- Added pmacterm, a new application which implements a terminal to a

Delta Tau motor controller

utils/Make.pmacterm

@@ -0,0 +1,13 @@
+.SUFFIXES:
+.SUFFIXES: .c .o
+
+OBJ=asynnet.o rwpuffer.o pmacterm.o 
+
+.c.o:
+	$(CC) -c -g $*.c
+
+all:pmacterm
+
+pmacterm: $(OBJ)
+	$(CC) -g -o pmacterm $(OBJ)
+ 

utils/pmacterm.c

@@ -0,0 +1,153 @@
+/**
+ * This is a small program which implements a little terminal
+ * application for talking directly to the Delta-Tau PMAC
+ * motion controller via TCP/IP
+ *
+ * copyright: GPL
+ *
+ * Mark Koennecke, March 2009
+ */
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <stdlib.h>
+#include <errno.h>
+#include "asynnet.h"
+
+#define ETHERNET_DATA_SIZE 1492
+#define INPUT_SIZE        (ETHERNET_DATA_SIZE+1)        /* +1 to allow space to add terminating ACK */
+#define STX   '\2'
+#define CTRLB '\2'
+#define CTRLC '\3'
+#define ACK   '\6'
+#define CTRLF '\6'
+#define BELL  '\7'
+#define CTRLG '\7'
+#define CTRLP '\16'
+#define CTRLV '\22'
+#define CTRLX '\24'
+
+/* PMAC ethernet command structure */
+#pragma pack(1)
+typedef struct tagEthernetCmd {
+  unsigned char RequestType; 
+  unsigned char Request;
+  unsigned short wValue;
+  unsigned short wIndex;
+  unsigned short wLength;       /* length of bData */
+  unsigned char bData[ETHERNET_DATA_SIZE];
+} ethernetCmd;
+#pragma pack()
+
+#define ETHERNET_CMD_HEADER ( sizeof(ethernetCmd) - ETHERNET_DATA_SIZE )
+
+/* PMAC ethernet commands - RequestType field */
+#define VR_UPLOAD   0xC0
+#define VR_DOWNLOAD 0x40
+
+/* PMAC ethernet commands - Request field */
+#define VR_PMAC_SENDLINE    0xB0
+#define VR_PMAC_GETLINE     0xB1
+#define VR_PMAC_FLUSH       0xB3
+#define VR_PMAC_GETMEM      0xB4
+#define VR_PMAC_SETMEN      0xB5
+#define VR_PMAC_SETBIT      0xBA
+#define VR_PMAC_SETBITS     0xBB
+#define VR_PMAC_PORT        0xBE
+#define VR_PMAC_GETRESPONSE 0xBF
+#define VR_PMAC_READREADY   0xC2
+#define VR_CTRL_RESPONSE    0xC4
+#define VR_PMAC_GETBUFFER   0xC5
+#define VR_PMAC_WRITEBUFFER 0xC6
+#define VR_PMAC_WRITEERROR  0xC7
+#define VR_FWDOWNLOAD       0xCB
+#define VR_IPADDRESS        0xE0
+
+/*--------------------------------------------------------*/
+int main(int argc, char *argv[])
+{
+  ethernetCmd cmd;
+  int pmacHandle, port, bytesToWrite;
+  char *colon, line[132], output, expectCR, repChar;
+  time_t start;
+
+  if(argc < 2) {
+    printf("Usage:\n\tpmacterm host:port\n");
+    exit(1);
+  }
+  
+  colon = strchr(argv[1],':');
+  if(colon == NULL){
+    printf("ERROR: no colon in host:port\n");
+    exit(1);
+  }
+  port = atoi(colon+1);
+  *colon = '\0';
+  pmacHandle = ANETconnect(argv[1],port);
+  if(pmacHandle < 0){
+    printf("ERROR: failed to connect to the PMAC controller with errno %d\n",errno);
+    printf("Try to use the numeric IP, sometimes this helps\n");
+    exit(1);
+  }
+
+  memset(&cmd, 0, sizeof(ethernetCmd));
+  cmd.RequestType = VR_DOWNLOAD;
+  cmd.Request = VR_PMAC_GETRESPONSE;
+  cmd.wValue = 0;
+  cmd.wIndex = 0;
+   
+  while(1){
+    fprintf(stdout,"pmac> ");
+    memset(line,0,132);
+    fgets(line,132,stdin);
+    if(strstr(line,"exit") != NULL){
+      break;
+    }
+    cmd.wLength = htons(strlen(line));
+    bytesToWrite = strlen(line) + 1+ ETHERNET_CMD_HEADER;
+    strcpy((char *)cmd.bData, line);
+    ANETwrite(pmacHandle, &cmd,bytesToWrite);
+    start = time(NULL);
+    output = 0;
+    expectCR = 0;
+    while(1){
+       ANETprocess();
+       if(time(NULL) > start + 10){
+         printf("TIMEOUT!!!\n");
+	 fflush(stdout);
+         break;
+       }
+       if(ANETread(pmacHandle, &repChar,1) == 1){
+	 ANETreadConsume(pmacHandle,1);
+         if(repChar == STX || repChar == BELL){
+	   expectCR = 1;
+	   continue;
+         }
+	 if(expectCR && repChar == '\r'){
+	   printf("\n");
+	   fflush(stdout);
+	   break;
+	 }
+	 if(repChar == '\n'){
+	   printf("\n");
+	   fflush(stdout);
+	   break;
+	 }
+	 if(repChar == ACK){
+	   if(output){
+	     printf("\n");
+	   } else {
+	     printf("ACK\n");
+           }
+	   fflush(stdout);
+	   break;
+	 }
+	 printf("%c",repChar);
+	 output = 1;
+       }
+    }
+  }
+
+  ANETclose(pmacHandle);
+  exit(0);
+}