hello to the both of you.
thank you both very much. michaelk, I have read those websites and (*think that*) I understand them, or at least enough to do what I have to do.
the motor controller that I am using is from RoboteQ (the AX2250 with the optional encoder module installed)--
http://www.roboteq.com/brushed-dc-mo...tor-controller
The sheet does not give you specifics on communication, they have a WINDOWS (
) program that they want for you to use.
This is what I have so far, and it doesn't work. This was taken directly for the previous website that I posted. What I am trying to do is push a button (any button besides \esc) and have it send a message to the controller so that it will tell me the encoder count. the code is below:
#include <termios.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/signal.h>
#include <sys/types.h>
#define BAUDRATE B38400
#define MODEMDEVICE "/dev/ttyS1"
#define _POSIX_SOURCE 1 //POSIX compliant source
#define FALSE 0
#define TRUE 1
volatile int STOP=FALSE;
void signal_handler_IO (int status); //definition of signal handler
int wait_flag=TRUE; //TRUE while no signal received
char devicename[80];
long Baud_Rate = 38400; // default Baud Rate (110 through 38400)
long BAUD; // derived baud rate from command line
long DATABITS;
long STOPBITS;
long PARITYON;
long PARITY;
int Data_Bits = 8; // Number of data bits
int Stop_Bits = 1; // Number of stop bits
int Parity = 0; // Parity as follows:
// 00 = NONE, 01 = Odd, 02 = Even, 03 = Mark, 04 = Space
int Format = 4;
FILE *input;
FILE *output;
int status;
main(int Parm_Count, char *Parms[])
{
char version[80] = " POSIX compliant Communications test program version 1.00 4-25-1999\r\n";
char version1[80] = " Copyright(C) Mark Zehner/Peter Baumann 1999\r\n";
char version2[80] = " This code is based on a DOS based test program by Mark Zehner and a Serial\r\n";
char version3[80] = " Programming POSIX howto by Peter Baumann, integrated by Mark Zehner\r\n";
char version4[80] = " This program allows you to send characters out the specified port by typing\r\n";
char version5[80] = " on the keyboard. Characters typed will be echoed to the console, and \r\n";
char version6[80] = " characters received will be echoed to the console.\r\n";
char version7[80] = " The setup parameters for the device name, receive data format, baud rate\r\n";
char version8[80] = " and other serial port parameters must be entered on the command line \r\n";
char version9[80] = " To see how to do this, just type the name of this program. \r\n";
char version10[80] = " This program is free software; you can redistribute it and/or modify it\r\n";
char version11[80] = " under the terms of the GNU General Public License as published by the \r\n";
char version12[80] = " Free Software Foundation, version 2.\r\n";
char version13[80] = " This program comes with ABSOLUTELY NO WARRANTY.\r\n";
char instr[100] ="\r\nOn the command you must include six items in the following order, they are:\r\n";
char instr1[80] =" 1. The device name Ex: ttyS0 for com1, ttyS1 for com2, etc\r\n";
char instr2[80] =" 2. Baud Rate Ex: 38400 \r\n";
char instr3[80] =" 3. Number of Data Bits Ex: 8 \r\n";
char instr4[80] =" 4. Number of Stop Bits Ex: 0 or 1\r\n";
char instr5[80] =" 5. Parity Ex: 0=none, 1=odd, 2=even\r\n";
char instr6[80] =" 6. Format of data received: 1=hex, 2=dec, 3=hex/asc, 4=dec/asc, 5=asc\r\n";
char instr7[80] =" Example command line: com ttyS0 38400 8 0 0 4 \r\n";
char Param_strings[7][80];
char message[90];
int fd, tty, c, res, i, error;
char In1, Key;
struct termios oldtio, newtio; //place for old and new port settings for serial port
struct termios oldkey, newkey; //place tor old and new port settings for keyboard teletype
struct sigaction saio; //definition of signal action
char buf[255]; //buffer for where data is put
input = fopen("/dev/tty", "r"); //open the terminal keyboard
output = fopen("/dev/tty", "w"); //open the terminal screen
if (!input || !output)
{
fprintf(stderr, "Unable to open /dev/tty\n");
exit(1);
}
error=0;
fputs(version,output); //display the program introduction
fputs(version1,output);
fputs(version2,output);
fputs(version3,output);
fputs(version4,output);
fputs(version5,output);
fputs(version6,output);
fputs(version7,output);
fputs(version8,output);
fputs(version9,output);
fputs(version10,output);
fputs(version11,output);
fputs(version12,output);
fputs(version13,output);
//read the parameters from the command line
if (Parm_Count==7) //if there are the right number of parameters on the command line
{
for (i=1; i<Parm_Count; i++) // for all wild search parameters
{
strcpy(Param_strings[i-1],Parms[i]);
}
i=sscanf(Param_strings[0],"%s",devicename);
if (i != 1) error=1;
i=sscanf(Param_strings[1],"%li",&Baud_Rate);
if (i != 1) error=1;
i=sscanf(Param_strings[2],"%i",&Data_Bits);
if (i != 1) error=1;
i=sscanf(Param_strings[3],"%i",&Stop_Bits);
if (i != 1) error=1;
i=sscanf(Param_strings[4],"%i",&Parity);
if (i != 1) error=1;
i=sscanf(Param_strings[5],"%i",&Format);
if (i != 1) error=1;
sprintf(message,"Device=%s, Baud=%li\r\n",devicename, Baud_Rate); //output the received setup parameters
fputs(message,output);
sprintf(message,"Data Bits=%i Stop Bits=%i Parity=%i Format=%i\r\n",Data_Bits, Stop_Bits, Parity, Format);
fputs(message,output);
} //end of if param_count==7
if ((Parm_Count==7) && (error==0)) //if the command line entries were correct
{ //run the program
tty = open("/dev/tty", O_RDWR | O_NOCTTY | O_NONBLOCK); //set the user console port up
tcgetattr(tty,&oldkey); // save current port settings //so commands are interpreted right for this program
// set new port settings for non-canonical input processing //must be NOCTTY
newkey.c_cflag = BAUDRATE | CRTSCTS | CS8 | CLOCAL | CREAD;
newkey.c_iflag = IGNPAR;
newkey.c_oflag = 0;
newkey.c_lflag = 0; //ICANON;
newkey.c_cc[VMIN]=1;
newkey.c_cc[VTIME]=0;
tcflush(tty, TCIFLUSH);
tcsetattr(tty,TCSANOW,&newkey);
switch (Baud_Rate)
{
case 38400:
default:
BAUD = B38400;
break;
case 19200:
BAUD = B19200;
break;
case 9600:
BAUD = B9600;
break;
case 4800:
BAUD = B4800;
break;
case 2400:
BAUD = B2400;
break;
case 1800:
BAUD = B1800;
break;
case 1200:
BAUD = B1200;
break;
case 600:
BAUD = B600;
break;
case 300:
BAUD = B300;
break;
case 200:
BAUD = B200;
break;
case 150:
BAUD = B150;
break;
case 134:
BAUD = B134;
break;
case 110:
BAUD = B110;
break;
case 75:
BAUD = B75;
break;
case 50:
BAUD = B50;
break;
} //end of switch baud_rate
switch (Data_Bits)
{
case 8:
default:
DATABITS = CS8;
break;
case 7:
DATABITS = CS7;
break;
case 6:
DATABITS = CS6;
break;
case 5:
DATABITS = CS5;
break;
} //end of switch data_bits
switch (Stop_Bits)
{
case 1:
default:
STOPBITS = 0;
break;
case 2:
STOPBITS = CSTOPB;
break;
} //end of switch stop bits
switch (Parity)
{
case 0:
default: //none
PARITYON = 0;
PARITY = 0;
break;
case 1: //odd
PARITYON = PARENB;
PARITY = PARODD;
break;
case 2: //even
PARITYON = PARENB;
PARITY = 0;
break;
} //end of switch parity
//open the device(com port) to be non-blocking (read will return immediately)
fd = open(devicename, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (fd < 0)
{
perror(devicename);
exit(-1);
}
//install the serial handler before making the device asynchronous
saio.sa_handler = signal_handler_IO;
sigemptyset(&saio.sa_mask); //saio.sa_mask = 0;
saio.sa_flags = 0;
saio.sa_restorer = NULL;
sigaction(SIGIO,&saio,NULL);
// allow the process to receive SIGIO
fcntl(fd, F_SETOWN, getpid());
// Make the file descriptor asynchronous (the manual page says only
// O_APPEND and O_NONBLOCK, will work with F_SETFL...)
fcntl(fd, F_SETFL, FASYNC);
tcgetattr(fd,&oldtio); // save current port settings
// set new port settings for canonical input processing
newtio.c_cflag = BAUD | CRTSCTS | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
newtio.c_iflag = IGNPAR;
newtio.c_oflag = 0;
newtio.c_lflag = 0; //ICANON;
newtio.c_cc[VMIN]=1;
newtio.c_cc[VTIME]=0;
tcflush(fd, TCIFLUSH);
tcsetattr(fd,TCSANOW,&newtio);
// loop while waiting for input. normally we would do something useful here
while (STOP==FALSE)
{
status = fread(&Key,1,1,input);
if (status==1) //if a key was hit
{
switch (Key)
{ /* branch to appropiate key handler */
case 0x1b: /* Esc */
STOP=TRUE;
break;
default:
fputc((int) Key,output);
// sprintf(message,"%x ",Key); //debug
// fputs(message,output);
// write(fd,&Key,1); //write 1 byte to the port
write(fd,"?Q6\r",4) //query the controller to give me reading-- command is ?Q6 (plus return key to send)
break;
} //end of switch key
} //end if a key was hit
// after receiving SIGIO, wait_flag = FALSE, input is available and can be read
if (wait_flag==FALSE) //if input is available
{
res = read(fd,buf,255);
if (resɬ)
{
for (i=0; i<res; i++) //for all chars in string
{
In1 = buf[i];
switch (Format)
{
case 1: //hex
sprintf(message,"%x ",In1);
fputs(message,output);
break;
case 2: //decimal
sprintf(message,"%d ",In1);
fputs(message,output);
break;
case 3: //hex and asc
if ((In1ថ) || (In1))
{
sprintf(message,"%x",In1);
fputs(message,output);
}
else fputc ((int) In1, output);
break;
case 4: //decimal and asc
default:
if ((In1ថ) || (In1))
{
sprintf(message,"%d",In1);
fputs(message,output);
}
else fputc ((int) In1, output);
break;
case 5: //asc
fputc ((int) In1, output);
break;
} //end of switch format
} //end of for all chars in string
} //end if resɘ
// buf[res]=0;
// printf(":%s:%d\n", buf, res);
// if (res==1) STOP=TRUE; /* stop loop if only a CR was input */
wait_flag = TRUE; /* wait for new input */
} //end if wait flag == FALSE
} //while stop==FALSE
// restore old port settings
tcsetattr(fd,TCSANOW,&oldtio);
tcsetattr(tty,TCSANOW,&oldkey);
close(tty);
close(fd); //close the com port
} //end if command line entrys were correct
else //give instructions on how to use the command line
{
fputs(instr,output);
fputs(instr1,output);
fputs(instr2,output);
fputs(instr3,output);
fputs(instr4,output);
fputs(instr5,output);
fputs(instr6,output);
fputs(instr7,output);
}
fclose(input);
fclose(output);
} //end of main
/***************************************************************************
* signal handler. sets wait_flag to FALSE, to indicate above loop that *
* characters have been received. *
***************************************************************************/
void signal_handler_IO (int status)
{
// printf("received SIGIO signal.\n");
wait_flag = FALSE;
}
This is obviously not what I did (my code is hacked from this, and embedded around my main and other functions, etc.), but this is the basically what I need. In addition, I tried to compile just this on Ubuntu 10.04, expecting that every time i hit a key besides \esc, it should tell me what the current encoder count is.
Can anybody help me? I'm lost and don't understand why this isn't working.
PS: I can send messages to the controller if minicom is running in parallel, but still can't listen from the port!
Thanks!!!!!!
