tcpft - Program the control the fischertechnik robo inter…

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Ad van der Weiden / Mbed 2 deprecated tcpft

Program the control the fischertechnik robo interface or intelligent interface via tcp socket or via a java gui.

libft.c@1:2c9d412ad471, 2011-05-04 (annotated)

Committer:: networker
Date:: Wed May 04 15:42:13 2011 +0000
Revision:: 1:2c9d412ad471
Parent:: 0:7f26f0680202

first publication (mbed challenge submission)

Who changed what in which revision?

User	Revision	Line number	New contents of line
networker	0:7f26f0680202	1	//this file was adapted by Ad for use in the mbed environment
networker	0:7f26f0680202	2	//currently all USB functionality has been disabled, this may change in the future
networker	0:7f26f0680202	3	//the comport functionality has been adapted to the mbed serial class
networker	0:7f26f0680202	4	//threads and semphores were replaced by other primitives
networker	0:7f26f0680202	5	//as a consequence also the ftlib.h was adapted
networker	0:7f26f0680202	6
networker	0:7f26f0680202	7	/** @file
networker	0:7f26f0680202	8	*
networker	0:7f26f0680202	9	* Copyright (C) 2007 Erik Andresen erik@vontaene.de
networker	0:7f26f0680202	10	*
networker	0:7f26f0680202	11	* Open Source version of the fischertechnik ROBO Interface Library for Unix like systems
networker	0:7f26f0680202	12	*
networker	0:7f26f0680202	13	* Communication is done through a "transfer area" this is constantly updated.
networker	0:7f26f0680202	14	*
networker	0:7f26f0680202	15	* This library is free software; you can redistribute it and/or
networker	0:7f26f0680202	16	* modify it under the terms of the GNU Lesser General Public
networker	0:7f26f0680202	17	* License as published by the Free Software Foundation; either
networker	0:7f26f0680202	18	* version 2.1 of the License, or (at your option) any later version.
networker	0:7f26f0680202	19	*
networker	0:7f26f0680202	20	* This library is distributed in the hope that it will be useful,
networker	0:7f26f0680202	21	* but WITHOUT ANY WARRANTY; without even the implied warranty of
networker	0:7f26f0680202	22	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
networker	0:7f26f0680202	23	* Lesser General Public License for more details.
networker	0:7f26f0680202	24	*
networker	0:7f26f0680202	25	* You should have received a copy of the GNU Lesser General Public
networker	0:7f26f0680202	26	* License along with this library; if not, write to the Free Software
networker	0:7f26f0680202	27	* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
networker	0:7f26f0680202	28	*
networker	0:7f26f0680202	29	*/
networker	0:7f26f0680202	30
networker	0:7f26f0680202	31	/**
networker	0:7f26f0680202	32	* \example example.c
networker	0:7f26f0680202	33	*
networker	0:7f26f0680202	34	* \mainpage libft Index Page
networker	0:7f26f0680202	35	*
networker	0:7f26f0680202	36	* \section intro_sec Introduction
networker	0:7f26f0680202	37	*
networker	0:7f26f0680202	38	* libft is an Open Source version of the fischertechnik ROBO Interface Library for Unix like systems
networker	0:7f26f0680202	39	*
networker	0:7f26f0680202	40	* The goal is to create a library that is fully compatible with the ftlib by knobloch eletronic.
networker	0:7f26f0680202	41	*
networker	0:7f26f0680202	42	* This library should work on any systems supported by libusb, like Linux, BSD and Mac OS X and is released
networker	0:7f26f0680202	43	* under the GNU Lesser General Public License (LGPL)
networker	0:7f26f0680202	44	*
networker	0:7f26f0680202	45	* Included is the helper program "ftuploader" which allows you to upload programs to the Robo Interface.\n
networker	0:7f26f0680202	46	* Running ftuploader --help should give you an idea how to use it.\n
networker	0:7f26f0680202	47	* Also included is an Interface Diagnose utility. See section Interface Diagnose
networker	0:7f26f0680202	48	*
networker	0:7f26f0680202	49	* \section dl_sec Download
networker	0:7f26f0680202	50	* Current Version: 0.4.3
networker	0:7f26f0680202	51	*
networker	0:7f26f0680202	52	* See http://defiant.homedns.org/~erik/ft/libft/files/ \n
networker	0:7f26f0680202	53	* Download Latest version: http://defiant.homedns.org/~erik/ft/libft/files/libft-current.tar.gz
networker	0:7f26f0680202	54	*
networker	0:7f26f0680202	55	* \section req_sec Requirements
networker	0:7f26f0680202	56	* - libusb - http://libusb.sourceforge.net/
networker	0:7f26f0680202	57	* - cmake at least version 2.4 - http://cmake.org
networker	0:7f26f0680202	58	* - pthreads (Should be included with every modern posix compatible OS)
networker	0:7f26f0680202	59	*
networker	0:7f26f0680202	60	*
networker	0:7f26f0680202	61	* \section apidoc_sec API Documentation
networker	0:7f26f0680202	62	* \see libft.c
networker	0:7f26f0680202	63	*
networker	0:7f26f0680202	64	* \section install_sec Installation
networker	0:7f26f0680202	65	*
networker	0:7f26f0680202	66	* \subsection step1 Step 1: Compiling
networker	0:7f26f0680202	67	*
networker	0:7f26f0680202	68	* Type
networker	0:7f26f0680202	69	* - cmake .
networker	0:7f26f0680202	70	* - make
networker	0:7f26f0680202	71	* \subsection step2 Step 2: Installation
networker	0:7f26f0680202	72	* Type
networker	0:7f26f0680202	73	* - make install
networker	0:7f26f0680202	74	*
networker	0:7f26f0680202	75	* After installing you should run
networker	0:7f26f0680202	76	* - ldconfig
networker	0:7f26f0680202	77	*
networker	0:7f26f0680202	78	* to make the library known to your system. Make sure that /etc/ld.so.conf is configured to include /usr/local/li
networker	0:7f26f0680202	79	*
networker	0:7f26f0680202	80	* To install the diagnose utility type
networker	0:7f26f0680202	81	* - make diag
networker	0:7f26f0680202	82	*
networker	0:7f26f0680202	83	* Debian packages are available. Please read http://vontaene.de/apt/README.txt.\n
networker	0:7f26f0680202	84	* You can install them with apt-get install libft0 libft-doc libft-python libft-diag
networker	0:7f26f0680202	85	*
networker	0:7f26f0680202	86	* \subsection step3 Step 3: udev
networker	0:7f26f0680202	87	* When running udev you might want to copy the file fischertechnik.rules from the udev folder to /etc/udev/rules.d/ to get the correct permissions.\n
networker	0:7f26f0680202	88	* Udev then needs a reload with
networker	0:7f26f0680202	89	* - udevcontrol reload_rules
networker	0:7f26f0680202	90	*
networker	0:7f26f0680202	91	* You will now need to replug your device.
networker	0:7f26f0680202	92	*
networker	0:7f26f0680202	93	* \subsection step4 Step 4: Create Documentation\n
networker	0:7f26f0680202	94	* Type\n
networker	0:7f26f0680202	95	* - make doc\n
networker	0:7f26f0680202	96	* to create the html API documentation.
networker	0:7f26f0680202	97	*
networker	0:7f26f0680202	98	* \subsection step5 Step 5: Python
networker	0:7f26f0680202	99	* A Python interface to this library is available, see the python folder for details.\n
networker	0:7f26f0680202	100	* Type\n
networker	0:7f26f0680202	101	* make python\n
networker	0:7f26f0680202	102	*
networker	0:7f26f0680202	103	* in the python/ -folder to install the python module.
networker	0:7f26f0680202	104	* Use pydoc to read its documentation:
networker	0:7f26f0680202	105	* - pydoc robointerface in the shell
networker	0:7f26f0680202	106	* - help(robointerface) from the python interpreter
networker	0:7f26f0680202	107	*
networker	0:7f26f0680202	108	* \section diag_sec Interface Diagnose
networker	0:7f26f0680202	109	* You can find it in the folder diag/.\n
networker	0:7f26f0680202	110	* It requires the python module (see above) and PyQT4. You can launch it by running "sh ftdiagnose"
networker	0:7f26f0680202	111	* \image html diag1.png
networker	0:7f26f0680202	112	*
networker	0:7f26f0680202	113	* \section author_sec Author
networker	0:7f26f0680202	114	* Erik Andresen - erik@vontaene.de
networker	0:7f26f0680202	115	*
networker	0:7f26f0680202	116	* Please contact me for bugs or any suggestions
networker	0:7f26f0680202	117	*
networker	0:7f26f0680202	118	* Homepage of libft: http://defiant.homedns.org/~erik/ft/libft/
networker	0:7f26f0680202	119	*
networker	0:7f26f0680202	120	*
networker	0:7f26f0680202	121	* \section changes_sec Changes
networker	0:7f26f0680202	122	*
networker	0:7f26f0680202	123	* - 0.4.3: - Bug fix: Extension digital inputs at RoboRF
networker	0:7f26f0680202	124	* - ftdiagnose: Display connection status
networker	0:7f26f0680202	125	* - Added functions: (not in Knobloch lib):
networker	0:7f26f0680202	126	* - IsFtInterfaceConnected()
networker	0:7f26f0680202	127	* - Python added functions:
networker	0:7f26f0680202	128	* - IsConnected()
networker	0:7f26f0680202	129	* - 0.4.2: - Python support to open the interface by serial
networker	0:7f26f0680202	130	* - Some Bug fixes
networker	0:7f26f0680202	131	* - Added functions: (not in Knobloch lib)
networker	0:7f26f0680202	132	* - SetRealSerial()
networker	0:7f26f0680202	133	* - 0.4.1:
networker	0:7f26f0680202	134	* - Added support to change the RF address.
networker	0:7f26f0680202	135	* - Added functions: (not in Knobloch lib)
networker	0:7f26f0680202	136	* - SetRFMode()
networker	0:7f26f0680202	137	* - GetRFMode()
networker	0:7f26f0680202	138	* - Added support for functions:
networker	0:7f26f0680202	139	* - GetFtManufacturerStrg()
networker	0:7f26f0680202	140	* - GetFtShortNameStrg()
networker	0:7f26f0680202	141	* - GetFtLongNameStrg()
networker	0:7f26f0680202	142	* - GetFtLibErrorString()
networker	0:7f26f0680202	143	* - Some minor Bug fixes
networker	0:7f26f0680202	144	* - 0.4:
networker	0:7f26f0680202	145	* - Hopefully support for more then one Robo Interface attached to an RF Link.
networker	0:7f26f0680202	146	* - InitFtUsbDeviceList() will now also count the number of Robo Interfaces attached to an RF Link
networker	0:7f26f0680202	147	* - Added support for the ft distance sensor
networker	0:7f26f0680202	148	* - Added functions:
networker	0:7f26f0680202	149	* - GetFtDeviceTypeString() (not in Knobloch lib)
networker	0:7f26f0680202	150	* - Added support for functions:
networker	0:7f26f0680202	151	* - SetFtDistanceSensorMode()
networker	0:7f26f0680202	152	* - Python added functions:
networker	0:7f26f0680202	153	* - GetNumFtUsbDevices()
networker	0:7f26f0680202	154	* - RoboInterface.GetDeviceTypeString()
networker	0:7f26f0680202	155	* - GetD1()
networker	0:7f26f0680202	156	* - GetD2()
networker	0:7f26f0680202	157	* - Added ft Diagnose utility.
networker	0:7f26f0680202	158	* - 0.3:
networker	0:7f26f0680202	159	* - added (overwrite) --target option to the ftuploader
networker	0:7f26f0680202	160	* - included some documentation
networker	0:7f26f0680202	161	* - minor fixes
networker	0:7f26f0680202	162	* - enhanced python layer
networker	0:7f26f0680202	163	* - support for RF Module
networker	0:7f26f0680202	164	* - 0.2.1:
networker	0:7f26f0680202	165	* - fixed Analog/Voltage Sensor calculations
networker	0:7f26f0680202	166	* - 0.2:
networker	0:7f26f0680202	167	* - added udev file
networker	0:7f26f0680202	168	* - experimental support for uploading to the interface (usb only)
networker	0:7f26f0680202	169	* - included program ftuploader
networker	0:7f26f0680202	170	* - add support for functions:
networker	0:7f26f0680202	171	* - DownloadFtProgram()
networker	0:7f26f0680202	172	* - StartFtProgram()
networker	0:7f26f0680202	173	* - StopFtProgram()
networker	0:7f26f0680202	174	* - DeleteFtProgram()
networker	0:7f26f0680202	175	* - SetFtProgramActiv()
networker	0:7f26f0680202	176	* - GetFtProgramName()
networker	0:7f26f0680202	177	* - GetFtStatus()
networker	0:7f26f0680202	178	* - GetFtFirmware()
networker	0:7f26f0680202	179	* - GetFtFirmwareStrg()
networker	0:7f26f0680202	180	* - GetFtSerialNr()
networker	0:7f26f0680202	181	* - GetFtSerialNrStrg()
networker	0:7f26f0680202	182	*
networker	0:7f26f0680202	183	*
networker	0:7f26f0680202	184	* \section porting_sec Porting your program from the Knobloch Windows Library
networker	0:7f26f0680202	185	* When porting your program from the Knobloch Library for Microsoft Windows operation systems please note the following:
networker	0:7f26f0680202	186	* - The name of this library is libft, not ftlib (the Knobloch original) to follow the UNIX naming scheme
networker	0:7f26f0680202	187	* - Types like DWORD are replaced with their logical ANSI-C counterparts, like
networker	0:7f26f0680202	188	* -# DWORD - long int
networker	0:7f26f0680202	189	* -# LPCSTR - char *
networker	0:7f26f0680202	190	* -# LPVOID - void *
networker	0:7f26f0680202	191	* -# BYTE - unsigned char
networker	0:7f26f0680202	192	* -# USHORT - unsigned short int
networker	0:7f26f0680202	193	* -# UINT - unsigned int
networker	0:7f26f0680202	194	* -# UCHAR - unsigned char
networker	0:7f26f0680202	195	* - The Windows Notifications stuff will probably never be supported.
networker	0:7f26f0680202	196	* - Some return codes might be different, so if something is going wrong, check this manual.
networker	0:7f26f0680202	197	*
networker	0:7f26f0680202	198	*/
networker	0:7f26f0680202	199	#define MBED
networker	0:7f26f0680202	200	#define NOTNOW
networker	0:7f26f0680202	201	#define SPLITTRANSFER
networker	0:7f26f0680202	202
networker	0:7f26f0680202	203	#ifdef MBED
networker	0:7f26f0680202	204	#include "mbed.h"
networker	0:7f26f0680202	205	#define usleep(x) wait_us(x)
networker	0:7f26f0680202	206	#define sleep(x) wait(x)
networker	0:7f26f0680202	207	#define LIBFT_VERSION_MAJOR 1
networker	0:7f26f0680202	208	#define LIBFT_VERSION_MINOR 0
networker	0:7f26f0680202	209	#define LIBFT_VERSION_PATCH 0
networker	1:2c9d412ad471	210	Serial viaUsb(USBTX, USBRX);
networker	0:7f26f0680202	211	#else
networker	0:7f26f0680202	212	#include <stdio.h>
networker	0:7f26f0680202	213	#include <string.h>
networker	0:7f26f0680202	214	#include <pthread.h>
networker	0:7f26f0680202	215	#include <semaphore.h>
networker	0:7f26f0680202	216	#include <termios.h>
networker	0:7f26f0680202	217	#include <fcntl.h>
networker	0:7f26f0680202	218	#endif
networker	0:7f26f0680202	219	#ifdef USE_USB
networker	0:7f26f0680202	220	#include <usb.h>
networker	0:7f26f0680202	221	#else
networker	0:7f26f0680202	222	//some dummy USB stuff
networker	0:7f26f0680202	223	#endif
networker	0:7f26f0680202	224	#ifdef USE_DOWNLOAD
networker	0:7f26f0680202	225	#include "crc.h"
networker	0:7f26f0680202	226	#endif
networker	0:7f26f0680202	227	#include "ftlib.h"
networker	0:7f26f0680202	228
networker	0:7f26f0680202	229	/** \cond doxygen ignore start */
networker	0:7f26f0680202	230	#define VERSION_MAJOR LIBFT_VERSION_MAJOR
networker	0:7f26f0680202	231	#define VERSION_MINOR LIBFT_VERSION_MINOR
networker	0:7f26f0680202	232	#define VERSION_PATCH LIBFT_VERSION_PATCH
networker	0:7f26f0680202	233	#define FT_VENDOR_ID 0x146a
networker	0:7f26f0680202	234	#define ROBO_IF_PRODUCT_ID 0x1
networker	0:7f26f0680202	235	#define EXT_IF_PRODUCT_ID 0x2
networker	0:7f26f0680202	236	#define RF_DATA_LINK_PRODUCT_ID 0x3
networker	0:7f26f0680202	237	#define ABF_IF_COMPLETE 0x8b // 0xf2
networker	0:7f26f0680202	238	#define INTERFACE_QUERY_TIME 10000 // �s == 5ms
networker	0:7f26f0680202	239	#define INTERFACE_QUERY_TIME_SERIAL 10000
networker	0:7f26f0680202	240	#define FT_ENDPOINT_INTERRUPT_IN 0x81
networker	0:7f26f0680202	241	#define FT_ENDPOINT_INTERRUPT_OUT 0x1
networker	0:7f26f0680202	242	#define FT_ENDPOINT_BULK_IN 0x82
networker	0:7f26f0680202	243	#define FT_ENDPOINT_BULK_OUT 0x2
networker	0:7f26f0680202	244	#define FT_RF_ENDPOINT_INTERRUPT_IN 0x82
networker	0:7f26f0680202	245	#define FT_RF_ENDPOINT_INTERRUPT_OUT 0x2
networker	0:7f26f0680202	246	#define FT_USB_TIMEOUT 1000
networker	0:7f26f0680202	247	#define FT_USB_TIMEOUT_LONG 10000
networker	0:7f26f0680202	248
networker	0:7f26f0680202	249	#ifdef MBED
networker	0:7f26f0680202	250	#define BAUDRATE_II 9600
networker	0:7f26f0680202	251	#define BAUDRATE_RI 38400
networker	0:7f26f0680202	252	#else
networker	0:7f26f0680202	253	#define BAUDRATE_II B9600
networker	0:7f26f0680202	254	#define BAUDRATE_RI B38400
networker	0:7f26f0680202	255	#endif
networker	0:7f26f0680202	256	#define PROGRAM_UPLOAD_PACKET_SIZE 128
networker	0:7f26f0680202	257
networker	0:7f26f0680202	258	#ifndef MIN
networker	0:7f26f0680202	259	#define MIN(a, b) ( (a)<=(b) ? (a) : (b) )
networker	0:7f26f0680202	260	#endif
networker	0:7f26f0680202	261	/** \endcond doxygen ignore end */
networker	0:7f26f0680202	262
networker	0:7f26f0680202	263
networker	0:7f26f0680202	264	/**
networker	0:7f26f0680202	265	* \brief Returns lib version
networker	0:7f26f0680202	266	*
networker	0:7f26f0680202	267	* Returns the library version.
networker	0:7f26f0680202	268	*
networker	0:7f26f0680202	269	* @return version as Major Minor Patch
networker	0:7f26f0680202	270	*/
networker	0:7f26f0680202	271	long int GetLibVersion() {
networker	0:7f26f0680202	272	return VERSION_MAJOR<<16 \| VERSION_MINOR<<8 \| VERSION_PATCH;
networker	0:7f26f0680202	273	}
networker	0:7f26f0680202	274
networker	0:7f26f0680202	275
networker	0:7f26f0680202	276	/**
networker	0:7f26f0680202	277	* \brief Returns lib version
networker	0:7f26f0680202	278	*
networker	0:7f26f0680202	279	* Returns the library version.
networker	0:7f26f0680202	280	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	281	*
networker	0:7f26f0680202	282	* @return Pointer to a string with the serial
networker	0:7f26f0680202	283	*/
networker	0:7f26f0680202	284	char *GetLibVersionStrg() {
networker	0:7f26f0680202	285	long int ver = GetLibVersion();
networker	0:7f26f0680202	286	char s = (char )malloc(16);
networker	0:7f26f0680202	287	int byte1 = ver & 0xff;
networker	0:7f26f0680202	288	int byte2 = (ver & 0xff00) >> 8;
networker	0:7f26f0680202	289	int byte3 = (ver & 0xff0000) >> 16;
networker	0:7f26f0680202	290
networker	0:7f26f0680202	291	snprintf(s, 16, "%d.%02d.%02d", byte3, byte2, byte1);
networker	0:7f26f0680202	292
networker	0:7f26f0680202	293	return s;
networker	0:7f26f0680202	294	}
networker	0:7f26f0680202	295
networker	0:7f26f0680202	296
networker	0:7f26f0680202	297	/**
networker	0:7f26f0680202	298	* \brief Library initialization (dummy)
networker	0:7f26f0680202	299	*
networker	0:7f26f0680202	300	* Dummy for compatibility. Only used in original library.
networker	0:7f26f0680202	301	* @return Always FTLIB_ERR_SUCCESS
networker	0:7f26f0680202	302	*/
networker	0:7f26f0680202	303	long int InitFtLib() {
networker	0:7f26f0680202	304	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	305	}
networker	0:7f26f0680202	306
networker	0:7f26f0680202	307
networker	0:7f26f0680202	308	/**
networker	0:7f26f0680202	309	* \brief Initiates and scans the USB bus
networker	0:7f26f0680202	310	*
networker	0:7f26f0680202	311	* This function has to be called before any other USB action.
networker	0:7f26f0680202	312	* It will set up USB basic variables and then scan the USB bus.
networker	0:7f26f0680202	313	*
networker	0:7f26f0680202	314	* @return Always FTLIB_ERR_SUCCESS. Not able to fail.
networker	0:7f26f0680202	315	*/
networker	0:7f26f0680202	316	long int InitFtUsbDeviceList() {
networker	0:7f26f0680202	317	#ifdef USE_USB
networker	0:7f26f0680202	318	usb_init();
networker	0:7f26f0680202	319	usb_find_busses();
networker	0:7f26f0680202	320	usb_find_devices();
networker	0:7f26f0680202	321	#endif
networker	0:7f26f0680202	322	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	323	}
networker	0:7f26f0680202	324
networker	0:7f26f0680202	325
networker	0:7f26f0680202	326	/** \cond doxygen ignore start */
networker	0:7f26f0680202	327	static unsigned int GetNumFtDevicesFromRF(struct usb_device *dev) {
networker	0:7f26f0680202	328	unsigned int iNum = 0;
networker	0:7f26f0680202	329	#ifdef USE_USB
networker	0:7f26f0680202	330	usb_dev_handle *device;
networker	0:7f26f0680202	331	int ret;
networker	0:7f26f0680202	332	unsigned char buffer[35] = { 0 };
networker	0:7f26f0680202	333	int i;
networker	0:7f26f0680202	334
networker	0:7f26f0680202	335	device = usb_open(dev);
networker	0:7f26f0680202	336
networker	0:7f26f0680202	337	for (i=1; i<9; i++) {
networker	0:7f26f0680202	338	ret = usb_control_msg(device, 0xc0, 0x52, i<<8 \| 0x05, 0, buffer, 35, FT_USB_TIMEOUT);
networker	0:7f26f0680202	339	if (ret < 0) fprintf(stderr, "Error sending control msg 0xC0 0x52\n");
networker	0:7f26f0680202	340	else if (buffer[0] == 0xfa && buffer[1] == 0) iNum++; // buffer[1] == 0xff => no device
networker	0:7f26f0680202	341	}
networker	0:7f26f0680202	342
networker	0:7f26f0680202	343	usb_close(device);
networker	0:7f26f0680202	344	#endif
networker	0:7f26f0680202	345	return iNum;
networker	0:7f26f0680202	346	}
networker	0:7f26f0680202	347
networker	0:7f26f0680202	348
networker	0:7f26f0680202	349	static unsigned int GetNthFtDeviceFromRF(struct usb_device *dev, int iNum) {
networker	0:7f26f0680202	350	int ret=0;
networker	0:7f26f0680202	351	#ifdef USE_USB
networker	0:7f26f0680202	352	usb_dev_handle *device;
networker	0:7f26f0680202	353	unsigned char buffer[35] = { 0 };
networker	0:7f26f0680202	354	int i;
networker	0:7f26f0680202	355
networker	0:7f26f0680202	356	device = usb_open(dev);
networker	0:7f26f0680202	357
networker	0:7f26f0680202	358	for (i=1; i<9, iNum>0; i++) {
networker	0:7f26f0680202	359	ret = usb_control_msg(device, 0xc0, 0x52, i<<8 \| 0x05, 0, buffer, 35, FT_USB_TIMEOUT);
networker	0:7f26f0680202	360	if (ret < 0) fprintf(stderr, "Error sending control msg 0xC0 0x52\n");
networker	0:7f26f0680202	361	else if (buffer[0] == 0xfa && buffer[1] == 0) iNum--; // buffer[1] == 0xff => no device
networker	0:7f26f0680202	362
networker	0:7f26f0680202	363	ret = i;
networker	0:7f26f0680202	364	}
networker	0:7f26f0680202	365
networker	0:7f26f0680202	366	usb_close(device);
networker	0:7f26f0680202	367	#endif
networker	0:7f26f0680202	368	return ret;
networker	0:7f26f0680202	369	}
networker	0:7f26f0680202	370
networker	0:7f26f0680202	371
networker	0:7f26f0680202	372	static int GetFtDeviceFromRFWithSerial(struct usb_device *dev, long int dwSN) {
networker	0:7f26f0680202	373	#ifdef USE_USB
networker	0:7f26f0680202	374	usb_dev_handle *device;
networker	0:7f26f0680202	375	int ret;
networker	0:7f26f0680202	376	unsigned char buffer[35] = { 0 };
networker	0:7f26f0680202	377	int i;
networker	0:7f26f0680202	378	long int serial;
networker	0:7f26f0680202	379
networker	0:7f26f0680202	380	device = usb_open(dev);
networker	0:7f26f0680202	381
networker	0:7f26f0680202	382	for (i=1; i<9; i++) {
networker	0:7f26f0680202	383	ret = usb_control_msg(device, 0xc0, 0x52, i<<8 \| 0x05, 0, buffer, 35, FT_USB_TIMEOUT);
networker	0:7f26f0680202	384	if (ret < 0) fprintf(stderr, "Error sending control msg 0xC0 0x52\n");
networker	0:7f26f0680202	385	else if (buffer[0] == 0xfa && buffer[1] == 0) { // buffer[1] == 0xff => no device
networker	0:7f26f0680202	386	serial = buffer[6]<<24 \| buffer[5]<<16 \| buffer[4]<<8 \| buffer[3];
networker	0:7f26f0680202	387
networker	0:7f26f0680202	388	if (serial == dwSN) {
networker	0:7f26f0680202	389	return i;
networker	0:7f26f0680202	390	}
networker	0:7f26f0680202	391	}
networker	0:7f26f0680202	392	}
networker	0:7f26f0680202	393
networker	0:7f26f0680202	394	usb_close(device);
networker	0:7f26f0680202	395	#endif
networker	0:7f26f0680202	396	return 0;
networker	0:7f26f0680202	397	}
networker	0:7f26f0680202	398	/** \endcond doxygen ignore end */
networker	0:7f26f0680202	399
networker	0:7f26f0680202	400
networker	0:7f26f0680202	401	/**
networker	0:7f26f0680202	402	* \brief Get the count of found ft Interfaces over USB.
networker	0:7f26f0680202	403	*
networker	0:7f26f0680202	404	* If we find a Robo RF Data Link we will count the devices attached to it instead
networker	0:7f26f0680202	405	*
networker	0:7f26f0680202	406	* @return Number of ft Interface devices on the USB bus found.
networker	0:7f26f0680202	407	*/
networker	0:7f26f0680202	408	unsigned int GetNumFtUsbDevice() {
networker	0:7f26f0680202	409	unsigned int iNum = 0;
networker	0:7f26f0680202	410	#ifdef USE_USB
networker	0:7f26f0680202	411	struct usb_device *dev;
networker	0:7f26f0680202	412	struct usb_bus *busses;
networker	0:7f26f0680202	413	struct usb_bus *bus;
networker	0:7f26f0680202	414	busses = usb_get_busses();
networker	0:7f26f0680202	415
networker	0:7f26f0680202	416	for (bus = busses; bus; bus = bus->next) {
networker	0:7f26f0680202	417	for (dev = bus->devices; dev; dev = dev->next) {
networker	0:7f26f0680202	418	if (dev->descriptor.idVendor == FT_VENDOR_ID) {
networker	0:7f26f0680202	419	if (dev->descriptor.idProduct == RF_DATA_LINK_PRODUCT_ID) {
networker	0:7f26f0680202	420	iNum+=GetNumFtDevicesFromRF(dev);
networker	0:7f26f0680202	421	}
networker	0:7f26f0680202	422	iNum++;
networker	0:7f26f0680202	423	}
networker	0:7f26f0680202	424	}
networker	0:7f26f0680202	425	}
networker	0:7f26f0680202	426	#endif
networker	0:7f26f0680202	427	return iNum;
networker	0:7f26f0680202	428	}
networker	0:7f26f0680202	429
networker	0:7f26f0680202	430
networker	0:7f26f0680202	431	/** \cond doxygen ignore start */
networker	0:7f26f0680202	432	static int FtproductIDToInterfaceID(int iProductID) {
networker	0:7f26f0680202	433	switch (iProductID) {
networker	0:7f26f0680202	434	case ROBO_IF_PRODUCT_ID:
networker	0:7f26f0680202	435	return FT_ROBO_IF_USB;
networker	0:7f26f0680202	436	case EXT_IF_PRODUCT_ID:
networker	0:7f26f0680202	437	return FT_ROBO_IO_EXTENSION;
networker	0:7f26f0680202	438	case RF_DATA_LINK_PRODUCT_ID:
networker	0:7f26f0680202	439	return FT_ROBO_RF_DATA_LINK;
networker	0:7f26f0680202	440	}
networker	0:7f26f0680202	441
networker	0:7f26f0680202	442	return 0;
networker	0:7f26f0680202	443	}
networker	0:7f26f0680202	444
networker	0:7f26f0680202	445
networker	0:7f26f0680202	446	static int FtInterfaceIDToProductID(int InterfaceID) {
networker	0:7f26f0680202	447	switch (InterfaceID) {
networker	0:7f26f0680202	448	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	449	return ROBO_IF_PRODUCT_ID;
networker	0:7f26f0680202	450	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	451	return EXT_IF_PRODUCT_ID;
networker	0:7f26f0680202	452	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	453	return RF_DATA_LINK_PRODUCT_ID;
networker	0:7f26f0680202	454	}
networker	0:7f26f0680202	455
networker	0:7f26f0680202	456	return 0;
networker	0:7f26f0680202	457	}
networker	0:7f26f0680202	458	/** \endcond doxygen ignore end */
networker	0:7f26f0680202	459
networker	0:7f26f0680202	460
networker	0:7f26f0680202	461	/**
networker	0:7f26f0680202	462	* \brief Gets the handle to a ft USB device.
networker	0:7f26f0680202	463	*
networker	0:7f26f0680202	464	* Get the handle for the ft USB device with this number.
networker	0:7f26f0680202	465	* Passing just 0 as argument will use the first device found.
networker	0:7f26f0680202	466	*
networker	0:7f26f0680202	467	* Count the interfaces with GetNumFtUsbDevice()
networker	0:7f26f0680202	468	*
networker	0:7f26f0680202	469	* @see GetNumFtUsbDevice()
networker	0:7f26f0680202	470	* @param Num selected Interface. If unsure try 0.
networker	0:7f26f0680202	471	* @return The ft device or NULL if error
networker	0:7f26f0680202	472	*/
networker	0:7f26f0680202	473	FT_HANDLE GetFtUsbDeviceHandle(unsigned char Num) {
networker	0:7f26f0680202	474	#ifdef USE_USB
networker	0:7f26f0680202	475	struct usb_device *dev;
networker	0:7f26f0680202	476	struct usb_bus *busses;
networker	0:7f26f0680202	477	struct usb_bus *bus;
networker	0:7f26f0680202	478	int i=0;
networker	0:7f26f0680202	479	FT_HANDLE ret;
networker	0:7f26f0680202	480	int count_ri_at_rf;
networker	0:7f26f0680202	481	busses = usb_get_busses();
networker	0:7f26f0680202	482
networker	0:7f26f0680202	483	for (bus = busses; bus; bus = bus->next) {
networker	0:7f26f0680202	484	for (dev = bus->devices; dev; dev = dev->next) {
networker	0:7f26f0680202	485	if (dev->descriptor.idVendor == FT_VENDOR_ID) {
networker	0:7f26f0680202	486	if (dev->descriptor.idProduct == RF_DATA_LINK_PRODUCT_ID) {
networker	0:7f26f0680202	487	count_ri_at_rf = GetNumFtDevicesFromRF(dev);
networker	0:7f26f0680202	488	i+=count_ri_at_rf;
networker	0:7f26f0680202	489	}
networker	0:7f26f0680202	490	if (i >= Num) { // '>=' because any RF will add more then 1 to the count
networker	0:7f26f0680202	491	ret = (FT_HANDLE) malloc (sizeof(struct ft_handle_devices));
networker	0:7f26f0680202	492	if (ret == NULL) {
networker	0:7f26f0680202	493	perror("GetFtUsbDeviceHandle malloc");
networker	0:7f26f0680202	494	return NULL;
networker	0:7f26f0680202	495	}
networker	0:7f26f0680202	496	ret->device = NULL;
networker	0:7f26f0680202	497	ret->dev = dev;
networker	0:7f26f0680202	498	ret->sdev = 0;
networker	0:7f26f0680202	499	ret->type = FtproductIDToInterfaceID(dev->descriptor.idProduct);
networker	0:7f26f0680202	500	sem_init(&ret->lock, 0, 1);
networker	0:7f26f0680202	501	memset(&ret->transfer_area, 0, sizeof(struct _FT_TRANSFER_AREA));
networker	0:7f26f0680202	502	ret->transfer_area.TransferAktiv = 0;
networker	0:7f26f0680202	503	ret->query_time = INTERFACE_QUERY_TIME;
networker	0:7f26f0680202	504	ret->transfer_area.RfModulNr = -1;
networker	0:7f26f0680202	505	ret->interface_connected = 0;
networker	0:7f26f0680202	506
networker	0:7f26f0680202	507	if (dev->descriptor.idProduct == RF_DATA_LINK_PRODUCT_ID) {
networker	0:7f26f0680202	508	ret->transfer_area.RfModulNr = GetNthFtDeviceFromRF(dev, Num);
networker	0:7f26f0680202	509	if (ret->transfer_area.RfModulNr == 0) // user has chosen the RF Modul, so choose the first Interface at RF for the user
networker	0:7f26f0680202	510	ret->transfer_area.RfModulNr = GetNthFtDeviceFromRF(dev, 1);
networker	0:7f26f0680202	511	else
networker	0:7f26f0680202	512	ret->type = FT_ROBO_IF_OVER_RF;
networker	0:7f26f0680202	513	}
networker	0:7f26f0680202	514
networker	0:7f26f0680202	515	return ret;
networker	0:7f26f0680202	516	}
networker	0:7f26f0680202	517	i++;
networker	0:7f26f0680202	518	}
networker	0:7f26f0680202	519	}
networker	0:7f26f0680202	520	}
networker	0:7f26f0680202	521	#endif
networker	0:7f26f0680202	522	return NULL;
networker	0:7f26f0680202	523	}
networker	0:7f26f0680202	524
networker	0:7f26f0680202	525
networker	0:7f26f0680202	526	/**
networker	0:7f26f0680202	527	* \brief Gets the handle to a ft USB device with a specific serial number.
networker	0:7f26f0680202	528	*
networker	0:7f26f0680202	529	* Get the handle for the ft USB device with this number.
networker	0:7f26f0680202	530	* Serial is 1 for most devices, unless explicitly changed in the device.
networker	0:7f26f0680202	531	* Second argument can be FT_AUTO_TYPE.
networker	0:7f26f0680202	532	*
networker	0:7f26f0680202	533	* @param dwSN Serial of the USB Device
networker	0:7f26f0680202	534	* @param dwTyp Type of the USB Device: FT_AUTO_TYPE, FT_ROBO_IF_USB, FT_ROBO_IO_EXTENSION, FT_ROBO_IF_OVER_RF or FT_ROBO_RF_DATA_LINK
networker	0:7f26f0680202	535	* @return The ft device or NULL on error
networker	0:7f26f0680202	536	*/
networker	0:7f26f0680202	537	FT_HANDLE GetFtUsbDeviceHandleSerialNr(long int dwSN, long int dwTyp) {
networker	0:7f26f0680202	538	#ifdef USE_USB
networker	0:7f26f0680202	539	int i;
networker	0:7f26f0680202	540	FT_HANDLE ret;
networker	0:7f26f0680202	541	for (i=0; i < GetNumFtUsbDevice(); i++) {
networker	0:7f26f0680202	542	ret = GetFtUsbDeviceHandle(i);
networker	0:7f26f0680202	543	OpenFtUsbDevice(ret);
networker	0:7f26f0680202	544
networker	0:7f26f0680202	545	if ((dwTyp == FT_AUTO_TYPE \|\| ret->type == dwTyp) && GetFtSerialNr(ret) == dwSN) {
networker	0:7f26f0680202	546	CloseFtDevice(ret);
networker	0:7f26f0680202	547	return ret;
networker	0:7f26f0680202	548	}
networker	0:7f26f0680202	549
networker	0:7f26f0680202	550	CloseFtDevice(ret);
networker	0:7f26f0680202	551	}
networker	0:7f26f0680202	552	#endif
networker	0:7f26f0680202	553	return NULL;
networker	0:7f26f0680202	554	}
networker	0:7f26f0680202	555
networker	0:7f26f0680202	556
networker	0:7f26f0680202	557	//blocking
networker	0:7f26f0680202	558	int read(Serial d, unsigned char ptr, int n) {
networker	0:7f26f0680202	559	for (int i = 0; i< n; i++) {
networker	0:7f26f0680202	560	ptr[i] = d->getc();
networker	0:7f26f0680202	561	}
networker	0:7f26f0680202	562	return n;
networker	0:7f26f0680202	563	}
networker	0:7f26f0680202	564	int read(Serial stream, unsigned char buf, int n, int timeout_ms) {
networker	0:7f26f0680202	565	Timer t;
networker	0:7f26f0680202	566	t.start();
networker	0:7f26f0680202	567	int i = 0;
networker	0:7f26f0680202	568	while (t.read_ms() < timeout_ms && i < n) {
networker	0:7f26f0680202	569	if (stream->readable())
networker	0:7f26f0680202	570	buf[i++] = stream->getc();
networker	0:7f26f0680202	571	}
networker	0:7f26f0680202	572	return i;
networker	0:7f26f0680202	573	}
networker	0:7f26f0680202	574
networker	0:7f26f0680202	575	//blocking
networker	0:7f26f0680202	576	int write(Serial d, unsigned char ptr, int n) {
networker	0:7f26f0680202	577	for (int i = 0; i< n; i++) {
networker	0:7f26f0680202	578	d->putc(ptr[i]);
networker	0:7f26f0680202	579	}
networker	0:7f26f0680202	580	return n;
networker	0:7f26f0680202	581	}
networker	0:7f26f0680202	582	int write(Serial d, unsigned char ptr, int n, int timeout_ms) {
networker	0:7f26f0680202	583	Timer t;
networker	0:7f26f0680202	584	t.start();
networker	0:7f26f0680202	585	int i = 0;
networker	0:7f26f0680202	586	while (t.read_ms() < timeout_ms && i < n) {
networker	0:7f26f0680202	587	if (d->writeable())
networker	0:7f26f0680202	588	d->putc(ptr[i++]);
networker	0:7f26f0680202	589	}
networker	0:7f26f0680202	590	return i;
networker	0:7f26f0680202	591	}
networker	0:7f26f0680202	592
networker	0:7f26f0680202	593	//non-blocking
networker	0:7f26f0680202	594	int ft_handle_devices::write() {
networker	0:7f26f0680202	595	windex = 0;
networker	0:7f26f0680202	596	//sdev->attach(this, &ft_handle_devices::writeByte, Serial::TxIrq);//could be moved to FtThreadInit
networker	0:7f26f0680202	597	//sdev->attach(this, &ft_handle_devices::readByte, Serial::RxIrq);
networker	0:7f26f0680202	598	writeByte(); //write the first byte, callback will take care of the rest
networker	0:7f26f0680202	599	return num_write;
networker	0:7f26f0680202	600	}
networker	0:7f26f0680202	601	void ft_handle_devices::writeByte() {
networker	0:7f26f0680202	602	if (windex < num_write) {
networker	0:7f26f0680202	603	sdev->putc(out[windex++]);
networker	0:7f26f0680202	604	if (windex == num_write)
networker	0:7f26f0680202	605	rindex = 0;
networker	0:7f26f0680202	606	}
networker	0:7f26f0680202	607	}
networker	0:7f26f0680202	608	void ft_handle_devices::readByte() {
networker	0:7f26f0680202	609	if (rindex < num_read) {
networker	0:7f26f0680202	610	in[rindex++] = sdev->getc();
networker	0:7f26f0680202	611	if (rindex == num_read) {
networker	0:7f26f0680202	612	//sdev->attach(0,Serial::RxIrq);//could be moved to FtThreadFinish
networker	0:7f26f0680202	613	//sdev->attach(0,Serial::TxIrq);
networker	0:7f26f0680202	614	FtThreadEnd();
networker	0:7f26f0680202	615	}
networker	0:7f26f0680202	616	}
networker	0:7f26f0680202	617	}
networker	0:7f26f0680202	618	/**
networker	0:7f26f0680202	619	* \brief Gets the handle to a ft serial device.
networker	0:7f26f0680202	620	*
networker	0:7f26f0680202	621	* Get the handle for the ft Serial device at the selected serial port.
networker	0:7f26f0680202	622	*
networker	0:7f26f0680202	623	* @param sDevice filename of your serial device, like /dev/ttyS0.
networker	0:7f26f0680202	624	* @param dwTyp Interface type. FT_INTELLIGENT_IF, FT_INTELLIGENT_IF_SLAVE or FT_ROBO_IF_COM.
networker	0:7f26f0680202	625	* @param dwZyklus Cycle to retrieve analog values (only II). Try 10.
networker	0:7f26f0680202	626	* @return The ft device or NULL if error.
networker	0:7f26f0680202	627	*/
networker	0:7f26f0680202	628	FT_HANDLE OpenFtCommDevice(char *sDevice, long int dwTyp, long int dwZyklus) {//makes a (blocking) comm request to the interface
networker	0:7f26f0680202	629	FT_HANDLE ret;
networker	0:7f26f0680202	630	unsigned char in[5];
networker	0:7f26f0680202	631	unsigned char on[] = " ft-Robo-ON-V1";
networker	0:7f26f0680202	632	on[0] = 0xA1;
networker	0:7f26f0680202	633	#ifdef MBED
networker	0:7f26f0680202	634	Serial *dev;
networker	0:7f26f0680202	635	switch (sDevice[3]) {
networker	0:7f26f0680202	636	case '1':
networker	0:7f26f0680202	637	dev = new Serial(p9, p10);
networker	0:7f26f0680202	638	break;
networker	0:7f26f0680202	639	case '2':
networker	0:7f26f0680202	640	dev = new Serial(p13, p14);
networker	0:7f26f0680202	641	break;
networker	0:7f26f0680202	642	case '3':
networker	0:7f26f0680202	643	dev = new Serial(p28, p27);
networker	0:7f26f0680202	644	break;
networker	0:7f26f0680202	645	// default: dev = new Serial(p9, p10); break;
networker	0:7f26f0680202	646	default:
networker	0:7f26f0680202	647	dev = &viaUsb;
networker	0:7f26f0680202	648	break;
networker	0:7f26f0680202	649	}
networker	0:7f26f0680202	650	ret = new ft_handle_devices;
networker	0:7f26f0680202	651	#else
networker	0:7f26f0680202	652	long int dev;
networker	0:7f26f0680202	653	if ((dev = open(sDevice, O_RDWR \| O_NOCTTY)) < 0) {
networker	0:7f26f0680202	654	perror("OpenFtCommDevice open");
networker	0:7f26f0680202	655	return NULL;
networker	0:7f26f0680202	656	}
networker	0:7f26f0680202	657
networker	0:7f26f0680202	658	if ((ret = (FT_HANDLE) malloc (sizeof(struct ft_handle_devices))) == NULL) {
networker	0:7f26f0680202	659	perror("GetFtUsbDeviceHandle malloc");
networker	0:7f26f0680202	660	return NULL;
networker	0:7f26f0680202	661	}
networker	0:7f26f0680202	662	ret->device = NULL;
networker	0:7f26f0680202	663	ret->dev = NULL;
networker	0:7f26f0680202	664	#endif
networker	0:7f26f0680202	665	ret->type = dwTyp;
networker	0:7f26f0680202	666	memset(&ret->transfer_area, 0, sizeof(struct _FT_TRANSFER_AREA));
networker	0:7f26f0680202	667	ret->transfer_area.TransferAktiv = 0;
networker	0:7f26f0680202	668	ret->analogcycle = dwZyklus/2.0+0.5;
networker	0:7f26f0680202	669	ret->query_time = INTERFACE_QUERY_TIME_SERIAL;
networker	0:7f26f0680202	670	ret->transfer_area.RfModulNr = -1;
networker	0:7f26f0680202	671	ret->interface_connected = 0;
networker	0:7f26f0680202	672	#ifdef MBED
networker	0:7f26f0680202	673	ret->lock = 1; //init the semaphore
networker	0:7f26f0680202	674	if (dev != &viaUsb) {
networker	0:7f26f0680202	675	if (dwTyp == FT_INTELLIGENT_IF \|\| dwTyp == FT_INTELLIGENT_IF_SLAVE \|\| dwTyp == FT_ROBO_IF_IIM)
networker	0:7f26f0680202	676	dev->baud(BAUDRATE_II);
networker	0:7f26f0680202	677	else // dwTyp == FT_ROBO_IF_COM
networker	0:7f26f0680202	678	dev->baud(BAUDRATE_RI);
networker	0:7f26f0680202	679	}
networker	0:7f26f0680202	680	ret->sdev = dev;
networker	0:7f26f0680202	681	if (dwTyp == FT_INTELLIGENT_IF) ret->transfer_area.BusModules = 1;
networker	0:7f26f0680202	682	else if (dwTyp == FT_INTELLIGENT_IF_SLAVE) ret->transfer_area.BusModules = 2;
networker	0:7f26f0680202	683	printf("about to send '%s'\n", on);
networker	0:7f26f0680202	684	if (dwTyp == FT_ROBO_IF_COM) {
networker	0:7f26f0680202	685	int sent = write(dev, on, strlen((const char)on), 100/ms*/);
networker	0:7f26f0680202	686	// int sent = dev->printf("%s", on);
networker	0:7f26f0680202	687	printf("sent %d bytes to COM\n", sent);
networker	0:7f26f0680202	688	if (sent == strlen((const char*)on)) {
networker	0:7f26f0680202	689	if (read(dev, in, 5, 1000/ms/) == 5) { // if (dev->scanf("%5c", in) == 1) { does not work, could have to do with NUL chars or needs a lookahead char
networker	0:7f26f0680202	690	printf("%02X: interface version: %d.%d.%d.%d\n", in[0], in[4], in[3], in[2], in[1]);
networker	0:7f26f0680202	691	if ((in[0] ^ on[0]) == 0x0FFU) {
networker	0:7f26f0680202	692	printf("opening of %s OK\n", sDevice);
networker	0:7f26f0680202	693	} else {
networker	0:7f26f0680202	694	printf("return code is %02X but should be %02X\n", in[0], ~on[0]&0xFF);
networker	0:7f26f0680202	695	delete ret;
networker	0:7f26f0680202	696	return NULL;
networker	0:7f26f0680202	697	}
networker	0:7f26f0680202	698	} else {
networker	0:7f26f0680202	699	printf("read did not return 5\n");
networker	0:7f26f0680202	700	delete ret;
networker	0:7f26f0680202	701	return NULL;
networker	0:7f26f0680202	702	}
networker	0:7f26f0680202	703	} else {
networker	0:7f26f0680202	704	printf("only %d chars were sent i.o %d\n", sent, strlen((const char*)on));
networker	0:7f26f0680202	705	delete ret;
networker	0:7f26f0680202	706	return NULL;
networker	0:7f26f0680202	707	}
networker	0:7f26f0680202	708	}
networker	0:7f26f0680202	709	//printf("OpenFtCommDevice: Error communicating with serial\n");
networker	0:7f26f0680202	710	//delete ret;
networker	0:7f26f0680202	711	//return NULL;
networker	0:7f26f0680202	712	//}
networker	0:7f26f0680202	713	#else
networker	0:7f26f0680202	714	sem_init(&ret->lock, 0, 1);
networker	0:7f26f0680202	715	tcgetattr(dev, &ret->saveioset); /* save current modem settings */
networker	0:7f26f0680202	716	bzero(&ret->newioset, sizeof(struct termios));
networker	0:7f26f0680202	717	ret->newioset.c_cflag = CS8 \| CLOCAL \| CREAD;
networker	0:7f26f0680202	718	if (dwTyp == FT_INTELLIGENT_IF \|\| dwTyp == FT_INTELLIGENT_IF_SLAVE \|\| dwTyp == FT_ROBO_IF_IIM)
networker	0:7f26f0680202	719	ret->newioset.c_cflag \|= BAUDRATE_II;
networker	0:7f26f0680202	720	else // dwTyp == FT_ROBO_IF_COM
networker	0:7f26f0680202	721	ret->newioset.c_cflag \|= BAUDRATE_RI;
networker	0:7f26f0680202	722	ret->newioset.c_oflag = 0;
networker	0:7f26f0680202	723	ret->newioset.c_lflag = 0;
networker	0:7f26f0680202	724	ret->newioset.c_cc[VTIME] = 1;
networker	0:7f26f0680202	725	ret->newioset.c_cc[VMIN] = 0;
networker	0:7f26f0680202	726	tcflush(dev, TCIFLUSH);
networker	0:7f26f0680202	727	tcsetattr(dev, TCSANOW, &ret->newioset);
networker	0:7f26f0680202	728	ret->sdev = dev;
networker	0:7f26f0680202	729	if (dwTyp == FT_INTELLIGENT_IF) ret->transfer_area.BusModules = 1;
networker	0:7f26f0680202	730	else if (dwTyp == FT_INTELLIGENT_IF_SLAVE) ret->transfer_area.BusModules = 2;
networker	0:7f26f0680202	731
networker	0:7f26f0680202	732	if (dwTyp == FT_ROBO_IF_COM && ((write(dev, &on, 14)) != 14 \|\| (read(dev, &in, 5)) != 5 \|\| in[0] != 0x5E)) {
networker	0:7f26f0680202	733	fprintf(stderr, "OpenFtCommDevice: Error communicating with serial\n");
networker	0:7f26f0680202	734	free(ret);
networker	0:7f26f0680202	735	return NULL;
networker	0:7f26f0680202	736	}
networker	0:7f26f0680202	737	#endif
networker	0:7f26f0680202	738	return ret;
networker	0:7f26f0680202	739	}
networker	0:7f26f0680202	740
networker	0:7f26f0680202	741
networker	0:7f26f0680202	742	/**
networker	0:7f26f0680202	743	* \brief Returns type of the interface
networker	0:7f26f0680202	744	*
networker	0:7f26f0680202	745	* This function will return the type of the interface that is behind the handle.
networker	0:7f26f0680202	746	*
networker	0:7f26f0680202	747	* @param hFt Handle of the device
networker	0:7f26f0680202	748	* @return NO_FT_DEVICE, FT_INTELLIGENT_IF, FT_INTELLIGENT_IF_SLAVE, FT_ROBO_IF_COM, FT_ROBO_IF_USB, FT_ROBO_IF_IIM, FT_ROBO_IF_OVER_RF, FT_ROBO_IO_EXTENSION or FT_ROBO_RF_DATA_LINK
networker	0:7f26f0680202	749	*/
networker	0:7f26f0680202	750	long int GetFtDeviceTyp(FT_HANDLE hFt) {
networker	0:7f26f0680202	751	if (hFt == NULL) {
networker	0:7f26f0680202	752	fprintf(stderr, "GetFtDeviceTyp: No such device\n");
networker	0:7f26f0680202	753	return NO_FT_DEVICE;
networker	0:7f26f0680202	754	}
networker	0:7f26f0680202	755
networker	0:7f26f0680202	756	return hFt->type;
networker	0:7f26f0680202	757	}
networker	0:7f26f0680202	758
networker	0:7f26f0680202	759
networker	0:7f26f0680202	760	/**
networker	0:7f26f0680202	761	* \brief Returns a string that identifies the interface with human words
networker	0:7f26f0680202	762	*
networker	0:7f26f0680202	763	* This function will give you a human readable string like "Robo Interface" you can work with.
networker	0:7f26f0680202	764	*
networker	0:7f26f0680202	765	* @param hFt Handle of the device
networker	0:7f26f0680202	766	* @param dest Buffer we can write the string to
networker	0:7f26f0680202	767	* @param len Maximum length of this buffer
networker	0:7f26f0680202	768	* @return FTLIB_ERR_SUCCESS or a failure
networker	0:7f26f0680202	769	*/
networker	0:7f26f0680202	770	long int GetFtDeviceTypeString(FT_HANDLE hFt, char *dest, int len) {
networker	0:7f26f0680202	771	// Todo: Maybe let usb query the string from the device?
networker	0:7f26f0680202	772	if (hFt == NULL) {
networker	0:7f26f0680202	773	fprintf(stderr, "GetFtDeviceTyp: No such device\n");
networker	0:7f26f0680202	774	return NO_FT_DEVICE;
networker	0:7f26f0680202	775	}
networker	0:7f26f0680202	776
networker	0:7f26f0680202	777	switch (GetFtDeviceTyp(hFt)) {
networker	0:7f26f0680202	778	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	779	strncpy(dest, "Intelligent Interface", len);
networker	0:7f26f0680202	780	break;
networker	0:7f26f0680202	781	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	782	strncpy(dest, "Intelligent Interface with slave", len);
networker	0:7f26f0680202	783	break;
networker	0:7f26f0680202	784	case FT_ROBO_IF_IIM:
networker	0:7f26f0680202	785	strncpy(dest, "Robo Interface II mode", len);
networker	0:7f26f0680202	786	break;
networker	0:7f26f0680202	787	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	788	strncpy(dest, "Robo Interface over serial", len);
networker	0:7f26f0680202	789	break;
networker	0:7f26f0680202	790	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	791	strncpy(dest, "Robo Interface over USB", len);
networker	0:7f26f0680202	792	break;
networker	0:7f26f0680202	793	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	794	strncpy(dest, "Robo IO Extension", len);
networker	0:7f26f0680202	795	break;
networker	0:7f26f0680202	796	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	797	strncpy(dest, "Robo RF Datalink", len);
networker	0:7f26f0680202	798	break;
networker	0:7f26f0680202	799	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	800	strncpy(dest, "Robo Interface over RF Datalink", len);
networker	0:7f26f0680202	801	break;
networker	0:7f26f0680202	802	default:
networker	0:7f26f0680202	803	strncpy(dest, "Unknown", len);
networker	0:7f26f0680202	804	}
networker	0:7f26f0680202	805
networker	0:7f26f0680202	806	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	807	}
networker	0:7f26f0680202	808
networker	0:7f26f0680202	809
networker	0:7f26f0680202	810
networker	0:7f26f0680202	811	/**
networker	0:7f26f0680202	812	* \brief Opens this USB device.
networker	0:7f26f0680202	813	*
networker	0:7f26f0680202	814	* This function will try to open the ft USB device that belongs to the ft handle hFt.
networker	0:7f26f0680202	815	* You can get the ft handle with GetFtUsbDeviceHandle() or GetFtUsbDeviceHandleSerialNr().
networker	0:7f26f0680202	816	*
networker	0:7f26f0680202	817	* @see GetFtUsbDeviceHandle()
networker	0:7f26f0680202	818	* @see GetFtUsbDeviceHandleSerialNr()
networker	0:7f26f0680202	819	* @param hFt ft USB Device to open
networker	0:7f26f0680202	820	* @return Number >= 0 on success, < 0 on error
networker	0:7f26f0680202	821	*/
networker	0:7f26f0680202	822	long int OpenFtUsbDevice(FT_HANDLE hFt) {
networker	0:7f26f0680202	823	#ifdef USE_USB
networker	0:7f26f0680202	824	long int ret;
networker	0:7f26f0680202	825
networker	0:7f26f0680202	826	if (hFt == NULL) {
networker	0:7f26f0680202	827	fprintf(stderr, "OpenFtUsbDevice: No such device\n");
networker	0:7f26f0680202	828	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	829	}
networker	0:7f26f0680202	830	hFt->device = usb_open(hFt->dev);
networker	0:7f26f0680202	831	ret = usb_claim_interface(hFt->device, 0);
networker	0:7f26f0680202	832	if (ret < 0) perror("usb_claim_interface");
networker	0:7f26f0680202	833
networker	0:7f26f0680202	834	return ret;
networker	0:7f26f0680202	835	#else
networker	0:7f26f0680202	836	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	837	#endif
networker	0:7f26f0680202	838	}
networker	0:7f26f0680202	839
networker	0:7f26f0680202	840
networker	0:7f26f0680202	841	/**
networker	0:7f26f0680202	842	* \brief Close the ft Device
networker	0:7f26f0680202	843	*
networker	0:7f26f0680202	844	* This function will close the ft Device and free its memory.
networker	0:7f26f0680202	845	*
networker	0:7f26f0680202	846	* @param hFt Handle of the Device to close.
networker	0:7f26f0680202	847	* @return A number < 0 on error.
networker	0:7f26f0680202	848	*/
networker	0:7f26f0680202	849	long int CloseFtDevice(FT_HANDLE hFt) {//sends a comm request
networker	0:7f26f0680202	850	int ret = 0;
networker	0:7f26f0680202	851	unsigned char off = 0xA2;
networker	0:7f26f0680202	852	unsigned char in[1];
networker	0:7f26f0680202	853	unsigned char buf[1];
networker	0:7f26f0680202	854
networker	0:7f26f0680202	855	if (hFt == NULL) {
networker	0:7f26f0680202	856	fprintf(stderr, "CloseFtDevice: No such device\n");
networker	0:7f26f0680202	857	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	858	}
networker	0:7f26f0680202	859
networker	0:7f26f0680202	860	while (hFt->transfer_area.TransferAktiv != 0) {
networker	0:7f26f0680202	861	fprintf(stderr, "Transfer area still active\n");
networker	0:7f26f0680202	862	sleep(1);
networker	0:7f26f0680202	863	}
networker	0:7f26f0680202	864
networker	0:7f26f0680202	865	switch (hFt->type) {
networker	0:7f26f0680202	866	// usb
networker	0:7f26f0680202	867	#ifdef USE_USB
networker	0:7f26f0680202	868	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	869	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	870	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	871	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	872	ret = usb_release_interface(hFt->device, 0);
networker	0:7f26f0680202	873	if (ret < 0) {
networker	0:7f26f0680202	874	fprintf(stderr, "CloseFtDevice(): Error in usb_release_interface()\n");
networker	0:7f26f0680202	875	break;
networker	0:7f26f0680202	876	}
networker	0:7f26f0680202	877	ret = usb_close(hFt->device);
networker	0:7f26f0680202	878	break;
networker	0:7f26f0680202	879	#endif
networker	0:7f26f0680202	880	// serial
networker	0:7f26f0680202	881	#ifdef MBED
networker	0:7f26f0680202	882	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	883	if (write(hFt->sdev, &off, 1) != 1 \|\| read(hFt->sdev, in, 1) != 1 \|\| (in[0]^off != 0xFF)) {
networker	0:7f26f0680202	884	fprintf(stderr, "CloseFtDevice: Error communicating with serial\n");
networker	0:7f26f0680202	885	}
networker	0:7f26f0680202	886	case FT_ROBO_IF_IIM:
networker	0:7f26f0680202	887	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	888	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	889	delete hFt->sdev;
networker	0:7f26f0680202	890	ret = 0;
networker	0:7f26f0680202	891	break;
networker	0:7f26f0680202	892	#else
networker	0:7f26f0680202	893	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	894	if ((write(hFt->sdev, &off, 1)) != 1 \|\| (read(hFt->sdev, &in, 1)) != 1 \|\| in[0] != 0x5D) {
networker	0:7f26f0680202	895	fprintf(stderr, "CloseFtDevice: Error communicating with serial\n");
networker	0:7f26f0680202	896	}
networker	0:7f26f0680202	897	case FT_ROBO_IF_IIM:
networker	0:7f26f0680202	898	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	899	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	900	tcsetattr(hFt->sdev, TCSANOW, &hFt->saveioset);
networker	0:7f26f0680202	901	ret = close(hFt->sdev);
networker	0:7f26f0680202	902	break;
networker	0:7f26f0680202	903	#endif
networker	0:7f26f0680202	904	}
networker	0:7f26f0680202	905	#ifdef MBED
networker	0:7f26f0680202	906	delete hFt;
networker	0:7f26f0680202	907	#else
networker	0:7f26f0680202	908	free(hFt);
networker	0:7f26f0680202	909	#endif
networker	0:7f26f0680202	910	hFt = NULL;
networker	0:7f26f0680202	911	return ret;
networker	0:7f26f0680202	912	}
networker	0:7f26f0680202	913
networker	0:7f26f0680202	914
networker	0:7f26f0680202	915	/**
networker	0:7f26f0680202	916	* \brief Library deinitialization (dummy)
networker	0:7f26f0680202	917	*
networker	0:7f26f0680202	918	* Dummy for compatibility. Only used in original library.
networker	0:7f26f0680202	919	* @return Always FTLIB_ERR_SUCCESS
networker	0:7f26f0680202	920	*/
networker	0:7f26f0680202	921	long int CloseFtLib() {
networker	0:7f26f0680202	922	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	923	}
networker	0:7f26f0680202	924
networker	0:7f26f0680202	925
networker	0:7f26f0680202	926	/**
networker	0:7f26f0680202	927	* \brief Check for Library initialization (dummy)
networker	0:7f26f0680202	928	*
networker	0:7f26f0680202	929	* Dummy for compatibility. Only used in original library.
networker	0:7f26f0680202	930	* @return Always FTLIB_ERR_LIB_IS_INITIALIZED since initialization is ignored in this version
networker	0:7f26f0680202	931	*/
networker	0:7f26f0680202	932	long int IsFtLibInit() {
networker	0:7f26f0680202	933	return FTLIB_ERR_LIB_IS_INITIALIZED;
networker	0:7f26f0680202	934	}
networker	0:7f26f0680202	935
networker	0:7f26f0680202	936	bool test_and_set(int& s) {
networker	0:7f26f0680202	937	bool tmp;
networker	0:7f26f0680202	938	__disable_irq();
networker	0:7f26f0680202	939	if (tmp = s>0)
networker	0:7f26f0680202	940	s--;
networker	0:7f26f0680202	941	__enable_irq();
networker	0:7f26f0680202	942	return tmp;
networker	0:7f26f0680202	943	}
networker	0:7f26f0680202	944
networker	0:7f26f0680202	945	void increment(int& s) {
networker	0:7f26f0680202	946	__disable_irq();
networker	0:7f26f0680202	947	s++;
networker	0:7f26f0680202	948	__enable_irq();
networker	0:7f26f0680202	949	}
networker	0:7f26f0680202	950	#ifdef SPLITTRANSFER
networker	0:7f26f0680202	951
networker	0:7f26f0680202	952	//version for mbed with split functionality
networker	0:7f26f0680202	953
networker	0:7f26f0680202	954	void ft_handle_devices::FtThreadInit() {//setup buffers for this type of interface
networker	0:7f26f0680202	955	FT_TRANSFER_AREA *area = &transfer_area;
networker	0:7f26f0680202	956	num_write = ABF_IF_COMPLETE_NUM_WRITE;
networker	0:7f26f0680202	957	num_read = ABF_IF_COMPLETE_NUM_READ;
networker	0:7f26f0680202	958	usb_endpoint_write = FT_ENDPOINT_INTERRUPT_OUT;
networker	0:7f26f0680202	959	usb_endpoint_read = FT_ENDPOINT_INTERRUPT_IN;
networker	0:7f26f0680202	960	cycle=0;
networker	0:7f26f0680202	961
networker	0:7f26f0680202	962	out[0] = ABF_IF_COMPLETE;
networker	0:7f26f0680202	963	area->TransferAktiv = 1;
networker	0:7f26f0680202	964	sdev->attach(this, &ft_handle_devices::writeByte, Serial::TxIrq);
networker	0:7f26f0680202	965	sdev->attach(this, &ft_handle_devices::readByte, Serial::RxIrq);
networker	0:7f26f0680202	966	busy = false;
networker	0:7f26f0680202	967
networker	0:7f26f0680202	968	switch (type) {
networker	0:7f26f0680202	969	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	970	out[0] = 0xf2;
networker	0:7f26f0680202	971	num_write = 17;
networker	0:7f26f0680202	972	num_read = 21;
networker	0:7f26f0680202	973	break;
networker	0:7f26f0680202	974	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	975	num_write = 2;
networker	0:7f26f0680202	976	break;
networker	0:7f26f0680202	977	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	978	num_write = 3;
networker	0:7f26f0680202	979	break;
networker	0:7f26f0680202	980	#ifdef USE_USB
networker	0:7f26f0680202	981	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	982	out[0] = 0xf2;
networker	0:7f26f0680202	983	num_write = 6;
networker	0:7f26f0680202	984	num_read = 6;
networker	0:7f26f0680202	985	break;
networker	0:7f26f0680202	986	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	987	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	988	usb_endpoint_write = FT_RF_ENDPOINT_INTERRUPT_OUT;
networker	0:7f26f0680202	989	usb_endpoint_read = FT_RF_ENDPOINT_INTERRUPT_IN;
networker	0:7f26f0680202	990
networker	0:7f26f0680202	991	// init RF
networker	0:7f26f0680202	992	// 0x102 == first RF
networker	0:7f26f0680202	993	// 0x202 == 2nd RF
networker	0:7f26f0680202	994	// ...
networker	0:7f26f0680202	995	//ret = usb_control_msg(hFt->device, 0xc0, 0xfb, 0x102, 0x1, in, 2, FT_USB_TIMEOUT);
networker	0:7f26f0680202	996	ret = usb_control_msg(hFt->device, 0xc0, 0xfb, hFt->transfer_area.RfModulNr << 8 \| 0x02, 0x1, in, 2, FT_USB_TIMEOUT);
networker	0:7f26f0680202	997	if (ret != 2) {
networker	0:7f26f0680202	998	fprintf(stderr, "%d FtThread: Error initiating RF Module!\n");
networker	0:7f26f0680202	999	area->TransferAktiv = 0;
networker	0:7f26f0680202	1000	}
networker	0:7f26f0680202	1001	break;
networker	0:7f26f0680202	1002	#endif
networker	0:7f26f0680202	1003	}
networker	0:7f26f0680202	1004	}
networker	0:7f26f0680202	1005
networker	0:7f26f0680202	1006	extern int trigger_interface;
networker	0:7f26f0680202	1007
networker	0:7f26f0680202	1008	bool ft_handle_devices::guardedFtThreadBegin() {//called every 10ms by the main loop to issue a request, should be non-blocking, guarded by busy flag to avoid multiple pending requests
networker	0:7f26f0680202	1009	//viaUsb.putc('.');
networker	0:7f26f0680202	1010	__disable_irq();
networker	0:7f26f0680202	1011	if (busy) {
networker	0:7f26f0680202	1012	if (trigger_interface > 10) { //interface has not responded within 10 slots or response was missed
networker	0:7f26f0680202	1013	putc('?',stderr);
networker	0:7f26f0680202	1014	busy = false; //release the busy flag to reenable the request-reply process
networker	0:7f26f0680202	1015	}
networker	0:7f26f0680202	1016	__enable_irq();
networker	0:7f26f0680202	1017	return false; //skip the timeslot when previous was not yet handled
networker	0:7f26f0680202	1018	}
networker	0:7f26f0680202	1019	busy = true;
networker	0:7f26f0680202	1020	__enable_irq();
networker	0:7f26f0680202	1021	FtThreadBegin();//here the request is sent to the interface
networker	0:7f26f0680202	1022	return true;
networker	0:7f26f0680202	1023	}
networker	0:7f26f0680202	1024
networker	0:7f26f0680202	1025	void ft_handle_devices::FtThreadTrigger() {
networker	0:7f26f0680202	1026	trigger_interface++;//this is polled by the main loop
networker	0:7f26f0680202	1027	//printf("%d ", trigger_interface);
networker	0:7f26f0680202	1028	}
networker	0:7f26f0680202	1029
networker	0:7f26f0680202	1030	//here the real data exchange starts
networker	0:7f26f0680202	1031	void ft_handle_devices::FtThreadBegin() {//called every 10ms to issue a request, should be non-blocking
networker	0:7f26f0680202	1032	int ii_speed = 0;
networker	0:7f26f0680202	1033	FT_TRANSFER_AREA *area = &transfer_area;
networker	0:7f26f0680202	1034	if (!test_and_set(lock)) {//return when transferarea is in use
networker	0:7f26f0680202	1035	busy = false; //release the mutex, otherwise the thread effectively stops
networker	0:7f26f0680202	1036	return;//return because there is no point in sending a nonsense request, alternatively the lock can be ignored in which case the data may be inconsistent
networker	0:7f26f0680202	1037	}
networker	0:7f26f0680202	1038	out[1] = area->M_Main;
networker	0:7f26f0680202	1039	out[2] = (area->MPWM_Main[0] & 0x7) \| (area->MPWM_Main[1]<<3 & 0x38) \| (area->MPWM_Main[2]<<6 & 0xC0);
networker	0:7f26f0680202	1040	out[3] = (area->MPWM_Main[2] & 0x1) \| (area->MPWM_Main[3]<<1 & 0xE) \| (area->MPWM_Main[4]<<4 & 0x70) \| (area->MPWM_Main[5]<<7 & 0x80);
networker	0:7f26f0680202	1041	out[4] = (area->MPWM_Main[5] & 0x3) \| (area->MPWM_Main[6]<<2 & 0x1C) \| (area->MPWM_Main[7]<<5 & 0xE0);
networker	0:7f26f0680202	1042	out[5] = area->M_Sub1;
networker	0:7f26f0680202	1043	out[6] = (area->MPWM_Sub1[0] & 0x7) \| (area->MPWM_Sub1[1]<<3 & 0x38) \| (area->MPWM_Sub1[2]<<6 & 0xC0);
networker	0:7f26f0680202	1044	out[7] = (area->MPWM_Sub1[2] & 0x1) \| (area->MPWM_Sub1[3]<<1 & 0xE) \| (area->MPWM_Sub1[4]<<4 & 0x70) \| (area->MPWM_Sub1[5]<<7 & 0x80);
networker	0:7f26f0680202	1045	out[8] = (area->MPWM_Sub1[5] & 0x3) \| (area->MPWM_Sub1[6]<<2 & 0x1C) \| (area->MPWM_Sub1[7]<<5 & 0xE0);
networker	0:7f26f0680202	1046	out[9] = area->M_Sub2;
networker	0:7f26f0680202	1047	out[10] = (area->MPWM_Sub2[0] & 0x7) \| (area->MPWM_Sub2[1]<<3 & 0x38) \| (area->MPWM_Sub2[2]<<6 & 0xC0);
networker	0:7f26f0680202	1048	out[11] = (area->MPWM_Sub2[2] & 0x1) \| (area->MPWM_Sub2[3]<<1 & 0xE) \| (area->MPWM_Sub2[4]<<4 & 0x70) \| (area->MPWM_Sub2[5]<<7 & 0x80);
networker	0:7f26f0680202	1049	out[12] = (area->MPWM_Sub2[5] & 0x3) \| (area->MPWM_Sub2[6]<<2 & 0x1C) \| (area->MPWM_Sub2[7]<<5 & 0xE0);
networker	0:7f26f0680202	1050	out[13] = area->M_Sub3;
networker	0:7f26f0680202	1051	out[14] = (area->MPWM_Sub3[0] & 0x7) \| (area->MPWM_Sub3[1]<<3 & 0x38) \| (area->MPWM_Sub3[2]<<6 & 0xC0);
networker	0:7f26f0680202	1052	out[15] = (area->MPWM_Sub3[2] & 0x1) \| (area->MPWM_Sub3[3]<<1 & 0xE) \| (area->MPWM_Sub3[4]<<4 & 0x70) \| (area->MPWM_Sub3[5]<<7 & 0x80);
networker	0:7f26f0680202	1053	out[16] = (area->MPWM_Sub3[5] & 0x3) \| (area->MPWM_Sub3[6]<<2 & 0x1C) \| (area->MPWM_Sub3[7]<<5 & 0xE0);
networker	0:7f26f0680202	1054	out[17] = 0;
networker	0:7f26f0680202	1055	out[18] = 0;
networker	0:7f26f0680202	1056	out[19] = 0;
networker	0:7f26f0680202	1057	out[20] = 0;
networker	0:7f26f0680202	1058	out[21] = 0;
networker	0:7f26f0680202	1059	out[22] = 0;
networker	0:7f26f0680202	1060	out[23] = 0;
networker	0:7f26f0680202	1061	out[24] = 0;
networker	0:7f26f0680202	1062	out[25] = 0;
networker	0:7f26f0680202	1063	out[26] = 0;
networker	0:7f26f0680202	1064	out[27] = 0;
networker	0:7f26f0680202	1065	out[28] = 0;
networker	0:7f26f0680202	1066	out[29] = 0;
networker	0:7f26f0680202	1067	out[30] = 0;
networker	0:7f26f0680202	1068	out[31] = 0;
networker	0:7f26f0680202	1069
networker	0:7f26f0680202	1070	// For the II we need to simulate different speeds here
networker	0:7f26f0680202	1071	if (type == FT_INTELLIGENT_IF \|\| type == FT_INTELLIGENT_IF_SLAVE) {
networker	0:7f26f0680202	1072	int iCurMotor;
networker	0:7f26f0680202	1073	for (iCurMotor = 0; iCurMotor < 7; iCurMotor++) {
networker	0:7f26f0680202	1074	if (area->MPWM_Main[iCurMotor] < ii_speed) out[1] &= ~(1 << iCurMotor);
networker	0:7f26f0680202	1075	if (area->MPWM_Sub1[iCurMotor] < ii_speed) out[5] &= ~(1 << iCurMotor);
networker	0:7f26f0680202	1076	}
networker	0:7f26f0680202	1077
networker	0:7f26f0680202	1078	ii_speed++;
networker	0:7f26f0680202	1079	if (ii_speed > 7) ii_speed = 0;
networker	0:7f26f0680202	1080	}
networker	0:7f26f0680202	1081
networker	0:7f26f0680202	1082	if (type == FT_INTELLIGENT_IF) {
networker	0:7f26f0680202	1083	cycle++;
networker	0:7f26f0680202	1084	num_read = 1;
networker	0:7f26f0680202	1085	out[0] = 0xC1;
networker	0:7f26f0680202	1086	if (cycle % 20) { // EX
networker	0:7f26f0680202	1087	out[0] = 0xC5;
networker	0:7f26f0680202	1088	num_read = 3;
networker	0:7f26f0680202	1089	} else if (cycle % 10) { // EY
networker	0:7f26f0680202	1090	out[0] = 0xC9;
networker	0:7f26f0680202	1091	num_read = 3;
networker	0:7f26f0680202	1092	}
networker	0:7f26f0680202	1093	} else if (type == FT_INTELLIGENT_IF_SLAVE) {
networker	0:7f26f0680202	1094	cycle++;
networker	0:7f26f0680202	1095	num_read = 2;
networker	0:7f26f0680202	1096	out[0] = 0xC2;
networker	0:7f26f0680202	1097	out[2] = out[5];
networker	0:7f26f0680202	1098	if (cycle % 20) { // EX
networker	0:7f26f0680202	1099	out[0] = 0xC6;
networker	0:7f26f0680202	1100	num_read = 4;
networker	0:7f26f0680202	1101	} else if (cycle % 10) { // EY
networker	0:7f26f0680202	1102	out[0] = 0xCA;
networker	0:7f26f0680202	1103	num_read = 4;
networker	0:7f26f0680202	1104	}
networker	0:7f26f0680202	1105	}
networker	0:7f26f0680202	1106	//viaUsb.putc('-');
networker	0:7f26f0680202	1107	increment(lock);//release the lock on shared memeory
networker	0:7f26f0680202	1108	int ret = 0;
networker	0:7f26f0680202	1109	switch (type) {//send the request
networker	0:7f26f0680202	1110	#ifdef USE_USB
networker	0:7f26f0680202	1111	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1112	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	1113	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	1114	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	1115	ret = usb_interrupt_write(hFt->device, usb_endpoint_write, out, num_write, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1116	break;
networker	0:7f26f0680202	1117	#endif
networker	0:7f26f0680202	1118	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1119	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	1120	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	1121	// ret = write(sdev, out, num_write);
networker	0:7f26f0680202	1122	//sdev->dmaSend(out, num_write);
networker	0:7f26f0680202	1123	ret = write();//start the transfer of the 'out' buffer, when complete the read_callback will receive the reply and when the reply is complete FtThreadEnd will be called
networker	0:7f26f0680202	1124	// viaUsb.putc(';');
networker	0:7f26f0680202	1125	break;
networker	0:7f26f0680202	1126	}
networker	0:7f26f0680202	1127	if (ret != num_write) {
networker	0:7f26f0680202	1128	interface_connected = 0;
networker	0:7f26f0680202	1129	fprintf(stderr, "FtThread: Error writing to the Interface...exiting!\n");
networker	0:7f26f0680202	1130	}
networker	0:7f26f0680202	1131	}
networker	0:7f26f0680202	1132
networker	0:7f26f0680202	1133	void ft_handle_devices::FtThreadEnd() {//called by the receiver/dma callback when the reply is complete
networker	0:7f26f0680202	1134	int ret = 0;
networker	0:7f26f0680202	1135	FT_TRANSFER_AREA *area = &transfer_area;
networker	0:7f26f0680202	1136	switch (type) { //receive the reply
networker	0:7f26f0680202	1137	#ifdef USE_USB
networker	0:7f26f0680202	1138	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1139	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	1140	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	1141	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	1142	ret = usb_interrupt_read(hFt->device, usb_endpoint_read, in, num_read, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1143	break;
networker	0:7f26f0680202	1144	#endif
networker	0:7f26f0680202	1145	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1146	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	1147	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	1148	// ret = read(sdev, in, num_read);
networker	0:7f26f0680202	1149	ret = num_read;
networker	0:7f26f0680202	1150	// viaUsb.putc('/');
networker	0:7f26f0680202	1151	break;
networker	0:7f26f0680202	1152	}
networker	0:7f26f0680202	1153	if (ret != num_read) {
networker	0:7f26f0680202	1154	interface_connected = 0;
networker	0:7f26f0680202	1155	fprintf(stderr, "FtThread: Error reading from the Interface\n");
networker	0:7f26f0680202	1156	return;
networker	0:7f26f0680202	1157	}
networker	0:7f26f0680202	1158
networker	0:7f26f0680202	1159	if (!test_and_set(lock)) {//skip when busy
networker	0:7f26f0680202	1160	busy = false;
networker	0:7f26f0680202	1161	return;
networker	0:7f26f0680202	1162	}
networker	0:7f26f0680202	1163	area->ChangeEg = area->E_Main != in[0] \|\| area->E_Sub1 != in[1] \|\| area->E_Sub2 != in[2] \|\| area->E_Sub3 != in[3];
networker	0:7f26f0680202	1164	area->E_Main = in[0];
networker	0:7f26f0680202	1165	area->E_Sub1 = in[1];
networker	0:7f26f0680202	1166	area->E_Sub2 = in[2];
networker	0:7f26f0680202	1167	area->E_Sub3 = in[3];
networker	0:7f26f0680202	1168	area->ChangeAn = 1; //assume that analog always changes (noise)
networker	0:7f26f0680202	1169	area->AX = in[4];
networker	0:7f26f0680202	1170	area->AY = in[5];
networker	0:7f26f0680202	1171	area->A1 = in[6];
networker	0:7f26f0680202	1172	area->A2 = in[7];
networker	0:7f26f0680202	1173	area->AX \|= (in[8] & 0x3) << 8;
networker	0:7f26f0680202	1174	area->AY \|= (in[8] & 0xC) << 6;
networker	0:7f26f0680202	1175	area->A1 \|= (in[8] & 0x30) << 4;
networker	0:7f26f0680202	1176	area->A2 \|= (in[8] & 0xC0) << 2;
networker	0:7f26f0680202	1177	area->AZ = in[9];
networker	0:7f26f0680202	1178	area->D1 = in[10];
networker	0:7f26f0680202	1179	area->D2 = in[11];
networker	0:7f26f0680202	1180	area->AV = in[12];
networker	0:7f26f0680202	1181	area->AZ \|= (in[13] & 0x3) << 8;
networker	0:7f26f0680202	1182	area->D1 \|= (in[13] & 0xC) << 6;
networker	0:7f26f0680202	1183	area->D2 \|= (in[13] & 0x30) << 4;
networker	0:7f26f0680202	1184	area->AV \|= (in[13] & 0xC0) << 2;
networker	0:7f26f0680202	1185	if (area->IRKeys != in[14])
networker	0:7f26f0680202	1186	area->ChangeIr = 1;
networker	0:7f26f0680202	1187	area->IRKeys = in[14];
networker	0:7f26f0680202	1188	area->BusModules = in[15];
networker	0:7f26f0680202	1189	// 16
networker	0:7f26f0680202	1190	area->AXS1 = in[17];
networker	0:7f26f0680202	1191	area->AXS2 = in[18];
networker	0:7f26f0680202	1192	area->AXS3 = in[19];
networker	0:7f26f0680202	1193	area->AXS1 \|= (in[20] & 0x3) << 8;
networker	0:7f26f0680202	1194	area->AXS2 \|= (in[20] & 0xC) << 6;
networker	0:7f26f0680202	1195	area->AXS3 \|= (in[20] & 0x30) << 4;
networker	0:7f26f0680202	1196	// 21
networker	0:7f26f0680202	1197	area->AVS1 = in[22];
networker	0:7f26f0680202	1198	area->AVS2 = in[23];
networker	0:7f26f0680202	1199	area->AVS3 = in[24];
networker	0:7f26f0680202	1200	area->AVS1 \|= (in[25] & 0x3) << 8;
networker	0:7f26f0680202	1201	area->AVS2 \|= (in[25] & 0xC) << 6;
networker	0:7f26f0680202	1202	area->AVS3 \|= (in[25] & 0x30) << 4;
networker	0:7f26f0680202	1203	// 26...42
networker	0:7f26f0680202	1204	if (type == FT_INTELLIGENT_IF) {
networker	0:7f26f0680202	1205	if (cycle % analogcycle) { // EX
networker	0:7f26f0680202	1206	area->AX = in[1] & (8<<in[2]);
networker	0:7f26f0680202	1207	} else if (cycle % (2*analogcycle)) { // EY
networker	0:7f26f0680202	1208	area->AY = in[1] & (8<<in[2]);
networker	0:7f26f0680202	1209	}
networker	0:7f26f0680202	1210	} else if (type == FT_INTELLIGENT_IF_SLAVE) {
networker	0:7f26f0680202	1211	if (cycle % analogcycle) { // EX
networker	0:7f26f0680202	1212	area->AX = in[1] & (8<<in[2]);
networker	0:7f26f0680202	1213	} else if (cycle % (2*analogcycle)) { // EY
networker	0:7f26f0680202	1214	area->AY = in[1] & (8<<in[2]);
networker	0:7f26f0680202	1215	}
networker	0:7f26f0680202	1216	}
networker	0:7f26f0680202	1217	increment(lock);
networker	0:7f26f0680202	1218	interface_connected = 1;
networker	0:7f26f0680202	1219	if (ne.NotificationCallback) {
networker	0:7f26f0680202	1220	// printf("%02X\r", transfer_area.E_Main);
networker	0:7f26f0680202	1221	(*ne.NotificationCallback)(ne.Context);
networker	0:7f26f0680202	1222	}
networker	0:7f26f0680202	1223	busy = false;
networker	0:7f26f0680202	1224	}
networker	0:7f26f0680202	1225
networker	0:7f26f0680202	1226	void ft_handle_devices::FtThreadFinish() {//called by StopFtTransferArea
networker	0:7f26f0680202	1227	#ifdef USE_USB
networker	0:7f26f0680202	1228	if (hFt->type == FT_ROBO_IF_OVER_RF \|\| hFt->type == FT_ROBO_RF_DATA_LINK) {
networker	0:7f26f0680202	1229	ret = usb_control_msg(hFt->device, 0xc0, 0x21, hFt->transfer_area.RfModulNr << 8, 0, in, 1, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1230	if (ret != 1 \|\| in[0] != 0xd7) {
networker	0:7f26f0680202	1231	fprintf(stderr, "Error uninitiating RF Module!\n");
networker	0:7f26f0680202	1232	}
networker	0:7f26f0680202	1233	}
networker	0:7f26f0680202	1234	#endif
networker	0:7f26f0680202	1235	#ifdef MBED
networker	0:7f26f0680202	1236	sdev->attach(0,Serial::RxIrq);
networker	0:7f26f0680202	1237	sdev->attach(0,Serial::TxIrq);
networker	0:7f26f0680202	1238	#endif
networker	0:7f26f0680202	1239	transfer_area.TransferAktiv = 0;
networker	0:7f26f0680202	1240	}
networker	0:7f26f0680202	1241
networker	0:7f26f0680202	1242	void ft_handle_devices::FtThread() {
networker	0:7f26f0680202	1243	// ::FtThread(this);
networker	0:7f26f0680202	1244	// printf("%02X\r", transfer_area.E_Main);
networker	0:7f26f0680202	1245	// viaUsb.putc('.');
networker	0:7f26f0680202	1246	}
networker	0:7f26f0680202	1247
networker	0:7f26f0680202	1248	#endif
networker	0:7f26f0680202	1249
networker	0:7f26f0680202	1250	/**
networker	0:7f26f0680202	1251	* \brief reset outputs
networker	0:7f26f0680202	1252	*
networker	0:7f26f0680202	1253	* Will clear all outputs.
networker	0:7f26f0680202	1254	*
networker	0:7f26f0680202	1255	* @return Always FTLIB_ERR_SUCCESS
networker	0:7f26f0680202	1256	*/
networker	0:7f26f0680202	1257	long int ResetFtTransfer(FT_HANDLE hFt) {
networker	0:7f26f0680202	1258	FT_TRANSFER_AREA *area = &hFt->transfer_area;
networker	0:7f26f0680202	1259
networker	0:7f26f0680202	1260	area->M_Main = 0;
networker	0:7f26f0680202	1261	area->M_Sub1 = 0;
networker	0:7f26f0680202	1262	area->M_Sub2 = 0;
networker	0:7f26f0680202	1263	area->M_Sub3 = 0;
networker	0:7f26f0680202	1264
networker	0:7f26f0680202	1265	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1266	}
networker	0:7f26f0680202	1267
networker	0:7f26f0680202	1268
networker	0:7f26f0680202	1269	/**
networker	0:7f26f0680202	1270	* \brief Starts the communication thread.
networker	0:7f26f0680202	1271	*
networker	0:7f26f0680202	1272	* This function is needed to start the communication with the interface in passive mode.
networker	0:7f26f0680202	1273	* Get the handle with GetFtUsbDeviceHandle(), GetFtUsbDeviceHandleSerialNr() or OpenFtCommDevice().
networker	0:7f26f0680202	1274	*
networker	0:7f26f0680202	1275	* @see GetFtUsbDeviceHandle()
networker	0:7f26f0680202	1276	* @see GetFtUsbDeviceHandleSerialNr()
networker	0:7f26f0680202	1277	* @see OpenFtCommDevice()
networker	0:7f26f0680202	1278	* @param hFt Handle of the interface.
networker	0:7f26f0680202	1279	* @param ignored The second argument is ignored in this version.
networker	0:7f26f0680202	1280	* @return Everything except FTLIB_ERR_SUCCESS indicates an error.
networker	0:7f26f0680202	1281	*/
networker	0:7f26f0680202	1282	long int StartFtTransferArea(FT_HANDLE hFt, NOTIFICATION_EVENTS* ev) {
networker	0:7f26f0680202	1283	int ret;
networker	0:7f26f0680202	1284
networker	0:7f26f0680202	1285	if (hFt == NULL) {
networker	0:7f26f0680202	1286	fprintf(stderr, "StartFtTransferArea: No such device\n");
networker	0:7f26f0680202	1287	return NO_FT_DEVICE;
networker	0:7f26f0680202	1288	}
networker	0:7f26f0680202	1289	if (ev)
networker	0:7f26f0680202	1290	hFt->ne = *ev; //copy the entire struct
networker	0:7f26f0680202	1291	else
networker	0:7f26f0680202	1292	memset(&hFt->ne, 0, sizeof(NOTIFICATION_EVENTS));
networker	0:7f26f0680202	1293	#ifdef MBED
networker	0:7f26f0680202	1294	//at least for serial devices another solution must be found. A normal request/reply uses the entire 10 ms, this is OK but the CPU should not wait for it
networker	0:7f26f0680202	1295	//either a buffer or a DMA scheme must be used to free CPU time, this means that at the beginning of the time slot the req. buffer is prepared and
networker	0:7f26f0680202	1296	//handed over to IRQ/USB, the reply is gathered in a buffer and when complete the transfer area is updated.
networker	0:7f26f0680202	1297	hFt->t = new Ticker;
networker	0:7f26f0680202	1298	//printf("ticker created\n");
networker	0:7f26f0680202	1299	hFt->FtThreadInit();//setup buffers and serial handlers
networker	0:7f26f0680202	1300	//hFt->t->attach_us(hFt, &ft_handle_devices::FtThreadBegin, INTERFACE_QUERY_TIME);
networker	0:7f26f0680202	1301	hFt->t->attach_us(hFt, &ft_handle_devices::FtThreadTrigger, INTERFACE_QUERY_TIME);//FtThreadTrigger just sets a global variable that is polled by the main loop, which subsequently calls guardedFtThreadBegin
networker	0:7f26f0680202	1302	printf("thread attached\n");
networker	0:7f26f0680202	1303	ret = 0;
networker	0:7f26f0680202	1304	#else
networker	0:7f26f0680202	1305	ret = pthread_create(&hFt->t, NULL, (void *)FtThread, hFt);
networker	0:7f26f0680202	1306	#endif
networker	0:7f26f0680202	1307	usleep(INTERFACE_QUERY_TIME*10);
networker	0:7f26f0680202	1308	if (ret != 0) {
networker	0:7f26f0680202	1309	perror("StartFtTransferArea pthread_create");
networker	0:7f26f0680202	1310	return ret;
networker	0:7f26f0680202	1311	}
networker	0:7f26f0680202	1312
networker	0:7f26f0680202	1313	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1314	}
networker	0:7f26f0680202	1315
networker	0:7f26f0680202	1316
networker	0:7f26f0680202	1317	/**
networker	0:7f26f0680202	1318	* \brief Starts the communication thread.
networker	0:7f26f0680202	1319	*
networker	0:7f26f0680202	1320	* Since notification are ignored in this version, will just call StartFtTransferArea().
networker	0:7f26f0680202	1321	*
networker	0:7f26f0680202	1322	* @see StartFtTransferArea()
networker	0:7f26f0680202	1323	*/
networker	0:7f26f0680202	1324	long int StartFtTransferAreaWithCommunication(FT_HANDLE hFt, NOTIFICATION_EVENTS* ignored) {
networker	0:7f26f0680202	1325	return StartFtTransferArea(hFt, ignored);
networker	0:7f26f0680202	1326	}
networker	0:7f26f0680202	1327
networker	0:7f26f0680202	1328
networker	0:7f26f0680202	1329	/**
networker	0:7f26f0680202	1330	* \brief Get the transfer area
networker	0:7f26f0680202	1331	*
networker	0:7f26f0680202	1332	* This function will return a pointer to the transfer area of the given handle.
networker	0:7f26f0680202	1333	*
networker	0:7f26f0680202	1334	* @param hFt Handle of the device.
networker	0:7f26f0680202	1335	* @return transfer area or NULL on error.
networker	0:7f26f0680202	1336	*/
networker	0:7f26f0680202	1337	FT_TRANSFER_AREA* GetFtTransferAreaAddress(FT_HANDLE hFt) {
networker	0:7f26f0680202	1338	if (hFt == NULL) {
networker	0:7f26f0680202	1339	fprintf(stderr, "GetFtTransferAreaAddress: No such device\n");
networker	0:7f26f0680202	1340	return NULL;
networker	0:7f26f0680202	1341	}
networker	0:7f26f0680202	1342	return &hFt->transfer_area;
networker	0:7f26f0680202	1343	}
networker	0:7f26f0680202	1344
networker	0:7f26f0680202	1345
networker	0:7f26f0680202	1346	/**
networker	0:7f26f0680202	1347	* \brief Stops the communication thread.
networker	0:7f26f0680202	1348	* \warning Will block a few microseconds until thread stopped.
networker	0:7f26f0680202	1349	*
networker	0:7f26f0680202	1350	* This function will stop the communication thread.
networker	0:7f26f0680202	1351	*
networker	0:7f26f0680202	1352	* @see StartFtTransferArea()
networker	0:7f26f0680202	1353	* @param hFt Handle of the Interface.
networker	0:7f26f0680202	1354	* @return Everything except FTLIB_ERR_SUCCESS indicates an error.
networker	0:7f26f0680202	1355	*/
networker	0:7f26f0680202	1356	long int StopFtTransferArea(FT_HANDLE hFt) {
networker	0:7f26f0680202	1357	int ret;
networker	0:7f26f0680202	1358
networker	0:7f26f0680202	1359	if (hFt == NULL) {
networker	0:7f26f0680202	1360	fprintf(stderr, "StopFtTransferArea: No such device\n");
networker	0:7f26f0680202	1361	return NO_FT_DEVICE;
networker	0:7f26f0680202	1362	}
networker	0:7f26f0680202	1363
networker	0:7f26f0680202	1364	#ifdef MBED
networker	0:7f26f0680202	1365	hFt->t->detach();
networker	0:7f26f0680202	1366	delete hFt->t;
networker	0:7f26f0680202	1367	hFt->FtThreadFinish();
networker	0:7f26f0680202	1368	#else
networker	0:7f26f0680202	1369	usleep(INTERFACE_QUERY_TIME*10); // wait to make sure the last command is send to the interface
networker	0:7f26f0680202	1370	if (hFt->transfer_area.TransferAktiv == 1) {
networker	0:7f26f0680202	1371	hFt->transfer_area.TransferAktiv = 2; // cleaner then pthread_cancel()
networker	0:7f26f0680202	1372	}
networker	0:7f26f0680202	1373	if ((ret = pthread_join(hFt->t, NULL)) != 0) return ret;
networker	0:7f26f0680202	1374	#endif
networker	0:7f26f0680202	1375	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1376	}
networker	0:7f26f0680202	1377
networker	0:7f26f0680202	1378
networker	0:7f26f0680202	1379	/**
networker	0:7f26f0680202	1380	* \brief check if transfer is active.
networker	0:7f26f0680202	1381	*
networker	0:7f26f0680202	1382	* Check if we are currently communicating with the device.
networker	0:7f26f0680202	1383	*
networker	0:7f26f0680202	1384	* @param hFt Handle of the Interface.
networker	0:7f26f0680202	1385	* @return FTLIB_ERR_THREAD_IS_RUNNING or FTLIB_ERR_THREAD_NOT_RUNNING
networker	0:7f26f0680202	1386	*/
networker	0:7f26f0680202	1387	long int IsFtTransferActiv(FT_HANDLE hFt) {
networker	0:7f26f0680202	1388	if (hFt == NULL) {
networker	0:7f26f0680202	1389	fprintf(stderr, "StopFtTransferArea: No such device\n");
networker	0:7f26f0680202	1390	return NO_FT_DEVICE;
networker	0:7f26f0680202	1391	}
networker	0:7f26f0680202	1392
networker	0:7f26f0680202	1393	if (hFt->transfer_area.TransferAktiv) return FTLIB_ERR_THREAD_IS_RUNNING;
networker	0:7f26f0680202	1394
networker	0:7f26f0680202	1395	return FTLIB_ERR_THREAD_NOT_RUNNING;
networker	0:7f26f0680202	1396	}
networker	0:7f26f0680202	1397
networker	0:7f26f0680202	1398
networker	0:7f26f0680202	1399	#ifdef USE_DOWNLOAD
networker	0:7f26f0680202	1400	/**
networker	0:7f26f0680202	1401	* \brief Upload a program to the interface
networker	0:7f26f0680202	1402	*
networker	0:7f26f0680202	1403	* Upload (download from the perspective of the interface) a program to the interface.
networker	0:7f26f0680202	1404	*
networker	0:7f26f0680202	1405	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1406	* @param dwMemBlock Destination 0 (Flash 1), 1 (Flash 2) or 2 (Ram)
networker	0:7f26f0680202	1407	* @param pbArray Pointer to the program to upload
networker	0:7f26f0680202	1408	* @param dwSize Size of the program to upload
networker	0:7f26f0680202	1409	* @param dwParameter 1 to Autostart this program, else 0.
networker	0:7f26f0680202	1410	* @param pbName Name of the program to upload
networker	0:7f26f0680202	1411	* @param dwNameLen Length of the name
networker	0:7f26f0680202	1412	* @return FTLIB_ERR_SUCCESS if you got lucky
networker	0:7f26f0680202	1413	*/
networker	0:7f26f0680202	1414	long int DownloadFtProgram(FT_HANDLE hFt, long int dwMemBlock, unsigned char pbArray, long int dwSize, long int dwParameter, unsigned char pbName, long int dwNameLen) {
networker	0:7f26f0680202	1415	int ret;
networker	0:7f26f0680202	1416	unsigned char buffer[128];
networker	0:7f26f0680202	1417	long int i;
networker	0:7f26f0680202	1418	crc_t crc;
networker	0:7f26f0680202	1419	int memblockarg;
networker	0:7f26f0680202	1420
networker	0:7f26f0680202	1421	if (hFt == NULL) {
networker	0:7f26f0680202	1422	fprintf(stderr, "DownloadFtProgram: No such device\n");
networker	0:7f26f0680202	1423	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1424	} else if (hFt->type != FT_ROBO_IF_USB) {
networker	0:7f26f0680202	1425	fprintf(stderr, "DownloadFtProgram: Sorry, I can only handle the Robo Interface over USB at this time.\n");
networker	0:7f26f0680202	1426	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1427	}
networker	0:7f26f0680202	1428
networker	0:7f26f0680202	1429	switch (dwMemBlock) {
networker	0:7f26f0680202	1430	case 0x0: // flash 1
networker	0:7f26f0680202	1431	memblockarg = 0x100;
networker	0:7f26f0680202	1432	if (dwParameter == 1) memblockarg += 0x100;
networker	0:7f26f0680202	1433	break;
networker	0:7f26f0680202	1434	case 0x1: // flash 2
networker	0:7f26f0680202	1435	memblockarg = 0x101;
networker	0:7f26f0680202	1436	if (dwParameter == 1) fprintf(stderr, "Warning: Autostart for flash 2 not supported\n");
networker	0:7f26f0680202	1437	break;
networker	0:7f26f0680202	1438	case 0x2: // ram
networker	0:7f26f0680202	1439	memblockarg = 0x102;
networker	0:7f26f0680202	1440	if (dwParameter == 1) fprintf(stderr, "Warning: Autostart for RAM not supported\n");
networker	0:7f26f0680202	1441	break;
networker	0:7f26f0680202	1442	case 0xf0: // firmware A
networker	0:7f26f0680202	1443	memblockarg = 0xf200;
networker	0:7f26f0680202	1444	break;
networker	0:7f26f0680202	1445	case 0xf1: // firmware B
networker	0:7f26f0680202	1446	memblockarg = 0xf201;
networker	0:7f26f0680202	1447	break;
networker	0:7f26f0680202	1448	default:
networker	0:7f26f0680202	1449	fprintf(stderr, "Unknown Memblock Target\n");
networker	0:7f26f0680202	1450	return FTLIB_ERR_DOWNLOAD_WRONG_MEM_BLOCK;
networker	0:7f26f0680202	1451	}
networker	0:7f26f0680202	1452
networker	0:7f26f0680202	1453	// init upload
networker	0:7f26f0680202	1454	ret = usb_control_msg(hFt->device, 0xc0, 0xf0, 0x20, 0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1455	if (ret < 0) {
networker	0:7f26f0680202	1456	fprintf(stderr, "Error sending control msg 0xC0 0xF0\n");
networker	0:7f26f0680202	1457	return ret;
networker	0:7f26f0680202	1458	}
networker	0:7f26f0680202	1459	if (buffer[0] != 1) {
networker	0:7f26f0680202	1460	fprintf(stderr, "Error uploading Program: Return value for 0xC0 0xF0 is 0x%x\n", buffer[0]);
networker	0:7f26f0680202	1461	return FTLIB_ERR_DOWNLOAD;
networker	0:7f26f0680202	1462	}
networker	0:7f26f0680202	1463
networker	0:7f26f0680202	1464	// write name
networker	0:7f26f0680202	1465	memset(buffer, 0, 128); // clean buffer
networker	0:7f26f0680202	1466	if (pbName != NULL)
networker	0:7f26f0680202	1467	strncpy(buffer, pbName, MIN(dwNameLen, 80)); // copy to buffer, so we not change the original content
networker	0:7f26f0680202	1468	ret = usb_control_msg(hFt->device, 0x40, 0x10, memblockarg, dwSize/PROGRAM_UPLOAD_PACKET_SIZE, buffer, 80, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1469	if (ret < 0) {
networker	0:7f26f0680202	1470	fprintf(stderr, "Error sending control msg 0x40 0x10\n");
networker	0:7f26f0680202	1471	return ret;
networker	0:7f26f0680202	1472	}
networker	0:7f26f0680202	1473
networker	0:7f26f0680202	1474	// check
networker	0:7f26f0680202	1475	ret = usb_control_msg(hFt->device, 0xC0, 0x20, 0x0, 0x0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1476	if (ret < 0) {
networker	0:7f26f0680202	1477	fprintf(stderr, "Error sending control ms 0xC0 0x20g\n");
networker	0:7f26f0680202	1478	return ret;
networker	0:7f26f0680202	1479	}
networker	0:7f26f0680202	1480	if (buffer[0] != dwMemBlock \|\| (buffer[0] == 0 && memblockarg == 0xf200) \|\| (buffer[0] == 1 && memblockarg == 0xf201)) {
networker	0:7f26f0680202	1481	fprintf(stderr, "Upload Error: Target mismatch\n");
networker	0:7f26f0680202	1482	}
networker	0:7f26f0680202	1483
networker	0:7f26f0680202	1484	// write the data
networker	0:7f26f0680202	1485	for (i=0; dwSize >= PROGRAM_UPLOAD_PACKET_SIZE; i++, dwSize -= PROGRAM_UPLOAD_PACKET_SIZE) {
networker	0:7f26f0680202	1486	memset(buffer, 0, 128); // clean buffer
networker	0:7f26f0680202	1487	memcpy(buffer, pbArray + (i*PROGRAM_UPLOAD_PACKET_SIZE), MIN(dwSize, PROGRAM_UPLOAD_PACKET_SIZE)); // make sure we not change the original content
networker	0:7f26f0680202	1488
networker	0:7f26f0680202	1489	crc = crc_init();
networker	0:7f26f0680202	1490	crc = crc_update(crc, buffer, PROGRAM_UPLOAD_PACKET_SIZE);
networker	0:7f26f0680202	1491	crc = crc_finalize(crc);
networker	0:7f26f0680202	1492
networker	0:7f26f0680202	1493	// write 128 byte
networker	0:7f26f0680202	1494	/*printf("CRC: 0x%x\n", crc);
networker	0:7f26f0680202	1495	printf("Paket: 0x%x\n", i+1);
networker	0:7f26f0680202	1496	for(k=0; k<128; k++) {
networker	0:7f26f0680202	1497	printf("0x%x ", buffer[k]);
networker	0:7f26f0680202	1498	if ((k+1) % 16 == 0 && k != 0) printf("\n");
networker	0:7f26f0680202	1499	}
networker	0:7f26f0680202	1500	printf("\n");*/
networker	0:7f26f0680202	1501	ret = usb_control_msg(hFt->device, 0x40, 0x11, i+1, crc, buffer, PROGRAM_UPLOAD_PACKET_SIZE, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1502	if (ret < 0) {
networker	0:7f26f0680202	1503	fprintf(stderr, "Error sending control msg 0x40 0x11 0x%x\n", i+1);
networker	0:7f26f0680202	1504	return ret;
networker	0:7f26f0680202	1505	}
networker	0:7f26f0680202	1506
networker	0:7f26f0680202	1507	// check
networker	0:7f26f0680202	1508	ret = usb_control_msg(hFt->device, 0xC0, 0x20, 0x0, 0x0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1509	if (ret < 0) {
networker	0:7f26f0680202	1510	fprintf(stderr, "Error sending control msg 0xC0 0x20\n");
networker	0:7f26f0680202	1511	return ret;
networker	0:7f26f0680202	1512	}
networker	0:7f26f0680202	1513	if (buffer[0] != 1) {
networker	0:7f26f0680202	1514	fprintf(stderr, "Error uploading Program: Return value for 0xC0, 0x20 is 0x%x\n", buffer[0]);
networker	0:7f26f0680202	1515	return FTLIB_ERR_DOWNLOAD;
networker	0:7f26f0680202	1516	}
networker	0:7f26f0680202	1517	}
networker	0:7f26f0680202	1518
networker	0:7f26f0680202	1519	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1520	}
networker	0:7f26f0680202	1521
networker	0:7f26f0680202	1522
networker	0:7f26f0680202	1523	/**
networker	0:7f26f0680202	1524	* \brief Start a program
networker	0:7f26f0680202	1525	*
networker	0:7f26f0680202	1526	* Will start a program that has been Successfully uploaded to the interface.
networker	0:7f26f0680202	1527	*
networker	0:7f26f0680202	1528	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1529	* @param dwMemBlock Destination 0 (Flash 1), 1 (Flash 2) or 2 (Ram)
networker	0:7f26f0680202	1530	* @return FTLIB_ERR_SUCCESS or FTLIB_ERR_IF_NO_PROGRAM
networker	0:7f26f0680202	1531	*/
networker	0:7f26f0680202	1532	long int StartFtProgram(FT_HANDLE hFt, long int dwMemBlock) {
networker	0:7f26f0680202	1533	int ret;
networker	0:7f26f0680202	1534	unsigned char buffer[2];
networker	0:7f26f0680202	1535
networker	0:7f26f0680202	1536	if (hFt == NULL) {
networker	0:7f26f0680202	1537	fprintf(stderr, "StartFtProgram: No such device\n");
networker	0:7f26f0680202	1538	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1539	}
networker	0:7f26f0680202	1540
networker	0:7f26f0680202	1541	switch (hFt->type) {
networker	0:7f26f0680202	1542	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1543	// note: serial documentation says 0xf4 here, sniffer says 0x12
networker	0:7f26f0680202	1544	ret = usb_control_msg(hFt->device, 0xc0, 0x12, dwMemBlock, 0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1545	if (ret < 0) {
networker	0:7f26f0680202	1546	fprintf(stderr, "Error sending control msg 0xC0 0xF4\n");
networker	0:7f26f0680202	1547	return ret;
networker	0:7f26f0680202	1548	}
networker	0:7f26f0680202	1549	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1550	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1551	break;
networker	0:7f26f0680202	1552	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1553	buffer[0] = 0xf4;
networker	0:7f26f0680202	1554	buffer[1] = dwMemBlock;
networker	0:7f26f0680202	1555	if ((write(hFt->sdev, &buffer, 2)) != 2 \|\| (read(hFt->sdev, &buffer, 1)) != 1) {
networker	0:7f26f0680202	1556	return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1557	}
networker	0:7f26f0680202	1558	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1559	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1560	break;
networker	0:7f26f0680202	1561	}
networker	0:7f26f0680202	1562
networker	0:7f26f0680202	1563	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1564	}
networker	0:7f26f0680202	1565
networker	0:7f26f0680202	1566
networker	0:7f26f0680202	1567	/**
networker	0:7f26f0680202	1568	* \brief Stop a program
networker	0:7f26f0680202	1569	*
networker	0:7f26f0680202	1570	* Will stop the current running program that has been uploaded to the interface.
networker	0:7f26f0680202	1571	*
networker	0:7f26f0680202	1572	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1573	* @return FTLIB_ERR_SUCCESS or FTLIB_ERR_IF_NO_PROGRAM
networker	0:7f26f0680202	1574	*/
networker	0:7f26f0680202	1575	long int StopFtProgram(FT_HANDLE hFt) {
networker	0:7f26f0680202	1576	int ret;
networker	0:7f26f0680202	1577	unsigned char buffer[1];
networker	0:7f26f0680202	1578
networker	0:7f26f0680202	1579	if (hFt == NULL) {
networker	0:7f26f0680202	1580	fprintf(stderr, "StopFtProgram: No such device\n");
networker	0:7f26f0680202	1581	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1582	}
networker	0:7f26f0680202	1583
networker	0:7f26f0680202	1584	switch (hFt->type) {
networker	0:7f26f0680202	1585	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1586	// note: serial documentation says 0xf8 here, sniffer says 0x13
networker	0:7f26f0680202	1587	ret = usb_control_msg(hFt->device, 0xc0, 0x13, 0, 0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1588	if (ret < 0) {
networker	0:7f26f0680202	1589	fprintf(stderr, "Error sending control msg 0xC0 0x13\n");
networker	0:7f26f0680202	1590	return ret;
networker	0:7f26f0680202	1591	}
networker	0:7f26f0680202	1592
networker	0:7f26f0680202	1593	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1594	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1595	break;
networker	0:7f26f0680202	1596	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1597	buffer[0] = 0xf8;
networker	0:7f26f0680202	1598	if ((write(hFt->sdev, &buffer, 1)) != 1 \|\| (read(hFt->sdev, &buffer, 1)) != 1) {
networker	0:7f26f0680202	1599	return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1600	}
networker	0:7f26f0680202	1601	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1602	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1603	break;
networker	0:7f26f0680202	1604	}
networker	0:7f26f0680202	1605
networker	0:7f26f0680202	1606	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1607	}
networker	0:7f26f0680202	1608
networker	0:7f26f0680202	1609
networker	0:7f26f0680202	1610	/**
networker	0:7f26f0680202	1611	* \brief Delete a program
networker	0:7f26f0680202	1612	*
networker	0:7f26f0680202	1613	* Will delete a program that has been uploaded to the interface.
networker	0:7f26f0680202	1614	*
networker	0:7f26f0680202	1615	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1616	* @param dwMemBlock Destination 0 (Flash 1), 1 (Flash 2) or 2 (Ram)
networker	0:7f26f0680202	1617	* @return FTLIB_ERR_SUCCESS or FTLIB_ERR_IF_NO_PROGRAM
networker	0:7f26f0680202	1618	*/
networker	0:7f26f0680202	1619	long int DeleteFtProgram(FT_HANDLE hFt, long int dwMemBlock) {
networker	0:7f26f0680202	1620	int ret;
networker	0:7f26f0680202	1621	unsigned char buffer[2];
networker	0:7f26f0680202	1622
networker	0:7f26f0680202	1623	if (hFt == NULL) {
networker	0:7f26f0680202	1624	fprintf(stderr, "DeleteFtProgram: No such device\n");
networker	0:7f26f0680202	1625	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1626	}
networker	0:7f26f0680202	1627
networker	0:7f26f0680202	1628	switch (hFt->type) {
networker	0:7f26f0680202	1629	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1630	ret = usb_control_msg(hFt->device, 0xc0, 0xf5, dwMemBlock, 0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1631	if (ret < 0) {
networker	0:7f26f0680202	1632	fprintf(stderr, "Error sending control msg 0xC0 0xF5\n");
networker	0:7f26f0680202	1633	return ret;
networker	0:7f26f0680202	1634	}
networker	0:7f26f0680202	1635
networker	0:7f26f0680202	1636	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1637	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1638	break;
networker	0:7f26f0680202	1639	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1640	buffer[0] = 0xf5;
networker	0:7f26f0680202	1641	buffer[1] = dwMemBlock;
networker	0:7f26f0680202	1642	if ((write(hFt->sdev, &buffer, 2)) != 2 \|\| (read(hFt->sdev, &buffer, 1)) != 1) {
networker	0:7f26f0680202	1643	return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1644	}
networker	0:7f26f0680202	1645	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1646	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1647	break;
networker	0:7f26f0680202	1648	}
networker	0:7f26f0680202	1649
networker	0:7f26f0680202	1650	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1651	}
networker	0:7f26f0680202	1652
networker	0:7f26f0680202	1653
networker	0:7f26f0680202	1654	/**
networker	0:7f26f0680202	1655	* \brief Activate a program
networker	0:7f26f0680202	1656	*
networker	0:7f26f0680202	1657	* Will activate a program that has been uploaded to the interface.
networker	0:7f26f0680202	1658	*
networker	0:7f26f0680202	1659	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1660	* @param dwMemBlock Destination 0 (Flash 1) or 1 (Flash 2)
networker	0:7f26f0680202	1661	* @return FTLIB_ERR_SUCCESS or FTLIB_ERR_IF_NO_PROGRAM
networker	0:7f26f0680202	1662	*/
networker	0:7f26f0680202	1663	long int SetFtProgramActiv(FT_HANDLE hFt, long int dwMemBlock) {
networker	0:7f26f0680202	1664	int ret;
networker	0:7f26f0680202	1665	unsigned char buffer[1];
networker	0:7f26f0680202	1666
networker	0:7f26f0680202	1667	if (hFt == NULL) {
networker	0:7f26f0680202	1668	fprintf(stderr, "SetFtProgramActiv: No such device\n");
networker	0:7f26f0680202	1669	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1670	}
networker	0:7f26f0680202	1671
networker	0:7f26f0680202	1672	switch (hFt->type) {
networker	0:7f26f0680202	1673	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1674	ret = usb_control_msg(hFt->device, 0xc0, 0xf9, dwMemBlock, 0, buffer, 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1675	if (ret < 0) {
networker	0:7f26f0680202	1676	fprintf(stderr, "Error sending control msg 0xC0 0xf9\n");
networker	0:7f26f0680202	1677	return ret;
networker	0:7f26f0680202	1678	}
networker	0:7f26f0680202	1679
networker	0:7f26f0680202	1680	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1681	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1682	break;
networker	0:7f26f0680202	1683	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1684	buffer[0] = 0xf9;
networker	0:7f26f0680202	1685	buffer[1] = dwMemBlock;
networker	0:7f26f0680202	1686	if ((write(hFt->sdev, &buffer, 2)) != 2 \|\| (read(hFt->sdev, &buffer, 1)) != 1) {
networker	0:7f26f0680202	1687	return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1688	}
networker	0:7f26f0680202	1689	if ((buffer[0]) == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1690	else return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1691	break;
networker	0:7f26f0680202	1692	}
networker	0:7f26f0680202	1693
networker	0:7f26f0680202	1694	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1695	}
networker	0:7f26f0680202	1696
networker	0:7f26f0680202	1697
networker	0:7f26f0680202	1698	/**
networker	0:7f26f0680202	1699	* \brief Get the name of a program
networker	0:7f26f0680202	1700	*
networker	0:7f26f0680202	1701	* Will write the name of a program that has been uploaded to the interface to a given area.
networker	0:7f26f0680202	1702	*
networker	0:7f26f0680202	1703	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1704	* @param dwMemBlock Destination 0 (Flash 1), 1 (Flash 2) or 2 (Ram)
networker	0:7f26f0680202	1705	* @param pName Pointer to the area where we can store the name
networker	0:7f26f0680202	1706	* @param dwSize Size of the area to store the name to
networker	0:7f26f0680202	1707	* @return FTLIB_ERR_SUCCESS or FTLIB_ERR_IF_NO_PROGRAM
networker	0:7f26f0680202	1708	*/
networker	0:7f26f0680202	1709	long int GetFtProgramName(FT_HANDLE hFt, long int dwMemBlock, long int dwSize, void *pName) {
networker	0:7f26f0680202	1710	int ret;
networker	0:7f26f0680202	1711	unsigned char buffer[dwSize+1];
networker	0:7f26f0680202	1712
networker	0:7f26f0680202	1713	if (hFt == NULL) {
networker	0:7f26f0680202	1714	fprintf(stderr, "GetFtProgramName: No such device\n");
networker	0:7f26f0680202	1715	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1716	}
networker	0:7f26f0680202	1717
networker	0:7f26f0680202	1718	switch (hFt->type) {
networker	0:7f26f0680202	1719	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1720	ret = usb_control_msg(hFt->device, 0xc0, 0xfa, dwMemBlock, 0, buffer, dwSize + 1, FT_USB_TIMEOUT_LONG);
networker	0:7f26f0680202	1721	if (ret < 0) {
networker	0:7f26f0680202	1722	fprintf(stderr, "Error sending control msg 0xC0 0xFA\n");
networker	0:7f26f0680202	1723	return ret;
networker	0:7f26f0680202	1724	}
networker	0:7f26f0680202	1725	memcpy(pName, buffer+1, ret-1);
networker	0:7f26f0680202	1726
networker	0:7f26f0680202	1727	if (buffer[0] == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1728	if (buffer[0] == 0xf3) return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1729	return buffer[1];
networker	0:7f26f0680202	1730	break;
networker	0:7f26f0680202	1731	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1732	buffer[0] = 0xfa;
networker	0:7f26f0680202	1733	buffer[1] = dwMemBlock;
networker	0:7f26f0680202	1734	if ((write(hFt->sdev, &buffer, 2)) != 2 \|\| (ret = read(hFt->sdev, &buffer, dwSize+1)) < 0 \|\| buffer[0] != 0x01) {
networker	0:7f26f0680202	1735	return FTLIB_ERR_IF_NO_PROGRAM;
networker	0:7f26f0680202	1736	}
networker	0:7f26f0680202	1737	memcpy(pName, buffer+1, ret-1);
networker	0:7f26f0680202	1738	if (buffer[0] == 0x1) return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	1739	break;
networker	0:7f26f0680202	1740	}
networker	0:7f26f0680202	1741
networker	0:7f26f0680202	1742	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1743	}
networker	0:7f26f0680202	1744
networker	0:7f26f0680202	1745
networker	0:7f26f0680202	1746	/**
networker	0:7f26f0680202	1747	* \brief Checks if a program is running
networker	0:7f26f0680202	1748	*
networker	0:7f26f0680202	1749	* Checks if a program is currently running.
networker	0:7f26f0680202	1750	*
networker	0:7f26f0680202	1751	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1752	* @param num Area where we can store the number of the running program.
networker	0:7f26f0680202	1753	* @return 1 if a program is running, else 0
networker	0:7f26f0680202	1754	*/
networker	0:7f26f0680202	1755	int GetFtStatus(FT_HANDLE hFt, int *num) {
networker	0:7f26f0680202	1756	int ret;
networker	0:7f26f0680202	1757	unsigned char buffer[3];
networker	0:7f26f0680202	1758
networker	0:7f26f0680202	1759	if (hFt == NULL) {
networker	0:7f26f0680202	1760	fprintf(stderr, "GetFtStatus: No such device\n");
networker	0:7f26f0680202	1761	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1762	}
networker	0:7f26f0680202	1763
networker	0:7f26f0680202	1764	switch (hFt->type) {
networker	0:7f26f0680202	1765	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1766	// test replace 0xf0 with 0x50
networker	0:7f26f0680202	1767	ret = usb_control_msg(hFt->device, 0xc0, 0xf0, 0x3, 0, buffer, 3, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1768	if (ret < 0) {
networker	0:7f26f0680202	1769	fprintf(stderr, "Error sending control msg 0xC0 0xF0\n");
networker	0:7f26f0680202	1770	return ret;
networker	0:7f26f0680202	1771	}
networker	0:7f26f0680202	1772	ret = buffer[1];
networker	0:7f26f0680202	1773	*num = buffer[2];
networker	0:7f26f0680202	1774	break;
networker	0:7f26f0680202	1775	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1776	buffer[0] = 0xf0;
networker	0:7f26f0680202	1777	buffer[1] = 0x3;
networker	0:7f26f0680202	1778	if ((write(hFt->sdev, &buffer, 2)) != 2 \|\| (ret = read(hFt->sdev, &buffer, 3)) < 0 \|\| buffer[0] != 0xfc) {
networker	0:7f26f0680202	1779	return ret;
networker	0:7f26f0680202	1780	}
networker	0:7f26f0680202	1781	ret = buffer[1];
networker	0:7f26f0680202	1782	*num = buffer[2];
networker	0:7f26f0680202	1783	break;
networker	0:7f26f0680202	1784	default:
networker	0:7f26f0680202	1785	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1786	}
networker	0:7f26f0680202	1787
networker	0:7f26f0680202	1788	return ret;
networker	0:7f26f0680202	1789	}
networker	0:7f26f0680202	1790	#endif //USE_DOWNLOAD
networker	0:7f26f0680202	1791
networker	0:7f26f0680202	1792	/**
networker	0:7f26f0680202	1793	* \brief Get the firmware number of this interface.
networker	0:7f26f0680202	1794	*
networker	0:7f26f0680202	1795	* Returns the firmware number of the interface squashed into a single int.
networker	0:7f26f0680202	1796	*
networker	0:7f26f0680202	1797	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1798	* @return Firmware number as int byte4 \| byte3 \| byte2 \| byte1, 0 on error.
networker	0:7f26f0680202	1799	*/
networker	0:7f26f0680202	1800	long int GetFtFirmware(FT_HANDLE hFt) {//makes a blocking comm request
networker	0:7f26f0680202	1801	int ret;
networker	0:7f26f0680202	1802	unsigned char buffer[35] = { 0 };
networker	0:7f26f0680202	1803	long int firmware = 0;
networker	0:7f26f0680202	1804
networker	0:7f26f0680202	1805	if (hFt == NULL) {
networker	0:7f26f0680202	1806	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	1807	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1808	}
networker	0:7f26f0680202	1809
networker	0:7f26f0680202	1810
networker	0:7f26f0680202	1811	switch (hFt->type) {
networker	0:7f26f0680202	1812	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	1813	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	1814	return 0;
networker	0:7f26f0680202	1815	#ifdef USE_USB
networker	0:7f26f0680202	1816	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1817	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	1818	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	1819	ret = usb_control_msg(hFt->device, 0xc0, 0xf0, 0x1, 0, buffer, 5, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1820	if (ret < 0) {
networker	0:7f26f0680202	1821	fprintf(stderr, "Error sending control msg 0xC0 0xF0\n");
networker	0:7f26f0680202	1822	return 0;
networker	0:7f26f0680202	1823	}
networker	0:7f26f0680202	1824	firmware = buffer[1] \| buffer[2]<<8 \| buffer[3]<<16 \| buffer[4]<<24;
networker	0:7f26f0680202	1825	break;
networker	0:7f26f0680202	1826	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	1827	ret = usb_control_msg(hFt->device, 0xc0, 0x52, hFt->transfer_area.RfModulNr<<8 \| 0x05, 0, buffer, 35, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1828	if (ret < 0) {
networker	0:7f26f0680202	1829	fprintf(stderr, "Error sending control msg 0xC0 0x52\n");
networker	0:7f26f0680202	1830	return 0;
networker	0:7f26f0680202	1831	}
networker	0:7f26f0680202	1832	if (buffer[0] == 0xfa && buffer[1] == 0) { // buffer[1] == 0xff => no device
networker	0:7f26f0680202	1833	firmware = buffer[23]<<24 \| buffer[22]<<16 \| buffer[21]<<8 \| buffer[20];
networker	0:7f26f0680202	1834	}
networker	0:7f26f0680202	1835	break;
networker	0:7f26f0680202	1836	#endif
networker	0:7f26f0680202	1837	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1838	buffer[0] = 0xf0;
networker	0:7f26f0680202	1839	buffer[1] = 0x01;
networker	0:7f26f0680202	1840	#ifdef MBED
networker	0:7f26f0680202	1841	//printf("requesting FW\n");
networker	0:7f26f0680202	1842	//ret = hFt->sdev->printf("%2c", buffer);
networker	0:7f26f0680202	1843	ret = write(hFt->sdev, buffer, 2);
networker	0:7f26f0680202	1844	// printf("request was sent %d\n", ret);
networker	0:7f26f0680202	1845	#else
networker	0:7f26f0680202	1846	ret = write(hFt->sdev, &buffer, 2);
networker	0:7f26f0680202	1847	#endif
networker	0:7f26f0680202	1848	if (ret != 2) {
networker	0:7f26f0680202	1849	fprintf(stderr, "Error writing msg 0xF0 0x01\n");
networker	0:7f26f0680202	1850	return 0;
networker	0:7f26f0680202	1851	}
networker	0:7f26f0680202	1852	#ifdef MBED
networker	0:7f26f0680202	1853	//ret = hFt->sdev->scanf("%5c", buffer)==1 ? 5 : 0 ;
networker	0:7f26f0680202	1854	ret = read(hFt->sdev, buffer, 5);
networker	0:7f26f0680202	1855	#else
networker	0:7f26f0680202	1856	ret = read(hFt->sdev, &buffer, 5);
networker	0:7f26f0680202	1857	#endif
networker	0:7f26f0680202	1858	if (ret != 5) {
networker	0:7f26f0680202	1859	fprintf(stderr, "Error reading msg 0xF0 0x01\n");
networker	0:7f26f0680202	1860	return 0;
networker	0:7f26f0680202	1861	}
networker	0:7f26f0680202	1862	firmware = buffer[1] \| buffer[2]<<8 \| buffer[3]<<16 \| buffer[4]<<24;
networker	0:7f26f0680202	1863	// printf("fw: %ld\n", firmware);
networker	0:7f26f0680202	1864	break;
networker	0:7f26f0680202	1865	default:
networker	0:7f26f0680202	1866	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1867	}
networker	0:7f26f0680202	1868
networker	0:7f26f0680202	1869	return firmware;
networker	0:7f26f0680202	1870	}
networker	0:7f26f0680202	1871
networker	0:7f26f0680202	1872
networker	0:7f26f0680202	1873	/**
networker	0:7f26f0680202	1874	* \brief Get the firmware number of this interface.
networker	0:7f26f0680202	1875	*
networker	0:7f26f0680202	1876	* Returns the firmware number of the interface with this handle.
networker	0:7f26f0680202	1877	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	1878	*
networker	0:7f26f0680202	1879	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1880	* @return Pointer to a string with the firmware
networker	0:7f26f0680202	1881	*/
networker	0:7f26f0680202	1882	char *GetFtFirmwareStrg(FT_HANDLE hFt) {
networker	0:7f26f0680202	1883	long int ifw = GetFtFirmware(hFt);
networker	0:7f26f0680202	1884	char s = (char )malloc(16);
networker	0:7f26f0680202	1885	int byte1 = ifw & 0xff;
networker	0:7f26f0680202	1886	int byte2 = (ifw & 0xff00) >> 8;
networker	0:7f26f0680202	1887	int byte3 = (ifw & 0xff0000) >> 16;
networker	0:7f26f0680202	1888	int byte4 = (ifw & 0xff000000) >> 24;
networker	0:7f26f0680202	1889
networker	0:7f26f0680202	1890	snprintf(s, 16, "%d.%02d.%02d.%02d", byte4, byte3, byte2, byte1);
networker	0:7f26f0680202	1891
networker	0:7f26f0680202	1892	return s;
networker	0:7f26f0680202	1893	}
networker	0:7f26f0680202	1894
networker	0:7f26f0680202	1895
networker	0:7f26f0680202	1896	#ifndef NOTNOW
networker	0:7f26f0680202	1897	/**
networker	0:7f26f0680202	1898	* \brief Get the serial number of this interface.
networker	0:7f26f0680202	1899	*
networker	0:7f26f0680202	1900	* Returns the serial number of the interface squashed into a single int.
networker	0:7f26f0680202	1901	*
networker	0:7f26f0680202	1902	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1903	* @return Serial number as int byte4 \| byte3 \| byte2 \| byte1, 0 on error.
networker	0:7f26f0680202	1904	*/
networker	0:7f26f0680202	1905	long int GetFtSerialNr(FT_HANDLE hFt) {
networker	0:7f26f0680202	1906	int ret;
networker	0:7f26f0680202	1907	unsigned char buffer[35] = { 0 };
networker	0:7f26f0680202	1908	long int serial = 0;
networker	0:7f26f0680202	1909
networker	0:7f26f0680202	1910	if (hFt == NULL) {
networker	0:7f26f0680202	1911	fprintf(stderr, "GetFtSerialNr: No such device\n");
networker	0:7f26f0680202	1912	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	1913	}
networker	0:7f26f0680202	1914
networker	0:7f26f0680202	1915
networker	0:7f26f0680202	1916	switch (hFt->type) {
networker	0:7f26f0680202	1917	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	1918	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	1919	return 0;
networker	0:7f26f0680202	1920	break;
networker	0:7f26f0680202	1921	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	1922	ret = usb_control_msg(hFt->device, 0xc0, 0xf0, 0x2, 0, buffer, 5, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1923	if (ret < 0) {
networker	0:7f26f0680202	1924	fprintf(stderr, "Error sending control msg 0xC0 0xF0\n");
networker	0:7f26f0680202	1925	return 0;
networker	0:7f26f0680202	1926	}
networker	0:7f26f0680202	1927	serial = buffer[1] + buffer[2]100 + buffer[3]10000 + buffer[4]*1000000;
networker	0:7f26f0680202	1928	break;
networker	0:7f26f0680202	1929	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	1930	ret = usb_control_msg(hFt->device, 0xc0, 0xf0, 0x2, 0, buffer, 14, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1931	if (ret < 0) {
networker	0:7f26f0680202	1932	fprintf(stderr, "Error sending control msg 0xC0 0xF0\n");
networker	0:7f26f0680202	1933	return 0;
networker	0:7f26f0680202	1934	}
networker	0:7f26f0680202	1935	serial = buffer[1] + buffer[2]100 + buffer[3]10000 + buffer[4]*1000000;
networker	0:7f26f0680202	1936	break;
networker	0:7f26f0680202	1937	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	1938	ret = usb_control_msg(hFt->device, 0xc0, 0xf0, 0x2, 0, buffer, 14, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1939	if (ret < 0) {
networker	0:7f26f0680202	1940	fprintf(stderr, "Error sending control msg 0xC0 0x52\n");
networker	0:7f26f0680202	1941	return 0;
networker	0:7f26f0680202	1942	}
networker	0:7f26f0680202	1943	serial = buffer[1] + buffer[2]100 + buffer[3]10000 + buffer[4]*1000000;
networker	0:7f26f0680202	1944	break;
networker	0:7f26f0680202	1945	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	1946	ret = usb_control_msg(hFt->device, 0xc0, 0x52, hFt->transfer_area.RfModulNr<<8 \| 0x05, 0, buffer, 35, FT_USB_TIMEOUT);
networker	0:7f26f0680202	1947	if (ret < 0) {
networker	0:7f26f0680202	1948	fprintf(stderr, "Error sending control msg 0xC0 0x52\n");
networker	0:7f26f0680202	1949	return 0;
networker	0:7f26f0680202	1950	}
networker	0:7f26f0680202	1951	if (buffer[0] == 0xfa && buffer[1] == 0) { // buffer[1] == 0xff => no device
networker	0:7f26f0680202	1952	serial = buffer[6]1000000 + buffer[5]10000 + buffer[4]*100 + buffer[3];
networker	0:7f26f0680202	1953	}
networker	0:7f26f0680202	1954	break;
networker	0:7f26f0680202	1955	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	1956	buffer[0] = 0xf0;
networker	0:7f26f0680202	1957	buffer[1] = 0x02;
networker	0:7f26f0680202	1958	ret = write(hFt->sdev, &buffer, 2);
networker	0:7f26f0680202	1959	if (ret != 2) {
networker	0:7f26f0680202	1960	fprintf(stderr, "Error writing msg 0xF0 0x02\n");
networker	0:7f26f0680202	1961	return 0;
networker	0:7f26f0680202	1962	}
networker	0:7f26f0680202	1963	ret = read(hFt->sdev, &buffer, 5);
networker	0:7f26f0680202	1964	if (ret != 5) {
networker	0:7f26f0680202	1965	fprintf(stderr, "Error reading msg 0xF0 0x02\n");
networker	0:7f26f0680202	1966	return 0;
networker	0:7f26f0680202	1967	}
networker	0:7f26f0680202	1968	serial = buffer[1] + buffer[2]100 + buffer[3]10000 + buffer[4]*1000000;
networker	0:7f26f0680202	1969	break;
networker	0:7f26f0680202	1970	default:
networker	0:7f26f0680202	1971	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	1972	}
networker	0:7f26f0680202	1973
networker	0:7f26f0680202	1974	return serial;
networker	0:7f26f0680202	1975	}
networker	0:7f26f0680202	1976
networker	0:7f26f0680202	1977
networker	0:7f26f0680202	1978	/**
networker	0:7f26f0680202	1979	* \brief Get the serial number of this interface.
networker	0:7f26f0680202	1980	*
networker	0:7f26f0680202	1981	* Returns the serial number of the interface with this handle.
networker	0:7f26f0680202	1982	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	1983	*
networker	0:7f26f0680202	1984	* @param hFt Handle of the Interface
networker	0:7f26f0680202	1985	* @return Pointer to a string with the serial
networker	0:7f26f0680202	1986	*/
networker	0:7f26f0680202	1987	char *GetFtSerialNrStrg(FT_HANDLE hFt) {
networker	0:7f26f0680202	1988	long int ifw = GetFtSerialNr(hFt);
networker	0:7f26f0680202	1989	char s = (char )malloc(16);
networker	0:7f26f0680202	1990	int byte1, byte2, byte3, byte4;
networker	0:7f26f0680202	1991
networker	0:7f26f0680202	1992	byte1 = ifw % 100;
networker	0:7f26f0680202	1993	ifw /= 100;
networker	0:7f26f0680202	1994	byte2 = ifw % 100;
networker	0:7f26f0680202	1995	ifw /= 100;
networker	0:7f26f0680202	1996	byte3 = ifw % 100;
networker	0:7f26f0680202	1997	ifw /= 100;
networker	0:7f26f0680202	1998	byte4 = ifw % 100;
networker	0:7f26f0680202	1999	ifw /= 100;
networker	0:7f26f0680202	2000
networker	0:7f26f0680202	2001	snprintf(s, 16, "%d.%02d.%02d.%02d", byte4, byte3, byte2, byte1);
networker	0:7f26f0680202	2002
networker	0:7f26f0680202	2003	return s;
networker	0:7f26f0680202	2004	}
networker	0:7f26f0680202	2005
networker	0:7f26f0680202	2006
networker	0:7f26f0680202	2007	/**
networker	0:7f26f0680202	2008	* \brief Close all ft devices
networker	0:7f26f0680202	2009	*
networker	0:7f26f0680202	2010	* Dummy. Can't be supported. Only used in original library.
networker	0:7f26f0680202	2011	*
networker	0:7f26f0680202	2012	* @return Always FTLIB_ERR_NOT_SUPPORTED
networker	0:7f26f0680202	2013	*/
networker	0:7f26f0680202	2014	long int CloseAllFtDevices() {
networker	0:7f26f0680202	2015	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	2016	}
networker	0:7f26f0680202	2017
networker	0:7f26f0680202	2018
networker	0:7f26f0680202	2019	/**
networker	0:7f26f0680202	2020	* \brief Set the inputs D1 and D2 to distance oder voltage measuring
networker	0:7f26f0680202	2021	*
networker	0:7f26f0680202	2022	* This function allows to enable the inputs D1 and D2 to measure distances.
networker	0:7f26f0680202	2023	* Must be called before StartFtTransferArea()
networker	0:7f26f0680202	2024	*
networker	0:7f26f0680202	2025	* Note by Hardware Vendor:
networker	0:7f26f0680202	2026	* "Since the operating mode of the D1 / D2 inputs can be set by means of software, we recommend that no
networker	0:7f26f0680202	2027	* voltage be supplied 'directly' to these connections in order to avoid damage to the interface during software
networker	0:7f26f0680202	2028	* errors. Since the inputs are highly resistive, a resistance of approximately 200 Ohm - 470 Ohm should be
networker	0:7f26f0680202	2029	* directly connected to the D1 / D2 socket (series connection). We recommend to connect the voltage range to
networker	0:7f26f0680202	2030	* be measured 'behind' it."
networker	0:7f26f0680202	2031	*
networker	0:7f26f0680202	2032	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2033	* @param dwMode Set mode to IF_DS_INPUT_VOLTAGE (measure voltage) or IF_DS_INPUT_DISTANCE (measure distance)
networker	0:7f26f0680202	2034	* @param dwTol1 Range of tolerance for D1. Try IF_DS_INPUT_TOL_STD (20).
networker	0:7f26f0680202	2035	* @param dwTol2 Range of tolerance for D2. Try IF_DS_INPUT_TOL_STD (20).
networker	0:7f26f0680202	2036	* @param dwLevel1 Threshold for D1. Try 100.
networker	0:7f26f0680202	2037	* @param dwLevel2 Threshold for D2. Try 100.
networker	0:7f26f0680202	2038	* @param dwRepeat1 Repition value for D1. Try IF_DS_INPUT_REP_STD (3).
networker	0:7f26f0680202	2039	* @param dwRepeat2 Repition value for D2. Try IF_DS_INPUT_REP_STD (3).
networker	0:7f26f0680202	2040	* @return FTLIB_ERR_SUCCESS on success
networker	0:7f26f0680202	2041	*/
networker	0:7f26f0680202	2042	long int SetFtDistanceSensorMode(FT_HANDLE hFt, long int dwMode, long int dwTol1, long int dwTol2, long int dwLevel1, long int dwLevel2, long int dwRepeat1, long int dwRepeat2) {
networker	0:7f26f0680202	2043	int ret;
networker	0:7f26f0680202	2044	unsigned char buffer[] = {1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // 34
networker	0:7f26f0680202	2045	int i;
networker	0:7f26f0680202	2046
networker	0:7f26f0680202	2047	buffer[1] = dwTol1;
networker	0:7f26f0680202	2048	buffer[2] = dwTol2;
networker	0:7f26f0680202	2049	buffer[3] = dwLevel1;
networker	0:7f26f0680202	2050	buffer[4] = dwLevel1>>8;
networker	0:7f26f0680202	2051	buffer[5] = dwLevel2;
networker	0:7f26f0680202	2052	buffer[6] = dwLevel2>>8;
networker	0:7f26f0680202	2053	buffer[7] = dwRepeat1;
networker	0:7f26f0680202	2054	buffer[8] = dwRepeat2;
networker	0:7f26f0680202	2055
networker	0:7f26f0680202	2056	if (hFt == NULL) {
networker	0:7f26f0680202	2057	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2058	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	2059	}
networker	0:7f26f0680202	2060
networker	0:7f26f0680202	2061	switch (hFt->type) {
networker	0:7f26f0680202	2062	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2063	ret = usb_control_msg(hFt->device, 0x40, 0xf1, 0x1, dwMode, buffer+1, 8, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2064	if (ret != 8) {
networker	0:7f26f0680202	2065	fprintf(stderr, "Error sending control msg 0x40 0xf1\n");
networker	0:7f26f0680202	2066	return ret;
networker	0:7f26f0680202	2067	}
networker	0:7f26f0680202	2068	break;
networker	0:7f26f0680202	2069	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2070	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2071	ret = usb_control_msg(hFt->device, 0x40, 0x53, hFt->transfer_area.RfModulNr<<8 \| 0x01, 0, buffer, 34, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2072	if (ret != 34) {
networker	0:7f26f0680202	2073	fprintf(stderr, "Error sending control msg 0x40 0x53\n");
networker	0:7f26f0680202	2074	return ret;
networker	0:7f26f0680202	2075	}
networker	0:7f26f0680202	2076	break;
networker	0:7f26f0680202	2077	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2078	// move data in array for two bytes
networker	0:7f26f0680202	2079	for (i=10; i>=3; i--) {
networker	0:7f26f0680202	2080	buffer[i] = buffer[i-2];
networker	0:7f26f0680202	2081	}
networker	0:7f26f0680202	2082	buffer[0] = 0xf1;
networker	0:7f26f0680202	2083	buffer[1] = 0x01;
networker	0:7f26f0680202	2084	buffer[2] = dwMode;
networker	0:7f26f0680202	2085	if ((write(hFt->sdev, &buffer, 11)) != 11 \|\| (read(hFt->sdev, &buffer, 1)) != 1 \|\| buffer[0] != 0x01) {
networker	0:7f26f0680202	2086	fprintf(stderr, "SetFtDistanceSensorMode: Error communicating with serial\n");
networker	0:7f26f0680202	2087	return buffer[0];
networker	0:7f26f0680202	2088	}
networker	0:7f26f0680202	2089	break;
networker	0:7f26f0680202	2090	default:
networker	0:7f26f0680202	2091	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	2092	}
networker	0:7f26f0680202	2093
networker	0:7f26f0680202	2094	usleep(100000); // wait before continue, else it doesn't always work
networker	0:7f26f0680202	2095
networker	0:7f26f0680202	2096	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	2097	}
networker	0:7f26f0680202	2098
networker	0:7f26f0680202	2099
networker	0:7f26f0680202	2100	/**
networker	0:7f26f0680202	2101	* \brief Sets the frequency and call sign for a Robo Interface or RF Data Link.
networker	0:7f26f0680202	2102	*
networker	0:7f26f0680202	2103	* Sets the frequency and call sign which allows to control multiple Interfaces at one RF Data Link.
networker	0:7f26f0680202	2104	* The value won't be lost on power failure.
networker	0:7f26f0680202	2105	*
networker	0:7f26f0680202	2106	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2107	* @param frequency to use. May be between 2 and 80.
networker	0:7f26f0680202	2108	* @param callSign call sign for this Interface. May be between 1 and 8. (ignored for the RF Data Link)
networker	0:7f26f0680202	2109	* @return FTLIB_ERR_SUCCESS on success
networker	0:7f26f0680202	2110	*/
networker	0:7f26f0680202	2111	long int SetRFMode(FT_HANDLE hFt, long int frequency, long int callSign) {
networker	0:7f26f0680202	2112	int ret;
networker	0:7f26f0680202	2113	unsigned char buffer[5];
networker	0:7f26f0680202	2114
networker	0:7f26f0680202	2115	if (hFt == NULL) {
networker	0:7f26f0680202	2116	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2117	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	2118	} else if (frequency < 2 \|\| frequency > 80) {
networker	0:7f26f0680202	2119	return FTLIB_ERR_INVALID_PARAM;
networker	0:7f26f0680202	2120	} else if (callSign > 8) {
networker	0:7f26f0680202	2121	return FTLIB_ERR_INVALID_PARAM;
networker	0:7f26f0680202	2122	}
networker	0:7f26f0680202	2123
networker	0:7f26f0680202	2124	switch (hFt->type) {
networker	0:7f26f0680202	2125	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2126	ret = usb_control_msg(hFt->device, 0xc0, 0xfb, 1, frequency, buffer, 2, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2127	if (ret != 2 \|\| buffer[0] != 0xfe \|\| buffer[1] != 0) {
networker	0:7f26f0680202	2128	fprintf(stderr, "Error sending control msg 0xc0 0xfb\n");
networker	0:7f26f0680202	2129	return ret;
networker	0:7f26f0680202	2130	}
networker	0:7f26f0680202	2131	break;
networker	0:7f26f0680202	2132	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2133	// not or-ing 1 to frequency seems to disable the modul
networker	0:7f26f0680202	2134	ret = usb_control_msg(hFt->device, 0xc0, 0xfb, (callSign<<8) \| 1, (1<<8) \| frequency, buffer, 2, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2135	if (ret != 2 \|\| buffer[0] != 0xfe \|\| buffer[1] != 0) {
networker	0:7f26f0680202	2136	fprintf(stderr, "Error sending control msg 0xc0 0xfb\n");
networker	0:7f26f0680202	2137	return ret;
networker	0:7f26f0680202	2138	}
networker	0:7f26f0680202	2139	break;
networker	0:7f26f0680202	2140	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2141	buffer[0] = 0xfb;
networker	0:7f26f0680202	2142	buffer[1] = 0x1;
networker	0:7f26f0680202	2143	buffer[2] = 0x7f;
networker	0:7f26f0680202	2144	buffer[3] = frequency;
networker	0:7f26f0680202	2145	buffer[4] = callSign;
networker	0:7f26f0680202	2146	if ((write(hFt->sdev, &buffer, 5)) != 5 \|\| (ret = read(hFt->sdev, &buffer, 2)) != 2 \|\| buffer[0] != 0xfe) {
networker	0:7f26f0680202	2147	fprintf(stderr, "SetRFMode: Error communicating with serial\n");
networker	0:7f26f0680202	2148	return ret;
networker	0:7f26f0680202	2149	}
networker	0:7f26f0680202	2150	break;
networker	0:7f26f0680202	2151	default:
networker	0:7f26f0680202	2152	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	2153	}
networker	0:7f26f0680202	2154
networker	0:7f26f0680202	2155	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	2156	}
networker	0:7f26f0680202	2157
networker	0:7f26f0680202	2158
networker	0:7f26f0680202	2159	/**
networker	0:7f26f0680202	2160	* \brief Gets the frequency and call sign of a Robo Interface or RF Data Link.
networker	0:7f26f0680202	2161	*
networker	0:7f26f0680202	2162	* Sets the frequency and call sign which allows to control multiple Interfaces at one RF Data Link.
networker	0:7f26f0680202	2163	*
networker	0:7f26f0680202	2164	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2165	* @param frequency Points to a place to store the frequency.
networker	0:7f26f0680202	2166	* @param callSign Points to a place to store the callSign. (Value will be 0 for the RF Data Link)
networker	0:7f26f0680202	2167	* @return FTLIB_ERR_SUCCESS on success
networker	0:7f26f0680202	2168	*/
networker	0:7f26f0680202	2169	long int GetRFMode(FT_HANDLE hFt, long int frequency, long int callSign) {
networker	0:7f26f0680202	2170	int ret;
networker	0:7f26f0680202	2171	unsigned char buffer[8];
networker	0:7f26f0680202	2172
networker	0:7f26f0680202	2173	if (hFt == NULL) {
networker	0:7f26f0680202	2174	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2175	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	2176	}
networker	0:7f26f0680202	2177
networker	0:7f26f0680202	2178	switch (hFt->type) {
networker	0:7f26f0680202	2179	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2180	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2181	ret = usb_control_msg(hFt->device, 0xc0, 0xfb, 0x81, 0, buffer, 8, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2182	if (ret != 8) {
networker	0:7f26f0680202	2183	fprintf(stderr, "Error sending control msg 0xc0 0xfb\n");
networker	0:7f26f0680202	2184	return ret;
networker	0:7f26f0680202	2185	}
networker	0:7f26f0680202	2186	*frequency = buffer[6];
networker	0:7f26f0680202	2187	*callSign = buffer[7];
networker	0:7f26f0680202	2188	break;
networker	0:7f26f0680202	2189	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2190	buffer[0] = 0xfb;
networker	0:7f26f0680202	2191	buffer[1] = 0x81;
networker	0:7f26f0680202	2192	if ((write(hFt->sdev, &buffer, 2)) != 2 \|\| (ret = read(hFt->sdev, &buffer, 8)) != 8 \|\| buffer[0] != 0x7e) {
networker	0:7f26f0680202	2193	fprintf(stderr, "GetRFMode: Error communicating with serial\n");
networker	0:7f26f0680202	2194	return ret;
networker	0:7f26f0680202	2195	}
networker	0:7f26f0680202	2196	*frequency = buffer[6];
networker	0:7f26f0680202	2197	*callSign = buffer[7];
networker	0:7f26f0680202	2198	break;
networker	0:7f26f0680202	2199	default:
networker	0:7f26f0680202	2200	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	2201	}
networker	0:7f26f0680202	2202
networker	0:7f26f0680202	2203	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	2204	}
networker	0:7f26f0680202	2205
networker	0:7f26f0680202	2206
networker	0:7f26f0680202	2207	/**
networker	0:7f26f0680202	2208	* \brief Switches between the real serial and 0001 of a device.
networker	0:7f26f0680202	2209	*
networker	0:7f26f0680202	2210	* Every ft Interface is shipped with 0001 as serial.
networker	0:7f26f0680202	2211	* Nevertheless each has its own serial which can be activated.
networker	0:7f26f0680202	2212	*
networker	0:7f26f0680202	2213	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2214	* @param bOn 0 to use 0001, else the real serial
networker	0:7f26f0680202	2215	* @return FTLIB_ERR_SUCCESS on success
networker	0:7f26f0680202	2216	*/
networker	0:7f26f0680202	2217	long int SetRealSerial(FT_HANDLE hFt, unsigned char bOn) {
networker	0:7f26f0680202	2218	int ret;
networker	0:7f26f0680202	2219	// on: 2 0xd2 0x3a
networker	0:7f26f0680202	2220	// off: 1 0x81 0x6f
networker	0:7f26f0680202	2221	// RF: 2 d8 77 vs 1 8b 22
networker	0:7f26f0680202	2222	// Whats the number?
networker	0:7f26f0680202	2223	// SetSerial(hFt, 5386);
networker	0:7f26f0680202	2224	unsigned char buffer[16] = {0xaf, 0x83, 0x55, 0xa1, 1, 0, 0, 0, 1, 0x81, 0x6f, 0, 0, 0, 0, 0};
networker	0:7f26f0680202	2225
networker	0:7f26f0680202	2226	if (hFt == NULL) {
networker	0:7f26f0680202	2227	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2228	return FTLIB_ERR_PORT_NUMBER_IS_NULL;
networker	0:7f26f0680202	2229	}
networker	0:7f26f0680202	2230
networker	0:7f26f0680202	2231	switch (hFt->type) {
networker	0:7f26f0680202	2232	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2233	if (bOn) {
networker	0:7f26f0680202	2234	buffer[8] = 2;
networker	0:7f26f0680202	2235	buffer[9] = 0xd2;
networker	0:7f26f0680202	2236	buffer[10] = 0x3a;
networker	0:7f26f0680202	2237	} else {
networker	0:7f26f0680202	2238	buffer[8] = 1;
networker	0:7f26f0680202	2239	buffer[9] = 0x81;
networker	0:7f26f0680202	2240	buffer[10] = 0x6f;
networker	0:7f26f0680202	2241	}
networker	0:7f26f0680202	2242	ret = usb_control_msg(hFt->device, 0x40, 0xaf, 0x83, 0, buffer, 16, 200000);
networker	0:7f26f0680202	2243	if (ret != 16) {
networker	0:7f26f0680202	2244	fprintf(stderr, "Error sending control msg 0x40 0xaf\n");
networker	0:7f26f0680202	2245	return ret;
networker	0:7f26f0680202	2246	}
networker	0:7f26f0680202	2247	break;
networker	0:7f26f0680202	2248	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2249	if (bOn) {
networker	0:7f26f0680202	2250	buffer[8] = 2;
networker	0:7f26f0680202	2251	buffer[9] = 0xd8;
networker	0:7f26f0680202	2252	buffer[10] = 0x77;
networker	0:7f26f0680202	2253	} else {
networker	0:7f26f0680202	2254	buffer[8] = 1;
networker	0:7f26f0680202	2255	buffer[9] = 0x8b;
networker	0:7f26f0680202	2256	buffer[10] = 0x22;
networker	0:7f26f0680202	2257	}
networker	0:7f26f0680202	2258	ret = usb_control_msg(hFt->device, 0x40, 0xaf, 0x83, 0, buffer, 16, 200000);
networker	0:7f26f0680202	2259	if (ret != 16) {
networker	0:7f26f0680202	2260	fprintf(stderr, "Error sending control msg 0x40 0xaf\n");
networker	0:7f26f0680202	2261	return ret;
networker	0:7f26f0680202	2262	}
networker	0:7f26f0680202	2263	break;
networker	0:7f26f0680202	2264	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	2265	if (bOn) {
networker	0:7f26f0680202	2266	buffer[8] = 2;
networker	0:7f26f0680202	2267	buffer[9] = 0x5f;
networker	0:7f26f0680202	2268	buffer[10] = 0x28;
networker	0:7f26f0680202	2269	} else {
networker	0:7f26f0680202	2270	buffer[8] = 1;
networker	0:7f26f0680202	2271	buffer[9] = 0x0c;
networker	0:7f26f0680202	2272	buffer[10] = 0x7d;
networker	0:7f26f0680202	2273	}
networker	0:7f26f0680202	2274	ret = usb_control_msg(hFt->device, 0x40, 0xaf, 0x83, 0, buffer, 16, 200000);
networker	0:7f26f0680202	2275	if (ret != 16) {
networker	0:7f26f0680202	2276	fprintf(stderr, "Error sending control msg 0x40 0xaf\n");
networker	0:7f26f0680202	2277	return ret;
networker	0:7f26f0680202	2278	}
networker	0:7f26f0680202	2279	break;
networker	0:7f26f0680202	2280	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2281	if ((write(hFt->sdev, &buffer, 16)) != 16 \|\| (ret = read(hFt->sdev, &buffer, 2)) != 2 \|\| buffer[0] != 0x7c) {
networker	0:7f26f0680202	2282	fprintf(stderr, "SetRealSerial: Error communicating with serial\n");
networker	0:7f26f0680202	2283	return ret;
networker	0:7f26f0680202	2284	}
networker	0:7f26f0680202	2285	break;
networker	0:7f26f0680202	2286	default:
networker	0:7f26f0680202	2287	return FTLIB_ERR_NOT_SUPPORTED;
networker	0:7f26f0680202	2288	}
networker	0:7f26f0680202	2289
networker	0:7f26f0680202	2290	return FTLIB_ERR_SUCCESS;
networker	0:7f26f0680202	2291	}
networker	0:7f26f0680202	2292
networker	0:7f26f0680202	2293
networker	0:7f26f0680202	2294
networker	0:7f26f0680202	2295	/**
networker	0:7f26f0680202	2296	* @brief Gets the Manufacturer of the Interface
networker	0:7f26f0680202	2297	*
networker	0:7f26f0680202	2298	* Will return the Manufacturer of a fischertechnik USB device.
networker	0:7f26f0680202	2299	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	2300	*
networker	0:7f26f0680202	2301	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2302	* @return Pointer to the string with the name
networker	0:7f26f0680202	2303	*/
networker	0:7f26f0680202	2304	char *GetFtManufacturerStrg(FT_HANDLE hFt) {
networker	0:7f26f0680202	2305	char buffer = (char )malloc(128);
networker	0:7f26f0680202	2306	memset(buffer, '\0', 128);
networker	0:7f26f0680202	2307
networker	0:7f26f0680202	2308	if (hFt == NULL) {
networker	0:7f26f0680202	2309	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2310	}
networker	0:7f26f0680202	2311
networker	0:7f26f0680202	2312	switch (hFt->type) {
networker	0:7f26f0680202	2313	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2314	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2315	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2316	usb_get_string_simple(hFt->device, 1, buffer, 128);
networker	0:7f26f0680202	2317	break;
networker	0:7f26f0680202	2318	}
networker	0:7f26f0680202	2319
networker	0:7f26f0680202	2320	return buffer;
networker	0:7f26f0680202	2321	}
networker	0:7f26f0680202	2322
networker	0:7f26f0680202	2323
networker	0:7f26f0680202	2324	/**
networker	0:7f26f0680202	2325	* @brief Gets the short name of the Interface
networker	0:7f26f0680202	2326	*
networker	0:7f26f0680202	2327	* Will return the short name of a fischertechnik USB device.
networker	0:7f26f0680202	2328	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	2329	*
networker	0:7f26f0680202	2330	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2331	* @return Pointer to the string with the name
networker	0:7f26f0680202	2332	*/
networker	0:7f26f0680202	2333	char *GetFtShortNameStrg(FT_HANDLE hFt) {
networker	0:7f26f0680202	2334	char buffer = (char )malloc(128);
networker	0:7f26f0680202	2335	memset(buffer, '\0', 128);
networker	0:7f26f0680202	2336
networker	0:7f26f0680202	2337	if (hFt == NULL) {
networker	0:7f26f0680202	2338	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2339	}
networker	0:7f26f0680202	2340
networker	0:7f26f0680202	2341	switch (hFt->type) {
networker	0:7f26f0680202	2342	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2343	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2344	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2345	usb_get_string_simple(hFt->device, 5, buffer, 128);
networker	0:7f26f0680202	2346	break;
networker	0:7f26f0680202	2347	}
networker	0:7f26f0680202	2348
networker	0:7f26f0680202	2349	return buffer;
networker	0:7f26f0680202	2350	}
networker	0:7f26f0680202	2351
networker	0:7f26f0680202	2352
networker	0:7f26f0680202	2353	/**
networker	0:7f26f0680202	2354	* @brief Gets the long name of the Interface
networker	0:7f26f0680202	2355	*
networker	0:7f26f0680202	2356	* Will return the long name of a fischertechnik USB device.
networker	0:7f26f0680202	2357	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	2358	*
networker	0:7f26f0680202	2359	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2360	* @return Pointer to the string with the name
networker	0:7f26f0680202	2361	*/
networker	0:7f26f0680202	2362	char *GetFtLongNameStrg(FT_HANDLE hFt) {
networker	0:7f26f0680202	2363	char buffer = (char )malloc(128);
networker	0:7f26f0680202	2364	memset(buffer, '\0', 128);
networker	0:7f26f0680202	2365
networker	0:7f26f0680202	2366	if (hFt == NULL) {
networker	0:7f26f0680202	2367	fprintf(stderr, "GetFtFirmware: No such device\n");
networker	0:7f26f0680202	2368	}
networker	0:7f26f0680202	2369
networker	0:7f26f0680202	2370	switch (hFt->type) {
networker	0:7f26f0680202	2371	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2372	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2373	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2374	usb_get_string_simple(hFt->device, 2, buffer, 128);
networker	0:7f26f0680202	2375	break;
networker	0:7f26f0680202	2376	}
networker	0:7f26f0680202	2377
networker	0:7f26f0680202	2378	return buffer;
networker	0:7f26f0680202	2379	}
networker	0:7f26f0680202	2380	#endif //NOTNOW
networker	0:7f26f0680202	2381
networker	0:7f26f0680202	2382	/**
networker	0:7f26f0680202	2383	* @brief Tells if we successfuly got a connection to the Interface
networker	0:7f26f0680202	2384	*
networker	0:7f26f0680202	2385	* @param hFt Handle of the Interface
networker	0:7f26f0680202	2386	* @return 0 if the Interface is not connected
networker	0:7f26f0680202	2387	*/
networker	0:7f26f0680202	2388	char IsFtInterfaceConnected(FT_HANDLE hFt) {
networker	0:7f26f0680202	2389	return hFt->interface_connected;
networker	0:7f26f0680202	2390	}
networker	0:7f26f0680202	2391
networker	0:7f26f0680202	2392
networker	0:7f26f0680202	2393	/**
networker	0:7f26f0680202	2394	* @brief Gets the description of an error
networker	0:7f26f0680202	2395	*
networker	0:7f26f0680202	2396	* Will return a description of an error.
networker	0:7f26f0680202	2397	* The allocated space should be freed with free() later.
networker	0:7f26f0680202	2398	*
networker	0:7f26f0680202	2399	* The return value is the constant as string if parameter dwTyp is 0,
networker	0:7f26f0680202	2400	* else a verbose description of the error.
networker	0:7f26f0680202	2401	*
networker	0:7f26f0680202	2402	* @param dwErrorCode Error Code
networker	0:7f26f0680202	2403	* @param dwTyp Type of the return value (see description)
networker	0:7f26f0680202	2404	* @return Pointer to a string (see description)
networker	0:7f26f0680202	2405	*/
networker	0:7f26f0680202	2406	char *GetFtLibErrorString(long int dwErrorCode, long int dwTyp) {
networker	0:7f26f0680202	2407	char buffer = (char )malloc(128);
networker	0:7f26f0680202	2408
networker	0:7f26f0680202	2409	switch (dwErrorCode) {
networker	0:7f26f0680202	2410	case FTLIB_ERR_IF_NO_PROGRAM:
networker	0:7f26f0680202	2411	if (dwTyp) strncpy(buffer, "There is no program stored to work with", 128);
networker	0:7f26f0680202	2412	else strncpy(buffer, "FTLIB_ERR_IF_NO_PROGRAM", 128);
networker	0:7f26f0680202	2413	break;
networker	0:7f26f0680202	2414	case FTLIB_ERR_SUCCESS:
networker	0:7f26f0680202	2415	if (dwTyp) strncpy(buffer, "Everything is fine", 128);
networker	0:7f26f0680202	2416	else strncpy(buffer, "FTLIB_ERR_SUCCESS", 128);
networker	0:7f26f0680202	2417	break;
networker	0:7f26f0680202	2418	case FTLIB_ERR_THREAD_IS_RUNNING:
networker	0:7f26f0680202	2419	if (dwTyp) strncpy(buffer, "Thread has been started successfully", 128);
networker	0:7f26f0680202	2420	else strncpy(buffer, "FTLIB_ERR_THREAD_IS_RUNNING", 128);
networker	0:7f26f0680202	2421	break;
networker	0:7f26f0680202	2422	case FTLIB_ERR_DOWNLOAD:
networker	0:7f26f0680202	2423	if (dwTyp) strncpy(buffer, "Failed to upload the program", 128);
networker	0:7f26f0680202	2424	else strncpy(buffer, "FTLIB_ERR_DOWNLOAD", 128);
networker	0:7f26f0680202	2425	break;
networker	0:7f26f0680202	2426	case FTLIB_ERR_DOWNLOAD_WRONG_MEM_BLOCK:
networker	0:7f26f0680202	2427	if (dwTyp) strncpy(buffer, "Bad target to upload the program to", 128);
networker	0:7f26f0680202	2428	else strncpy(buffer, "FTLIB_ERR_DOWNLOAD_WRONG_MEM_BLOCK", 128);
networker	0:7f26f0680202	2429	break;
networker	0:7f26f0680202	2430	case FTLIB_ERR_INVALID_PARAM:
networker	0:7f26f0680202	2431	if (dwTyp) strncpy(buffer, "A parameter specified has a wrong value", 128);
networker	0:7f26f0680202	2432	else strncpy(buffer, "FTLIB_ERR_INVALID_PARAM", 128);
networker	0:7f26f0680202	2433	break;
networker	0:7f26f0680202	2434	case FTLIB_ERR_LIB_IS_INITIALIZED:
networker	0:7f26f0680202	2435	if (dwTyp) strncpy(buffer, "This library has been initialized", 128);
networker	0:7f26f0680202	2436	else strncpy(buffer, "FTLIB_ERR_LIB_IS_INITIALIZED", 128);
networker	0:7f26f0680202	2437	break;
networker	0:7f26f0680202	2438	case FTLIB_ERR_NOT_SUPPORTED:
networker	0:7f26f0680202	2439	if (dwTyp) strncpy(buffer, "The requested action is not supported", 128);
networker	0:7f26f0680202	2440	else strncpy(buffer, "FTLIB_ERR_NOT_SUPPORTED", 128);
networker	0:7f26f0680202	2441	break;
networker	0:7f26f0680202	2442	case FTLIB_ERR_PORT_NUMBER_IS_NULL:
networker	0:7f26f0680202	2443	if (dwTyp) strncpy(buffer, "No handle given", 128);
networker	0:7f26f0680202	2444	else strncpy(buffer, "FTLIB_ERR_PORT_NUMBER_IS_NULL", 128);
networker	0:7f26f0680202	2445	break;
networker	0:7f26f0680202	2446	case FTLIB_ERR_THREAD_NOT_RUNNING:
networker	0:7f26f0680202	2447	if (dwTyp) strncpy(buffer, "Unable to start the thread", 128);
networker	0:7f26f0680202	2448	else strncpy(buffer, "FTLIB_ERR_THREAD_NOT_RUNNING", 128);
networker	0:7f26f0680202	2449	break;
networker	0:7f26f0680202	2450	default:
networker	0:7f26f0680202	2451	strncpy(buffer, "Unknown", 128);
networker	0:7f26f0680202	2452	}
networker	0:7f26f0680202	2453
networker	0:7f26f0680202	2454	return buffer;
networker	0:7f26f0680202	2455	}
networker	0:7f26f0680202	2456
networker	0:7f26f0680202	2457
networker	0:7f26f0680202	2458	/** \cond doxygen ignore start */
networker	0:7f26f0680202	2459	//! \todo
networker	0:7f26f0680202	2460	long int SetFtDeviceCommMode(FT_HANDLE hFt, long int dwMode, long int dwParameter, unsigned short *puiValue) {
networker	0:7f26f0680202	2461	return 0;
networker	0:7f26f0680202	2462	}
networker	0:7f26f0680202	2463
networker	0:7f26f0680202	2464
networker	0:7f26f0680202	2465	//! \todo
networker	0:7f26f0680202	2466	long int GetFtDeviceSetting(FT_HANDLE hFt, FT_SETTING *pSet) {
networker	0:7f26f0680202	2467	return 0;
networker	0:7f26f0680202	2468	}
networker	0:7f26f0680202	2469
networker	0:7f26f0680202	2470
networker	0:7f26f0680202	2471	//! \todo
networker	0:7f26f0680202	2472	long int SetFtDeviceSetting(FT_HANDLE hFt, FT_SETTING *pSet) {
networker	0:7f26f0680202	2473	return 0;
networker	0:7f26f0680202	2474	}
networker	0:7f26f0680202	2475
networker	0:7f26f0680202	2476
networker	0:7f26f0680202	2477	//! \todo
networker	0:7f26f0680202	2478	long int SendFtMessage(FT_HANDLE hFt, unsigned char bHwId, unsigned char bSubId, long int dwMessage, long int dwWaitTime, long int dwOption) {
networker	0:7f26f0680202	2479	return 0;
networker	0:7f26f0680202	2480	}
networker	0:7f26f0680202	2481
networker	0:7f26f0680202	2482
networker	0:7f26f0680202	2483	//! \todo
networker	0:7f26f0680202	2484	long int ClearFtMessageBuffer(FT_HANDLE hFt) {
networker	0:7f26f0680202	2485	return 0;
networker	0:7f26f0680202	2486	}
networker	0:7f26f0680202	2487
networker	0:7f26f0680202	2488
networker	0:7f26f0680202	2489	//! \todo
networker	0:7f26f0680202	2490	long int GetFtMemoryLayout(FT_HANDLE hFt, unsigned char* pbArray, long int dwSize) {
networker	0:7f26f0680202	2491	return 0;
networker	0:7f26f0680202	2492	}
networker	0:7f26f0680202	2493
networker	0:7f26f0680202	2494
networker	0:7f26f0680202	2495	//! \todo
networker	0:7f26f0680202	2496	long int GetFtMemoryData(FT_HANDLE hFt, unsigned char * pbArray, long int dwSize, long int dwAddress) {
networker	0:7f26f0680202	2497	return 0;
networker	0:7f26f0680202	2498	}
networker	0:7f26f0680202	2499
networker	0:7f26f0680202	2500
networker	0:7f26f0680202	2501	//! \todo
networker	0:7f26f0680202	2502	long int WriteFtMemoryData(FT_HANDLE hFt, long int dwData, long int dwAddress) {
networker	0:7f26f0680202	2503	return 0;
networker	0:7f26f0680202	2504	}
networker	0:7f26f0680202	2505
networker	0:7f26f0680202	2506	#ifndef SPLITTRANSFER
networker	0:7f26f0680202	2507	/** \cond doxygen ignore start */
networker	0:7f26f0680202	2508	static void *FtThread(FT_HANDLE hFt) {
networker	0:7f26f0680202	2509	FT_TRANSFER_AREA *area = &hFt->transfer_area;
networker	0:7f26f0680202	2510	int ret;
networker	0:7f26f0680202	2511	unsigned char out[ABF_IF_COMPLETE_NUM_WRITE]; //= {ABF_IF_COMPLETE,1,0x07,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
networker	0:7f26f0680202	2512	unsigned char in[ABF_IF_COMPLETE_NUM_READ];
networker	0:7f26f0680202	2513	int num_write = ABF_IF_COMPLETE_NUM_WRITE;
networker	0:7f26f0680202	2514	int num_read = ABF_IF_COMPLETE_NUM_READ;
networker	0:7f26f0680202	2515	int usb_endpoint_write = FT_ENDPOINT_INTERRUPT_OUT;
networker	0:7f26f0680202	2516	int usb_endpoint_read = FT_ENDPOINT_INTERRUPT_IN;
networker	0:7f26f0680202	2517	int i=0;
networker	0:7f26f0680202	2518	int ii_speed = 0;
networker	0:7f26f0680202	2519
networker	0:7f26f0680202	2520	out[0] = ABF_IF_COMPLETE;
networker	0:7f26f0680202	2521	area->TransferAktiv = 1;
networker	0:7f26f0680202	2522
networker	0:7f26f0680202	2523	switch (hFt->type) {
networker	0:7f26f0680202	2524	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2525	out[0] = 0xf2;
networker	0:7f26f0680202	2526	num_write = 17;
networker	0:7f26f0680202	2527	num_read = 21;
networker	0:7f26f0680202	2528	break;
networker	0:7f26f0680202	2529	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	2530	num_write = 2;
networker	0:7f26f0680202	2531	break;
networker	0:7f26f0680202	2532	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	2533	num_write = 3;
networker	0:7f26f0680202	2534	break;
networker	0:7f26f0680202	2535	#ifdef USE_USB
networker	0:7f26f0680202	2536	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	2537	out[0] = 0xf2;
networker	0:7f26f0680202	2538	num_write = 6;
networker	0:7f26f0680202	2539	num_read = 6;
networker	0:7f26f0680202	2540	break;
networker	0:7f26f0680202	2541	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2542	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2543	usb_endpoint_write = FT_RF_ENDPOINT_INTERRUPT_OUT;
networker	0:7f26f0680202	2544	usb_endpoint_read = FT_RF_ENDPOINT_INTERRUPT_IN;
networker	0:7f26f0680202	2545
networker	0:7f26f0680202	2546	// init RF
networker	0:7f26f0680202	2547	// 0x102 == first RF
networker	0:7f26f0680202	2548	// 0x202 == 2nd RF
networker	0:7f26f0680202	2549	// ...
networker	0:7f26f0680202	2550	//ret = usb_control_msg(hFt->device, 0xc0, 0xfb, 0x102, 0x1, in, 2, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2551	ret = usb_control_msg(hFt->device, 0xc0, 0xfb, hFt->transfer_area.RfModulNr << 8 \| 0x02, 0x1, in, 2, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2552	if (ret != 2) {
networker	0:7f26f0680202	2553	fprintf(stderr, "%d FtThread: Error initiating RF Module!\n");
networker	0:7f26f0680202	2554	area->TransferAktiv = 0;
networker	0:7f26f0680202	2555	}
networker	0:7f26f0680202	2556	break;
networker	0:7f26f0680202	2557	#endif
networker	0:7f26f0680202	2558	}
networker	0:7f26f0680202	2559	//here the real data exchange starts
networker	0:7f26f0680202	2560	#ifdef MBED
networker	0:7f26f0680202	2561	//viaUsb.putc('.');
networker	0:7f26f0680202	2562	/while (area->TransferAktiv == 1)/ { //procedure runs only once
networker	0:7f26f0680202	2563	if (!test_and_set(hFt->lock)) //return when busy
networker	0:7f26f0680202	2564	return 0;//return because there is no point in sending a nonsense request, alternatively the lock can be ignored in which case the data may be inconsistent
networker	0:7f26f0680202	2565	#else
networker	0:7f26f0680202	2566	while (area->TransferAktiv == 1) {//thread runs continuously
networker	0:7f26f0680202	2567	sem_wait(&hFt->lock);//wait when busy
networker	0:7f26f0680202	2568	#endif
networker	0:7f26f0680202	2569	out[1] = area->M_Main;
networker	0:7f26f0680202	2570	out[2] = (area->MPWM_Main[0] & 0x7) \| (area->MPWM_Main[1]<<3 & 0x38) \| (area->MPWM_Main[2]<<6 & 0xC0);
networker	0:7f26f0680202	2571	out[3] = (area->MPWM_Main[2] & 0x1) \| (area->MPWM_Main[3]<<1 & 0xE) \| (area->MPWM_Main[4]<<4 & 0x70) \| (area->MPWM_Main[5]<<7 & 0x80);
networker	0:7f26f0680202	2572	out[4] = (area->MPWM_Main[5] & 0x3) \| (area->MPWM_Main[6]<<2 & 0x1C) \| (area->MPWM_Main[7]<<5 & 0xE0);
networker	0:7f26f0680202	2573	out[5] = area->M_Sub1;
networker	0:7f26f0680202	2574	out[6] = (area->MPWM_Sub1[0] & 0x7) \| (area->MPWM_Sub1[1]<<3 & 0x38) \| (area->MPWM_Sub1[2]<<6 & 0xC0);
networker	0:7f26f0680202	2575	out[7] = (area->MPWM_Sub1[2] & 0x1) \| (area->MPWM_Sub1[3]<<1 & 0xE) \| (area->MPWM_Sub1[4]<<4 & 0x70) \| (area->MPWM_Sub1[5]<<7 & 0x80);
networker	0:7f26f0680202	2576	out[8] = (area->MPWM_Sub1[5] & 0x3) \| (area->MPWM_Sub1[6]<<2 & 0x1C) \| (area->MPWM_Sub1[7]<<5 & 0xE0);
networker	0:7f26f0680202	2577	out[9] = area->M_Sub2;
networker	0:7f26f0680202	2578	out[10] = (area->MPWM_Sub2[0] & 0x7) \| (area->MPWM_Sub2[1]<<3 & 0x38) \| (area->MPWM_Sub2[2]<<6 & 0xC0);
networker	0:7f26f0680202	2579	out[11] = (area->MPWM_Sub2[2] & 0x1) \| (area->MPWM_Sub2[3]<<1 & 0xE) \| (area->MPWM_Sub2[4]<<4 & 0x70) \| (area->MPWM_Sub2[5]<<7 & 0x80);
networker	0:7f26f0680202	2580	out[12] = (area->MPWM_Sub2[5] & 0x3) \| (area->MPWM_Sub2[6]<<2 & 0x1C) \| (area->MPWM_Sub2[7]<<5 & 0xE0);
networker	0:7f26f0680202	2581	out[13] = area->M_Sub3;
networker	0:7f26f0680202	2582	out[14] = (area->MPWM_Sub3[0] & 0x7) \| (area->MPWM_Sub3[1]<<3 & 0x38) \| (area->MPWM_Sub3[2]<<6 & 0xC0);
networker	0:7f26f0680202	2583	out[15] = (area->MPWM_Sub3[2] & 0x1) \| (area->MPWM_Sub3[3]<<1 & 0xE) \| (area->MPWM_Sub3[4]<<4 & 0x70) \| (area->MPWM_Sub3[5]<<7 & 0x80);
networker	0:7f26f0680202	2584	out[16] = (area->MPWM_Sub3[5] & 0x3) \| (area->MPWM_Sub3[6]<<2 & 0x1C) \| (area->MPWM_Sub3[7]<<5 & 0xE0);
networker	0:7f26f0680202	2585	out[17] = 0;
networker	0:7f26f0680202	2586	out[18] = 0;
networker	0:7f26f0680202	2587	out[19] = 0;
networker	0:7f26f0680202	2588	out[20] = 0;
networker	0:7f26f0680202	2589	out[21] = 0;
networker	0:7f26f0680202	2590	out[22] = 0;
networker	0:7f26f0680202	2591	out[23] = 0;
networker	0:7f26f0680202	2592	out[24] = 0;
networker	0:7f26f0680202	2593	out[25] = 0;
networker	0:7f26f0680202	2594	out[26] = 0;
networker	0:7f26f0680202	2595	out[27] = 0;
networker	0:7f26f0680202	2596	out[28] = 0;
networker	0:7f26f0680202	2597	out[29] = 0;
networker	0:7f26f0680202	2598	out[30] = 0;
networker	0:7f26f0680202	2599	out[31] = 0;
networker	0:7f26f0680202	2600
networker	0:7f26f0680202	2601	// For the II we need to simulate different speeds here
networker	0:7f26f0680202	2602	if (hFt->type == FT_INTELLIGENT_IF \|\| hFt->type == FT_INTELLIGENT_IF_SLAVE) {
networker	0:7f26f0680202	2603	int iCurMotor;
networker	0:7f26f0680202	2604	for (iCurMotor = 0; iCurMotor < 7; iCurMotor++) {
networker	0:7f26f0680202	2605	if (area->MPWM_Main[iCurMotor] < ii_speed) out[1] &= ~(1 << iCurMotor);
networker	0:7f26f0680202	2606	if (area->MPWM_Sub1[iCurMotor] < ii_speed) out[5] &= ~(1 << iCurMotor);
networker	0:7f26f0680202	2607	}
networker	0:7f26f0680202	2608
networker	0:7f26f0680202	2609	ii_speed++;
networker	0:7f26f0680202	2610	if (ii_speed > 7) ii_speed = 0;
networker	0:7f26f0680202	2611	}
networker	0:7f26f0680202	2612
networker	0:7f26f0680202	2613	if (hFt->type == FT_INTELLIGENT_IF) {
networker	0:7f26f0680202	2614	i++;
networker	0:7f26f0680202	2615	num_read = 1;
networker	0:7f26f0680202	2616	out[0] = 0xC1;
networker	0:7f26f0680202	2617	if (i % 20) { // EX
networker	0:7f26f0680202	2618	out[0] = 0xC5;
networker	0:7f26f0680202	2619	num_read = 3;
networker	0:7f26f0680202	2620	} else if (i % 10) { // EY
networker	0:7f26f0680202	2621	out[0] = 0xC9;
networker	0:7f26f0680202	2622	num_read = 3;
networker	0:7f26f0680202	2623	}
networker	0:7f26f0680202	2624	} else if (hFt->type == FT_INTELLIGENT_IF_SLAVE) {
networker	0:7f26f0680202	2625	i++;
networker	0:7f26f0680202	2626	num_read = 2;
networker	0:7f26f0680202	2627	out[0] = 0xC2;
networker	0:7f26f0680202	2628	out[2] = out[5];
networker	0:7f26f0680202	2629	if (i % 20) { // EX
networker	0:7f26f0680202	2630	out[0] = 0xC6;
networker	0:7f26f0680202	2631	num_read = 4;
networker	0:7f26f0680202	2632	} else if (i % 10) { // EY
networker	0:7f26f0680202	2633	out[0] = 0xCA;
networker	0:7f26f0680202	2634	num_read = 4;
networker	0:7f26f0680202	2635	}
networker	0:7f26f0680202	2636	}
networker	0:7f26f0680202	2637	#ifdef MBED
networker	0:7f26f0680202	2638	//viaUsb.putc('-');
networker	0:7f26f0680202	2639	increment(hFt->lock);//release the lock on shared memeory
networker	0:7f26f0680202	2640	#else
networker	0:7f26f0680202	2641	sem_post(&hFt->lock);
networker	0:7f26f0680202	2642	#endif
networker	0:7f26f0680202	2643	ret = 0;
networker	0:7f26f0680202	2644	switch (hFt->type) {//send the request
networker	0:7f26f0680202	2645	#ifdef USE_USB
networker	0:7f26f0680202	2646	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2647	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	2648	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2649	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2650	ret = usb_interrupt_write(hFt->device, usb_endpoint_write, out, num_write, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2651	break;
networker	0:7f26f0680202	2652	#endif
networker	0:7f26f0680202	2653	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2654	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	2655	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	2656	#ifdef MBED
networker	0:7f26f0680202	2657	//ret = hFt->sdev->printf("%*c", num_write, out);
networker	0:7f26f0680202	2658	ret = write(hFt->sdev, out, num_write);
networker	0:7f26f0680202	2659	// viaUsb.putc(';');
networker	0:7f26f0680202	2660	#else
networker	0:7f26f0680202	2661	ret = write(hFt->sdev, &out, num_write);
networker	0:7f26f0680202	2662	#endif
networker	0:7f26f0680202	2663	break;
networker	0:7f26f0680202	2664	}
networker	0:7f26f0680202	2665	if (ret != num_write) {
networker	0:7f26f0680202	2666	hFt->interface_connected = 0;
networker	0:7f26f0680202	2667	fprintf(stderr, "FtThread: Error writing to the Interface...exiting!\n");
networker	0:7f26f0680202	2668	#ifdef MBED
networker	0:7f26f0680202	2669	return 0;
networker	0:7f26f0680202	2670	#else
networker	0:7f26f0680202	2671	break;
networker	0:7f26f0680202	2672	#endif
networker	0:7f26f0680202	2673	}
networker	0:7f26f0680202	2674
networker	0:7f26f0680202	2675	ret = 0;
networker	0:7f26f0680202	2676	switch (hFt->type) { //receive the reply
networker	0:7f26f0680202	2677	#ifdef USE_USB
networker	0:7f26f0680202	2678	case FT_ROBO_IF_USB:
networker	0:7f26f0680202	2679	case FT_ROBO_IO_EXTENSION:
networker	0:7f26f0680202	2680	case FT_ROBO_IF_OVER_RF:
networker	0:7f26f0680202	2681	case FT_ROBO_RF_DATA_LINK:
networker	0:7f26f0680202	2682	ret = usb_interrupt_read(hFt->device, usb_endpoint_read, in, num_read, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2683	break;
networker	0:7f26f0680202	2684	#endif
networker	0:7f26f0680202	2685	case FT_ROBO_IF_COM:
networker	0:7f26f0680202	2686	case FT_INTELLIGENT_IF:
networker	0:7f26f0680202	2687	case FT_INTELLIGENT_IF_SLAVE:
networker	0:7f26f0680202	2688	#ifdef MBED
networker	0:7f26f0680202	2689	//ret = hFt->sdev->scanf("%*c", num_read, in)==1 ? num_read : 0 ;
networker	0:7f26f0680202	2690	ret = read(hFt->sdev, in, num_read);
networker	0:7f26f0680202	2691	// viaUsb.putc('/');
networker	0:7f26f0680202	2692	#else
networker	0:7f26f0680202	2693	ret = read(hFt->sdev, &in, num_read);
networker	0:7f26f0680202	2694	#endif
networker	0:7f26f0680202	2695	break;
networker	0:7f26f0680202	2696	}
networker	0:7f26f0680202	2697	if (ret != num_read) {
networker	0:7f26f0680202	2698	hFt->interface_connected = 0;
networker	0:7f26f0680202	2699	fprintf(stderr, "FtThread: Error reading from the Interface\n");
networker	0:7f26f0680202	2700	#ifdef MBED
networker	0:7f26f0680202	2701	return 0;
networker	0:7f26f0680202	2702	#else
networker	0:7f26f0680202	2703	usleep(hFt->query_time);
networker	0:7f26f0680202	2704	continue;
networker	0:7f26f0680202	2705	#endif
networker	0:7f26f0680202	2706	}
networker	0:7f26f0680202	2707
networker	0:7f26f0680202	2708	#ifdef MBED
networker	0:7f26f0680202	2709	if (!test_and_set(hFt->lock))//skip when busy
networker	0:7f26f0680202	2710	return 0;
networker	0:7f26f0680202	2711	#else
networker	0:7f26f0680202	2712	sem_wait(&hFt->lock);//wait when busy
networker	0:7f26f0680202	2713	#endif
networker	0:7f26f0680202	2714	area->E_Main = in[0];
networker	0:7f26f0680202	2715	area->E_Sub1 = in[1];
networker	0:7f26f0680202	2716	area->E_Sub2 = in[2];
networker	0:7f26f0680202	2717	area->E_Sub3 = in[3];
networker	0:7f26f0680202	2718	area->AX = in[4];
networker	0:7f26f0680202	2719	area->AY = in[5];
networker	0:7f26f0680202	2720	area->A1 = in[6];
networker	0:7f26f0680202	2721	area->A2 = in[7];
networker	0:7f26f0680202	2722	area->AX \|= (in[8] & 0x3) << 8;
networker	0:7f26f0680202	2723	area->AY \|= (in[8] & 0xC) << 6;
networker	0:7f26f0680202	2724	area->A1 \|= (in[8] & 0x30) << 4;
networker	0:7f26f0680202	2725	area->A2 \|= (in[8] & 0xC0) << 2;
networker	0:7f26f0680202	2726	area->AZ = in[9];
networker	0:7f26f0680202	2727	area->D1 = in[10];
networker	0:7f26f0680202	2728	area->D2 = in[11];
networker	0:7f26f0680202	2729	area->AV = in[12];
networker	0:7f26f0680202	2730	area->AZ \|= (in[13] & 0x3) << 8;
networker	0:7f26f0680202	2731	area->D1 \|= (in[13] & 0xC) << 6;
networker	0:7f26f0680202	2732	area->D2 \|= (in[13] & 0x30) << 4;
networker	0:7f26f0680202	2733	area->AV \|= (in[13] & 0xC0) << 2;
networker	0:7f26f0680202	2734	area->IRKeys = in[14];
networker	0:7f26f0680202	2735	area->BusModules = in[15];
networker	0:7f26f0680202	2736	// 16
networker	0:7f26f0680202	2737	area->AXS1 = in[17];
networker	0:7f26f0680202	2738	area->AXS2 = in[18];
networker	0:7f26f0680202	2739	area->AXS3 = in[19];
networker	0:7f26f0680202	2740	area->AXS1 \|= (in[20] & 0x3) << 8;
networker	0:7f26f0680202	2741	area->AXS2 \|= (in[20] & 0xC) << 6;
networker	0:7f26f0680202	2742	area->AXS3 \|= (in[20] & 0x30) << 4;
networker	0:7f26f0680202	2743	// 21
networker	0:7f26f0680202	2744	area->AVS1 = in[22];
networker	0:7f26f0680202	2745	area->AVS2 = in[23];
networker	0:7f26f0680202	2746	area->AVS3 = in[24];
networker	0:7f26f0680202	2747	area->AVS1 \|= (in[25] & 0x3) << 8;
networker	0:7f26f0680202	2748	area->AVS2 \|= (in[25] & 0xC) << 6;
networker	0:7f26f0680202	2749	area->AVS3 \|= (in[25] & 0x30) << 4;
networker	0:7f26f0680202	2750	// 26...42
networker	0:7f26f0680202	2751	if (hFt->type == FT_INTELLIGENT_IF) {
networker	0:7f26f0680202	2752	if (i % hFt->analogcycle) { // EX
networker	0:7f26f0680202	2753	area->AX = in[1] & (8<<in[2]);
networker	0:7f26f0680202	2754	} else if (i % (2*hFt->analogcycle)) { // EY
networker	0:7f26f0680202	2755	area->AY = in[1] & (8<<in[2]);
networker	0:7f26f0680202	2756	}
networker	0:7f26f0680202	2757	} else if (hFt->type == FT_INTELLIGENT_IF_SLAVE) {
networker	0:7f26f0680202	2758	if (i % hFt->analogcycle) { // EX
networker	0:7f26f0680202	2759	area->AX = in[1] & (8<<in[2]);
networker	0:7f26f0680202	2760	} else if (i % (2*hFt->analogcycle)) { // EY
networker	0:7f26f0680202	2761	area->AY = in[1] & (8<<in[2]);
networker	0:7f26f0680202	2762	}
networker	0:7f26f0680202	2763	}
networker	0:7f26f0680202	2764	#ifdef MBED
networker	0:7f26f0680202	2765	increment(hFt->lock);
networker	0:7f26f0680202	2766	hFt->interface_connected = 1;
networker	0:7f26f0680202	2767	#else
networker	0:7f26f0680202	2768	sem_post(&hFt->lock);
networker	0:7f26f0680202	2769
networker	0:7f26f0680202	2770	hFt->interface_connected = 1;
networker	0:7f26f0680202	2771
networker	0:7f26f0680202	2772	usleep(hFt->query_time);
networker	0:7f26f0680202	2773	#endif
networker	0:7f26f0680202	2774	}//end of the while loop (end of task)
networker	0:7f26f0680202	2775	#ifdef USE_USB
networker	0:7f26f0680202	2776	if (hFt->type == FT_ROBO_IF_OVER_RF \|\| hFt->type == FT_ROBO_RF_DATA_LINK) {
networker	0:7f26f0680202	2777	ret = usb_control_msg(hFt->device, 0xc0, 0x21, hFt->transfer_area.RfModulNr << 8, 0, in, 1, FT_USB_TIMEOUT);
networker	0:7f26f0680202	2778	if (ret != 1 \|\| in[0] != 0xd7) {
networker	0:7f26f0680202	2779	fprintf(stderr, "Error uninitiating RF Module!\n");
networker	0:7f26f0680202	2780	}
networker	0:7f26f0680202	2781	}
networker	0:7f26f0680202	2782	#endif
networker	0:7f26f0680202	2783	#ifdef MBED
networker	0:7f26f0680202	2784	return 0;
networker	0:7f26f0680202	2785	#else
networker	0:7f26f0680202	2786	hFt->transfer_area.TransferAktiv = 0;
networker	0:7f26f0680202	2787	pthread_exit((void *) 0);
networker	0:7f26f0680202	2788	#endif
networker	0:7f26f0680202	2789	}
networker	0:7f26f0680202	2790
networker	0:7f26f0680202	2791	void ft_handle_devices::FtThread() {
networker	0:7f26f0680202	2792	::FtThread(this);
networker	0:7f26f0680202	2793	// printf("%02X\r", transfer_area.E_Main);
networker	0:7f26f0680202	2794	// viaUsb.putc('.');
networker	0:7f26f0680202	2795	}
networker	0:7f26f0680202	2796	/** \endcond doxygen ignore end */
networker	0:7f26f0680202	2797
networker	0:7f26f0680202	2798	#endif
networker	0:7f26f0680202	2799
networker	0:7f26f0680202	2800	/** \endcond doxygen ignore end */
networker	0:7f26f0680202	2801

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	31 Dec 2010
Imports:	13
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	2
Followers:	1

libft.c@1:2c9d412ad471, 2011-05-04 (annotated)

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