serknr.c

一个C语言写的读入位置跟踪器数据的源程序

        ioctl(comhandle,TCSETA,&oldcom_termio);    /* restore config */
#endif
        close(comhandle);    /* close the handle */
        comhandle = -1;        /* make the comhandle 'look' closed */
    }
#endif /* DEBUG_SKIPSERIAL */
}

/*
    clearrx             -   Read the characters out of the Rx buffer if available

    Prototype in:       serial.h

    Parameters Passed:  void

    Return Value:       void

    Remarks:            clears the rx buffer and rx errors if any

*/
void clear_rx()
{
#ifdef UNIX
    short charsrdy;
    char temprxbuf[255]; /* should never be more than 255 chars in buffer ?? */
#endif

    phaseerror_count = 0;               /* clear the phase counter */

#ifdef UNIX
    /*
       Flush Pending Buffers
    */
    ioctl(comhandle,TCFLSH,TIOCFLUSH);  /* flush pending I/O chars */

    /*
       Determine if there are chars in the Buffer
    */
    if (ioctl(comhandle,TIONREAD,&charsrdy))
    {
       printf("\n\r** ERROR ** IOCTL returned an error\n\r");
       return;
    }

    /*
       Get the number of chars ready out of the read buffer
    */
    if (charsrdy)
    {
        if (get_record(charsrdy,temprxbuf,FALSE) != charsrdy)
            printf("\n\r** ERROR ** could not clear the RX buffer\n\r");
    }
#endif

}

/*
    get_serial_record   - Get a record from the serial IO Buffer

    Prototype in:       serial.h

    Parameters Passed:  rxbuf       -   pointer to a buffer to store the
                                        received characters
                        recsize     -   number of characters to receive
                        outputmode  -   POINT, CONTINUOUS or STREAM

    Return Value:       If successful, returns recsize
                        else, RXERRORS if Rx errors were detected while
                        receiving data

    Remarks:            A record of data has the MSB of the first
                        character set to a 1.  The routine verifies that
                        the first character received is in PHASE.

                        NOTE that this routine returns the MOST RECENT
                        record from the Buffer...if more than one record
                        is present, old records are discarded.
*/
int get_serial_record(rxbuf, recsize, outputmode)
unsigned char * rxbuf;
short recsize;
short outputmode;
{
    short charsread;

#ifdef DEBUG_SKIPSERIAL

    /*
       Fill in the Record with the Data Read
    */
    for (charsread = 0; charsread < recsize; charsread++)
    {
        rxbuf[charsread] = charsread;
    }

    /*
        Set the Phasing Bit
    */
    rxbuf[0] |= 0x80;

    return(recsize);
#else

    char * rxbufinptr;
    short tempcharsneeded;
    int   charsrdy = 0;
    short numrecordsrdy;
    int   totalcharsrdy;


    /*
       STREAM mode is NOT allowed if using DOS
       ..DOS does not support interrupt driven serial I/O
    */
#ifdef DOS
    if (outputmode == STREAM)
    {
        printf("\n\r** ERROR ** STREAM mode is not supported by DOS\n\r");
        return(RXERRORS);
    }
#endif

    /*
        Setup some variables
    */
    totalcharsrdy = 0;

    /*
       Get the Number of Chars Ready

       Note that this approach reads the MOST RECENT record received by the
       host computer by manually emptying the operating system's serial
       character buffer until the last valid record
    */
#ifdef UNIX
    if (ioctl(comhandle,TIONREAD,&charsrdy))
    {
       printf("\n\r** ERROR ** IOCTL returned an error\n\r");
       return(RXERRORS);
    }
#endif

    /*
        Add the current amount of chars ready to the total
    */
    totalcharsrdy += charsrdy;

    /*
       Now take care of 3 cases...
       1) charsrdy = recsize
       2) charsrdy > recsize
       3) charsrdy < recsize
    */
    if (totalcharsrdy >= recsize)
    {

        /*
           Determine the number of records available

           If the number is greater than 1 then throw away old records
        */
        if (recsize)
            numrecordsrdy = totalcharsrdy/recsize;
        else
        {
            printf("\n\r** ERROR ** illegal parameter in call to get_serial_record\n\r");
            return(RXERRORS);
        }

        /*
            Read the most recent complete Block from the Port
        */
        while (numrecordsrdy--)
        {
            if (get_record(recsize,(char *) rxbuf,TRUE) == RXERRORS)
                return(RXERRORS);
        }
    }
    else
    {
        return(get_record(recsize,(char *) rxbuf,TRUE));
    }

    /*
        Everything is OK, so return the recsize
    */
    return(recsize);

#endif /* DEBUG_SKIPSERIAL */
}

/*
    get_record          - Get a record from the serial port

    Prototype in:       serknr.c

    Parameters Passed:

                        short charsneeded   - number of chars needed
                        char * rxbufinptr   - place to store the chars
                        short checkphasebit - check phase on/off

    Return Value:       If successful, returns recsize
                        else, RXERRORS if Rx errors were detected while
                        receiving data

    Remarks:            A record of data has the MSB of the first
                        character set to a 1.  The routine verifies that
                        the first character received is in PHASE.
*/
int get_record(charsneeded, rxbufinptr, checkphasebit)
short charsneeded;
char * rxbufinptr;
short checkphasebit;
{
    short tempcharsneeded;
    char * temprxbufinptr = rxbufinptr;
    short charsread;

    /*
        Now Try to Read the required amount of characters...

        Note that we do NOT assume that the read will block until
        required number of characters are available because the
        read can return with less than the number of characters
        needed
    */
    tempcharsneeded = charsneeded;
    while(tempcharsneeded)
    {

        charsread = read(comhandle,temprxbufinptr,tempcharsneeded);
        if (charsread <= 0)  /* check to make sure we got a least 1 */
        {
            printf("\n\r** ERROR ** serial receive timeout \n\r");
            return(RXERRORS);
        }

        /*
            Keep track of the number of characters read
        */
        if (charsread != -1)
        {
            temprxbufinptr += charsread;
            tempcharsneeded -= charsread;
        }

        /*
            Verify that the first character has the Phasing Bit Set
            and all the remaining characters do NOT have the Phasing Bit
            Set ..only if enabled
        */
        if (checkphasebit && !(*rxbufinptr & 0x80))
        {
            printf ("\n\r** ERROR ** phasing bit error\n\r");
            return(RXERRORS);
        }
    }

    return(charsneeded);
}


/*
    send_serial_cmd     -    Send Serial Command to the Bird port

    Prototype in:       serial.h

    Parameters Passed:  cmd         -   string to send to the serial port
                        cmdsize     -   size of the cmd string (cmd is NOT
                                        NULL terminated, since the data can
                                        be NULL)
    Return Value:       number of characters transmitted

    Remarks:            Routine will send a string of characters to the serial
                        port.  The string is pointed to by cmd and all
                        characters will be sent upto but NOT including
                        the NULL
*/
int send_serial_cmd(cmd,cmdsize)
unsigned char * cmd;
short cmdsize;
{
    char cmdbytessent;

#ifdef DEBUG_SKIPSERIAL
#ifdef DEBUG_VIEWSERIAL

    printf ("\n\rCOMMAND SENT: ");
    for (cmdbytessent = 0; cmdbytessent < cmdsize; cmdbytessent++)
        printf(" 0x%X",*cmd++);
    printf ("\n\r");
#endif /* DEBUG_VIEWSERIAL */

    return(cmdbytessent);
#else  /* DEBUG_SKIPSERIAL */

    unsigned char rs232tofbbcmd;

    /*
        Send the RS232 to FBB Prefice Character if non-zero
    */
    if (rs232tofbbaddr > 0)
    {
        if (rs232tofbbaddr <= 15)
            /* pass through command 0-15 */
            rs232tofbbcmd = (unsigned char)(0xF0 | rs232tofbbaddr);
        else
            /* pass through command 16-31 */
            rs232tofbbcmd = (unsigned char)(0xE0 | rs232tofbbaddr-16);

#ifdef DEBUG_VIEWSERIAL
        printf ("\n\rRS232TOFBB COMMAND: 0x%X\n\r",rs232tofbbcmd);
#endif
        write(comhandle,&rs232tofbbcmd,1);
    }

#ifdef DEBUG_VIEWSERIAL
    printf ("\n\rCOMMAND SENT: ");
    for(cmdbytessent = 0;cmdbytessent < cmdsize; cmdbytessent++)
        printf (" 0x%X",cmd[cmdbytessent]);
    printf("\n\r");
#endif

    cmdbytessent = write(comhandle,cmd,cmdsize);

#ifdef UNIX
    ioctl(comhandle,TCFLSH,TIOCFLUSH);  /* flush pending I/O chars */
#endif

    return(cmdbytessent);

#endif /* DEBUG_SKIPSERIAL */
}

/*
    get_serial_char -   Get 1 Character from the serial port if one is available

    Prototype in:       serial.h

    Parameters Passed:  void

    Return Value:       returns the

    Remarks:            returns the receive character if successful,
                        RXERRORS if receive errors
*/
int get_serial_char()
{
#ifdef DEBUG_SKIPSERIAL
    static chr = 0;
#ifdef DEBUG_VIEWSERIAL
    printf("\n\rCHAR RECEIVED: 0x%X\n\r",chr);
#endif
    return(chr++);
#else
    unsigned char chr;

    if ((read(comhandle, &chr,1)) != -1)
    {
#ifdef DEBUG_VIEWSERIAL
        printf("\n\rCHAR RECEIVED: 0x%X\n\r",chr);
#endif
        return(chr);
    }
    else
        return(RXERRORS);

#endif /* DEBUG_SKIPSERIAL */
}

/*
    send_serial_char    -   Send one serial char to the serial port

    Prototype in:       serial.h

    Parameters Passed:  chr     -   character to send to the serial port

    Return Value:       returns TRUE if successful, or TXNOTEMPTY if
                        cannot send because the holding register is not
                        empty

    Remarks:
*/
int send_serial_char(chr)
short chr;
{
#ifdef DEBUG_SKIPSERIAL
#ifdef DEBUG_VIEWSERIAL
    printf("\n\rCHAR SENT: 0x%X\n\r",chr);
#endif

    return(TRUE);
#else

#ifdef UNIX
    int zeroint=0;
#endif

    if ((write(comhandle,(char *) &chr,1)) == 1)
    {
#ifdef UNIX
        ioctl(comhandle,TCFLSH,TIOCFLUSH);  /* flush pending I/O chars */
#endif

#ifdef DEBUG_VIEWSERIAL
        printf("\n\rCHAR SENT: 0x%X\n\r",chr);
#endif
        return(TRUE);
    }
    else
        return(TXNOTEMPTY);

#endif /* DEBUG_SKIPSERIAL */
}


/*
    waitforchar         -   Wait for a Character from the Serial Port

    Prototype in:       serial.h

    Parameters Passed:  void

    Return Value:       returns the receive character if successful,
                        RXERRORS if recieve errors,
                        RXTIMEOUT if a time out occurs before a
                        character is ready

    Remarks:            Routine waits for the TIMEOUTINTICKS period
                        for a character

*/
int waitforchar()
{
    short rxchar;

    /*
        Wait until a character is available
        ....leave loop if errors or character available
    */
    while ((rxchar = get_serial_char()) == NODATAAVAIL);

    /*
        return if RX errors
    */
    if (rxchar < 0)
        return(RXERRORS);

    /*
        Everything is OK...return the character
    */
    return(rxchar);
}