12 #ifdef MRPT_OS_WINDOWS 33 #define FTD2XX_API __declspec(dllexport) 35 #define FTD2XX_API __declspec(dllimport) 38 typedef unsigned long FT_HANDLE;
44 #define FT_OPEN_BY_SERIAL_NUMBER 1 45 #define FT_OPEN_BY_DESCRIPTION 2 51 #define FT_LIST_NUMBER_ONLY 0x80000000 52 #define FT_LIST_BY_INDEX 0x40000000 53 #define FT_LIST_ALL 0x20000000 55 #define FT_LIST_MASK (FT_LIST_NUMBER_ONLY | FT_LIST_BY_INDEX | FT_LIST_ALL) 61 #define FT_BAUD_300 300 62 #define FT_BAUD_600 600 63 #define FT_BAUD_1200 1200 64 #define FT_BAUD_2400 2400 65 #define FT_BAUD_4800 4800 66 #define FT_BAUD_9600 9600 67 #define FT_BAUD_14400 14400 68 #define FT_BAUD_19200 19200 69 #define FT_BAUD_38400 38400 70 #define FT_BAUD_57600 57600 71 #define FT_BAUD_115200 115200 72 #define FT_BAUD_230400 230400 73 #define FT_BAUD_460800 460800 74 #define FT_BAUD_921600 921600 80 #define FT_BITS_8 (unsigned char)8 81 #define FT_BITS_7 (unsigned char)7 82 #define FT_BITS_6 (unsigned char)6 83 #define FT_BITS_5 (unsigned char)5 89 #define FT_STOP_BITS_1 (unsigned char)0 90 #define FT_STOP_BITS_1_5 (unsigned char)1 91 #define FT_STOP_BITS_2 (unsigned char)2 97 #define FT_PARITY_NONE (unsigned char)0 98 #define FT_PARITY_ODD (unsigned char)1 99 #define FT_PARITY_EVEN (unsigned char)2 100 #define FT_PARITY_MARK (unsigned char)3 101 #define FT_PARITY_SPACE (unsigned char)4 107 #define FT_FLOW_NONE 0x0000 108 #define FT_FLOW_RTS_CTS 0x0100 109 #define FT_FLOW_DTR_DSR 0x0200 110 #define FT_FLOW_XON_XOFF 0x0400 115 #define FT_PURGE_RX 1 116 #define FT_PURGE_TX 2 122 typedef void (*PFT_EVENT_HANDLER)(
unsigned long,
unsigned long);
124 #define FT_EVENT_RXCHAR 1 125 #define FT_EVENT_MODEM_STATUS 2 131 #define FT_DEFAULT_RX_TIMEOUT 300 132 #define FT_DEFAULT_TX_TIMEOUT 300 145 using namespace mrpt;
153 CInterfaceFTDI::CInterfaceFTDI() : m_readBuffer(4096)
168 if (m_hmodule !=
nullptr)
174 FreeLibrary((HMODULE)m_hmodule);
200 void CInterfaceFTDI::loadDriver()
206 m_hmodule = ::LoadLibraryA(
"Ftd2xx.dll");
207 if (m_hmodule ==
nullptr)
THROW_EXCEPTION(
"Error: Cannot load Ftd2xx.dll");
209 m_pWrite = (PtrToWrite)GetProcAddress((HMODULE)m_hmodule,
"FT_Write");
210 m_pRead = (PtrToRead)GetProcAddress((HMODULE)m_hmodule,
"FT_Read");
211 m_pOpen = (PtrToOpen)GetProcAddress((HMODULE)m_hmodule,
"FT_Open");
212 m_pOpenEx = (PtrToOpenEx)GetProcAddress((HMODULE)m_hmodule,
"FT_OpenEx");
214 (PtrToListDevices)GetProcAddress((HMODULE)m_hmodule,
"FT_ListDevices");
215 m_pClose = (PtrToClose)GetProcAddress((HMODULE)m_hmodule,
"FT_Close");
217 (PtrToResetDevice)GetProcAddress((HMODULE)m_hmodule,
"FT_ResetDevice");
218 m_pPurge = (PtrToPurge)GetProcAddress((HMODULE)m_hmodule,
"FT_Purge");
220 (PtrToSetTimeouts)GetProcAddress((HMODULE)m_hmodule,
"FT_SetTimeouts");
221 m_pGetQueueStatus = (PtrToGetQueueStatus)GetProcAddress(
222 (HMODULE)m_hmodule,
"FT_GetQueueStatus");
223 m_pSetLatencyTimer = (PtrToSetLatencyTimer)GetProcAddress(
224 (HMODULE)m_hmodule,
"FT_SetLatencyTimer");
226 if (!m_pWrite || !m_pRead || !m_pOpen || !m_pOpenEx || !m_pListDevices ||
227 !m_pClose || !m_pResetDevice || !m_pPurge || !m_pSetTimeouts ||
228 !m_pGetQueueStatus || !m_pSetLatencyTimer)
237 void CInterfaceFTDI::ftdi_open(
void* pvDevice)
243 checkErrorAndRaise((*m_pOpen)(pvDevice, &m_ftHandle));
248 void CInterfaceFTDI::ftdi_openEx(
void* pArg1,
unsigned long dwFlags)
254 checkErrorAndRaise((*m_pOpenEx)(pArg1, dwFlags, &m_ftHandle));
268 unsigned long nConectedDevices;
272 ftdi_listDevices(&nConectedDevices,
nullptr, 0x80000000);
274 for (
size_t i = 0; i < nConectedDevices; i++)
280 (
void*)(i), (
void*)str, (
unsigned long)(0x40000000 | 1));
285 (
void*)(i), (
void*)str, (
unsigned long)(0x40000000 | 2));
288 outList.push_back(newEntry);
294 void CInterfaceFTDI::ftdi_listDevices(
295 void* pArg1,
void* pArg2,
unsigned long dwFlags)
300 checkErrorAndRaise((*m_pListDevices)(pArg1, pArg2, dwFlags));
312 (*m_pClose)(m_ftHandle);
322 void* lpvBuffer,
unsigned long dwBuffSize,
unsigned long* lpdwBytesRead)
328 (*m_pRead)(m_ftHandle, lpvBuffer, dwBuffSize, lpdwBytesRead));
334 const void* lpvBuffer,
unsigned long dwBuffSize,
unsigned long* lpdwBytes)
340 (*m_pWrite)(m_ftHandle, lpvBuffer, dwBuffSize, lpdwBytes));
350 checkErrorAndRaise((*m_pResetDevice)(m_ftHandle));
362 unsigned long dwMask = FT_PURGE_RX | FT_PURGE_TX;
363 checkErrorAndRaise((*m_pPurge)(m_ftHandle, dwMask));
370 unsigned long dwReadTimeout_ms,
unsigned long dwWriteTimeout_ms)
376 (*m_pSetTimeouts)(m_ftHandle, dwReadTimeout_ms, dwWriteTimeout_ms));
381 void CInterfaceFTDI::ftdi_getQueueStatus(
unsigned long* lpdwAmountInRxQueue)
386 checkErrorAndRaise((*m_pGetQueueStatus)(m_ftHandle, lpdwAmountInRxQueue));
396 checkErrorAndRaise((*m_pSetLatencyTimer)(m_ftHandle, latency_ms));
404 void CInterfaceFTDI::checkErrorAndRaise(
int errorCode)
450 ftdi_openEx((
void*)serialNumber.c_str(), FT_OPEN_BY_SERIAL_NUMBER);
462 ftdi_openEx((
void*)description.c_str(), FT_OPEN_BY_DESCRIPTION);
474 <<
"USB ID (Vendor/Product) : "
bool isOpen()
Checks whether the chip has been successfully open.
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
void ResetDevice()
Reset the USB device.
void clear()
Delete all the stored data, if any.
#define THROW_EXCEPTION(msg)
void OpenBySerialNumber(const std::string &serialNumber)
Open by device serial number.
void Close()
Close the USB device.
void OpenByDescription(const std::string &description)
Open by device description.
mrpt::utils::circular_buffer< uint8_t > m_readBuffer
Used in Read.
std::string ftdi_description
void SetTimeouts(unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
Change read & write timeouts, in milliseconds.
std::string format(const char *fmt,...) MRPT_printf_format_check(1
A std::string version of C sprintf.
void ListAllDevices(TFTDIDeviceList &outList)
Generates a list with all FTDI devices connected right now.
GLsizei const GLchar ** string
std::deque< TFTDIDevice > TFTDIDeviceList
Used in CInterfaceFTDI::ListAllDevices.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CInterfaceFTDI & operator=(const CInterfaceFTDI &o)
This object cannot be copied.
std::ostream & operator<<(std::ostream &o, const TFTDIDevice &d)
Print out all the information of a FTDI device in textual form.
A definition of a CStream actually representing a USB connection to a FTDI chip.
CInterfaceFTDI()
Constructor, which loads driver interface (the DLL under Windows).
void ftdi_read(void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)
void Purge()
Purge the I/O buffers.
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red
void ftdi_write(const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)
Serial and networking devices and utilities.
virtual ~CInterfaceFTDI()
Destructor, which closes the connection with the chip and unloads the driver interface.
void SetLatencyTimer(unsigned char latency_ms)
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms...
std::string ftdi_manufacturer
A list of FTDI devices and their descriptors.