/*---------------------------------------------------------------------------- 	newton.c	(c) 1992 Tucker Balch	modifications added by Darrin Bentivigna and Gary Boone         more modifications by David Huggins	Library of serial routines for the newton board. ----------------------------------------------------------------------------*/ #include <stdio.h>#include <unistd.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <string.h>#include <sys/termio.h>#include <sys/ioctl.h>#include <ctype.h>#include <math.h>#include "newton.h"#define TTYA "/dev/ttya"#define TTYB "/dev/ttyb"#define TTYC "/dev/ttyc"#define TTY_NUM 0#define NO_ANSWER -999#define MAX_RETRY2	4#define MAX_RETRY1	10/*  global varibales */int   newton_channel;FILE *newton_file;/* private global variables */static int	NUM_RETRIES = 2;static int	NUM_RESYNCS = 2;static char	newton_mesg[80];static FILE	*tty_log;static int	newton_debug;static float	oldx, oldy, oldz, olda, oldt; FILE *output_file;/*---------------------------------------------------------------------------- 	newton_open_port()	open_port: open and configure the serial port  	9600 baud, 7 bits, odd parity, 1 stop, XON/XOFF enabled ----------------------------------------------------------------------------*/ int newton_open_port( int port ){ struct termio termset; char	tty[80]; char	msg[80]; int	done; unsigned char rsp[80]; unsigned char rsp_len; unsigned short status;   switch( port )   {      case PORT_A :         strcpy(tty, TTYA);         break;      case PORT_B :         strcpy( tty, TTYB );         break;      case PORT_C :         strcpy( tty, TTYC );         break;      default :	 printf("illegal port number \n");         return( NEWTON_IO_FAILURE );   }//   printf("using tty%s\n",tty);   /*--- open tty line to the newton board ---*/#ifndef NEWTONDEBUG   if ((newton_channel = open(tty, O_NOCTTY | O_RDWR)) < 0)    {      sprintf(msg, "newton:open_port - Error opening serial port >%s<", tty);      perror(msg);      return ( NEWTON_IO_FAILURE );   }#endif#ifdef NEWTONDEBUG   newton_file = fopen( "newton.data", "r" );   if (newton_file == NULL)   {      sprintf(msg, "newton_open_port: unable to open data file" );      perror( msg );      return( NEWTON_IO_FAILURE );   }#else   newton_file = fdopen(newton_channel, "r+"); #endif#ifndef NEWTONDEBUG   memset((char *) &termset, 0, sizeof(struct termio));    /*--- don't try this at home!!!!! ---*/   termset.c_iflag = IGNBRK | INPCK | IXON | IXOFF;   termset.c_oflag = 0;   termset.c_cflag = (unsigned short)(B38400 | CS8 | CLOCAL | CREAD );   termset.c_cc[VMIN] = 20;   termset.c_cc[VTIME] = 0;	/* 1/10 second timeout on reads */       /*--- do the ioctl call to set the line up ---*/    if (ioctl(newton_channel, TCSETA, (char *) &termset) < 0)     {       perror("newton_open_port: open_port - Error setting serial port for newton");        return ( NEWTON_IO_FAILURE );    }#endif   printf("newton_open_port: port opened\n");    return( NEWTON_SUCCESS );}/* newton_open_port() *//*---------------------------------------------------------------------------- 	newton_close_port()        close the serial link to the port----------------------------------------------------------------------------*/ int newton_close_port(void){   /* make sure port was opened */   if (newton_channel == 0)      return( NEWTON_FAILURE );   close(newton_channel);   /* mark as closed */   newton_channel = 0;   return( NEWTON_SUCCESS );} /* newton_close_port() *//*---------------------------------------------------------------------------- 	newton_exit()----------------------------------------------------------------------------*/ void newton_exit(void){   newton_close_port();}/*---------------------------------------------------------------------------- 	newton_debug_off()	----------------------------------------------------------------------------*/ void newton_debug_off(void){   newton_debug = 0;}/*---------------------------------------------------------------------------- 	newton_debug_on()	----------------------------------------------------------------------------*/ void newton_debug_on(void){   newton_debug = 1;}/*----------------------------------------------------------------------------        newton_start_tracking()----------------------------------------------------------------------------*/ void newton_start_tracking(void){   fprintf( newton_file, "r" );}/*----------------------------------------------------------------------------        newton_stop_tracking()----------------------------------------------------------------------------*/ void newton_stop_tracking(void){   fprintf( newton_file, "q" );}/*----------------------------------------------------------------------------        char newton_read_board()----------------------------------------------------------------------------*/ char newton_read_board(void){char dummy;   dummy = (char)fgetc(newton_file);   return(dummy);} /* newton_read_board() *//* ***** NEWTON_SERIAL.C ***** */