test_driver.c

galil1800 linux驱动程序演示

#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <signal.h>

#include "galil_ioctl.h"

volatile int got_signal = 0;

#define MAXIRQSTACK 32

unsigned char irqstack[MAXIRQSTACK];

void gotsignal(int signum, siginfo_t *info, void *data)
{
	int i;
	++got_signal;
	printf("Numero di valori in stack: %d\nValues:", info->si_code);
	for(i=0; i<info->si_code; ++i)
		printf(" 0x%x", irqstack[i]);
	printf("\n");
}




int main(void)
{
	int fd, rc;
	struct sigaction sa;

	char buf[256];
        char buf2[256] = {0,};

	sa.sa_sigaction = gotsignal;
	sigemptyset(&sa.sa_mask);
	sa.sa_flags = SA_SIGINFO;
	rc = sigaction(SIGUSR1, &sa, NULL);
	if (rc == -1) { perror(0); exit(1); }

	fd = open("./galil0", O_RDWR);
	if (fd == -1) { perror("./galil0"); exit(1); }

        rc = ioctl(fd, GALIL_SIGNAL_INTERRUPTS, irqstack);
	if (rc == -1) {	perror("./galil0"); exit(1); }	
 
restart:
	sprintf(buf, ";SH;");
	rc= write(fd, buf, strlen(buf));
	if (rc != (int) strlen(buf)) fprintf(stderr, "write ret %di (errno=%d)\n", rc, errno);
	rc = read(fd, buf, 256);
	if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
        else {
		buf[rc] = '\0';
		printf("%s\n", buf);
                if (buf[0] == '?') {
                   sprintf(buf, "TC0;");
                   rc = write(fd, buf, strlen(buf));
                   if (rc != (int) strlen(buf)) fprintf(stderr, "write ret %di (errno=%d)\n", rc, errno);
        	   rc = read(fd, buf, 256);
                   if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
                    else {
                        buf[rc]=0;
			fprintf(stderr, "TC0 returned %s\n", buf);
                        goto restart;
                   }
                }
	}

        sprintf(buf, "TM?;");
        rc = write(fd, buf, strlen(buf));
        if (rc != (int) strlen(buf)) fprintf(stderr, "write ret %di (errno=%d)\n", rc, errno);
        rc = read(fd, buf, 256);
        if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
        else {
                buf[rc] = '\0';
                printf("TM=%s\n", buf);
        }

        sprintf(buf, "DR-6;");
        rc = write(fd, buf, strlen(buf));
        if (rc != (int) strlen(buf)) fprintf(stderr, "write ret %di (errno=%d)\n", rc, errno);
        rc = read(fd, buf, 256);
        if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
        else {
                buf[rc] = '\0';
                printf("DR=%s\n", buf);
        }

		sprintf(buf, "DP,,,,0;");
		rc = write(fd, buf, strlen(buf));
		rc = read(fd, buf, 256);
		if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
		else {
			buf[rc] = '\0';
			printf("%s\n", buf);
		}

	sprintf(buf, "SB1;EI16;JG0,0,0,0,200;PR,,,,-500;BG;");
	rc= write(fd, buf, strlen(buf));
	if (rc != (int) strlen(buf)) fprintf(stderr, "write ret %di (errno=%d)\n", rc, errno);

	rc = read(fd, buf, 256);
	if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
        else {
		buf[rc] = '\0';
		printf("%s\n", buf);
	}

	while (!got_signal) {
		sprintf(buf, "TP;");
		rc = write(fd, buf, strlen(buf));
		rc = read(fd, buf, 256);
		if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
		else {
			buf[rc] = '\0';
			printf("%s\n", buf);
		}



                rc = ioctl(fd, GALIL_READ_2ND_FIFO, buf);
                if (rc < 0) fprintf(stderr, "ioctl ret %d, errno=%d\n", rc, errno);
                else {
                   int j;
                   printf("FIFO2: ");
                   for (j=0; j<256; j++)
                       if (buf2[j] != buf[j]) {
                           printf("[%d]: new %u  old %u", j, (unsigned char) buf[j], 
					(unsigned char)buf2[j]);
                           buf2[j] = buf[j];
                       }
                   printf("\n");
                   printf("e axis motor pos = %u %u %u %u\n", (unsigned char) buf[152], 
                        (unsigned char)buf[153], (unsigned char)buf[154], (unsigned char)buf[155]);
                   printf("e axis error pos = %d\n", *(int *)(buf+156));
                }
	}

	sprintf(buf, "CB1;ST;");
	rc = write(fd, buf, strlen(buf));

	rc = read(fd, buf, 256);
	if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
        else {
		buf[rc] = '\0';
		printf("%s\n", buf);
	}

	sprintf(buf, "MO;");
	rc = write(fd, buf, strlen(buf));

	rc = read(fd, buf, 256);
	if (rc <= 0) fprintf(stderr, "read ret %d (errno=%d)\n", rc, errno);
        else {
		buf[rc] = '\0';
		printf("%s\n", buf);
	}

                rc = ioctl(fd, GALIL_READ_2ND_FIFO, buf);
                if (rc < 0) fprintf(stderr, "ioctl ret %d, errno=%d\n", rc, errno);
                else {
                   int j;
                   printf("FIFO2: ");
                   for (j=0; j<256; j++)
                       if (buf2[j] != buf[j]) {
                           printf("[%d]: new %u  old %u", j, (unsigned char) buf[j], 
					(unsigned char)buf2[j]);
                           buf2[j] = buf[j];
                       }
                   printf("\n");
                   printf("e axis motor pos = %u %u %u %u\n", (unsigned char) buf[152], 
                        (unsigned char)buf[153], (unsigned char)buf[154], (unsigned char)buf[155]);
                   printf("e axis error pos = %d\n", *(int *)(buf+156));
                }

	sprintf(buf, "CB1;ST;");
	
	return 0;
}