/*********************************************************************/
/* Author: Anthony Hanson and Mike Hage                              */
/* Date: April 1st, 2001                                             */
/* Description: This program initializes the DataQ starter kit       */
/* and acquiries data from the 4 Analog channels and the 3 digital   */
/* channels.  It returns them in a list form {a0 a1 a2 a3 d0 d1 d2}  */
/* Once invoked it will return the updated acquired values every     */
/* time an "a" char is sent.  A "x" sent to the program             */
/* will force it to clean up and quit. A "c" will cause data to      */
/* to continuously stream.  Anything else will be ignored.           */
/*                                                                   */
/* The program is only set up on comport 0 so be sure to hook up the */
/* DATAQ board to this comport, or you can change the port variable  */
/* below to suit your needs.                                         */
/*                                                                   */
/* The Starter kit can be obtained from www.dataq.com for around     */
/* $15 US dollars or from www.dataq.com/edn for free.                */
/*********************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <unistd.h>
#include <sys/errno.h>
#include <sys/times.h>
#include <sys/termios.h>
#include <fcntl.h>

void CloseCOMPORT();
void OpenCOMPORT();
void GetACQUASITION();
int Tx(unsigned char *cr_array);
int Rv(unsigned char *cr_array);

char COMPORT_file[25];
int COMPORT_fd;
char dataq_init_cmd[42] =
{0,66,1,0,83,48,0,78,90,0,69,65,0,69,56,0,69,52,0,69,52,0,69,56,0,69,69,0,69,53,0,69,65,0,67,63,0,68,48,0,83,49};
int port=0, time=50, debug=0, dataq_init_cmd_length=42;

int main(void) {
  int i=0,x=0, status=0;
  int digital0,digital1,digital2;
  double analog0,analog1,analog2,analog3;
  unsigned char cur_cmd[3] = "FF", arytmp[26],ary[256], *cur_cmd_ptr,
*aryptr, szString[81];

  /*Set the commport file variable */
  sprintf(COMPORT_file,"/dev/ttyS%i",port);

  /* Try to open connection to desired comport */
  OpenCOMPORT();

  printf("Initilizing DATAQ AQUISITON CARD - ");
  aryptr = ary;

  for (x=0; x < 9; ) {
    sprintf(cur_cmd,"%c",dataq_init_cmd[x++]);
    cur_cmd_ptr = cur_cmd;
    Tx(cur_cmd_ptr);

    tcflush(COMPORT_fd, TCIFLUSH);
    sprintf(cur_cmd,"%c",dataq_init_cmd[x++]);
    cur_cmd_ptr = cur_cmd;

    Tx(cur_cmd_ptr);
    while (!Rv(aryptr)) {};
    sprintf(cur_cmd,"%c",dataq_init_cmd[x++]);
    cur_cmd_ptr = cur_cmd;

    Tx(cur_cmd_ptr);
    while (!Rv(aryptr)) {};
  }

  for (i=0;i<10;i++) {
    while (!Rv(aryptr)) {};
    printf("%c",aryptr[0]);
  }

  for (;x < dataq_init_cmd_length; ) {
    sprintf(cur_cmd,"%c",dataq_init_cmd[x++]);
    cur_cmd_ptr = cur_cmd;

    Tx(cur_cmd_ptr);
    tcflush(COMPORT_fd, TCIFLUSH);
    sprintf(cur_cmd,"%c",dataq_init_cmd[x++]);
    cur_cmd_ptr = cur_cmd;

    Tx(cur_cmd_ptr);
    while (!Rv(aryptr)) {};
    sprintf(cur_cmd,"%c",dataq_init_cmd[x++]);
    cur_cmd_ptr = cur_cmd;

    Tx(cur_cmd_ptr);
    while (!Rv(aryptr)) {};
  }

  printf("DONE\n");

  printf("\nSend <a> to AQUIRE a data acquisition or <c> to continously
acquire data (CTRL-C to exit) or <x> to exit application\n");
  printf(">");
  while(1) {
    fgets(szString,80,stdin);
    strcpy(ary,szString);
    aryptr = ary;
    switch (ary[0])
      {
      case 'a':
        /*Get a data acquisation*/
        GetACQUASITION();
        break;
      case 'c':
        /*Get continous data acquisations*/
        while(1) {
        GetACQUASITION();
        printf("\n");
        }
        break;
      case 'x':
        /*Exit application gracefully*/
        printf("Exiting DATAQ\n");
        CloseCOMPORT();
        exit(0);
      }
    printf("\n>");
  }
  return 0;
}
void GetACQUASITION() {
  int digital0,digital1,digital2;
  double analog0,analog1,analog2,analog3;
  unsigned char arytmp[26],*aryptr;
  int i;

  aryptr = arytmp;

  /*Get a Data Acquisation*/
  tcflush(COMPORT_fd, TCIFLUSH);
  for (i=0;i<24;i++) {
    while (!Rv(aryptr)) {};
    arytmp[i] = aryptr[0];
    //printf("%x ",arytmp[i]);
  }

  /* Look for sequence 0,1,1,1,0 in bit 0 of sequencial Dn */
  for (i=0;i<18;i++) {
    if (((arytmp[i] & 0x01)==0x00) && ((arytmp[i+2] & arytmp[i+4] &
arytmp[i+6] & 0x01)==0x01) &&
        ((arytmp[i+8] & 0x01)==0x00))  {
     break;
     }
  }
  if (i == 18) {
    printf("Failed to find start\n");
    exit(1);
  }
  i++;
  if (arytmp[i+1] & 0x02) {
    digital0 = 1;
  } else {
    digital0 = 0;
  }
  if (arytmp[i+1] & 0x04) {
    digital1 = 1;
  } else {
    digital1 = 0;
  }
  if (arytmp[i+1] & 0x08) {
    digital2 = 1;
  } else {
    digital2 = 0;
  }
  analog0 = -10 + (double)(.078 * arytmp[i]);
  analog1 = -10 + (double)(.078 * arytmp[i+2]);
  analog2 = -10 + (double)(.078 * arytmp[i+4]);
  analog3 = -10 + (double)(.078 * arytmp[i+6]);

  if (debug) {
    printf("Analog2 is %8.3f\n",analog2);
    printf("Analog1 is %8.3f\n",analog1);
    printf("Analog0 is %8.3f\n",analog0);
    printf("Analog3 is %8.3f\n",analog3);
    printf("Digital0 is %i\n",digital0);
    printf("Digital1 is %i\n",digital1);
    printf("Digital2 is %i\n",digital2);
  }
  printf("<%3.3f %3.3f %3.3f %3.3f %i %i
%i",analog0,analog1,analog2,analog3,digital0,digital1,digital2);
}

int Tx(unsigned char *cr_array) {
    int ret=0, iLength=strlen(cr_array);

    /* flush the recieve buffer */
    tcflush(COMPORT_fd, TCIFLUSH);

    if (iLength > 0) {
      ret = write(COMPORT_fd,cr_array,iLength);
    } else {
      ret = write(COMPORT_fd,cr_array,1);
    }

    if (debug) {
      printf("Wrote %i characters(%x) to  %s\n",ret,*cr_array,COMPORT_file);
    }

    if (ret != iLength) {
      return 1;
    } else {
      return 0;
    }
}

int Rv(unsigned char *cr_array) {
  unsigned int iBytes;
  char cchar;

    /* Get the next byte in the recieve buffer */
    iBytes = read(COMPORT_fd,&cchar,sizeof(char));

    cr_array[0]=cchar;
    //cr_array[1]="\0";

    return(iBytes);
}

void CloseCOMPORT() {
  if(COMPORT_fd > 0) {
     close(COMPORT_fd);
  }
}

void OpenCOMPORT() {
    struct termios term;

    /* Open the comport */
    COMPORT_fd = open(COMPORT_file,O_RDWR);

    if (debug) {
       printf("COMPORT_FD = %i\n",COMPORT_fd);
    }

    /* Exit if could not open the comport */
    if(COMPORT_fd < 0) {
        printf("In OpenCOMPORT(): Could not open %s\n", COMPORT_file);
        perror("open");
        exit(1);
    }

    tcgetattr(COMPORT_fd,&term);
    if (debug) {
      printf("before:%d\n",term.c_oflag);
    }
    term.c_cflag &= ~CSIZE;
    term.c_cflag |= CS8;
    term.c_cflag |= HUPCL;
    term.c_cflag |= CREAD;
    term.c_cflag &= ~CRTSCTS;
    term.c_cflag |= IXON;
    term.c_oflag &= ~OPOST;
    term.c_iflag = IGNBRK|IGNPAR;
    term.c_lflag = 0;
    term.c_cc[VMIN] = 0;
    term.c_cc[VTIME] = time; /* Time to wait for a response */

    /* Turn on the control lines */
    cfsetispeed(&term,B4800);
    cfsetospeed(&term,B4800);
    tcsetattr(COMPORT_fd,TCSANOW,&term);
    usleep(25000);

    /* Turn off the control lines */
    cfsetispeed(&term,B0);
    cfsetospeed(&term,B0);
    tcsetattr(COMPORT_fd,TCSANOW,&term);

    /* Turn on the control lines */
    cfsetospeed(&term,B4800);
    tcsetattr(COMPORT_fd,TCSANOW,&term);

    if (debug) {
      printf("after:%d\n",term.c_oflag);
    }
}