Merge branch 'develop': Summary of changes:

-Added communication TCP IP port
-Added device deployment API
-Added buffered motion API
-New version of simplemotion_defs.h
-Various fixes & MacOS support

1 files changed, 31 insertions, 47 deletions

diff --git a/simplemotion.c b/simplemotion.c
index cdee1d1..58627cb 100644
--- a/simplemotion.c
+++ b/simplemotion.c
@@ -1,15 +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.

-*/

+//Copyright (c) Granite Devices Oy

 

 #include <stdio.h>

 #include <string.h>

@@ -44,7 +34,7 @@ SM_STATUS smReceiveReturnPacket( smbus bushandle );
 

 typedef struct SM_BUS_

 {

-    smint8 bdHandle;

+    smbusdevicehandle bdHandle;

     smbool opened;

 

     enum RecvState recv_state,recv_state_next;

@@ -168,7 +158,7 @@ SM_STATUS smSetTimeout( smuint16 millsecs )
     return SM_ERR_PARAMETER;

 }

 

-unsigned long smGetVersion()

+smuint32 smGetVersion()

 {

     return SM_VERSION;

 }

@@ -225,25 +215,25 @@ 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.

-	*/

+/** 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;

+    SMBusBaudrate=pbs;

 }

 

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

@@ -319,7 +309,6 @@ smbool smTransmitBuffer( const smbus handle )
 SM_STATUS smSendSMCMD( smbus handle, smuint8 cmdid, smuint8 addr, smuint8 datalen, smuint8 *cmddata )

 {

     int i;

-    smuint8 data;

     smuint16 sendcrc;

 

     //check if bus handle is valid & opened

@@ -431,7 +420,7 @@ SM_STATUS smReceiveErrorHandler( smbus handle, smbool flushrx )
         smbool success;

         do{

             smuint8 rx;

-            success=smBDRead(handle,&rx);

+            success=smBDRead(smBus[handle].bdHandle,&rx);

         }while(success==smtrue);

     }

     smResetSM485variables(handle);

@@ -442,7 +431,6 @@ SM_STATUS smReceiveErrorHandler( smbus handle, smbool flushrx )
 

 SM_STATUS smAppendSMCommandToQueue( smbus handle, int smpCmdType,smint32 paramvalue  )

 {

-    smuint8 txbyte;

     int cmdlength;

 

     //check if bus handle is valid & opened

@@ -476,12 +464,6 @@ SM_STATUS smAppendSMCommandToQueue( smbus handle, int smpCmdType,smint32 paramva
         SMPayloadCommand16 newcmd;

         newcmd.ID=SMPCMD_SETPARAMADDR;

         newcmd.param=paramvalue;

-

-        //          bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes, 5);

-        //            bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes, 6);

-        /*

-FIXME

-            ei toimi, menee vaa nollaa*/

         bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes++, ((unsigned char*)&newcmd)[1]);

         bufput8bit( smBus[handle].recv_rsbuf, smBus[handle].cmd_send_queue_bytes++, ((unsigned char*)&newcmd)[0]);

     }

@@ -582,7 +564,7 @@ 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

@@ -603,7 +585,7 @@ 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);

@@ -616,7 +598,7 @@ 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);

@@ -630,7 +612,7 @@ 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);

@@ -641,7 +623,7 @@ 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);

@@ -662,7 +644,7 @@ SM_STATUS smReceiveReturnPacket( smbus bushandle )
         smuint8 ret;

         SM_STATUS stat;

 

-        smbool succ=smBDRead(bushandle,&ret);

+        smbool succ=smBDRead(smBus[bushandle].bdHandle,&ret);

 

         if(succ==smfalse)

         {

@@ -879,7 +861,7 @@ SM_STATUS smGetBufferClock( const smbus handle, const smaddr targetaddr, smuint1
     if(stat!=SM_OK) return recordStatus(handle,stat); //maybe timeouted

 

     if(clock!=NULL)

-        *clock=bufget16bit(smBus[handle].recv_rsbuf,0);

+	memcpy(clock,smBus[handle].recv_rsbuf,sizeof(smuint16));

 

     smBus[handle].recv_storepos=0;

 

@@ -962,10 +944,12 @@ SM_STATUS getCumulativeStatus( const smbus handle )
 }

 

 /** Reset cululative status so getCumultiveStatus returns 0 after calling this until one of the other functions are called*/

-void resetCumulativeStatus( const smbus handle )

+SM_STATUS resetCumulativeStatus( const smbus handle )

 {

     if(smIsHandleOpen(handle)==smfalse) return SM_ERR_NODEVICE;

 

     smBus[handle].cumulativeSmStatus=0;

+

+    return SM_OK;

 }