Revision: 7261
http://playerstage.svn.sourceforge.net/playerstage/?rev=7261&view=rev
Author: thjc
Date: 2009-01-10 22:44:48 +0000 (Sat, 10 Jan 2009)
Log Message:
-----------
Applied patch 2191776:
New high speed mode for sicklms200
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/sicklms200.cc
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms200.cc 2009-01-10
22:44:22 UTC (rev 7260)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc 2009-01-10
22:44:48 UTC (rev 7261)
@@ -77,11 +77,12 @@
- Default: 0 (FTDI)
- Method to achieve high speed (RS422) communication
0: FTDI RS422 to USB, using Linux High Speed Serial
- 1: CP210x RS422 to USB (And maybe others). This chipset has
- the hardware remap some normal baudrate (230400 for
- example) to 500000, so the host machine doesn't need to
- know it's running at 500000 (Works on Mac OS X).
-
+ 1: CP210x RS422 to USB (And maybe others). This chipset has
+ the hardware remap some normal baudrate (230400 for
+ example) to 500000, so the host machine doesn't need to
+ know it's running at 500000 (Works on Mac OS X).
+ 2: MOXA Multiport Serial Board CP-118EL (and probably other models)
+ An ioctl call is used to set this card to 500000 baud
- serial_high_speed_baudremap (integer)
- Default: 38400 (Needed for FTDI)
- The fake baud rate to use after 500Kbps is achieved. In
@@ -661,7 +662,7 @@
{
if (SetLaserRes(this->scan_width, this->scan_res) != 0)
PLAYER_ERROR("failed setting resolution [SetLaserRes()]");
-
+
if(SetLaserConfig(this->intensity, this->high_avail) != 0)
PLAYER_ERROR("failed setting configuration [SetLaserConfig()]");
}
@@ -1070,6 +1071,23 @@
tcsetattr(this->laser_fd, TCSANOW, &term);
tcflush(this->laser_fd, TCIFLUSH);
}
+ else if (this->serial_high_speed_mode == 2)
+ {
+ if (tcgetattr(this->laser_fd, &term) < 0)
+ RETURN_ERROR(1, "unable to get device attributes");
+
+ cfmakeraw(&term);
+ if (tcsetattr(this->laser_fd, TCSAFLUSH, &term) < 0)
+ RETURN_ERROR(1, "unable to set device attributes");
+
+ //Using the ioctl() API to set non-standard baud rate after setting the
termios parameters.
+ #define MOXA_SET_SPECIAL_BAUD_RATE 0x44D
+ int moxanonstandardbaud = 500000;
+ if (ioctl(this->laser_fd, MOXA_SET_SPECIAL_BAUD_RATE,
+ &moxanonstandardbaud) < 0)
+ RETURN_ERROR(1, "error on MOXA_SET_SPECIAL_BAUD_RATE ioctl");
+ }
+
break;
default:
@@ -1254,11 +1272,11 @@
// Set high-availability level 3 mode
if (packet[5] != high_avail)
return 1;
-
+
// Return intensity in top 3 data bits
if (packet[6] != intensity)
return 1;
-
+
// Set the units for the range reading
if (this->range_res == 1)
{
@@ -1278,7 +1296,7 @@
else
if (packet[7] != 0x01)
return 1;
-
+
return 0;
}
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