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diff --git a/recipes/robostix-utils/robostix-sertest/sertest.c b/recipes/robostix-utils/robostix-sertest/sertest.c
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+/****************************************************************************
+*
+* Copyright (c) 2006 Dave Hylands <dhylands@gmail.com>
+*
+* This program is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* Alternatively, this software may be distributed under the terms of BSD
+* license.
+*
+* See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+* sertest.c
+*
+* PURPOSE:
+*
+* This implements a sample program for accessing the serial port.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/unistd.h>
+#include <pthread.h>
+#include <getopt.h>
+#include <termios.h>
+
+/* ---- Public Variables ------------------------------------------------- */
+
+int gFd = -1;
+
+int gVal;
+
+/* ---- Private Constants and Types -------------------------------------- */
+/* ---- Private Variables ------------------------------------------------ */
+
+struct option gLongOption[] =
+{
+ // option A Flag V (has_arg, flag, val)
+ // ----------- - ---- ---
+ { "baud", 1, NULL, 'b' },
+ { "debug", 0, NULL, 'd' },
+ { "help", 0, NULL, 'h' },
+ { "port", 1, NULL, 'p' },
+ { "verbose", 0, NULL, 'v' },
+ { 0 },
+
+};
+
+struct
+{
+ speed_t speed;
+ unsigned baudRate;
+} gBaudTable[] =
+{
+ { B50, 50 },
+ { B75, 75 },
+ { B110, 110 },
+ { B134, 134 },
+ { B150, 150 },
+ { B200, 200 },
+ { B300, 300 },
+ { B600, 600 },
+ { B1200, 1200 },
+ { B1800, 1800 },
+ { B2400, 2400 },
+ { B4800, 4800 },
+ { B9600, 9600 },
+ { B19200, 19200 },
+ { B38400, 38400 },
+ { B57600, 57600 },
+ { B115200, 115200 },
+ { B230400, 230400 }
+};
+
+#define ARRAY_LEN(x) ( sizeof( x ) / sizeof( x[ 0 ]))
+
+int gVerbose = 0;
+int gDebug = 0;
+
+int gPortFd = -1;
+
+/* ---- Private Function Prototypes -------------------------------------- */
+
+void *ReaderThread( void *param );
+char *StrMaxCpy( char *dst, const char *src, size_t maxLen );
+char *StrMaxCat( char *dst, const char *src, size_t maxLen );
+void Usage( void );
+
+/* ---- Functions -------------------------------------------------------- */
+
+
+/***************************************************************************
+*
+* main
+*
+****************************************************************************/
+
+int main( int argc, char **argv )
+{
+ int rc;
+ int opt;
+ char devName[ 40 ];
+ const char *baudStr = NULL;
+ const char *portStr = "ttyS2";
+ speed_t baudRate;
+ pthread_t readerThreadId;
+
+ struct termios attr;
+
+ // Parse the command line options
+
+ while (( opt = getopt_long( argc, argv, "b:dhp:v", gLongOption, NULL )) > 0 )
+ {
+ switch ( opt )
+ {
+ case 'b':
+ {
+ baudStr = optarg;
+ break;
+ }
+
+ case 'd':
+ {
+ gDebug = 1;
+ break;
+ }
+
+ case 'p':
+ {
+ portStr = optarg;
+ break;
+ }
+
+ case 'v':
+ {
+ gVerbose = 1;
+ break;
+ }
+ case '?':
+ case 'h':
+ {
+ Usage();
+ return 1;
+ }
+ }
+ }
+
+ devName[ 0 ] = '\0';
+ if ( portStr[ 0 ] != '/' )
+ {
+ StrMaxCpy( devName, "/dev/", sizeof( devName ));
+ }
+ StrMaxCat( devName, portStr, sizeof( devName ));
+
+
+ baudRate = B0;
+ if ( baudStr == NULL )
+ {
+ baudRate = B9600;
+ }
+ else
+ {
+ int baudIdx;
+ int testBaud = atoi( baudStr );
+
+ for ( baudIdx = 0; baudIdx < ARRAY_LEN( gBaudTable ); baudIdx++ )
+ {
+ if ( gBaudTable[ baudIdx ].baudRate == testBaud )
+ {
+ baudRate = gBaudTable[ baudIdx ].speed;
+ break;
+ }
+ }
+
+ if ( baudRate == B0 )
+ {
+ fprintf( stderr, "Unrecognized baud rate: '%s'\n", baudStr );
+ exit( 1 );
+ }
+ }
+
+ if (( gPortFd = open( devName, O_RDWR | O_EXCL )) < 0 )
+ {
+ fprintf( stderr, "Unable to open serial port '%s': %s\n", devName, strerror( errno ));
+ exit( 2 );
+ }
+
+ if ( tcgetattr( gPortFd, &attr ) < 0 )
+ {
+ fprintf( stderr, "Call to tcgetattr failed: %s\n", strerror( errno ));
+ exit( 3 );
+ }
+
+ attr.c_iflag = 0;
+ attr.c_oflag = 0;
+ attr.c_cflag = CLOCAL | CREAD | CS8;
+ attr.c_lflag = 0;
+ attr.c_cc[ VTIME ] = 0; // timeout in tenths of a second
+ attr.c_cc[ VMIN ] = 1; // Only wait for a single char
+
+ cfsetispeed( &attr, baudRate );
+ cfsetospeed( &attr, baudRate );
+
+ if ( tcsetattr( gPortFd, TCSAFLUSH, &attr ) < 0 )
+ {
+ fprintf( stderr, "Call to tcsetattr failed: %s\n", strerror( errno ));
+ exit( 4 );
+ }
+
+ // Put stdin & stdout in unbuffered mode.
+
+ setbuf( stdin, NULL );
+ setbuf( stdout, NULL );
+
+ // Put stdin in raw mode (i.e. turn off canonical mode). Canonical mode
+ // causes the driver to wait for the RETURN character so that line editing
+ // can take place. We also want to turn off ECHO.
+
+ {
+ struct termios tio;
+
+ if ( tcgetattr( fileno( stdin ), &tio ) < 0 )
+ {
+ fprintf( stderr, "Unable to retrieve terminal settings: %s\n", strerror( errno ));
+ exit( 5 );
+ }
+
+ tio.c_lflag &= ~( ICANON | ECHO );
+ tio.c_cc[VTIME] = 0;
+ tio.c_cc[VMIN] = 1;
+
+ if ( tcsetattr( fileno( stdin ), TCSANOW, &tio ) < 0 )
+ {
+ fprintf( stderr, "Unable to update terminal settings: %s\n", strerror( errno ));
+ exit( 6 );
+ }
+ }
+
+ // Kick off the serial port reader thread.
+
+ rc = pthread_create( &readerThreadId, NULL, ReaderThread, NULL );
+ if ( rc != 0 )
+ {
+ fprintf( stderr, "Error creating ReaderThread: %s\n", strerror( rc ));
+ exit( 7 );
+ }
+
+ // Read stdin and send rcvd chars to the serial port
+
+ while ( 1 )
+ {
+ char ch;
+ int chInt = fgetc( stdin );
+ if ( chInt < 0 )
+ {
+ fprintf( stderr, "Exiting...\n" );
+ break;
+ }
+ ch = (char)chInt;
+
+ if ( gDebug )
+ {
+ if (( ch < ' ' ) || ( ch > '~' ))
+ {
+ fprintf( stderr, "stdin Read: 0x%02x '.'\n", ch );
+ }
+ else
+ {
+ fprintf( stderr, "stdin Read: 0x%02x '%c'\n", ch, ch );
+ }
+
+ }
+
+ if ( write( gPortFd, &ch, 1 ) != 1 )
+ {
+ fprintf( stderr, "write to serial port failed: %s\n", strerror( errno ));
+ break;
+ }
+ }
+
+
+ close( gPortFd );
+
+ exit( 0 );
+ return 0; // Get rid of warning about not returning anything
+}
+
+/***************************************************************************/
+/**
+* Thread which processes the incoming serial data.
+*/
+
+void *ReaderThread( void *param )
+{
+ while ( 1 )
+ {
+ char ch;
+ int bytesRead;
+
+ if (( bytesRead = read( gPortFd, &ch, 1 )) < 0 )
+ {
+ fprintf( stderr, "Serial port read failed: %s\n", strerror( errno ));
+ exit( 1 );
+ }
+
+ if ( gDebug )
+ {
+ if (( ch < ' ' ) || ( ch > '~' ))
+ {
+ fprintf( stderr, "Serial Read: 0x%02x '.'\n", ch );
+ }
+ else
+ {
+ fprintf( stderr, "Serial Read: 0x%02x '%c'\n", ch, ch );
+ }
+
+ }
+
+ putc( ch, stdout );
+ }
+
+ return 0;
+
+} // ReaderThread
+
+/***************************************************************************/
+/**
+* Concatenates source to the destination, but makes sure that the
+* destination string (including terminating null), doesn't exceed maxLen.
+*
+* @param dst (mod) String to concatnate onto.
+* @param src (in) String to being added to the end of @a dst.
+* @param maxLen (in) Maximum length that @a dst is allowed to be.
+*
+* @return A pointer to the destination string.
+*/
+
+char *StrMaxCat( char *dst, const char *src, size_t maxLen )
+{
+ size_t dstLen = strlen( dst );
+
+ if ( dstLen < maxLen )
+ {
+ StrMaxCpy( &dst[ dstLen ], src, maxLen - dstLen );
+ }
+
+ return dst;
+
+} /* StrMaxCat */
+
+/***************************************************************************/
+/**
+* Copies the source to the destination, but makes sure that the
+* destination string (including terminating null), doesn't exceed
+* maxLen.
+*
+* @param dst (out) Place to store the string copy.
+* @param src (in) String to copy.
+* @param maxLen (in) Maximum number of characters to copy into @a dst.
+*
+* @return A pointer to the destination string.
+*/
+
+char *StrMaxCpy( char *dst, const char *src, size_t maxLen )
+{
+ if ( maxLen < 1 )
+ {
+ /*
+ * There's no room in the buffer?
+ */
+
+ return "";
+ }
+
+ if ( maxLen == 1 )
+ {
+ /*
+ * There's only room for the terminating null character
+ */
+
+ dst[ 0 ] = '\0';
+ return dst;
+ }
+
+ /*
+ * The Visual C++ version of strncpy writes to every single character
+ * of the destination buffer, so we use a length one character smaller
+ * and write in our own null (if required).
+ *
+ * This allows the caller to store a sentinel in the last byte of the
+ * buffer to detect overflows (if desired).
+ */
+
+ strncpy( dst, src, maxLen - 1 );
+ if (( strlen( src ) + 1 ) >= maxLen )
+ {
+ /*
+ * The string exactly fits, or probably overflows the buffer.
+ * Write in the terminating null character since strncpy doesn't in
+ * this particular case.
+ *
+ * We don't do this arbitrarily so that the caller can use a sentinel
+ * in the very end of the buffer to detect buffer overflows.
+ */
+
+ dst[ maxLen - 1 ] = '\0';
+ }
+
+ return dst;
+
+} /* StrMaxCpy */
+
+/***************************************************************************
+*
+* Usage
+*
+****************************************************************************/
+
+void Usage()
+{
+ fprintf( stderr, "Usage: sertest [option(s)]\n" );
+ fprintf( stderr, " Download a program via serial/i2c\n" );
+ fprintf( stderr, "\n" );
+ fprintf( stderr, " -b, --baud=baud Set the baudrate used\n" );
+ fprintf( stderr, " -d, --debug Turn on debug output\n" );
+ fprintf( stderr, " -h, --help Display this message\n" );
+ fprintf( stderr, " -p, --port=port Set the I/O port\n" );
+ fprintf( stderr, " -v, --verbose Turn on verbose messages\n" );
+
+} // Usage
+
+
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