cmdutil.c

一个C语言写的读入位置跟踪器数据的源程序

	 printf("%s\n\r",promptstrg);

    /*
	Get Angle Info from user, 3 floating point (double) variables
    */
    do
    {
	invalid = FALSE;
	printf("Input %s: ",anglepromptmsg[i]);

	/*
	    Get a float value from the user
	*/
	if (getfloatstring(floatstring) != NULL)
	    angle[i] = (float) atof(floatstring);
	else
	    return(ESC_SEL);

	if ((angle[i] < anglevalidlow[i]) || (angle[i] > anglevalidhigh[i]))
	{
	    invalid = TRUE;
	       printf("%s",invalidanglemsg);
	}
	else
	{
	    i++;
	}
    }
    while ((invalid) || (i<3));

    return(TRUE);
}

/*
    getcrystalfreq      - Get the Crystal Frequency from the Bird

    Prototype in:       cmdutil.h

    Parameters Passed:  void

    Return Value:       TRUE if got OK, sets the Global crystalfreq
			FALSE if could not get the crystal frequency

    Remarks:            Gets the crystal frequency from the Bird via the
			Examine CMD function 2.
*/
int getcrystalfreq()
{
	short i;
    short j;
    unsigned char parameter[2];
    static unsigned char birdgetcrystalcmd[] = {'O',2};

    /*
	Send the Command to the Bird
    */

    if (send_serial_cmd(birdgetcrystalcmd,2) != 2)
	return(FALSE);

    /*
	Get the 2 byte response response
    */
    for (i=0; i<2; i++)
    {
	j = waitforchar();
	if (j < 0)
	{
			printf("**ERROR** could not read data back from the Bird\n\r");
	    return(FALSE);
	}
	parameter[i] = j;
    }

    /*
	Set the crystal frequency variable
    */
    crystalfreq = parameter[0];

    return(TRUE);
}

/*
    getaddrmode         Get the current Addressing Mode

    Prototype in:       cmdutil.h

    Parameters Passed:  void

    Return Value:       30 if in Expanded Address Mode
			14 if in Normal Address Mode
			FALSE if an Error Occurs

    Remarks:            The routine gets the Bird Status from the Master
			and uses bit 12 to determine if the flock is in
			expanded address mode
*/
int getaddrmode()
{
	short i;
    short rxchar;
    unsigned char parameter[2];
    static unsigned char birdgetaddrmodecmd[] = {'O',0};

    /*
       Send the Examine Value Comand with Parameter 0 and wait for a 2
       byte response
    */
    printf("Checking System Status...");
    if (send_serial_cmd(birdgetaddrmodecmd,2) !=2)
	return(FALSE);

    /*
	Get the 2 byte response
    */
    for (i=0; i<2; i++)
    {
	rxchar = waitforchar();
	parameter[i] = (unsigned char) rxchar;
	if (rxchar < 0)
	{
	    printf("** ERROR ** could not read Bird Status\n\r");
	    hitkeycontinue();
	    return(FALSE);
	}
    }

    /*
	Assume a normal addressing mode
    */
    numfbbaddrs = 14;

    /*
       Check bit 12 in the Status Word...or bit 2 in the second byte
       and return the proper value
    */
    if (parameter[1] & 0x04)
    {
       printf ("\n\r...Flock is setup to the Expanded Addressing Mode\n\n\r");
       numfbbaddrs = 30;
       fbbaddrbits = 0x1f;
       cmdbitshft = 5;
       return(30);
    }
    else
    {
       printf ("\n\r...Flock is setup to the Normal Addressing Mode\n\n\r");
       numfbbaddrs = 14;
       fbbaddrbits = 0x0f;
       cmdbitshft = 4;
       return(14);
    }
}

/*
    getsystemstatus     Get System Status

    Prototype in:       cmdutil.h

    Parameters Passed:  void

    Return Value:       TRUE if all goes OK
			FALSE if an Error Occurs

    Remarks:            Gets the System Status from the Bird
*/
int getsystemstatus()
{
	short i;
    short rxchar;
    short temprs232tofbbaddr;
    static unsigned char birdgetsysstatuscmd[] = {'O',36};

    /*
       Save the Current Address, but only send this command to
       the device we are connected to..DO NOT USE the RS232 To FBB Command
    */
    temprs232tofbbaddr = rs232tofbbaddr;
    rs232tofbbaddr = 0;

    /*
       Send the Examine Value Comand with Parameter 0 and wait for a 2
       byte response
    */
    if (send_serial_cmd(birdgetsysstatuscmd,2) !=2)
    {
	rs232tofbbaddr = temprs232tofbbaddr;
	return(FALSE);
    }

    /*
	Get the 14 or 30 byte response
    */
    for (i=1; i<=numfbbaddrs; i++)
    {
	rxchar = waitforchar();

	if (rxchar < 0)
	{
	    rs232tofbbaddr = temprs232tofbbaddr;
	    printf("** ERROR ** could not read Bird Status\n\r");
	    hitkeycontinue();
	    return(FALSE);
	}
	else
	{
	   fbbsystemstatus[i] = (unsigned char) rxchar;
	}
    }

    /*
	Go through the List and Fill in the number of receivers
	and the start and stop addresses of currently Running Devices
    */
    numfbbrcvrs = 0;
    displayliststartaddr = 99; /* Start with a illegal and High value */
    displayliststopaddr = 1;
    for (i=1; i<=numfbbaddrs; i++)
    {
	if (fbbsystemstatus[i] & 0x40)  /* Device is Running */
	{
	    /*
		On the First time through setup the start address
		..rs232tofbbstartaddr was initialized to 99
	    */
	    if (rs232tofbbstartaddr > 30)
		if (i < rs232tofbbstartaddr)
		    rs232tofbbstartaddr = i;

	    if (fbbsystemstatus[i] & 0x20)  /* Device has a receiver */
	    {
		if (i < displayliststartaddr)
		   displayliststartaddr = i;

		displayliststopaddr = i;
		numfbbrcvrs++;
	    }
	}
    }

    rs232tofbbaddr = temprs232tofbbaddr;
    return(TRUE);
}

/*
    checkerrorstatus    Check 6DFOB Error Status

    Prototype in:       cmdutil.h

    Parameters Passed:  void

    Return Value:       errnum > 0
			-1 if could not get the error
			0 if no error

    Remarks:            The routine gets the Bird Error Status
*/
int checkerrorstatus(displayon)
unsigned char displayon;
{
	short i;
    short rxchar;
    unsigned char parameter[2];
    unsigned char errnum;
    unsigned char exterrnum;
    static unsigned char birdgetaddrmodecmd[] = {'O',16};

    /*
       Send the Examine Value Comand with Parameter 0 and wait for a 2
       byte response
    */
    if (send_serial_cmd(birdgetaddrmodecmd,2) !=2)
	return(-1);

    /*
	Get the 2 byte response
    */
    for (i=0; i<2; i++)
    {
	rxchar = waitforchar();
	parameter[i] = (unsigned char) rxchar;
	if (rxchar < 0)
	{
	    printf("** ERROR ** could not read Bird Error Status\n\r");
	    hitkeycontinue();
	    return(-1);
	}
    }

    errnum = parameter[0];
    exterrnum = parameter[1];

    /*
       Display the Error Type if one exists and the display is enabled
    */
    if (errnum && displayon)
	displayerror (errnum,exterrnum,TRUE);

    return(errnum);
}

/*
    displayerror        Display the Current Error Status

    Prototype in:       cmdutil.h

    Parameters Passed:  errnum - Error Code
			exterrnum - Expanded Error Code

    Return Value:       void


    Remarks:
*/
void displayerror(errnum,exterrnum,displayexpinfo)
unsigned char errnum;
unsigned char exterrnum;
unsigned char displayexpinfo;
{
    /*
       Display the Error Number
    */
    printf ("\n\rError Code is %u (decimal) ",(unsigned char) errnum);

    /*
       Display a message describing the Error
    */
    switch (errnum)
    {
	case 0:
	    printf("...No Errors Have Occurred");
	    break;

	case 1:
	    printf("...System RAM Test Error");
	    break;

	case 2:
	    printf("...Non-Volatile Storage Write Failure");
	    break;

	case 3:
	    printf("...System EEPROM Configuration Corrupt");
	    break;

	case 4:
	    printf("...Transmitter EEPROM Configuration Corrupt");
	    break;

	case 5:
	    printf("...Receiver EEPROM Configuration Corrupt");
	    break;

	case 6:
	    printf("...Invalid RS232 Command");
	    break;

	case 7:
	    printf("...Not an FBB Master");
	    break;

	case 8:
	    printf("...No 6DFOBs are Active");
	    break;

	case 9:
	    printf("...6DFOB has not been Initialized");
	    break;

	case 10:
	    printf("...FBB Receive Error - Intra Bird Bus");
	    break;

	case 11:
	    printf("...RS232 Overrun and/or Framing Error");
	    break;

	case 12:
	    printf("...FBB Receive Error - FBB Host Bus");
	    break;

	case 13:
	    printf("...No FBB Command Response from Device at address %d",exterrnum & fbbaddrbits);
	    if (displayexpinfo)
	    {
	      printf ("\n\rExpanded Error Code Address is %u (decimal)",exterrnum & fbbaddrbits);
	      printf ("\n\rExpanded Error Code Command is %u (decimal)\n\r",(unsigned char) ((exterrnum & ~fbbaddrbits) >> cmdbitshft));
	    }

	    break;

	case 14:
	    printf("...Invalid FBB Host Command");
	    break;

	case 15:
	    printf("...FBB Run Time Error");
	    break;

	case 16:
	    printf("...Invalid CPU Speed");
	    break;

	case 17:
	    printf("...Slave No Data Error");
	    break;

	case 18:
	    printf("...Illegal Baud Rate");
	    break;

	case 19:
	    printf("...Slave Acknowledge Error");
	    break;

	case 20:
	    printf("...CPU Overflow Error - call factory");
	    break;

	case 21:
	    printf("...Array Bounds Error - call factory");
	    break;

	case 22:
	    printf("...Unused Opcode Error - call factory");
	    break;

	case 23:
	    printf("...Escape Opcode Error - call factory");
	    break;

	case 24:
	    printf("...Reserved Int 9 - call factory");
	    break;

	case 25:
	    printf("...Reserved Int 10 - call factory");
	    break;

	case 26:
	    printf("...Reserved Int 11 - call factory");
	    break;

	case 27:
	    printf("...Numeric CPU Error - call factory");
	    break;

	case 28:
	    printf("...CRT Syncronization Error");
	    break;

	case 29:
	    printf("...Transmitter Not Active Error");
	    break;

	case 30:
	    printf("...ERC Extended Range Transmitter Not Attached Error");
	    break;

	case 31:
	    printf("...CPU Time Overflow Error");
	    break;

	case 32:
	    printf("...Receiver Saturated Error");
	    break;

	case 33:
	    printf("...Slave Configuration Error");
	    break;

	case 34:
	    printf("...ERC Watchdog Error");
	    break;

	case 35:
	    printf("...ERC Overtemp Error");
	    break;

	default:
	    printf("...UNKNOWN ERROR... check user manual");
	    break;
    }

    return;
}