Merge branch 'develop' into feature/BufferedMotionAPIfeature/BufferedMotionAPI

# Conflicts:
#	SimpleMotionV2.pri

12 files changed, 559 insertions, 1198 deletions

diff --git a/LICENSE b/LICENSE
index ea5a3f2..f4f87bd 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,339 +1,203 @@
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\ No newline at end of file
diff --git a/SimpleMotionV2.pri b/SimpleMotionV2.pri
index 9eeef0d..b5619bc 100644
--- a/SimpleMotionV2.pri
+++ b/SimpleMotionV2.pri
@@ -5,10 +5,10 @@ DEPENDPATH += $$PWD
 

 DEFINES += SIMPLEMOTIONV2_LIBRARY

 

-SOURCES += $$PWD/sm_consts.c $$PWD/simplemotion.c $$PWD/busdevice.c $$PWD/rs232.c \

+SOURCES += $$PWD/sm_consts.c $$PWD/simplemotion.c $$PWD/busdevice.c $$PWD/pcserialport.c \

     $$PWD/bufferedmotion.c

 

 HEADERS += $$PWD/simplemotion_private.h\

-    $$PWD/rs232.h $$PWD/busdevice.h  $$PWD/simplemotion.h $$PWD/sm485.h $$PWD/simplemotion_defs.h \

-    ../SimpleMotionV2Library/bufferedmotion.h

+    $$PWD/pcserialport.h $$PWD/busdevice.h  $$PWD/simplemotion.h $$PWD/sm485.h $$PWD/simplemotion_defs.h \

+    $$PWD/bufferedmotion.h

 

diff --git a/busdevice.c b/busdevice.c
index 9bf82c8..c4f89a1 100644
--- a/busdevice.c
+++ b/busdevice.c
@@ -1,6 +1,6 @@
 #include "busdevice.h"
 
-#include "rs232.h"
+#include "pcserialport.h"
 #include <string.h>
 
 #define BD_NONE 0
@@ -10,6 +10,8 @@
 //how much bytes available in transmit buffer
 #define TANSMIT_BUFFER_LENGTH 128
 
+unsigned long SMBusBaudrate=SM_BAUDRATE; //the next opened port (with smOpenBus) will be opened with the PBS defined here (default 460800 BPS)
+
 typedef struct _SMBusDevice
 {
 	//common
@@ -65,7 +67,7 @@ smbusdevicehandle smBDOpen( const char *devicename )
 
         if(strncmp(devicename,"COM",3) == 0 || strncmp(devicename,"/dev/tty",8) == 0) //use rs232 lib
 	{
-            BusDevice[handle].comPort=OpenComport( devicename, SM_BAUDRATE );
+            BusDevice[handle].comPort=serialPortOpen( devicename, SMBusBaudrate );
                 if( BusDevice[handle].comPort == -1 )
 		{
 			return -1; //failed to open
@@ -99,7 +101,7 @@ smbool smBDClose( const smbusdevicehandle handle )
 
 	if( BusDevice[handle].bdType==BD_RS )
 	{
-		CloseComport( BusDevice[handle].comPort );
+        serialPortClose( BusDevice[handle].comPort );
 		BusDevice[handle].opened=smfalse;
 		return smtrue;
 	}
@@ -140,7 +142,7 @@ smbool smBDTransmit(const smbusdevicehandle handle)
 
     if( BusDevice[handle].bdType==BD_RS )
     {
-        if(SendBuf(BusDevice[handle].comPort,BusDevice[handle].txBuffer, BusDevice[handle].txBufferUsed)==BusDevice[handle].txBufferUsed)
+        if(serialPortWriteBuffer(BusDevice[handle].comPort,BusDevice[handle].txBuffer, BusDevice[handle].txBufferUsed)==BusDevice[handle].txBufferUsed)
         {
             BusDevice[handle].txBufferUsed=0;
             return smtrue;
@@ -164,7 +166,7 @@ smbool smBDRead( const smbusdevicehandle handle, smuint8 *byte )
 	if( BusDevice[handle].bdType==BD_RS )
 	{
 		int n;
-		n=PollComport(BusDevice[handle].comPort, byte, 1);
+        n=serialPortRead(BusDevice[handle].comPort, byte, 1);
 		if( n!=1 ) return smfalse;
 		else return smtrue;
 	}
diff --git a/pcserialport.c b/pcserialport.c
new file mode 100644
index 0000000..792f079
--- /dev/null
+++ b/pcserialport.c
@@ -0,0 +1,209 @@
+/*
+ * pcserialport.h
+ *
+ * Header for PC serial port access library (win/linux)
+ *
+ *  Created on: 28.12.2016
+ *      Author: Tero
+ *
+ *  Inspired by RS232 library by Teunis van Beelen
+ */
+
+
+
+#include "pcserialport.h"
+#include "simplemotion_private.h" //needed for timeout variable
+
+#ifdef __unix__
+
+#include <termios.h>
+#include <limits.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+
+smint32 serialPortOpen(const char * port_device_name, smint32 baudrate_bps)
+{
+    int port_handle;
+    int err;
+    int baudrateEnumValue;
+    struct termios new_port_settings;
+
+    switch(baudrate_bps)
+	{
+        case    9600 : baudrateEnumValue = B9600; break;
+        case   19200 : baudrateEnumValue = B19200; break;
+        case   38400 : baudrateEnumValue = B38400; break;
+        case   57600 : baudrateEnumValue = B57600; break;
+        case  115200 : baudrateEnumValue = B115200; break;
+        case  230400 : baudrateEnumValue = B230400; break;
+        case  460800 : baudrateEnumValue = B460800; break;
+        case  500000 : baudrateEnumValue = B500000; break;
+        case  576000 : baudrateEnumValue = B576000; break;
+        case  921600 : baudrateEnumValue = B921600; break;
+        case 1000000 : baudrateEnumValue = B1000000; break;
+        case 1115200 : baudrateEnumValue = B1152000; break;
+        case 1500000 : baudrateEnumValue = B1500000; break;
+        case 2000000 : baudrateEnumValue = B2000000; break;
+        case 2500000 : baudrateEnumValue = B2500000; break;
+        case 3000000 : baudrateEnumValue = B3000000; break;
+        case 3500000 : baudrateEnumValue = B3500000; break;
+        case 4000000 : baudrateEnumValue = B4000000; break;
+        default      : smDebug(-1,Low,"Serial port error: unsupported baudrate\n");
+		return(1);
+		break;
+	}
+
+        port_handle = open(port_device_name, O_RDWR | O_NOCTTY );
+        if(port_handle==-1)
+	{
+        smDebug(-1, Low, "Serial port error: port open failed");
+           return(port_handle);
+	}
+
+    memset(&new_port_settings, 0, sizeof(new_port_settings)); //reset struct
+
+    new_port_settings.c_cflag = baudrateEnumValue | CS8 | CLOCAL | CREAD;
+	new_port_settings.c_iflag = IGNPAR;
+	new_port_settings.c_oflag = 0;
+	new_port_settings.c_lflag = 0;
+    new_port_settings.c_cc[VMIN] = 0;      /* non blocking mode */
+    new_port_settings.c_cc[VTIME] = readTimeoutMs/100;     /* timeout 100 ms steps */
+        err = tcsetattr(port_handle, TCSANOW, &new_port_settings);
+    if(err==-1)
+	{
+                close(port_handle);
+                smDebug(-1, Low, "Serial port error: failed to set port parameters");
+                return -1;
+	}
+    return port_handle;
+}
+
+
+smint32 serialPortRead(smint32 serialport_handle, smuint8 *buf, smint32 size)
+{
+    smint32 n;
+    if(size>4096)  size = 4096;
+    n = read(serialport_handle, buf, size);
+    return n;
+}
+
+
+smint32 serialPortWrite(smint32 serialport_handle, unsigned char byte)
+{
+    smint32 n;
+    n = write(serialport_handle, &byte, 1);
+    if(n<0)
+        return 1;
+    return 0;
+}
+
+
+smint32 serialPortWriteBuffer(smint32 serialport_handle, unsigned char *buf, smint32 size)
+{
+        return(write(serialport_handle, buf, size));
+}
+
+
+void serialPortClose(smint32 serialport_handle)
+{
+        close(serialport_handle);
+}
+
+#else   //windows: for API, see https://msdn.microsoft.com/en-us/library/ff802693.aspx
+
+#include <windows.h>
+#include <string.h>
+
+smint32 serialPortOpen(const char *port_device_name, smint32 baudrate_bps)
+{
+    char port_def_string[64], port_name[32];
+    HANDLE port_handle;
+
+    sprintf(port_def_string,"baud=%d data=8 parity=N stop=1", (int)baudrate_bps);
+    sprintf(port_name,"\\\\.\\%s",port_device_name);
+
+    port_handle = CreateFileA(port_name,GENERIC_READ|GENERIC_WRITE,0,NULL,OPEN_EXISTING,0,NULL);
+
+    if(port_handle==INVALID_HANDLE_VALUE)
+    {
+        smDebug( -1, Low, "Serial port error: Unable to create serial port handle");
+        return -1;
+    }
+
+    //fill DCB settings struct
+    DCB dcb;
+    FillMemory(&dcb, sizeof(dcb), 0);
+    dcb.DCBlength = sizeof(dcb);
+
+    if(!BuildCommDCBA(port_def_string, &dcb))
+    {
+        smDebug( -1, Low, "Serial port error: Unable to build DCB settings\n");
+        CloseHandle(port_handle);
+        return -1;
+    }
+
+    if(!SetCommState(port_handle, &dcb))
+    {
+        smDebug( -1, Low, "Serial port error: Unable to set port settings\n");
+        CloseHandle(port_handle);
+        return -1;
+    }
+
+    //set timeout
+    COMMTIMEOUTS port_timeouts;
+    port_timeouts.ReadTotalTimeoutConstant    = readTimeoutMs;
+    port_timeouts.ReadIntervalTimeout         = 0;
+    port_timeouts.ReadTotalTimeoutMultiplier  = 0;
+    port_timeouts.WriteTotalTimeoutMultiplier = 50;
+    port_timeouts.WriteTotalTimeoutConstant   = 50;
+
+    if(!SetCommTimeouts(port_handle, &port_timeouts))
+    {
+        smDebug( -1, Low, "Serial port error: Failed to set port timeout settings\n");
+        CloseHandle(port_handle);
+        return(-1);
+    }
+
+    return( (smint32)port_handle);
+}
+
+
+smint32 serialPortRead(smint32 serialport_handle, unsigned char *buf, smint32 size)
+{
+    smint32 n;
+    if(size>4096)
+        size = 4096;
+    ReadFile((HANDLE)serialport_handle, buf, size, (LPDWORD)((void *)&n), NULL);
+    return n;
+}
+
+
+smint32 serialPortWriteByte(smint32 serialport_handle, unsigned char byte)
+{
+    smint32 n;
+    WriteFile((HANDLE)serialport_handle, &byte, 1, (LPDWORD)((void *)&n), NULL);
+    if(n<0)
+        return 1;
+    return 0;
+}
+
+
+smint32 serialPortWriteBuffer(smint32 serialport_handle, unsigned char *buf, smint32 size)
+{
+    smint32 n;
+    if(WriteFile((HANDLE)serialport_handle, buf, size, (LPDWORD)((void *)&n), NULL))
+        return n;
+    return -1;
+}
+
+
+void serialPortClose(smint32 serialport_number)
+{
+    CloseHandle((HANDLE)serialport_number);
+}
+
+
+#endif//windows
diff --git a/pcserialport.h b/pcserialport.h
new file mode 100644
index 0000000..832786d
--- /dev/null
+++ b/pcserialport.h
@@ -0,0 +1,40 @@
+/*
+ * pcserialport.h
+ *
+ * Header for PC serial port access library (win/linux)
+ *
+ *  Created on: 28.12.2016
+ *      Author: Tero
+ *
+ *  Inspired by RS232 library by Teunis van Beelen
+ */
+
+
+/*  Todo:
+  -Restore port settings at CloseComport
+  */
+
+#ifndef PCSERAILPORT_H
+#define PCSERAILPORT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "simplemotion.h"
+
+//return port handle or -1 if fails
+smint32 serialPortOpen(const char *port_device_name, smint32 baudrate_bps);
+smint32 serialPortRead(smint32 serialport_handle, unsigned char *buf, smint32 size);
+smint32 serialPortWriteByte(smint32 serialport_handle, unsigned char byte);
+smint32 serialPortWriteBuffer(smint32 serialport_handle, unsigned char *buf, smint32 size);
+void serialPortClose(smint32 serialport_number);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+
diff --git a/rs232.c b/rs232.c
deleted file mode 100644
index 1773767..0000000
--- a/rs232.c
+++ /dev/null
@@ -1,366 +0,0 @@
-/*

-***************************************************************************

-*

-* Author: Teunis van Beelen

-*

-* Copyright (C) 2005, 2006, 2007, 2008, 2009 Teunis van Beelen

-*

-* teuniz@gmail.com

-*

-***************************************************************************

-*

-* This program 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 version 2 of the License.

-*

-* This program 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 this program; if not, write to the Free Software Foundation, Inc.,

-* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

-*

-***************************************************************************

-*

-* This version of GPL is at http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt

-*

-***************************************************************************

-*/

-

-

-

-#include "rs232.h"

-#include "simplemotion_private.h"

-

-

-#ifdef __linux__   /* Linux */

-

-

-int OpenComport(const char * comport_name, int baudrate)

-{

-    int error;

-    int handle;

-	int baudr;

-        struct termios new_port_settings;

-

-	switch(baudrate)

-	{

-		case      50 : baudr = B50;

-		break;

-		case      75 : baudr = B75;

-		break;

-		case     110 : baudr = B110;

-		break;

-		case     134 : baudr = B134;

-		break;

-		case     150 : baudr = B150;

-		break;

-		case     200 : baudr = B200;

-		break;

-		case     300 : baudr = B300;

-		break;

-		case     600 : baudr = B600;

-		break;

-		case    1200 : baudr = B1200;

-		break;

-		case    1800 : baudr = B1800;

-		break;

-		case    2400 : baudr = B2400;

-		break;

-		case    4800 : baudr = B4800;

-		break;

-		case    9600 : baudr = B9600;

-		break;

-		case   19200 : baudr = B19200;

-		break;

-		case   38400 : baudr = B38400;

-		break;

-		case   57600 : baudr = B57600;

-		break;

-		case  115200 : baudr = B115200;

-		break;

-		case  230400 : baudr = B230400;

-		break;

-		case  460800 : baudr = B460800;

-		break;

-		case  500000 : baudr = B500000;

-		break;

-		case  576000 : baudr = B576000;

-		break;

-		case  921600 : baudr = B921600;

-		break;

-		case 1000000 : baudr = B1000000;

-		break;

-		default      : printf("invalid baudrate\n");

-		return(1);

-		break;

-	}

-

-	//Cport[comport_number] = open(comports[comport_number], O_RDWR | O_NOCTTY | O_NDELAY);

-        handle = open(comport_name, O_RDWR | O_NOCTTY );

-        if(handle==-1)

-	{

-		perror("unable to open comport ");

-                return(handle);

-	}

-

-    memset(&new_port_settings, 0, sizeof(new_port_settings));  /* clear the new struct */

-

-	new_port_settings.c_cflag = baudr | CS8 | CLOCAL | CREAD;

-	new_port_settings.c_iflag = IGNPAR;

-	new_port_settings.c_oflag = 0;

-	new_port_settings.c_lflag = 0;

-	new_port_settings.c_cc[VMIN] = 0;      /* block untill n bytes are received */

-	new_port_settings.c_cc[VTIME] = readTimeoutMs/100;     /* block untill a timer expires (n * 100 mSec.) */

-        error = tcsetattr(handle, TCSANOW, &new_port_settings);

-	if(error==-1)

-	{

-                close(handle);

-                perror("unable to adjust portsettings ");

-                return(-1);

-	}

-

-        return(handle);

-}

-

-

-int PollComport(int comport_number, unsigned char *buf, int size)

-{

-	int n;

-

-	#ifndef __STRICT_ANSI__                       /* __STRICT_ANSI__ is defined when the -ansi option is used for gcc */

-	if(size>SSIZE_MAX)  size = (int)SSIZE_MAX;  /* SSIZE_MAX is defined in limits.h */

-		#else

-		if(size>4096)  size = 4096;

-		#endif

-

-                n = read(comport_number, buf, size);

-

-	return(n);

-}

-

-

-int SendByte(int comport_number, unsigned char byte)

-{

-	int n;

-

-        n = write(comport_number, &byte, 1);

-	if(n<0)  return(1);

-

-	return(0);

-}

-

-

-int SendBuf(int comport_number, unsigned char *buf, int size)

-{

-        return(write(comport_number, buf, size));

-}

-

-

-void CloseComport(int comport_number)

-{

-        close(comport_number);

-        //feature removed, not restorint old settings :

-        //tcsetattr(comport_number, TCSANOW, old_port_settings + comport_number);

-}

-

-/*

-Constant  Description

-TIOCM_LE  DSR (data set ready/line enable)

-TIOCM_DTR DTR (data terminal ready)

-TIOCM_RTS RTS (request to send)

-TIOCM_ST  Secondary TXD (transmit)

-TIOCM_SR  Secondary RXD (receive)

-TIOCM_CTS CTS (clear to send)

-TIOCM_CAR DCD (data carrier detect)

-TIOCM_CD  Synonym for TIOCM_CAR

-TIOCM_RNG RNG (ring)

-TIOCM_RI  Synonym for TIOCM_RNG

-TIOCM_DSR DSR (data set ready)

-*/

-

-int IsCTSEnabled(int comport_number)

-{

-	int status;

-

-        status = ioctl(comport_number, TIOCMGET, &status);

-

-	if(status&TIOCM_CTS) return(1);

-	else return(0);

-}

-

-

-#else         /* windows */

-

-#ifdef DEBUG_COMPORT

-//for finding problem with windows calls

-void print_win32_system_error(char *name) {

-    // Retrieve, format, and print out a message from the last error.  The

-    // `name' that's passed should be in the form of a present tense noun

-    // (phrase) such as "opening file".

-    //

-    char *ptr = NULL;

-    FormatMessage(

-                FORMAT_MESSAGE_ALLOCATE_BUFFER |

-                FORMAT_MESSAGE_FROM_SYSTEM,

-                0,

-                GetLastError(),

-                0,

-                (char *)&ptr,

-                1024,

-                NULL);

-

-    fprintf(stderr, "\nError %s: %ls\n", name, ptr);

-    LocalFree(ptr);

-}

-#endif

-

-int OpenComport(const char * comport_name, int baudrate)

-{

-

-    char baudr[64], portname[64];

-    HANDLE handle;

-

-

-    switch(baudrate)

-    {

-    case     110 : strcpy(baudr, "baud=110 data=8 parity=N stop=1");

-        break;

-    case     300 : strcpy(baudr, "baud=300 data=8 parity=N stop=1");

-        break;

-    case     600 : strcpy(baudr, "baud=600 data=8 parity=N stop=1");

-        break;

-    case    1200 : strcpy(baudr, "baud=1200 data=8 parity=N stop=1");

-        break;

-    case    2400 : strcpy(baudr, "baud=2400 data=8 parity=N stop=1");

-        break;

-    case    4800 : strcpy(baudr, "baud=4800 data=8 parity=N stop=1");

-        break;

-    case    9600 : strcpy(baudr, "baud=9600 data=8 parity=N stop=1");

-        break;

-    case   19200 : strcpy(baudr, "baud=19200 data=8 parity=N stop=1");

-        break;

-    case   38400 : strcpy(baudr, "baud=38400 data=8 parity=N stop=1");

-        break;

-    case   57600 : strcpy(baudr, "baud=57600 data=8 parity=N stop=1");

-        break;

-    case  115200 : strcpy(baudr, "baud=115200 data=8 parity=N stop=1");

-        break;

-    case  128000 : strcpy(baudr, "baud=128000 data=8 parity=N stop=1");

-        break;

-    case  256000 : strcpy(baudr, "baud=256000 data=8 parity=N stop=1");

-        break;

-    case  460800 : strcpy(baudr, "baud=460800 data=8 parity=N stop=1");

-        break;

-    default      : printf("invalid baudrate\n");

-        return(-1);

-        break;

-    }

-

-    strcpy(portname,"\\\\.\\");

-    strcat(portname,comport_name);

-

-    handle = CreateFileA(portname,

-                         GENERIC_READ|GENERIC_WRITE,

-                         0,                          /* no share  */

-                         NULL,                       /* no security */

-                         OPEN_EXISTING,

-                         0,                          /* no threads */

-                         NULL);                      /* no templates */

-

-    if(handle==INVALID_HANDLE_VALUE)

-    {

-        printf("unable to open comport\n");

-        return(-1);

-    }

-

-    DCB port_settings;

-    memset(&port_settings, 0, sizeof(port_settings));  /* clear the new struct  */

-    port_settings.DCBlength = sizeof(port_settings);

-

-    if(!BuildCommDCBA(baudr, &port_settings))

-    {

-        printf("unable to set comport dcb settings\n");

-        CloseHandle(handle);

-        return(-1);

-    }

-

-    if(!SetCommState(handle, &port_settings))

-    {

-        printf("unable to set comport cfg settings\n");

-        CloseHandle(handle);

-        return(-1);

-    }

-

-    COMMTIMEOUTS Cptimeouts;

-

-    Cptimeouts.ReadIntervalTimeout         = 0;

-    Cptimeouts.ReadTotalTimeoutMultiplier  = 0;

-    Cptimeouts.ReadTotalTimeoutConstant    = readTimeoutMs;

-    Cptimeouts.WriteTotalTimeoutMultiplier = 50;

-    Cptimeouts.WriteTotalTimeoutConstant   = 50;

-

-

-    if(!SetCommTimeouts(handle, &Cptimeouts))

-    {

-        printf("unable to set comport time-out settings\n");

-        CloseHandle(handle);

-        return(-1);

-    }

-

-    return( (int)handle);

-}

-

-

-int PollComport(int comport_number, unsigned char *buf, int size)

-{

-    int n;

-

-    if(size>4096)  size = 4096;

-

-    /* added the void pointer cast, otherwise gcc will complain about */

-    /* "warning: dereferencing type-punned pointer will break strict aliasing rules" */

-

-    ReadFile((HANDLE)comport_number, buf, size, (LPDWORD)((void *)&n), NULL);

-

-    return(n);

-}

-

-

-int SendByte(int comport_number, unsigned char byte)

-{

-    int n;

-

-    WriteFile((HANDLE)comport_number, &byte, 1, (LPDWORD)((void *)&n), NULL);

-

-    if(n<0)  return(1);

-

-    return(0);

-}

-

-

-

-int SendBuf(int comport_number, unsigned char *buf, int size)

-{

-    int n;

-

-    if(WriteFile((HANDLE)comport_number, buf, size, (LPDWORD)((void *)&n), NULL))

-    {

-        return(n);

-    }

-

-    return(-1);

-}

-

-

-void CloseComport(int comport_number)

-{

-    CloseHandle((HANDLE)comport_number);

-}

-

-

-

-#endif

-

diff --git a/rs232.h b/rs232.h
deleted file mode 100644
index 7c90fea..0000000
--- a/rs232.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*

-***************************************************************************

-*

-* Author: Teunis van Beelen

-*

-* Copyright (C) 2005, 2006, 2007, 2008, 2009 Teunis van Beelen

-*

-* teuniz@gmail.com

-*

-***************************************************************************

-*

-* This program 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 version 2 of the License.

-*

-* This program 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 this program; if not, write to the Free Software Foundation, Inc.,

-* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

-*

-***************************************************************************

-*

-* This version of GPL is at http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt

-*

-***************************************************************************

-*/

-

-/* libraray modified for Simplemotion, major changes:

-  -OpenComport now returns actual file handle that must be passed to rx/tx functions, or -1 if fails

-

-  Todo:

-  -Restore port settings at CloseComport

-  */

-

-#ifndef rs232_INCLUDED

-#define rs232_INCLUDED

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-

-#include <stdio.h>

-#include <string.h>

-

-

-

-#ifdef __linux__

-

-#include <termios.h>

-#include <sys/ioctl.h>

-#include <unistd.h>

-#include <fcntl.h>

-#include <sys/types.h>

-#include <sys/stat.h>

-#include <limits.h>

-

-#else

-

-#include <windows.h>

-

-#endif

-

-//return port handle or -1 if fails

-int OpenComport(const char * comport_name, int baudrate);

-int PollComport(int, unsigned char *, int);

-int SendByte(int, unsigned char);

-int SendBuf(int, unsigned char *, int);

-void CloseComport(int);

-

-

-#ifdef __cplusplus

-} /* extern "C" */

-#endif

-

-#endif

-

-

diff --git a/simplemotion.c b/simplemotion.c
index cea0238..78059ab 100644
--- a/simplemotion.c
+++ b/simplemotion.c
@@ -1,16 +1,5 @@
 //Copyright (c) Granite Devices Oy

 

-/*

-     This program 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; version 2 of the License.

-

-     This program 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.

-*/

-

 #include <stdio.h>

 #include <string.h>

 

@@ -92,7 +81,10 @@ void smDebug( smbus handle, smVerbosityLevel verbositylevel, char *format, ...)
         va_start(fmtargs,format);

         vsnprintf(buffer,sizeof(buffer)-1,format,fmtargs);

         va_end(fmtargs);

-        fprintf(smDebugOut,"%s: %s",smBus[handle].busDeviceName, buffer);

+        if(handle>=0)

+            fprintf(smDebugOut,"%s: %s",smBus[handle].busDeviceName, buffer);

+        else

+            fprintf(smDebugOut,"SMLib: %s",buffer);//no handle given

     }

 }

 #else

@@ -222,6 +214,27 @@ smbus smOpenBus( const char * devicename )
     return handle;

 }

 

+/** Change baudrate of SM communication port. This does not affect already opened ports but the next smOpenBus will be opened at the new speed.

+    Calling this is optional. By default SM bus and all slave devices operates at 460800 BPS speed.

+    Parameters:

+    -bps: bus speed in bits per second. for possible choices, see rs232.c (but note that all speeds are not necessarily supported by SM devices)

+    Typical usage is:

+    - first call smSetParameter(handle,0,SMP_BUS_SPEED,N) to change speed of all connected slaves to N PBS

+    - then close port with smCloseBus

+    - then call smSetBaudrate(N)

+    - then open bus again with smOpenBus

+

+    Note that in upcoming SM device firmware versions, bitrate will be reset to default (460800) if device side SM bus watchdog timer has been enabled, and it timeouts.

+    This allows re-establishing connection at defautl speed if connection breaks up and SM bus watchdog timeout gets exceeded. To identify is device supports this,

+    read parameter SMP_SM_VERSION. Values above 25 support this feature. Value 25 and below will not reset baudrate.

+

+    Note also that SMP_BUS_SPEED will not be saved in device flash memory - it will reset to default at every reset & power on.

+    */

+LIB void smSetBaudrate( unsigned long pbs )

+{

+    SMBusBaudrate=pbs;

+}

+

 /** Close connection to given bus handle number. This frees communication link therefore makes it available for other apps for opening.

 -return value: a SM_STATUS value, i.e. SM_OK if command succeed

 */

@@ -558,7 +571,7 @@ SM_STATUS smGetQueuedSMCommandReturnValue(  const smbus bushandle, smint32 *retV
     if(smBus[bushandle].cmd_recv_queue_bytes>=smBus[bushandle].recv_payloadsize)

     {

 

-        smDebug(Trace,bushandle,"Packet receive error, return data coudn't be parsed\n");

+        smDebug(bushandle,Trace, "Packet receive error, return data coudn't be parsed\n");

 

         //return 0

         if(retValue!=NULL) *retValue=0;//check every time if retValue is set NULL by caller -> don't store anything to it if its NULL

@@ -579,7 +592,7 @@ SM_STATUS smGetQueuedSMCommandReturnValue(  const smbus bushandle, smint32 *retV
         smuint8 *readBuf=(smuint8*)&read;

         readBuf[1]=rxbyte;

         readBuf[0]=bufget8bit(smBus[bushandle].recv_rsbuf, smBus[bushandle].cmd_recv_queue_bytes++);

-        smDebug(Trace,bushandle,"RET16B: %d\n",read.retData);

+        smDebug(bushandle,Trace,"RET16B: %d\n",read.retData);

 

         if(retValue!=NULL) *retValue=read.retData;

         return recordStatus(bushandle,SM_OK);

@@ -592,7 +605,7 @@ SM_STATUS smGetQueuedSMCommandReturnValue(  const smbus bushandle, smint32 *retV
         readBuf[2]=rxbyte;

         readBuf[1]=bufget8bit(smBus[bushandle].recv_rsbuf, smBus[bushandle].cmd_recv_queue_bytes++);

         readBuf[0]=bufget8bit(smBus[bushandle].recv_rsbuf, smBus[bushandle].cmd_recv_queue_bytes++);

-        smDebug(Trace,bushandle,"RET24B: %d\n",read.retData);

+        smDebug(bushandle,Trace,"RET24B: %d\n",read.retData);

 

         if(retValue!=NULL) *retValue=read.retData;

         return recordStatus(bushandle,SM_OK);

@@ -606,7 +619,7 @@ SM_STATUS smGetQueuedSMCommandReturnValue(  const smbus bushandle, smint32 *retV
         readBuf[2]=bufget8bit(smBus[bushandle].recv_rsbuf, smBus[bushandle].cmd_recv_queue_bytes++);

         readBuf[1]=bufget8bit(smBus[bushandle].recv_rsbuf, smBus[bushandle].cmd_recv_queue_bytes++);

         readBuf[0]=bufget8bit(smBus[bushandle].recv_rsbuf, smBus[bushandle].cmd_recv_queue_bytes++);

-        smDebug(Trace,bushandle,"RET32B: %d\n",read.retData);

+        smDebug(bushandle,Trace,"RET32B: %d\n",read.retData);

 

         if(retValue!=NULL) *retValue=read.retData;

         return recordStatus(bushandle,SM_OK);

@@ -617,7 +630,7 @@ SM_STATUS smGetQueuedSMCommandReturnValue(  const smbus bushandle, smint32 *retV
         SMPayloadCommandRet8 read;

         smuint8 *readBuf=(smuint8*)&read;

         readBuf[0]=rxbyte;

-        smDebug(Trace,bushandle,"RET_OTHER: %d\n",read.retData);

+        smDebug(bushandle,Trace,"RET_OTHER: %d\n",read.retData);

 

         if(retValue!=NULL) *retValue=read.retData;

         return recordStatus(bushandle,SM_OK);

diff --git a/simplemotion.h b/simplemotion.h
index 056c745..965512f 100644
--- a/simplemotion.h
+++ b/simplemotion.h
@@ -1,17 +1,6 @@
 //Global SimpleMotion functions & definitions

 //Copyright (c) Granite Devices Oy

 

-/*

-     This program 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; version 2 of the License.

-

-     This program 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.

-*/

-

 #ifndef SIMPLEMOTION_H

 #define SIMPLEMOTION_H

 

@@ -81,6 +70,24 @@ typedef enum _smVerbosityLevel {Off,Low,Mid,High,Trace} smVerbosityLevel;
 	*/

 LIB smbus smOpenBus( const char * devicename );

 

+/** Change baudrate of SM communication port. This does not affect already opened ports but the next smOpenBus will be opened at the new speed. 

+	Calling this is optional. By default SM bus and all slave devices operates at 460800 BPS speed.

+	Parameters:

+	-bps: bus speed in bits per second. for possible choices, see rs232.c (but note that all speeds are not necessarily supported by SM devices)

+	Typical usage is:

+	- first call smSetParameter(handle,0,SMP_BUS_SPEED,N) to change speed of all connected slaves to N PBS

+	- then close port with smCloseBus

+	- then call smSetBaudrate(N)

+	- then open bus again with smOpenBus

+	

+	Note that in upcoming SM device firmware versions, bitrate will be reset to default (460800) if device side SM bus watchdog timer has been enabled, and it timeouts.

+	This allows re-establishing connection at defautl speed if connection breaks up and SM bus watchdog timeout gets exceeded. To identify is device supports this, 

+	read parameter SMP_SM_VERSION. Values above 25 support this feature. Value 25 and below will not reset baudrate.

+	

+	Note also that SMP_BUS_SPEED will not be saved in device flash memory - it will reset to default at every reset & power on.

+	*/

+LIB void smSetBaudrate( unsigned long pbs );

+

 /** Set timeout of how long to wait reply packet from bus. Must be set before smOpenBus and cannot be changed afterwards

  * max value 5000ms. In unix this is rounded to 100ms (rounding downwards), so 99 or less gives 0ms timeout.

  *

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index d5f6630..f85b40f 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -20,7 +20,7 @@
 /* SMV2 protocol change log:

  * Version 20:

  *   -V20 was introduced with Argon FW 1.0.0 and present at least until 1.4.0

- * Version 21 (is backwards compatible in syntax but not in setpoint behavior, see details below):

+ * Version 25 (is backwards compatible in syntax but not in setpoint behavior, see details below):

  *   -V25 was introduced with IONI

  *   -setpoint calculation is different:

  *     now there is only one common setpoint and all ABS and INC commands (buffered & instant)

@@ -31,6 +31,10 @@
  *    this makes it possible to insert any parameter read/write commands in middle of buffered motion.

  *   -implemented watchdog functionality in new param SMP_FAULT_BEHAVIOR

  *   -added param SMP_ADDRESS_OFFSET

+ * Version 26:

+ *    - fast SM command added (actually is also present in late V25 too, but as unofficial feature)

+ *    - watchdog timout now resets bitrate to default and aborts buffered motion

+ *

  */

 

 /* Important when using SMV2 protocol:

@@ -344,6 +348,13 @@
 	#define SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL 256

 	//resets position mode FB and setpoint values to 0, and also resets homing status. useful after using in vel or torq mode.

 	#define SMP_SYSTEM_CONTROL_RESET_FB_AND_SETPOINT 512

+	//writes various FW version specific values into debug parameters

+	#define SMP_SYSTEM_CONTROL_GET_SPECIAL_DATA 1024

+	//stores encoder index position in SMP_DEBUGPARAM_1. while busy (index not found) SMP_DEBUGPARAM_2 will be 100, after found it is 200.

+	#define SMP_SYSTEM_CONTROL_CAPTURE_INDEX_POSITION 2048

+	//write SM bus SM_CRCINIT constant modifier. special purposes only, don't use if unsure because

+	//it is one time programmable variable (permanently irreversible operation, can't be ever reset to default by provided methods)

+	#define SMP_SYSTEM_CONTROL_MODIFY_CRCINIT 262144

 

 	//follow error tolerance for position control:

 #define SMP_POS_FERROR_TRIP 555

@@ -421,7 +432,7 @@
     #define FLAG_INVERTED_HALLS BV(13)

     #define FLAG_USE_HALLS BV(14)

     #define FLAG_MECH_BRAKE_DURING_PHASING BV(15)

-	#define FLAG_LIMIT_SWITCHES_NORMALLY_CLOSED_TYPE BV(16)

+	#define FLAG_LIMIT_SWITCHES_NORMALLY_OPEN_TYPE BV(16)

 #define SMP_MOTION_FAULT_THRESHOLD 568

 #define SMP_HV_VOLTAGE_HI_LIMIT 569

 #define SMP_HV_VOLTAGE_LOW_LIMIT 570

@@ -432,13 +443,23 @@
 #define SMP_ELECTRICAL_MODE 573

     #define EL_MODE_STANDARD 0

     #define EL_MODE_IONICUBE 1

-    #define EL_MODE_IONIZER 2

-

+	#define EL_MODE_SIMUCUBE 2

+    #define EL_MODE_IONIZER 3

+

+/*for BiSS/SSI encoder

+ * bits defined as (from LSB):

+ * bits 0-7: single turn bits, accepted value range 4-24

+ * bits 8-15: multi turn bits, accepted value range 0-16

+ * bits 16-18: serial encoder mode: 000=BiSS, 001=SSI, 010=AMS SSI (SSI+CS+error monitoring), 011=SPI (SSI+CS) 100=GRAY SSI (i.e. SICK TTK70)

+ * rest: reserved for future use (always 0)

+ */

+#define SMP_SERIAL_ENC_BITS 574

 

 //primary feedback loop 200-299

 #define SMP_VEL_I 200

 #define SMP_POS_P 201

 #define SMP_VEL_P 202

+#define SMP_VEL_D 203

 #define SMP_VEL_FF 220

 #define SMP_ACC_FF 221

 #define SMP_POS_FF 222

@@ -446,6 +467,24 @@
 //anti dither limits

 #define SMP_ANTIDITHER_MODE 230

 

+//torque modifiers & effects

+/*SMP_TORQUE_NOTCH_FILTER contains 3 values in different bit positions:

+ * 0-7 (lowest byte), attenuation in 0.1dB steps and value V=1-255 means attenuation of (-V-255)/10 dB gain.  if V set 0, use notch filter instead of peaking with "infinite" attenuation. value 255 disables notch filter.

+ * 8-15, Q factor in 0.1 steps. Minimum is 0.1, below that filter is disabled.

+ * 16-29, center frequency in 0.1Hz steps, and 1.1Hz is minimum, so range is 1.1-409.5 Hz. value below or equal 1Hz disables the filter.

+ *

+ *Example, peaking filter with gain -11.5dB, center freq 20Hz and Q=3.5 value is: 0x00648c23 = dec 6589475

+ *

+ *Notch filter works in all control modes and is applied to torque controller setpoint

+ */

+#define SMP_TORQUE_NOTCH_FILTER 240

+//define damping effect gain in torque control mode, torque added to setpoint equals -speed*gain with

+#define SMP_TORQUE_EFFECT_DAMPING 241

+//define friction effect gain in torque control mode

+#define SMP_TORQUE_EFFECT_FRICTION 242

+//define inertia effect gain in torque control mode, torque added to setpoint equals -acceleration*gain

+#define SMP_TORQUE_EFFECT_INERTIA 243

+

 //secondary feedback loop 300-399

 //NOT IMPLEMENTED YET

 

diff --git a/simplemotion_private.h b/simplemotion_private.h
index c56363e..67128b7 100644
--- a/simplemotion_private.h
+++ b/simplemotion_private.h
@@ -1,16 +1,6 @@
 //Internal functions & definitions, not for library user

 //Copyright (c) Granite Devices Oy

 

-/*

-     This program 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; version 2 of the License.

-

-     This program 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.

-*/

 

 #ifndef SIMPLEMOTION_PRIVATE_H

 #define SIMPLEMOTION_PRIVATE_H

@@ -19,7 +9,7 @@
 #include "busdevice.h"

 #include <stdio.h>

 

-#define SM_VERSION 0x020001

+#define SM_VERSION 0x020100

 //max number of simultaneously opened buses. change this and recompiple SMlib if

 //necessary (to increase channels or reduce to save memory)

 #define SM_MAX_BUSES 10

@@ -30,6 +20,7 @@
 #define BUSDEV_FTDI 2 /*not implemented yet: direct FTDI lib support*/

 

 #define SM_BUSDEVICENAME_LEN 64

+extern unsigned long SMBusBaudrate; //the next opened port (with smOpenBus) will be opened with the PBS defined here (default 460800 BPS)

 

 //default timeout in ms

 //Argon drive's worst case response time should be ~20ms with max length packets

@@ -42,6 +33,10 @@ extern const smuint8 table_crc8[];
 extern FILE *smDebugOut; //such as stderr or file handle. if NULL, debug info disbled

 extern smuint16 readTimeoutMs;

 

+//smDebug: prints debug info to smDebugOut stream. If no handle availab, set it to -1.

+//set verbositylevel according to frequency of prints made.

+//I.e Low=low frequency, so it gets displayed when global verbosity level is set to at least Low or set it to Trace which gets filtered

+//out if global verbisity level is set less than Trace

 void smDebug( smbus handle, smVerbosityLevel verbositylevel, char *format, ...);

 //accumulates status to internal variable by ORing the bits. returns same value that is fed as paramter

 SM_STATUS recordStatus( const smbus handle, const SM_STATUS stat );

diff --git a/smtest.c b/smtest.c
deleted file mode 100644
index e021da6..0000000
--- a/smtest.c
+++ /dev/null
@@ -1,361 +0,0 @@
-#include "simplemotion.h"
-#include <stdio.h>
-#include <stdlib.h>
-
-#define ADDR 255
-#include "vsd_cmd.h"
-
-
-//gcc -o testi *.c
-
-//#include "D:\gd\vsdr\vsdr-stm32\src\simplemotion_defs.h"
-#include "/home/tero/shr/svn/granited/firmware_design/eclipseworkspace/vsdr-stm32/src/simplemotion_defs.h"
-
-smbus h;
-       smint32 ret;
-       SM_STATUS stat=0;
-
-
-
-void test()
-{
-		//printf( "stat %d\n", smRawCommand( h, ADDR, 2, 0, &ret ) );
-	//printf("ret=%08x\n",ret);
-
-	//printf( "stat %d\n", smRawCommand( h, 2, 2, 0, &ret ) );
-	//printf("ret=%08x\n",ret);
-
-
-	
-        //stat|=smAppendSetParamCommandToQueue(h,SMP_DIGITAL_OUT_VALUE_1,151);
-//        stat|=smAppendSetParamCommandToQueue(h,SMP_INPUT_MULTIPLIER,11);
-        stat|=smExecuteCommandQueue( h, ADDR );
-        stat|=smGetQueuedSetParamReturnValue(h,&ret);
-        printf("setstat=%d val=%d\n",stat,ret);
-
-        stat=0;
-        stat|=smAppendGetParamCommandToQueue(h,SMP_BUS_SPEED);
-        stat|=smAppendGetParamCommandToQueue(h,SMP_SM_VERSION_COMPAT);
-        stat|=smAppendGetParamCommandToQueue(h,SMP_DIGITAL_OUT_VALUE_1);
-        stat|=smExecuteCommandQueue( h, ADDR );
-        stat|=smGetQueuedGetParamReturnValue(h,&ret);
-        printf("stat=%d val=%d\n",stat,ret);
-        stat|=smGetQueuedGetParamReturnValue(h,&ret);
-        printf("stat=%d val=%d\n",stat,ret);
-        stat|=smGetQueuedGetParamReturnValue(h,&ret);
-        printf("stat=%d val=%d\n",stat,ret);
-
-
-/*        smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_LEN );
-        smAppendSMCommandToQueue( h, SMPCMD_24B, SMPRET_32B );
-        smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_ADDR );
-        smAppendSMCommandToQueue( h, SMPCMD_32B, SMP_BUS_SPEED );
-
-		smAppendSMCommandToQueue( h, SMPCMD_32B,SMP_INPUT_MULTIPLIER );
-		smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_INPUT_MULTIPLIER );
-		smAppendSMCommandToQueue( h, SMPCMD_24B, 100 );
-//		SMP_INPUT_MULTIPLIER
-
-
-        smExecuteCommandQueue( h, ADDR );
-        printf("",smGetQueuedSMCommandReturnValue( h ));
-        printf("",smGetQueuedSMCommandReturnValue( h ));
-        printf("",smGetQueuedSMCommandReturnValue( h ));
-        printf("",smGetQueuedSMCommandReturnValue( h ));
-        printf("",smGetQueuedSMCommandReturnValue( h ));
-        printf("",smGetQueuedSMCommandReturnValue( h ));
-        printf("",smGetQueuedSMCommandReturnValue( h ));
- //       printf("%d\n",smGetQueuedSMCommandReturnValue( h ));*/
-
-        /*	smAppendCommandToQueue( h, CMD_GET_PARAM, RUNTIME_FAULTBITS );
-        smAppendCommandToQueue( h, CMD_GET_PARAM, RUNTIME_STATUSBITS );
-        smAppendCommandToQueue( h, CMD_GET_PARAM, RUNTIME_FIRMWARE_VERSION );
-        smExecuteCommandQueue( h, ADDR );
-        printf("%d\n",smGetQueuedCommandReturnValue( h, 0 ));
-        printf("%d\n",smGetQueuedCommandReturnValue( h, 1 ));
-        printf("%d\n",smGetQueuedCommandReturnValue( h, 2 ));
-        */
-}
-
-void tests();
-
-/*BL functions started by writing a value to this param:
- * 1:mass erase and reset write pos counter to 0
- * 2:write block
- * 3:verify flash (update BOOTLOADER_STAT_FLASH_VERIFIED_OK status)
- * 4:start main app
- */
-#define SMP_BOOTLOADER_FUNCTION 191
-//upload 16bits of data to buffer. max buffer length 4096 bytes before it must be written with "write block" function
-//total uploaded amount must be multiple of 4 bytes before issuing write function
-#define SMP_BOOTLOADER_UPLOAD 192
-//bootloaded status
-#define SMP_BOOTLOADER_STAT 193
-	#define BOOTLOADER_STAT_FLASH_VERIFIED_OK BV(0)
-#define SMP_FIRMWARE_VERSION 6010
-#define SMP_BACKWARDS_COMP_VERSION 6012
-
-#define SUPPORTED_BL_VERSION_MIN 10000
-#define SUPPORTED_BL_VERSION_MAX 10010
-
-
-//load app rom from file. args:
-//pass pointer to "data". this func will allocate the memory
-//return number of 16bit words or -1 if load failed
-int loadBLfile( const char *filename, smuint16 **data )
-{
-	int bytes;
-	int i;
-	FILE *f;
-	smuint16 *buf;
-	
-	//open file
-	f=fopen(filename,"rb");
-	if(f==NULL)
-		return -1;
-	
-	//find file size
-	fseek(f, 0L, SEEK_END);
-	bytes = ftell(f);
-	fseek(f, 0L, SEEK_SET);
-	printf("size=%d\n",bytes);
-	//allocate
-	buf=(smuint16*)malloc((bytes+1)/2);//round upwards
-	if(buf==NULL)
-		return -1;
-	
-	//load
-	for(i=0;i<bytes;i++)
-	{
-		int get=fgetc(f);
-		if(get==EOF) 
-			return -1;
-		
-		//treat data as byte array
-		((smuint8*)buf)[i]=get;
-	}
-		printf(".\n");
-	//fclose(f);
-		printf(".\n");
-	
-	*data=buf;
-	
-	return ((bytes+1)/2);
-}
-
-#define BL_CHUNK_LEN 32
-
-int uploadGCfile(const char *fname)
-{
-	smint32 blversion,blcompversion;
-	stat=0;	
-	smuint16 *bin;
-	int i,c;
-	
-	int size=loadBLfile(fname,&bin);
-	if(size<0)
-	{
-		printf("load failed\n");
-		return;
-	}
-	printf("loaded %d words\n",size);
-	
-	
-	
-	//get possible node detected faults in communications
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_ADDR );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, SMP_CUMULATIVE_STATUS );
-	//set return param type and command type
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_LEN );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_32B, SMPRET_CMD_STATUS );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_UPLOAD );
-	stat|=smExecuteCommandQueue( h, ADDR );
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	int smnodestats=ret;
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);	
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);	
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);	
-	
-	if(stat!=SM_OK || smnodestats!=SMP_CMD_STATUS_ACK)
-	{
-		printf("SM errors occurred:%d\n",smnodestats);
-		exit(5);
-	}
-	
-	//upload data in 32=BL_CHUNK_LEN word chunks
-	for(i=0;i<size;)
-	{
-		printf("pos %d\n",i);
-		//getchar();
-		
-		stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_UPLOAD );
-		for(c=0;c<BL_CHUNK_LEN;c++)
-		{
-			smuint16 upword;
-			//pad end of file with constant
-			if(i>=size)
-				upword=0xeeee;
-			else
-				upword=bin[i];
-			printf("i=%d\n",i);
-			
-			stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, upword );
-			i++;
-		}
-//		stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_FUNCTION );
-//		stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, 2);//do write
-		
-		stat|=smExecuteCommandQueue( h, ADDR );
-		
-		for(c=0;c<BL_CHUNK_LEN+1;c++)
-		{
-			stat|=smGetQueuedSMCommandReturnValue( h,&ret );
-			if(stat!=SM_OK)
-			{
-				printf("error stat=%d\n",stat);
-				exit(6);
-			}
-		}
-	}
-	
-	printf("done. enter to flash\n");
-	getchar();
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_FUNCTION );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, 5);//flash gc
-	stat|=smExecuteCommandQueue( h, ADDR );
-}
-
-void blcommtest(const char *fname)
-{
-	smint32 blversion,blcompversion;
-	stat=0;	
-	smuint16 *bin;
-	int i,c;
-	
-	int size=loadBLfile(fname,&bin);
-	if(size<0)
-	{
-		printf("load failed\n");
-		return;
-	}
-	printf("loaded %d words\n",size);
-		
-	
-	//read bl variables
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_LEN );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_32B, SMPRET_32B );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_ADDR );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_32B, SMP_FIRMWARE_VERSION );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_32B, SMP_BACKWARDS_COMP_VERSION );
-	stat|=smExecuteCommandQueue( h, ADDR );
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	blversion=ret;
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	blcompversion=ret;
-	
-	//if version ok
-	//if(blversion
-
-	//mass erase flash
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_FUNCTION );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_32B, 1 );//do mass erase
-	stat|=smExecuteCommandQueue( h, ADDR );
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-
-	usleep(1000000);
-	
-	//flash
-	
-	//get possible node detected faults in communications
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_ADDR );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, SMP_CUMULATIVE_STATUS );
-	//set return param type and command type
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_RETURN_PARAM_LEN );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_32B, SMPRET_CMD_STATUS );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_UPLOAD );
-	stat|=smExecuteCommandQueue( h, ADDR );
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);
-	int smnodestats=ret;
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);	
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);	
-	stat|=smGetQueuedSMCommandReturnValue( h,&ret );printf("stat=%d val=%d\n",stat,ret);	
-	
-	if(stat!=SM_OK || smnodestats!=SMP_CMD_STATUS_ACK)
-	{
-		printf("SM errors occurred:%d\n",smnodestats);
-		exit(5);
-	}
-	
-	//upload data in 32=BL_CHUNK_LEN word chunks
-	for(i=0;i<size;)
-	{
-		printf("pos %d\n",i);
-		//getchar();
-		
-		stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_UPLOAD );
-		for(c=0;c<BL_CHUNK_LEN;c++)
-		{
-			smuint16 upword;
-			//pad end of file with constant
-			if(i>=size)
-				upword=0xeeee;
-			else
-				upword=bin[i];
-			printf("i=%d\n",i);
-			
-			stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, upword );
-			i++;
-		}
-		stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_FUNCTION );
-		stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, 2);//do write
-		
-		stat|=smExecuteCommandQueue( h, ADDR );
-		
-		for(c=0;c<BL_CHUNK_LEN+3;c++)
-		{
-			stat|=smGetQueuedSMCommandReturnValue( h,&ret );
-			if(stat!=SM_OK)
-			{
-				printf("error stat=%d\n",stat);
-				exit(6);
-			}
-		}
-	}
-	
-	printf("done. enter to run\n");
-	getchar();
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_SETPARAMADDR, SMP_BOOTLOADER_FUNCTION );
-	stat|=smAppendSMCommandToQueue( h, SMPCMD_24B, 4);//launch
-	stat|=smExecuteCommandQueue( h, ADDR );
-
-	
-}
-
-int main(int args, const char *argv[])
-{
-	if(args<2)
-	{
-		printf("args: rom bin file name\n");
-		return(0);
-	}
-
-	smSetDebugOutput(High,stderr);
-
-	smSetTimeout(1500);
-        h=smOpenBus("COM17"); //17=USB1 16=0
-
-	printf("handle=%d\n",h);
-	if(h==-1) return 3;
-
-	
-	uploadGCfile(argv[1]);
-	//blcommtest(argv[1]);
-
-	smCloseBus(h);
-}