/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR * PURPOSE.  See the GNU General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#include <stdio.h>#include "arcnet.h"#include "pc_d51.h"#include "llc1.h"struct LLC_MSG sap0; struct LLC_MSG sap1; unsigned char initParams(unsigned char addr){  d51_params[0] = 1;  d51_params[1] = 0;  d51_params[2] = 0;  d51_params[3] = 0;  d51_params[4] = 0x87;  d51_params[5] = 0;  d51_params[6] = 0;  d51_params[7] = 1;  d51_params[8] = 0;  d51_params[9] = 1;  d51_params[10] = 1;  d51_params[11] = 0x80;  d51_params[12] = 1;  d51_params[13] = 0;  d51_params[14] = 0x18;  d51_params[15] = 4;  d51_params[16] = addr;  d51_params[17] = 0x80;  d51_params[18] = 0;  d51_params[19] = 0;  d51_params[20] = 0;  d51_params[21] = 0;  d51_params[22] = 0;  return 0;}unsigned char initSaps(){  unsigned char status;   status = llc1_request(0, 0, 0xc, &sap0);  if (status != 0)    return 0xff;  status = llc1_request(1, 0, 1, &sap1);  if (status != 0)    return 0xff;  return 0;}unsigned char MAC_Init(unsigned char addr){  unsigned char status;   initParams(addr);  status = d51_init();  if (status != 0) {    printf("Core did not initialize properly\n");    return 255;  }   status = initSaps();  if (status != 0) {    printf("Saps did not initialize properly\n");    return 255;  }  return 0;}unsigned char MAC_NoResponse(){  return ((smc_in(0) >> 1) ^ 1) & 1;}unsigned char MAC_Receive(unsigned char *buffer, unsigned short *length, 			  unsigned char *originAddr){  *length = 0;  sap1.msgptr = buffer;  d51_check_int();  llc1_service();  switch (llc1_indication(1)) {  case 3:     *length = (sap1.msbcount << 8) + sap1.lsbcount;    *originAddr = sap1.dstation;    break;  case 1:     break;  case 2:     break;  case 0:     break;  }   return 0;}unsigned char MAC_Send(unsigned char destAddr, unsigned char *message, 		       unsigned short length){  if (length > 508)     return 255;  sap1.dstation = destAddr;  sap1.msbcount = (length & 0xff00) >> 8;  sap1.lsbcount = length & 0xff;  sap1.msgptr = message;  llc1_request(1, 1, 6, &sap1);  return 0;}