birdcmds.c

一个C语言写的读入位置跟踪器数据的源程序

		 data_ready_char = (unsigned char) answer;
	     }
	     while (invalid);

	     break;

	case 7:    /* Set ON ERROR Mask */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 11;
	     cmdsize = 3;

	     /*
		 Ask the user the Error Mask Mode
	     */
	     switch(sendmenu(errormaskmenu,3))
	     {
		case 0: /* Fatal Error Blink and Stop system  */
		    birdchangevaluecmd[2] = 0x00;
		    break;
		case 1: /* Fatal Error Blink and system resumes */
		    birdchangevaluecmd[2] = 0x01;
		    break;
		case 2: /* Fatal Error Does NOT Blink and system resumes */
		    birdchangevaluecmd[2] = 0x03;
		    break;
		case ESC_SEL:
		    return(ESC_SEL);
	     }
	     printf("\n\r");
	     break;

	case 8:    /* Set DC Filter Constant Table */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 12;
	     cmdsize = 16;

	     /*
		 Ask the user to enter the DC Filter Table
	     */
	     for (i=0;i<7;i++)
	     {
		 printf("\n\rFor the range %s, current value is %d (decimal)\n\r",
		     dcfiltermsg[i],dcfiltervalue[i]);
		 printf("\n\rEnter the new value for this range, or ESC for no change: ");
		 if ((answer = getnumber()) != ESC_SEL)
		     dcfiltervalue[i] = answer;

		 /*
		     Store the Value in the command string
		 */
		 j = dcfiltervalue[i];
		 *(unsigned char *)&birdchangevaluecmd[2 + (i*2)] =
		     j & 0xff;
		 *(unsigned char *)&birdchangevaluecmd[2 + (i*2) + 1] =
		     ((j & 0xff00) >> 8);

	     }
	     break;

	case 9:    /* Filter Constant Table - Alpha Max */
	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 13;
	     cmdsize = 16;

	     /*
		 Set all 7 table entries
	     */
	     for (i=0; i < 7; i++)
	     {
		 /*
		     Get the Filter Value from the User..with validation
		     0 to 0.99996
		 */
		 do
		 {

		     invalid = FALSE;
		     printf ("For the range %s,\n\rInput the New Filter Value (0 to 0.99996): ",
			      dcfiltermsg[i]);
		     if (getfloatstring(floatstring) != NULL)
			 floatvalue = atof(floatstring);
		     else
			 return(ESC_SEL);

		     /*
			 Validate the number
		     */
		     if ((floatvalue < 0.0) || (floatvalue >= 1.00))
		     {
			 invalid = TRUE;
			 printf("** ERROR ** invalid value\n\r");
		     }
		 }
		 while(invalid);

		 /*
		     Convert float to word 0 to 32767 and store in the command
		 */
		 j = (unsigned)(floatvalue * FTW);
		 *(unsigned char *)&birdchangevaluecmd[2 + (i*2)] =
		     j & 0xff;
		 *(unsigned char *)&birdchangevaluecmd[2 + (i*2) + 1] =
		     ((j & 0xff00) >> 8);
	     }
	     break;

	case 10:    /* Glitch Checking */
	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 14;
	     cmdsize = 3;

	     /*
		 Ask the User if they want to Enable Glitch Checking
	     */
	     birdchangevaluecmd[2] = FALSE;
	     if ((answer = askyesno("Do you want to Block Sudden Output Changes")) == YES)
		  birdchangevaluecmd[2] = TRUE;
	     else if (answer == ESC_SEL)
		  return(ESC_SEL);

	     break;

	case 11:    /* Set XYZ Reference Frame */
	     
	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 17;
	     cmdsize = 3;

	     /* 
		Ask user about value to send
	     */
	     if ((answer = askyesno("Do you want to define Reference Frame")) == YES)
		*(unsigned char *) &birdchangevaluecmd[2] = 1;
	     else
		*(unsigned char *) &birdchangevaluecmd[2] = 0;

	     break;



	case 12:    /* Set FBB Host Delay */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 32;
	     cmdsize = 4;

	     /*
		 Ask the user to enter the FBB Response Delay
	     */
	     printf("\n\rEnter the desired delay in units of microseconds: ");
	     if ((answer = getnumber()) == ESC_SEL)
		 return(ESC_SEL);

	     /*
		 Setup for units of 10 uS
	     */
	     if (answer < 200)
		answer = 20;   /* 200 uS minimum */
	     else
	     {
		if (answer % 10)
		     answer = (answer / 10) + 1;
		else
		     answer = (answer / 10);
	     }
	     *(unsigned char *) &birdchangevaluecmd[2] = answer & 0xff;
	     *(unsigned char *) &birdchangevaluecmd[3] = ((answer & 0xff00) >> 8);

	     break;

	case 13:    /* Set FBB Configuration */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 33;
	     cmdsize = 7;

	     /*
		 Ask the user for the Configuration Mode
	     */
	     switch(sendmenu(configmodemenu,2))
	     {
		 case 0: /* standalone */
		    birdchangevaluecmd[2] = 0x00;
		    break;

		 case 1: /* one trans/ n rec */
		    birdchangevaluecmd[2] = 0x01;
		    break;

		 case ESC_SEL:
		    return(ESC_SEL);
	     }

	     /*
		 Ask the user for the FBB Device Numbers
	     */
	     do
	     {
		 printf("\n\rFBB Devices..");

		 for (i=1;i<=14;i++)
		 {
		     printf("\n\rDevice at FBB address %d is ", i);
		     if ((0x1 << i) & fbbdevices)
			printf("ACTIVE");
		     else
			printf("NOT ACTIVE");
		 }
		 printf("\n\n\rEnter the FBB address to change, 0 if complete: ");
		 if ((answer = getnumber()) == ESC_SEL)
		     return(ESC_SEL);
		 else if (answer != 0)
		     fbbdevices ^= (0x1 << answer);  /* flip the bit state */
	     }
	     while (answer != 0);

	     *(unsigned char *) &birdchangevaluecmd[3] = fbbdevices & 0xff;
	     *(unsigned char *) &birdchangevaluecmd[4] = ((fbbdevices & 0xff00) >> 8);

	     /*
		 Ask the user for the FBB Dependents
	     */
	     do
	     {
		 printf("\n\rFBB Dependents..");

		 for (i=1;i<=14;i++)
		 {
		     /*
			 Only Active devices can be dependentsc
		     */
		     if ((0x1 << i) & fbbdevices)
		     {
			 printf("\n\rDevice at FBB address %d is ", i);
			 if ((0x1 << i) & fbbdependents)
			    printf("DEPENDENT");
			 else
			    printf("NOT DEPENDENT");
		     }
		 }
		 printf("\n\n\rEnter the FBB address to change, 0 if complete: ");
		 if ((answer = getnumber()) == ESC_SEL)
		     return(ESC_SEL);
		 else
		 {
		     if (((0x1 << answer) & fbbdevices) && (answer != 0))
			 fbbdependents ^= (0x1 << answer);  /* flip the bit state */
		     else  /* device is not active */
			 printf("\n\rDevice at FBB address %d is NOT ACTIVE\n\r", answer);
		 }
	     }
	     while (answer != 0);

	     *(unsigned char *) &birdchangevaluecmd[5] = fbbdependents & 0xff;
	     *(unsigned char *) &birdchangevaluecmd[6] = ((fbbdependents & 0xff00) >> 8);

	     break;

	case 14:   /* Set FBB ARMed */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 34;
	     cmdsize = 3;

	     /*
		 Ask the user if they want to ARM the Bird
	     */
	     if ((answer = askyesno("Do you want to ARM the Bird")) == YES)
		 birdchangevaluecmd[2] = TRUE;
	     else if (answer == ESC_SEL)
		 return(ESC_SEL);

	     break;

	case 15:   /* Enable/Disable Group Mode */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 35;
	     cmdsize = 3;

	     /*
		 This command will only go to the device the computer
		 is connected to
	     */
	     rs232tofbbaddr = 0;

	     /*
		 Indicate that we are in the Group Mode
	     */
	     fbbgroupdataflg = FALSE;

	     /*
		 Ask the user if they want to Save the Configuration
	     */
	     if ((answer = askyesno("Do you want to Enable the Group Data Mode")) == YES)
	     {
		 birdchangevaluecmd[2] = TRUE;
		 fbbgroupdataflg = TRUE;
	     }
	     else if (answer == ESC_SEL)
	     {
		 rs232tofbbaddr = temprs232tofbbaddr;
		 return(ESC_SEL);
	     }

	     break;


	case 16:   /* FBB Auto Configuration - 1 Trans/N Rec */

	     /*
		 Set the Parameter number and the command size
	     */
	     birdchangevaluecmd[1] = 50;
	     cmdsize = 3;

	     /*
		 Preset the RS232 to Destination address to 1 for
		 this command if the RS232 to FBB command is active
	     */
	     if (rs232tofbbaddr != 0)
		 rs232tofbbaddr = 1;

	     /*
		 Ask the user to enter the number of receivers
	     */
	     printf("\
NOTE:  This Auto Configuration mode assumes that Bird 1 will be a\n\r\
       Master and Birds 2 through N will be Slaves");
	     do
	     {
		 invalid = FALSE;
		 printf ("\n\rEnter the number of Bird Units in the Flock: ");
		 if ((answer = getnumber()) == ESC_SEL)
		     return(ESC_SEL);
		 if ((answer < 1) || (answer > numfbbaddrs))
		 {
		     invalid = TRUE;
		     printf("\n\r** ERROR ** invalid entry, try again\n\r");
		     hitkeycontinue();
		 }
	     }
	     while(invalid);

	     birdchangevaluecmd[2] = (unsigned char) answer;

	     /*
		 Store the number of Units in the Flock
		 ...for use by other routines
	     */
	     flocksize = answer;
	     displaymultidataflg = TRUE;
	     break;
    }

    /*
	Send the Command to the Bird
    */
    if (send_serial_cmd(birdchangevaluecmd,cmdsize) != cmdsize)
    {
	rs232tofbbaddr = temprs232tofbbaddr;
	return(FALSE);
    }

    /*
	Restore the rs232tofbbaddr
    */
    rs232tofbbaddr = temprs232tofbbaddr;


    printf("\n\rNew Value(s) sent to the Bird\n\r");
    hitkeycontinue();

    /*
	If the Command was the Autoconfiguration...than
	get the current system status
    */
    if (menusel == 16)
    {
	if (getsystemstatus())
	{
	    displayflocksys(&fbbsystemstatus[1]);
	}
	else
	    return(FALSE);

    }

    return(TRUE);
}

/*
    bird_examinevalue    - Implements the Examine Value Commmand

    Prototype in:       birdcmds.h

    Parameters Passed:  void

    Return Value:       TRUE if Command was sent to the Bird
			FALSE if could not send the command
			ESC_SEL if the User selected ESC

    Remarks:
*/
int bird_examinevalue()
{
    unsigned short i;
    short rxchar;
    short answer;
    char ** dcfiltermsg;
    static unsigned char birdexaminevaluecmd[] = {'O',0};
    unsigned char parameter[30];         /* room for a 30 byte response */
    float measurementrate;
    static char * examinevaluemenu[] = {"Select Parameter to Examine:",
					"Previous Menu",
					"Bird System Status",
					"Software Revision",
					"Bird CPU Crystal Frequency",
					"Maximum Range Scaling",
					"Filter ON/OFF Status",
					"Filter Const - Alpha_Min",
					"Bird Measurement Rate",
					"Data Ready Output",
					"Data Ready Character",
					"Error Code",
					"ON ERROR Mask",
					"Filter Const - Vm",
					"Filter Const - Alpha_Max",
					"Sudden Output Changes",
					"Model",
					"Expanded Error Code",
					"XYZ Reference Frame",
					"FBB Host Delay",
					"FBB Configuration",
					"FBB ARMed",
					"Group Data Mode",
					"Flock System Status",
					"FBB Auto Config - 1 Trans/N Rec"};
    /*
	Parameternumbers for menu items
    */
    static unsigned short examinevalueparanumber[] =
	   {0,0,1,2,3,4,5,6,8,9,10,11,12,13,14,15,16,17,32,33,34,35,36,50};

    /*
	Number of characters in the response for each menu item
    */
    static unsigned short examinevaluerspsize[] =
	   {0,2,2,2,2,2,14,2,1,1,1,1,14,14,1,10,2,1,2,5,14,1,14,5};

    static char * bird_dcfiltermsg[] = {"0 to 12 inches",
				   "12 to 15 inches",
				   "15 to 19 inches",
				   "19 to 24 inches",
				   "24 to 30 inches",
				   "30 to 38 inches",
				   "38+ inches"};

    static char * erc_dcfiltermsg[] = {"0 to 35 inches",
				   "35 to 49 inches",
				   "49 to 63 inches",
				   "63 to 79 inches",
				   "79 to 96 inches",
				   "96 to 116 inches",
				   "116+ inches"};

    /*
	Set up for ERC or 6DFOB
    */
    if (posk == POSK144)
	dcfiltermsg = erc_dcfiltermsg;
    else
	dcfiltermsg = bird_dcfiltermsg;

    /*
	Find out which Value the User wants to look at and take
	appropriate action
    */
    if ((answer = sendmenu(examinevaluemenu,24)) > 0)
    {
	/* 
		Check the command and only inquire about address mode
		when the user request a function that needs the information
	*/

	if ( answer==19 || answer==20 || answer==22 || answer==23 ) {
	   /*
		 Get the Number of FBB Addrs
	   */
	   if (getaddrmode() == 0)
		return(FALSE);

	   /*
		Update the Response size for the FBB CONFIG, FBB ARM
		FBB AUTOCONFIG and the FBB SYSTEM STATUS
	   */
	   if (numfbbaddrs == 14) {
		examinevaluerspsize[19] = 5;
		examinevaluerspsize[20] = 14;
		examinevaluerspsize[22] = 14;
		examinevaluerspsize[23] = 5;
	   } else {