bytes as an answer to a Command
int state=1;
int receivedbyte=0;
while( state > 0 && receivedbyte < max)
{
state = read(fd,&Result[receivedbyte],1);
if( state > 0 )
receivedbyte++;
}
return receivedbyte;
}
int getbaud(int fd)
{
//printf("getbaud\n");
struct termios termAttr;
int inputSpeed = -1;
speed_t baudRate;
tcgetattr(fd, &termAttr);
/* Get the input speed. */
baudRate = cfgetispeed(&termAttr);
switch (baudRate) {
case B0: inputSpeed = 0; break;
case B50: inputSpeed = 50; break;
case B110: inputSpeed = 110; break;
case B134: inputSpeed = 134; break;
case B150: inputSpeed = 150; break;
case B200: inputSpeed = 200; break;
case B300: inputSpeed = 300; break;
case B600: inputSpeed = 600; break;
case B1200: inputSpeed = 1200; break;
case B1800: inputSpeed = 1800; break;
case B2400: inputSpeed = 2400; break;
case B4800: inputSpeed = 4800; break;
case B9600: inputSpeed = 9600; break;
case B19200: inputSpeed = 19200; break;
case B38400: inputSpeed = 38400; break;
}
return inputSpeed;
}
int initport(void){
struct termios old_flags;
struct termios term_attr;
if ((fd = open(PORT_0, O_RDWR | O_NOCTTY | O_NDELAY)) == -1)
{
perror("terminal: Can't open device " PORT_0);
return(1);
}
/* configurare RS232 */
if (tcgetattr(fd, &term_attr) != 0)
{
perror("terminal: tcgetattr() failed");
return(1);
}
/* save old flags */
old_flags = term_attr;
cfsetispeed(&term_attr, BAUDRATE);
cfsetospeed(&term_attr, BAUDRATE);
cfmakeraw(&term_attr);
term_attr.c_iflag = 0;
term_attr.c_oflag = 0;
term_attr.c_lflag = 0;
term_attr.c_cflag = 0;
term_attr.c_cc[VMIN] = 1; // finished after one bye
term_attr.c_cc[VTIME] = 8; // or 800ms time out
term_attr.c_cflag &= ~(PARENB | CSTOPB | CSIZE); //added
term_attr.c_cflag |= (BAUDRATE | CS8 | CRTSCTS | CLOCAL | HUPCL); // using flow control via CTS/RTS
term_attr.c_oflag |= (OPOST | ONLCR);
/* save old configuration */
old_flags = term_attr;
term_attr.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
if (tcsetattr(fd, TCSAFLUSH, &term_attr) != 0)
{
perror("terminal: tcsetattr() failed");
return(1);
}
/* change standard input */
if (tcgetattr(STDIN_FILENO, &term_attr) != 0)
{
perror("terminal: tcgetattr() failed");
return(1);
}
if (tcsetattr(STDIN_FILENO, TCSAFLUSH, &term_attr) != 0)
perror("terminal: tcsetattr() failed");
FD_SET(fd, &input_fdset); /* Select the first channel 1 */
return 0;
}
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