--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define _BSD_SOURCE
+#include <termios.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <poll.h>
+#include "sky_flash.h"
+#include <stdio.h>
+#include <sys/time.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <stdarg.h>
+
+int skytraq_verbose = 1;
+
+int
+skytraq_setspeed(int fd, int baud)
+{
+ int b;
+ int ret;
+ struct termios term;
+
+ switch (baud) {
+ case 9600:
+ b = B9600;
+ break;
+ case 38400:
+ b = B38400;
+ break;
+ case 115200:
+ b = B115200;
+ break;
+ default:
+ fprintf (stderr, "Invalid baudrate %d\n", baud);
+ return -1;
+ }
+ ret = tcgetattr(fd, &term);
+ cfmakeraw(&term);
+#ifdef USE_POLL
+ term.c_cc[VMIN] = 1;
+ term.c_cc[VTIME] = 0;
+#else
+ term.c_cc[VMIN] = 0;
+ term.c_cc[VTIME] = 1;
+#endif
+
+ cfsetspeed(&term, b);
+
+ ret = tcsetattr(fd, TCSAFLUSH, &term);
+ return ret;
+}
+
+int skytraq_open_time;
+
+int
+skytraq_open(const char *path)
+{
+ int fd;
+ int ret;
+
+ fd = open(path, O_RDWR | O_NOCTTY);
+ if (fd < 0) {
+ perror (path);
+ return -1;
+ }
+
+ ret = skytraq_setspeed(fd, 9600);
+ if (ret < 0) {
+ close (fd);
+ return -1;
+ }
+ skytraq_open_time = skytraq_millis();
+ return fd;
+}
+
+
+#define BAUD 57600
+#define BPS (BAUD/10 * 9/10)
+#define US_PER_CHAR (1000000 / BPS)
+
+int
+skytraq_write(int fd, const char *data, int len)
+{
+ const char *d = data;
+ int r;
+ int us;
+
+ while (len) {
+ int this_time = len;
+ if (this_time > 128)
+ this_time = 128;
+ if (this_time < 70) {
+ skytraq_dbg_printf (0, "%4d: ", this_time);
+ skytraq_dbg_buf(0, data, this_time);
+ } else {
+ skytraq_dbg_printf (0, "%d bytes (%d remain)", this_time, len);
+ }
+ fflush(stdout);
+ r = write(fd, data, this_time);
+ if (r <= 0)
+ return r;
+ us = r * US_PER_CHAR;
+ usleep(r * US_PER_CHAR);
+ data += r;
+ len -= r;
+ }
+ skytraq_dbg_newline();
+ return 1;
+}
+
+int
+skytraq_setcomm(int fd, int baudrate)
+{
+ uint8_t msg[11];
+ int i;
+ uint8_t cksum;
+
+ int target_baudrate;
+ switch(baudrate)
+ {
+ case 4800:
+ target_baudrate=0;
+ break;
+ case 9600:
+ target_baudrate=1;
+ break;
+ case 19200:
+ target_baudrate=2;
+ break;
+ case 38400:
+ target_baudrate=3;
+ break;
+ case 57600:
+ target_baudrate=4;
+ break;
+ case 115200:
+ target_baudrate=5;
+ break;
+ case 230400:
+ target_baudrate=6;
+ break;
+ }
+ msg[0] = 0xa0; /* header */
+ msg[1] = 0xa1;
+ msg[2] = 0x00; /* length */
+ msg[3] = 0x04;
+ msg[4] = 0x05; /* configure serial port */
+ msg[5] = 0x00; /* COM 1 */
+ msg[6] = target_baudrate;
+ msg[7] = 0x00; /* update to SRAM only */
+
+ cksum = 0;
+ for (i = 4; i < 8; i++)
+ cksum ^= msg[i];
+ msg[8] = cksum;
+ msg[9] = 0x0d;
+ msg[10] = 0x0a;
+ return skytraq_write(fd, msg, 11);
+}
+
+int
+skytraq_waitchar(int fd, int timeout)
+{
+ struct pollfd fds[1];
+ int ret;
+ unsigned char c;
+
+ for (;;) {
+ fds[0].fd = fd;
+ fds[0].events = POLLIN;
+ ret = poll(fds, 1, timeout);
+ if (ret >= 1) {
+ if (fds[0].revents & POLLIN) {
+ ret = read(fd, &c, 1);
+ if (ret == 1) {
+ skytraq_dbg_char(1, c);
+ return c;
+ }
+ }
+ } else if (ret == 0)
+ return -2;
+ else {
+ perror("poll");
+ return -1;
+ }
+ }
+}
+
+int
+skytraq_waitstatus(int fd, const char *status, int timeout)
+{
+ const char *s;
+ int c;
+
+ for (;;) {
+ c = skytraq_waitchar(fd, timeout);
+ if (c < 0) {
+ skytraq_dbg_newline();
+ return c;
+ }
+ if ((char) c == *status) {
+ s = status + 1;
+ for (;;) {
+ c = skytraq_waitchar(fd, timeout);
+ if (c < 0) {
+ skytraq_dbg_newline();
+ return c;
+ }
+ if ((char) c != *s)
+ break;
+ if (!*s) {
+ skytraq_dbg_newline();
+ return 0;
+ }
+ s++;
+ }
+ }
+ }
+}
+
+void
+skytraq_flush(int fd)
+{
+ while (skytraq_waitchar(fd, 1) >= 0)
+ ;
+}
+
+int
+skytraq_cmd_wait(int fd, const char *message, int len, const char *status, int timeout)
+{
+ skytraq_flush(fd);
+ skytraq_write(fd, message, len);
+ return skytraq_waitstatus(fd, status, timeout);
+}
+
+int
+skytraq_cmd_nowait(int fd, const char *message, int len)
+{
+ skytraq_flush(fd);
+ return skytraq_write(fd, message, len);
+}
projects / fw / altos / blobdiff