BasicMicro - Forums

#include <stdio.h>   /* Standard input/output definitions */
#include <string.h>  /* String function definitions */
#include <unistd.h>  /* UNIX standard function definitions */
#include <fcntl.h>   /* File control definitions */
#include <errno.h>   /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */

int fd;

int setSpeed();


int main(int argc, char **argv) {

   unsigned char sCmd[256];
   unsigned char encbuf[64];
   ssize_t enc;
   char c;

//  Open the port and initialize  //
   fd = open("/dev/ttyUSB0", O_RDWR | O_NOCTTY | O_NDELAY);
   if (fd == -1) {
      perror("open_port: Unable to open /dev/ttyUSB0 - ");
      return 1;
   } else {
      fcntl(fd, F_SETFL, 0);
   }

   InitPort(fd);


   cCmd[0] = 0;


 
   //  Address, Cmd, Value, CHK SUM  //   
   //  int Speed = 100;
   //  Motor 1  //
   sCmd[0] = 129;
   sCmd[1] = 0;
   sCmd[2] = 90;
   //sCmd[2] = ((Speed >> 0) & 0xFF);
   //sCmd[3] = ((Speed >> 8) & 0xFF);
   //sCmd[4] = ((Speed >> 16) & 0xFF);
   //sCmd[5] = ((Speed >> 24) & 0xFF);
   //sCmd[6] = (sCmd[0]+sCmd[1]+sCmd[2]+sCmd[3]+sCmd[4]+sCmd[5]) & 0x7F;
   sCmd[3] = (sCmd[0] + sCmd[1] + sCmd[2]) & 0x7F;

   //  Error checking  //
   printf("This is: %x\n",sCmd[0]);
   printf("This is: %x\n",sCmd[1]);
   printf("This is: %x\n",sCmd[2]);
   printf("This is: %x\n",sCmd[3]);
   //printf("This is: %x\n",sCmd[4]);
   //printf("This is: %x\n",sCmd[5]);
   //printf("This is: %x\n",sCmd[6]);
   /////////////////////////////////
     
   //  write data to the port  //
   if (!writeport(fd, sCmd, 7)) {
      printf("write failed\n");
      close(fd);
      return 1;
   }


   
}

int writeport(int fd, char * chars, int NBytes) {
   int n = write(fd, chars, NBytes);
   if (n < 0) {
      fputs("write failed!\n", stderr);
      return 0;
   }
   return 1;
}


int InitPort(int fd) {
   struct termios config;
   
   config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
    config.c_oflag = 0;
    //
    // No line processing:
    // echo off, echo newline off, canonical mode off,
    // extended input processing off, signal chars off
    //
    config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
    //
    // Turn off character processing
    // clear current char size mask, no parity checking,
    // no output processing, force 8 bit input
    //
    config.c_cflag &= ~(CSIZE | PARENB);
    config.c_cflag |= CS8;
    config.c_cflag |= (CLOCAL | CREAD);
    //
    // One input byte is enough to return from read()
    // Inter-character timer off
    //
    config.c_cc[VMIN]  = 1;
    config.c_cc[VTIME] = 0;
    //
    // Communication speed (simple version, using the predefined
    // constants)
    //
    if(cfsetispeed(&config, B9600) < 0 || cfsetospeed(&config, B9600) < 0)
        printf("Baud not set \n " );

    //
    // Finally, apply the configuration
    //
    if(tcsetattr(fd, TCSAFLUSH, &config) < 0)
        printf( "Config Not Applied \n");
   return 1;
}