Statistics: Posted by limor — Fri Jun 19, 2009 12:26 pm

Code:


#include <stdio>
#include <ftdi>
#include <sys>

int main(int argc, char **argv)
{
  int ret;
  struct ftdi_context ftdic;
  ftdi_init(&ftdic);
  // reset everything in case we messed everything up with a control-c..
  if((ret = ftdi_usb_open(&ftdic, 0x0403, 0x6001)) < 0)
    {
      fprintf(stderr, "unable to open ftdi device: %d (%s)\n", ret, ftdi_get_error_string(&ftdic));
      return EXIT_FAILURE;
    }
  ftdi_usb_purge_buffers(&ftdic);
  usb_reset(ftdic.usb_dev);

  ftdi_usb_close(&ftdic);
 
  // real code starts here
  if((ret = ftdi_usb_open(&ftdic, 0x0403, 0x6001)) < 0)
    {
      fprintf(stderr, "unable to open ftdi device: %d (%s)\n", ret, ftdi_get_error_string(&ftdic));
      return EXIT_FAILURE;
    }


  // Read out FTDIChip-ID of R type chips
  if (ftdic.type == TYPE_R)
    {
      unsigned int chipid;
      printf("ftdi_read_chipid: %d\n", ftdi_read_chipid(&ftdic, &chipid));
      printf("FTDI chipid: %X\n", chipid);
    }

  // 1 Mb
  if ((ret = ftdi_set_baudrate(&ftdic, 1000000)) != 0)
    fprintf(stderr, "error setting baudrate, ret=%d\n", ret);     
  if (ftdi_set_line_property(&ftdic, BITS_8, STOP_BIT_1, NONE) == -1)
    fprintf(stderr, "error setting properties");
  if (ftdi_setflowctrl(&ftdic, SIO_DISABLE_FLOW_CTRL) == -1)
      fprintf(stderr, "error setting flow control");
 
  ftdi_write_data_set_chunksize(&ftdic, 3);
  ftdi_read_data_set_chunksize(&ftdic, 256);

  struct timeval tv;
  gettimeofday(&tv, 0x0);

  for (size_t k = 0; k < 100; ++k)
    {
      ret = 0;
      // ping servos
      unsigned char buf[] = { 0xff, 0xff, 17, 0x02, 0x1, 0xf3 };
      unsigned char checksum = 0;
      int len = 6;
      for(size_t i = 2; i < len - 1; i++)
   checksum += buf[i];     
      buf[5] = ~checksum;
     
      int ret = ftdi_write_data(&ftdic, buf, len);

      unsigned char b;
      int ret2 = 0;
      unsigned char buffer[20];
      do
   {
     ret2 += ftdi_read_data(&ftdic, buffer, 1);
   }
      while (ret2 != ret);
    }
  struct timeval tv2;
  gettimeofday(&tv2, 0x0);
  long sec = tv2.tv_sec - tv.tv_sec;
  long us = tv2.tv_usec - tv.tv_usec; 
  float t = (sec + us * 1e-6) / 100;
  printf("time: %f\n", t);
  ftdi_usb_close(&ftdic);
  ftdi_deinit(&ftdic);
 
  return EXIT_SUCCESS;
}


Statistics: Posted by Mandor — Thu Jun 18, 2009 9:11 pm

Statistics: Posted by limor — Thu Jun 18, 2009 5:08 pm

Code:


#include <stdio>
#include <ftdi>
#include "ax12.h"

int main(int argc, char **argv)
{
  int ret;
  struct ftdi_context ftdic;
  ftdi_init(&ftdic);
 
  if((ret = ftdi_usb_open(&ftdic, 0x0403, 0x6001)) < 0)
    {
      fprintf(stderr, "unable to open ftdi device: %d (%s)\n", ret, ftdi_get_error_string(&ftdic));
      return EXIT_FAILURE;
    }
 
  // Read out FTDIChip-ID of R type chips
  if (ftdic.type == TYPE_R)
    {
      unsigned int chipid;
      printf("ftdi_read_chipid: %d\n", ftdi_read_chipid(&ftdic, &chipid));
      printf("FTDI chipid: %X\n", chipid);
    }
 
  if ((ret = ftdi_set_baudrate(&ftdic, 1000000)) != 0)
    {
      fprintf(stderr, "error setting baudrate, ret=%d\n", ret);     
    }
  if (ftdi_set_line_property(&ftdic, BITS_8, STOP_BIT_1, NONE) == -1)
    {
      fprintf(stderr, "error setting properties");
    }
  if (ftdi_setflowctrl(&ftdic, SIO_DISABLE_FLOW_CTRL) == -1)
    {
      fprintf(stderr, "error setting flow control");
    }

  ftdi_write_data_set_chunksize(&ftdic, 1);
  ftdi_read_data_set_chunksize(&ftdic, 1);
  // ping servos
  for (unsigned char i = 0; i < 30; ++i)
    {
      unsigned char buf[] = { 0xff, 0xff, i, 0x02, 0x01, 0xf3 };
      printf("id=%d\n", i);
      unsigned char checksum = 0;
      int len = 6;
      for(size_t i = 2; i < len - 1; i++)
   checksum += buf[i];
     
      buf[5] = ~checksum;
     
     
      ret = ftdi_write_data(&ftdic, buf, len);
      printf("ret=%d\n", ret);
    }
  unsigned char b;
  ret = 0;
  do
    {
      ret = ftdi_read_data(&ftdic, &b, 1);
    }
  while (ret == 0);
  printf ("ret = %d\n", ret);
 
  ftdi_usb_close(&ftdic);
  ftdi_deinit(&ftdic);
 
  return EXIT_SUCCESS;
}


Statistics: Posted by Mandor — Wed Jun 17, 2009 9:17 pm