src/owARDUINOInterface.cpp

   1 // Copyright (c) 2017, Tobias Mueller tm(at)tm3d.de\r
   2 // All rights reserved.\r
   3 //\r
   4 // Redistribution and use in source and binary forms, with or without\r
   5 // modification, are permitted provided that the following conditions are\r
   6 // met:\r
   7 //\r
   8 //  * Redistributions of source code must retain the above copyright\r
   9 //    notice, this list of conditions and the following disclaimer.\r
  10 //  * Redistributions in binary form must reproduce the above copyright\r
  11 //    notice, this list of conditions and the following disclaimer in the\r
  12 //    documentation and/or other materials provided with the\r
  13 //    distribution.\r
  14 //  * All advertising materials mentioning features or use of this\r
  15 //    software must display the following acknowledgement: This product\r
  16 //    includes software developed by tm3d.de and its contributors.\r
  17 //  * Neither the name of tm3d.de nor the names of its contributors may\r
  18 //    be used to endorse or promote products derived from this software\r
  19 //    without specific prior written permission.\r
  20 //\r
  21 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\r
  22 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\r
  23 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR\r
  24 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT\r
  25 // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,\r
  26 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT\r
  27 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,\r
  28 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY\r
  29 // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT\r
  30 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\r
  31 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\r
  32 \r
  33 #ifdef LINUX\r
  34 #include <unistd.h>\r
  35 #include <sys/select.h>\r
  36 #include <sys/ioctl.h>\r
  37 #include <termios.h>\r
  38 #include <sys/time.h>\r
  39 #endif\r
  40 #include <sys/types.h>\r
  41 #include <sys/stat.h>\r
  42 #include <fcntl.h>\r
  43 #include <time.h>\r
  44 #include <errno.h>\r
  45 #include "owARDUINOInterface.h"\r
  46 \r
  47 \r
  48 #define COM_IDENTIFER 1\r
  49 #define COM_RESET 2\r
  50 #define COM_SEARCH_INIT 3\r
  51 #define COM_SEARCH_NEXT 4\r
  52 #define COM_BLOCK 5\r
  53 #define COM_SBYTE 6\r
  54 #define COM_RBYTE 7\r
  55 #define COM_SBIT 8\r
  56 #define COM_RBIT 9\r
  57 \r
  58 //---------------------------------------------------------------------------\r
  59 //  Description:\r
  60 //     flush the rx and tx buffers\r
  61 //\r
  62 // 'portnum'  - number 0 to MAX_PORTNUM-1.  This number was provided to\r
  63 //              OpenCOM to indicate the port number.\r
  64 //\r
  65 void owARDUINOInterface::FlushCOM() {\r
  66 #ifdef LINUX\r
  67    tcflush(fd, TCIOFLUSH);\r
  68 #endif \r
  69 #ifdef WIN\r
  70    PurgeComm(fd, PURGE_TXABORT | PURGE_RXABORT |\r
  71            PURGE_TXCLEAR | PURGE_RXCLEAR);\r
  72 #endif\r
  73 }\r
  74 \r
  75 #ifdef LINUX\r
  76 int \r
  77 #endif\r
  78 #ifdef WIN\r
  79 HANDLE \r
  80 #endif\r
  81 owARDUINOInterface::OpenCOM(uint8_t comnr)\r
  82 {\r
  83         char port_zstr[100];\r
  84 #ifdef LINUX\r
  85         struct termios t;               // see man termios - declared as above\r
  86         int rc;\r
  87         //int fd;\r
  88         \r
  89         if (com_init) return fd;\r
  90 \r
  91         sprintf(port_zstr,"/dev/ttyUSB%i",comnr);\r
  92 \r
  93    fd = open(port_zstr, O_RDWR|O_NONBLOCK| O_NOCTTY );\r
  94    if (fd<0)\r
  95    {\r
  96            log->set(OWLOG_ERROR,"ERROR open Com %s return %i",port_zstr,fd);\r
  97       return fd;\r
  98    }\r
  99    rc = tcgetattr (fd, &t);\r
 100    if (rc < 0)\r
 101    {\r
 102       int tmp;\r
 103       tmp = errno;\r
 104       close(fd);\r
 105       errno = tmp;\r
 106       log->set(OWLOG_ERROR,"OWERROR_SYSTEM_RESOURCE_INIT_FAILED %s",port_zstr);\r
 107       return rc; // changed (2.00), used to return rc;\r
 108    }\r
 109 \r
 110    cfsetospeed(&t, B9600);\r
 111    cfsetispeed (&t, B9600);\r
 112 \r
 113    // Get terminal parameters. (2.00) removed raw\r
 114    tcgetattr(fd,&t);\r
 115    // Save original settings.\r
 116    origterm = t;\r
 117 \r
 118         t.c_cflag     &=  ~PARENB;            // Make 8n1\r
 119         t.c_cflag     &=  ~CSTOPB;\r
 120         t.c_cflag     &=  ~CSIZE;\r
 121         t.c_cflag     |=  CS8;\r
 122 \r
 123         t.c_cflag     &=  ~CRTSCTS;           // no flow control\r
 124         t.c_cc[VMIN]   =  1;                  // read doesn't block\r
 125         t.c_cc[VTIME]  =  5;                  // 0.5 seconds read timeout\r
 126         t.c_cflag     |=  CREAD | CLOCAL;     // turn on READ & ignore ctrl lines\r
 127         t.c_cflag     &=  ~CRTSCTS;       // no flow control\r
 128         t.c_iflag     &=  ~(IXON | IXOFF | IXANY);// turn off s/w flow ctrl\r
 129 /* Make raw */\r
 130         cfmakeraw(&t);\r
 131          tcflush(fd,TCIOFLUSH);\r
 132 \r
 133    rc = tcsetattr(fd, TCSAFLUSH, &t);\r
 134  \r
 135    if (rc < 0)\r
 136    {\r
 137       int tmp;\r
 138       tmp = errno;\r
 139       close(fd);\r
 140       errno = tmp;\r
 141       log->set(OWLOG_ERROR,"OWERROR_SYSTEM_RESOURCE_INIT_FAILED %s",port_zstr);\r
 142       return rc; // changed (2.00), used to return rc;\r
 143    }\r
 144         com_init=1;\r
 145    return fd; // changed (2.00), used to return fd;\r
 146 #endif\r
 147 #ifdef WIN\r
 148    short fRetVal;\r
 149    COMMTIMEOUTS CommTimeOuts;\r
 150    DCB dcb;\r
 151    int comnr1 = comnr;\r
 152    sprintf_s(port_zstr,100, "COM%d", comnr1);\r
 153    if (fd <= 0) {\r
 154            if ((fd =  CreateFileA(port_zstr, GENERIC_READ | GENERIC_WRITE,\r
 155                            0,\r
 156                            NULL,                 // no security attrs\r
 157                            OPEN_EXISTING,\r
 158                            FILE_FLAG_OVERLAPPED, // overlapped I/O\r
 159                            NULL)) == (HANDLE)-1) {\r
 160                    fd = 0;\r
 161                    log->set(OWLOG_ERROR, "ERROR open Com %s return %i", port_zstr, fd);\r
 162                    return (FALSE);\r
 163            } else  {\r
 164                    // get any early notifications\r
 165                    SetCommMask(fd, EV_RXCHAR | EV_TXEMPTY | EV_ERR | EV_BREAK);\r
 166                    SetupComm(fd, 2048, 2048);\r
 167                    // purge any information in the buffer\r
 168                    PurgeComm(fd, PURGE_TXABORT | PURGE_RXABORT |   PURGE_TXCLEAR | PURGE_RXCLEAR);\r
 169                    // set up for overlapped non-blocking I/O\r
 170                    CommTimeOuts.ReadIntervalTimeout = 0;\r
 171                    CommTimeOuts.ReadTotalTimeoutMultiplier = 20;\r
 172                    CommTimeOuts.ReadTotalTimeoutConstant = 40;\r
 173                    CommTimeOuts.WriteTotalTimeoutMultiplier = 20;\r
 174                    CommTimeOuts.WriteTotalTimeoutConstant = 40;\r
 175                    SetCommTimeouts(fd, &CommTimeOuts);\r
 176                    // setup the com port\r
 177                    GetCommState(fd, &dcb);\r
 178                    dcb.BaudRate = CBR_9600;               // current baud rate\r
 179                    dcb.fBinary = TRUE;                    // binary mode, no EOF check\r
 180                    dcb.fParity = FALSE;                   // enable parity checking\r
 181                    dcb.fOutxCtsFlow = FALSE;              // CTS output flow control\r
 182                    dcb.fOutxDsrFlow = FALSE;              // DSR output flow control\r
 183                    dcb.fDtrControl = FALSE;  // DTR flow control type\r
 184                    dcb.fDsrSensitivity = FALSE;           // DSR sensitivity\r
 185                    dcb.fTXContinueOnXoff = FALSE;          // XOFF continues Tx\r
 186                    dcb.fOutX = FALSE;                     // XON/XOFF out flow control\r
 187                    dcb.fInX = FALSE;                      // XON/XOFF in flow control\r
 188                    dcb.fErrorChar = FALSE;                // enable error replacement\r
 189                    dcb.fNull = FALSE;                     // enable null stripping\r
 190                    dcb.fRtsControl = FALSE;  // RTS flow control\r
 191                    dcb.fAbortOnError = FALSE;             // abort reads/writes on error\r
 192                    dcb.XonLim = 0;                        // transmit XON threshold\r
 193                    dcb.XoffLim = 0;                       // transmit XOFF threshold\r
 194                    dcb.ByteSize = 8;                      // number of bits/byte, 4-8\r
 195                    dcb.Parity = NOPARITY;                 // 0-4=no,odd,even,mark,space\r
 196                    dcb.StopBits = ONESTOPBIT;             // 0,1,2 = 1, 1.5, 2\r
 197                    dcb.XonChar = 0;                       // Tx and Rx XON character\r
 198                    dcb.XoffChar = 0;                      // Tx and Rx XOFF character\r
 199                    dcb.ErrorChar = 0;                     // error replacement character\r
 200                    dcb.EofChar = 0;                       // end of input character\r
 201                    dcb.EvtChar = 0;                       // received event character\r
 202                    fRetVal = SetCommState(fd, &dcb);\r
 203 \r
 204            }\r
 205            // check if successfull\r
 206            if (!fRetVal)   {\r
 207                    CloseHandle(fd);\r
 208                    fd = 0;\r
 209                    log->set(OWLOG_ERROR, "OWERROR_SYSTEM_RESOURCE_INIT_FAILED %s", port_zstr);\r
 210            }\r
 211            return (fd);\r
 212    }\r
 213    return 0;\r
 214 #endif\r
 215 }\r
 216 \r
 217 \r
 218 //---------------------------------------------------------------------------\r
 219 // Closes the connection to the port.\r
 220 //\r
 221 // 'portnum'  - number 0 to MAX_PORTNUM-1.  This number was provided to\r
 222 //              OpenCOM to indicate the port number.\r
 223 //\r
 224 void owARDUINOInterface::CloseCOM()\r
 225 {\r
 226 #ifdef LINUX\r
 227    // restore tty settings\r
 228    tcsetattr(fd, TCSAFLUSH, &origterm);\r
 229    FlushCOM();\r
 230    close(fd);\r
 231 #endif\r
 232 #ifdef WIN\r
 233    // disable event notification and wait for thread\r
 234    // to halt\r
 235    SetCommMask(fd, 0);\r
 236 \r
 237    PurgeComm(fd, PURGE_TXABORT | PURGE_RXABORT |           PURGE_TXCLEAR | PURGE_RXCLEAR);\r
 238    CloseHandle(fd);\r
 239    fd = 0;\r
 240 #endif\r
 241    com_init = 0;\r
 242 \r
 243 }\r
 244 \r
 245 \r
 246 //--------------------------------------------------------------------------\r
 247 // Write an array of bytes to the COM port, verify that it was\r
 248 // sent out.  Assume that baud rate has been set.\r
 249 //\r
 250 // 'portnum'   - number 0 to MAX_PORTNUM-1.  This number provided will\r
 251 //               be used to indicate the port number desired when calling\r
 252 //               all other functions in this library.\r
 253 // Returns 1 for success and 0 for failure\r
 254 //\r
 255 int owARDUINOInterface::WriteCOM( int outlen, uint8_t *outbuf) {\r
 256 #ifdef LINUX\r
 257    long count = outlen;\r
 258    int i=0;\r
 259    for (int k=0;k<outlen;k++) {\r
 260                  i+= write(fd, outbuf+k, 1);\r
 261 //               sleep(1);\r
 262         }\r
 263 \r
 264    tcdrain(fd);\r
 265    return (i == count);\r
 266 #endif\r
 267 #ifdef WIN\r
 268    BOOL fWriteStat;\r
 269    DWORD dwBytesWritten = 0;\r
 270    DWORD ler = 0, to;\r
 271    OVERLAPPED osWrite = { 0 };\r
 272    // calculate a timeout\r
 273    to = 20 * outlen + 60;\r
 274    // write the byte\r
 275    osWrite.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);\r
 276    ResetEvent(osWrite.hEvent);\r
 277    fWriteStat = WriteFile(fd, (LPSTR)&outbuf[0],  outlen, &dwBytesWritten, &osWrite);\r
 278    // check for an error\r
 279   // Sleep(100);\r
 280    if (!fWriteStat)\r
 281            ler = GetLastError();\r
 282    // if not done writting then wait\r
 283    if (!fWriteStat && ler == ERROR_IO_PENDING) {\r
 284           // log->set(OWLOG_ERROR, "SERIAL_ERROR_IO_PENDING");\r
 285            WaitForSingleObject(osWrite.hEvent, to);\r
 286            // verify all is written correctly\r
 287 \r
 288            fWriteStat = GetOverlappedResult(fd, &osWrite,  &dwBytesWritten, FALSE);\r
 289    }\r
 290    // check results of write\r
 291    if (!fWriteStat || (dwBytesWritten != (DWORD)outlen))\r
 292            return 0;\r
 293    else\r
 294            return 1;\r
 295 #endif\r
 296 }\r
 297 \r
 298 \r
 299 //--------------------------------------------------------------------------\r
 300 // Read an array of bytes to the COM port, verify that it was\r
 301 // sent out.  Assume that baud rate has been set.\r
 302 //\r
 303 // 'portnum'  - number 0 to MAX_PORTNUM-1.  This number was provided to\r
 304 //              OpenCOM to indicate the port number.\r
 305 // 'outlen'   - number of bytes to write to COM port\r
 306 // 'outbuf'   - pointer ot an array of bytes to write\r
 307 //\r
 308 // Returns:  TRUE(1)  - success\r
 309 //           FALSE(0) - failure\r
 310 //\r
 311 int owARDUINOInterface::ReadCOM( int inlen, uint8_t *inbuf)\r
 312 {\r
 313 #ifdef LINUX\r
 314    fd_set         filedescr;\r
 315    struct timeval tval;\r
 316    int            cnt;\r
 317 \r
 318    // loop to wait until each byte is available and read it\r
 319    for (cnt = 0; cnt < inlen; cnt++)\r
 320    {\r
 321       // set a descriptor to wait for a character available\r
 322       FD_ZERO(&filedescr);\r
 323       FD_SET(fd,&filedescr);\r
 324       // set timeout to 10ms\r
 325       tval.tv_sec = 10;\r
 326       tval.tv_usec = 10000;\r
 327 \r
 328       // if byte available read or return bytes read\r
 329       if (select(fd+1,&filedescr,NULL,NULL,&tval) != 0)\r
 330       {\r
 331          if (read(fd,&inbuf[cnt],1) != 1) {\r
 332                         log->set(OWLOG_ERROR,"Read Error on Serial");\r
 333 \r
 334             return cnt;\r
 335          }\r
 336       }\r
 337       else {\r
 338                 log->set(OWLOG_ERROR,"Read Error on Serial (select)");\r
 339         return cnt;\r
 340         }\r
 341    }\r
 342 \r
 343    \r
 344    // success, so return desired length\r
 345    return inlen;\r
 346 #endif\r
 347 #ifdef WIN\r
 348    DWORD dwLength = 0;\r
 349    BOOL fReadStat;\r
 350    DWORD ler = 0, to;\r
 351    OVERLAPPED osReader = { 0 };\r
 352    // calculate a timeout\r
 353    to = 20 * inlen + 60;\r
 354    // read\r
 355    osReader.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);\r
 356    ResetEvent(osReader.hEvent);\r
 357    fReadStat = ReadFile(fd, (LPSTR)&inbuf[0],  inlen, &dwLength, &osReader);\r
 358    //Sleep(100);\r
 359    // check for an error\r
 360    if (!fReadStat) {\r
 361            ler = GetLastError();\r
 362         //   log->set(OWLOG_ERROR, "Read Error on Serial");\r
 363    }\r
 364    // if not done writing then wait\r
 365    int e = 0;\r
 366    while (!fReadStat && ler == ERROR_IO_PENDING) {\r
 367            // wait until everything is read\r
 368           // log->set(OWLOG_ERROR, "Read Error on Serial");\r
 369           // printf("try Read %i\n", e); e++;\r
 370            WaitForSingleObject(osReader.hEvent, to);\r
 371            // verify all is read correctly\r
 372            fReadStat = GetOverlappedResult(fd, &osReader,   &dwLength, FALSE);\r
 373            //printf("%i %i\n", dwLength, inlen);\r
 374            if (dwLength == inlen) break;\r
 375            if (e == 3) break;\r
 376            printf("repeat\n");\r
 377 \r
 378    }\r
 379    // check results\r
 380    if (fReadStat)\r
 381            return dwLength;\r
 382    else\r
 383            return 0;\r
 384 #endif\r
 385 }\r
 386 \r
 387 \r
 388 /*\r
 389 \r
 390 //--------------------------------------------------------------------------\r
 391 //  Description:\r
 392 //     Send a break on the com port for at least 2 ms\r
 393 //\r
 394 // 'portnum'  - number 0 to MAX_PORTNUM-1.  This number was provided to\r
 395 //              OpenCOM to indicate the port number.\r
 396 //\r
 397 void owARDUINOInterface::BreakCOM()\r
 398 {\r
 399    int duration = 0;              // see man termios break may be\r
 400    tcsendbreak(fd, duration);     // too long\r
 401 }\r
 402 \r
 403 */\r
 404 \r
 405 \r
 406 \r
 407 \r
 408 \r
 409 \r
 410 \r
 411 \r
 412 \r
 413 int owARDUINOInterface::InitAdapter(uint8_t nr) {\r
 414         // attempt to open the communications port\r
 415         if ((fd = OpenCOM(nr)) < 0)\r
 416         {\r
 417                 log->set(OWLOG_ERROR,"OWERROR_OPENCOM_FAILED");\r
 418                 return -1;\r
 419         }\r
 420 #ifdef WIN\r
 421         Sleep(2000);\r
 422 #endif\r
 423 #ifdef LINUX\r
 424         sleep(2);\r
 425 #endif\r
 426         uint8_t readbuffer[20],sendpacket[20];\r
 427         uint8_t sendlen=0;\r
 428         sendpacket[sendlen++]=0x01;\r
 429         sendpacket[sendlen++]=0x00;\r
 430         sendpacket[sendlen++]=0x03;\r
 431         if (WriteCOM(sendlen,sendpacket)) {\r
 432       if ((sendlen=ReadCOM(3,readbuffer)) == 3) {\r
 433                 //      printf("%02X %02X %02X\n",readbuffer[0],readbuffer[1],readbuffer[2] );\r
 434       }  else {\r
 435         log->set(OWLOG_ERROR,"OWERROR_READCOM_FAILED");\r
 436       }\r
 437    }   else  log->set(OWLOG_ERROR,"OWERROR_WRITECOM_FAILED");            \r
 438         com_init=1;\r
 439         return 1;       \r
 440 }\r
 441 \r
 442 \r
 443 int owARDUINOInterface::owFirst() {\r
 444         uint8_t readbuffer[20],sendpacket[20];\r
 445         uint8_t sendlen=0;\r
 446         sendpacket[sendlen++]=0x03;\r
 447         sendpacket[sendlen++]=0x00;     \r
 448         sendpacket[sendlen++]=0x08;\r
 449         if (WriteCOM(sendlen,sendpacket)) {\r
 450                 if ((sendlen=ReadCOM(8,readbuffer)) == 8) {\r
 451                         if (readbuffer[0]!=0) {\r
 452                                 for (int i=0;i<8;i++) ROM_NO[i]=readbuffer[i];\r
 453                                 return 1;\r
 454                         }\r
 455                 }\r
 456         }\r
 457         return 0;\r
 458 \r
 459 }\r
 460 int owARDUINOInterface::owNext() {\r
 461         uint8_t readbuffer[20],sendpacket[20];\r
 462         uint8_t sendlen=0;\r
 463         sendpacket[sendlen++]=0x04;\r
 464         sendpacket[sendlen++]=0x00;     \r
 465         sendpacket[sendlen++]=0x08;\r
 466         if (WriteCOM(sendlen,sendpacket)) {\r
 467                 if ((sendlen=ReadCOM(8,readbuffer)) == 8) {\r
 468                         if (readbuffer[0]!=0) {\r
 469                                 for (int i=0;i<8;i++) ROM_NO[i]=readbuffer[i];\r
 470                                 return 1;\r
 471                         }\r
 472                 }\r
 473         }\r
 474         return 0;\r
 475 \r
 476 }\r
 477 \r
 478 \r
 479 void owARDUINOInterface::ReleaseAdapter() {\r
 480         CloseCOM();\r
 481 }\r
 482 \r
 483 \r
 484 int owARDUINOInterface::Reset() {\r
 485         uint8_t readbuffer[5],sendpacket[5];\r
 486         uint8_t sendlen=0;\r
 487         sendlen=0;\r
 488         sendpacket[sendlen++]=0x02;\r
 489         sendpacket[sendlen++]=0x00;\r
 490         sendpacket[sendlen++]=0x01;\r
 491         if (WriteCOM(sendlen,sendpacket)) {\r
 492                 if ((sendlen=ReadCOM(1,readbuffer)) == 1) {\r
 493                         if (readbuffer[0]) return 1;\r
 494                 }\r
 495         }\r
 496 \r
 497         return 0;\r
 498 }\r
 499 \r
 500 \r
 501 uint8_t owARDUINOInterface::sendrecivByte(uint8_t byte) {\r
 502         \r
 503         uint8_t readbuffer[5],sendpacket[5];\r
 504         uint8_t sendlen=0;\r
 505         if (byte!=0xFF) {\r
 506                 sendlen=0;\r
 507                 sendpacket[sendlen++]=COM_SBYTE;\r
 508                 sendpacket[sendlen++]=0x01;\r
 509                 sendpacket[sendlen++]=0x01;\r
 510                 sendpacket[sendlen++]=byte;\r
 511                 if (WriteCOM(sendlen,sendpacket)) {\r
 512                         if ((sendlen=ReadCOM(1,readbuffer)) == 1) {\r
 513                                 return byte;\r
 514                         }\r
 515                 }\r
 516         } else {\r
 517                 sendlen=0;\r
 518                 sendpacket[sendlen++]=COM_RBYTE;\r
 519                 sendpacket[sendlen++]=0x00;\r
 520                 sendpacket[sendlen++]=0x01;\r
 521                 if (WriteCOM(sendlen,sendpacket)) {\r
 522                         if ((sendlen=ReadCOM(1,readbuffer)) == 1) {\r
 523                                 return readbuffer[0];\r
 524                         }\r
 525                 }\r
 526                 \r
 527         }\r
 528 \r
 529    return 0;                            \r
 530 }\r
 531 uint8_t owARDUINOInterface::sendrecivBit(uint8_t bit) {\r
 532         return 0;\r
 533 }\r
 534 \r
 535 int owARDUINOInterface::Communicate(std::vector<uint8_t> *data, int scount, int rcount) {\r
 536         int i=0;\r
 537         data->resize(scount);\r
 538         uint8_t readbuffer[128],sendpacket[128+3];\r
 539         uint8_t sendlen=0;\r
 540         sendpacket[sendlen++]=COM_BLOCK;\r
 541         sendpacket[sendlen++]=scount;\r
 542         sendpacket[sendlen++]=rcount;\r
 543         for(uint8_t v:*data) {\r
 544                 sendpacket[sendlen++]=v;\r
 545                 (*data)[i]=v;i++;\r
 546         }\r
 547 \r
 548         if (WriteCOM(sendlen,sendpacket)) {\r
 549                 if ((sendlen=ReadCOM(rcount,readbuffer)) == rcount) {\r
 550                                 for(i=0;i<rcount;i++) {\r
 551                                         data->push_back(readbuffer[i]);\r
 552                                 }\r
 553                         } else {\r
 554                                 for (i = 0; i<rcount; i++) \r
 555                                         data->push_back(0xFF);\r
 556                         }\r
 557                 }\r
 558         return 0;\r
 559 }\r
 560         \r