birdcmds.c

一个C语言写的读入位置跟踪器数据的源程序

		examinevaluerspsize[19] = 7;
		examinevaluerspsize[20] = 30;
		examinevaluerspsize[22] = 30;
		examinevaluerspsize[23] = 7;  
	   }
	}


	/*
	    Store the command parameter number
	*/
	birdexaminevaluecmd[1] = (unsigned char) examinevalueparanumber[answer];

	/*
	    Send the command to the Bird
	*/
	if (send_serial_cmd(birdexaminevaluecmd,2) !=2)
	    return(FALSE);

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

	/*
	    Decode the information retrieved
	*/
	switch (answer)
	{
	    case 1:     /* System Status */
		/* 
		    check Master/Slave bird .. bit 15
		*/
		if ( ((unsigned char) parameter[1]) & 0x80 )
		    printf("Bird is Master\n\r");
		else
		    printf("Bird is Slave\n\r");

		/* 
		    check bird initialization status .. bit 14
		*/
		if ( ((unsigned char) parameter[1]) & 0x40 )
		    printf("Bird has been initialized\n\r");
		else
		    printf("Bird has not been initialized\n\r");

		/* 
		    check if an error has been detected .. bit 13
		*/
		if ( ((unsigned char) parameter[1]) & 0x20 )
		    printf("An error has been detected\n\r");
		else
		    printf("No error detected\n\r");

		
		/* 
		    check if bird is NOT RUNNING / RUNNING .. bit 12
		*/
		if ( ((unsigned char) parameter[1]) & 0x10 )
		    printf("Bird is NOT RUNNING\n\r");
		else
		    printf("Bird is RUNNING\n\r");

		/* 
		    check if bird is in HOST SYNC .. bit 11
		*/
		if ( ((unsigned char) parameter[1]) & 0x08 )
		    printf("Bird is in HOST SYNC\n\r");
		else
		    printf("Bird is not in HOST SYNC\n\r");


		/*
		    Print Expanded Addressing or Expanded .. bit 10
		*/
		if ( ((unsigned char) parameter[1]) & 0x04 )
		    printf("Bird in Expanded Addressing Mode\n\r");
		else
		    printf("Bird in Normal Addressing Mode\n\r");

		
		/*
		    check if in CRTSYNC mode .. bit 9
		*/
		if ( ((unsigned char) parameter[1]) & 0x02 )
		    printf("Bird in CRTSYNC Mode\n\r");
		else
		    printf("Bird not in CRTSYNC Mode\n\r");


		/*
		    check if sync modes enabled .. bit 8
		*/
		if ( ((unsigned char) parameter[1]) & 0x01 )
		    printf("SYNC mode not enabled\n\r");
		else
		    printf("SYNC mode enabled\n\r");

		
		/*
		    check factory test mode ..bit 7
		*/
		printf ("Factory Test Commands: ");
		if (((unsigned char) parameter[0]) & 0x80)
		    printf("ENABLED\n\r");
		else
		    printf("DISABLED\n\r");
		
		
		/*
		    check XOFF/XON ..bit 6 
		*/
		if (((unsigned char) parameter[0]) & 0x80)
		    printf("XOFF\n\r");
		else
		    printf("XON\n\r");
		

		/*
		    check sleep/wake ..bit 5
		*/
		if (((unsigned char) parameter[0]) & 0x20)
		    printf("Bird in Sleep Mode\n\r");
		else
		    printf("Bird in Wake Up Mode\n\r");

		/*
		    check output selection ..bits 4,3,2,1
		*/
		switch (((unsigned char) parameter[0] & 0x1e) >> 1)
		{
		    case 1:
			printf ("Position output selected ");
			break;
		    case 2:
			printf ("Angle output selected ");
			break;
		    case 3:
			printf ("Matrix output selected ");
			break;
		    case 4:
			printf ("Position/Angle output selected ");
			break;
		    case 5:
			printf ("Position/Matrix output selected ");
			break;
		    case 6:
			printf ("Factory Test output selected ");
			break;
		    case 7:
			printf ("Quaternion output selected ");
			break;
		    case 8:
			printf ("Position/Quaternion output selected ");
			break;

		    default:
			printf ("Illegal Output mode detected\n\r");
			hitkeycontinue();
			return(FALSE);
		}

		/*
		    check outputmode .. bit 0
		*/
		if (((unsigned char) parameter[0]) & 0x1)
		    printf("in STREAM mode\n\r");
		else
		    printf("in POINT mode\n\r");

		break;

	    case 2:     /* Software Rev */
		printf ("Software REV %d.%d\n\r",parameter[0],parameter[1]);
		break;

	    case 3:     /* CPU Crystal */
		/*
		    Store the Value in the Global
		*/
		crystalfreq = parameter[0];
		printf ("CPU Crystal is %4.1f MHz\n\r",crystalfreq);
		break;

	    case 4:     /* Maximum Range */
		printf ("Maximum Range is ");
		if (parameter[0] == 1)
		    printf ("72 inches\n\r");
		else
		    printf ("36 inches\n\r");
		break;

	    case 5:     /* Filter Status */
		printf ("AC Narrow Notch filter is: ");
		if (parameter[0] & 4)
		    printf ("OFF\n\r");
		else
		    printf ("ON\n\r");

		printf ("AC Wide Notch filter is: ");
		if (parameter[0] & 2)
		    printf ("OFF\n\r");
		else
		    printf ("ON\n\r");

		printf ("DC filter is: ");
		if (parameter[0] & 1)
		    printf ("OFF\n\r");
		else
		    printf ("ON\n\r");

		break;

	    case 6:     /* Filter Constant Table - Alpha Min */
		for (i=0; i<7; i++)
		{
		    printf ("For the range %s, Filter constant is %6.4f\n\r",
			    dcfiltermsg[i],
			    (float)(((*(unsigned char *)&parameter[(i*2)]) +
				    ((*(unsigned char *)&parameter[(i*2+1)]) << 8))
				     * WTF));
		}
		break;

	    case 7:     /* Measurement Rate */
		/*
		     Display the Rate
		*/
		if (!getcrystalfreq())
		     return(FALSE);
		i = ((*(unsigned char *)&parameter[0]) & 0xff)
		    + (((*(unsigned char *)&parameter[1]) & 0xff) << 8) ;

		measurementrate =
		    1000.0/((4*(i*(8.0/crystalfreq)/1000.0))+ 0.3);
		printf ("Measurement Rate: %6.2f\n\r",measurementrate);

		/*
		     Display the Transmitter Counts
		*/
		printf("Transmitter Time Counts: %u\n\r",i);
		break;

	    case 8:     /* Disable/Enable Data Ready Output */

		printf ("\n\rData Ready Output is ");
		if (parameter[0] == TRUE)
		    printf("ENABLED");
		else
		    printf("DISABLED");
		break;

	    case 9:     /* Change Data Ready Character */
		printf ("\n\rData Ready Output Character is %u (decimal), <%c> (ASCII)",(unsigned char) parameter[0],(char) parameter[0]);
		break;

	    case 10:     /* Error Code */
		displayerror(parameter[0],parameter[1],FALSE);
		break;

	    case 11:    /* ON ERROR Mask */
		switch(parameter[0] & 0x3)
		{
		    case 0:   /* FATAL errors are Blinked Forever */
			printf ("\n\rFATAL Errors are Blinked Forever and Operation is Halted\n\r");
			break;
		    case 1:   /* FATAL errors are Blinked Once */
			printf ("\n\rFATAL Errors are Blinked Once and Operation is Resumed \n\r");
			break;
		    case 2:   /* FATAL errors are Not Blinked  */
			printf ("\n\rFATAL Errors are Not Blinked and Operation is Halted\n\r");
			break;
		    case 3:   /* FATAL errors are Not Blinked Forever */
			printf ("\n\rFATAL Errors are Not Blinked and Operation Continues\n\r");
			break;
		}
		break;

	    case 12:    /* DC Filter Constant Table */

		/*
		    Display the DC Filter Table
		*/
		for (i=0;i<7;i++)
		{
		    printf ("\n\rFor the range %s, current value is %u (decimal)\n\r",
			    dcfiltermsg[i],
				    (unsigned short)((*(unsigned char *)&parameter[i*2]) +
				    ((*(unsigned char *)&parameter[i*2+1]) << 8)));

		}
		break;

	    case 13:    /* Filter Constant Table - Alpha Max */
		for (i=0; i<7; i++)
		{
		    printf ("For the range %s, Filter constant is %6.4f\n\r",
			    dcfiltermsg[i],
			    (float)(((*(unsigned char *)&parameter[i*2]) +
				    ((*(unsigned char *)&parameter[i*2+1]) << 8))
				     * WTF));
		}
		break;

	    case 14:    /* Glitch Checking */
		if (parameter[0] == TRUE)
		    printf("Sudden Changes are not output");
		else
		    printf("Sudden Changes are output");
		break;

	    case 15:    /* Model */
		parameter[10] = 0; /* set the string termination */
		printf ("\n\rModel is: %s",&parameter[0]);
		break;

	    case 16:     /* Expanded Error Code */
		displayerror(parameter[0],parameter[1],TRUE);
		break;

	    case 17:    /* XYZ Reference Frame */
		if (parameter[0] == TRUE)
		    printf("XYZ Reference Frame defined");
		else
		    printf("XYZ Reference Frame Not defined");
		break;

	    case 18:    /* FBB Host Delay */
		printf("\n\rFBB Host Response Delay is %d microseconds",
				(unsigned short)(((*(unsigned char *) &parameter[0]) +
				((*(unsigned char *) &parameter[1]) << 8))) * 10);
		break;

	    case 19:    /* FBB Configuration */
		showfbbconfig(&parameter[0]);
		break;

	    case 20:    /* FBB ARMed */
	    case 22:    /* Flock System Config */
		displayflocksys(&parameter[0]);
		break;

	    case 21:    /* Group Data Mode */

		if (parameter[0] == TRUE)
		    printf("\n\rGroup Data Mode is Enabled");
		else
		    printf("\n\rGroup Data Mode is Disabled");
		break;

	    case 23:    /* FBB Auto Configuration - 1 Trans/N Rec */
		showfbbconfig(&parameter[0]);
		break;
	}

	hitkeycontinue();
	return(TRUE);
    }
    else
    {
	return(ESC_SEL);
    }
}

void displayflocksys(parameter)
unsigned char * parameter;
{
    int i;

    /*
       Display the Configuration for each Address
    */
    printf("\n\rFlock Configuration...");
    for (i=0;i<numfbbaddrs;i++)
    {
	/*
	   Allow the User to View the Data on a 25 line Screen
	*/
	if (i == 20)
	   hitkeycontinue();

	printf("\n\rFBB ADDR %d: ",i+1);

	if (parameter[i] & 0x80)
	{
	    if (parameter[i] & 0x10)
		printf("ERC, ");
	    else
		printf("6DFOB, ");
	}
	else
	{
	    printf("NOT ACCESSIBLE");
	    continue;
	}

	if (parameter[i] & 0x40)
	    printf("RUNNING, ");
	else
	    printf("NOT RUNNING, ");

	if ((parameter[i] & 0x30) == 0x20)
	    printf("RCVR");
	if ((parameter[i] & 0x30) == 0x00)
	    printf("NO RCVR");

	if ((parameter[i] & 0x11) == 0x01)
	    printf(", XMTR ");
	else
	{
	   if ((parameter[i] & 0x10) == 0x00)
	       printf(", NO XMTR");
	}

	if ((parameter[i] & 0x11) == 0x11)
	    printf(" ERT 0");

	if ((parameter[i] & 0x12) == 0x12)
	    printf(" ERT 1");

	if ((parameter[i] & 0x14) == 0x14)
	    printf(" ERT 2");

	if ((parameter[i] & 0x18) == 0x18)
	    printf(" ERT 3");

	if ((parameter[i] & 0x1f) == 0x10)
	    printf(" NO ERTs");
    }
    
    hitkeycontinue();

    return;
}


/*
    bird_crtsync        - Implements the CRT SYNC command

    Prototype in:       birdcmds.h

    Parameters Passed:  void

    Return Value:       TRUE if a command was executed
			FALSE if command could not be executed
			ESC_SEL if the user selected escape

    Remarks:
*/
int bird_crtsync()
{
    short i;
    short rxchar;
    static unsigned char birdcrtsynccmd[] = {'A',0};
    unsigned char parameter[4];
    static char * crtsyncmenu[] = {"Select CRT sync mode:",
				   "CRT Sync Off",
				   "CRT Sync - CRT Vertical Retrace Greater than 72 Hz",
				   "CRT Sync - CRT Vertical Retrace Less than 72 Hz",
				   "Display CRT Pickup Info"};
    /*
	Find out what the user wants to do ...
    */
    switch (sendmenu(crtsyncmenu,4))
    {
	case 0:     /* CRT sync OFF */
	    /*
		Set the Sync Type
	    */
	    birdcrtsynccmd[1] = 0;

	    /*
		Send the Command
	    */
	    if (send_serial_cmd(birdcrtsynccmd,2) != 2)
		return(FALSE);

	    printf("CRT sync OFF command sent to the Bird\n\r");

	    break;

	case 1:     /* CRT sync - > 72 Hz */
	    /*
		Set the Sync Type
	    */
	    birdcrtsynccmd[1] = 1;

	    /*
		Send the Command
	    */
	    if (send_serial_cmd(birdcrtsynccmd,2) != 2)
		return(FALSE);

	    printf("CRT sync '1' command sent to the Bird\n\r");

	    break;

	case 2:     /* CRT sync - < 72 Hz */
	    /*
		Set the Sync Type
	    */
	    birdcrtsynccmd[1] = 2;

	    /*
		Send the Command
	    */
	    if (send_serial_cmd(birdcrtsynccmd,2) != 2)
		return(FALSE);

	    printf("CRT sync '2' command sent to the Bird\n\r");

	    break;