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stvdriver.c

#if 0
    STV Low Level Driver
    Copyright (C) 2006 Markus Wildi, markus.wildi@datacomm.ch 
    The initial work is based on the program STVremote by Shashikiran Ganesh.
    email: gshashikiran_AT_linuxmail_dot_org

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

#endif
#include <unistd.h> 
#include <string.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h> 
#include <time.h>
#include <stdlib.h>

#include "stvdriver.h"

/* Config parameters */
#include <config.h>

#ifndef _WIN32
#include <termios.h>
#endif

/* INDI Common Routines/RS232 */

#include "indicom.h"

extern int fd ;
extern char tracking_buf[] ;
struct termios orig_tty_setting;    /* old serial port setting to restore on close */
struct termios tty_setting;         /* new serial port setting */


#define FALSE 0
#define TRUE 1

/*int tty_read( int fd, char *buf, int nbytes, int timeout, int *nbytes_read) ; */
/*int tty_write( int fd, const char *buffer, int *nbytes_written) ; */
void ISUpdateDisplay( int buffer, int line) ;

int STV_portWrite( char *buf, int nbytes) ;
int STV_TXDisplay( void) ;
int STV_TerminateTXDisplay( void) ;
int STV_FileStatus( int) ;
int STV_DownloadComplete( void) ;
int STV_RequestImage( int compression,  int buffer, int x_offset, int y_offset, int *length, int *lines, int image[][320], IMAGE_INFO *image_info) ;
int STV_RequestImageData( int compression, int *data, int j, int length, int *values) ;
int STV_Download( void) ;
int STV_DownloadAll( void) ;
int STV_RequestAck( void) ;
int STV_CheckHeaderSum( unsigned char *buf) ;
int STV_CheckDataSum( unsigned char *data) ;
int STV_PrintBuffer( unsigned char *buf, int n ) ;
int STV_PrintBufferAsText( unsigned char *buf, int n ) ;
int STV_CheckAck( unsigned char *buf) ;
int STV_SendPacket( int cmd, int *data, int n) ;
int STV_ReceivePacket( unsigned char *buf, int mode) ;
int STV_DecompressData( unsigned char *data, int *values, int length, int expected_n_values) ;
int STV_BufferStatus( int buffer) ;
void STV_PrintBits( unsigned int x, int n) ;

unsigned int STV_RecombineInt( unsigned char low_byte, unsigned char high_byte) ;
unsigned int STV_GetBits( unsigned int x, int p, int n) ;

int STV_MenueSetup( int delay) ;
int STV_MenueDateTime( int delay) ;
int STV_MenueCCDTemperature( int delay) ;

typedef struct {

  double ccd_temperature ;
  
} DISPLAY_INFO ;

DISPLAY_INFO di ;


/* STV Buttons */

int STV_LRRotaryDecrease(void) {
  int data[]={LR_ROTARY_DECREASE_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_LRRotaryIncrease(void) {
  int data[]={ LR_ROTARY_INCREASE_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_UDRotaryDecrease(void) {
  int data[]={UD_ROTARY_DECREASE_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_UDRotaryIncrease(void) {
  int data[]={UD_ROTARY_INCREASE_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_AKey(void) { /* Parameter button */
  int data[]={A_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_BKey(void) { /* Value Button */
  int data[]={ B_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Setup(void) {
  int data[]={SETUP_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1);
}

int STV_Interrupt(void) {
  int data[]={INT_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Focus(void) {
  int data[]= {FOCUS_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Image(void) {
  int data[]={IMAGE_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Monitor(void) {
  int data[]={MONITOR_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Calibrate(void) {
  int data[]={CAL_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Track(void) {
  int data[]={TRACK_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_Display(void) {
  int data[]={DISPLAY_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_FileOps(void) {
  int data[]={FILEOPS_KEY_PATTERN} ;
  return STV_SendPacket(SEND_KEY_PATTERN, data, 1) ;
}

int STV_RequestImageInfo(int buffer, IMAGE_INFO *image_info) {

  int i ;
  int length ;
  int res ;
  int data[]= {buffer} ; 
  unsigned char buf[1024] ;
  unsigned int value[21] ;

  if(( res= STV_BufferStatus( buffer)) != 0) {
    
    if( res== 1) {
      /*fprintf( stderr," STV_RequestImageInfo buffer empty %d\n", buffer) ; */
      return res ; /* Buffer is empty */
    } else {
      fprintf( stderr," STV_RequestImageInfo error %d\n", res) ;
      return res ;
    } 
  }

  res= STV_SendPacket( REQUEST_IMAGE_INFO, data, 1) ;
  usleep(50000) ;
  res= STV_ReceivePacket( buf, 0) ;

  if(buf[1] != REQUEST_IMAGE_INFO) {

    /*length= buf[3] * 0x100 + buf[2] ; */
    /*res= STV_PrintBuffer(buf, 6+ length+ 2) ; */

AGAINI:    if(( res= STV_ReceivePacket( buf, 0)) < 0) { /* STV answers with a packet 0x03 sometimes, should be 0x04 */
      return -1 ;;
    }
    if(buf[1] != REQUEST_IMAGE_INFO) { /* Second try */
      fprintf( stderr, "STV_RequestImageInfo: expected REQUEST_IMAGE_INFO, received %d, try again\n", buf[1]) ;
      goto AGAINI ;
    }
  }

  length= buf[3] * 0x100 + buf[2]; 

  /* DECODE it */

  for( i= 6;  i < length; i+= 2) {
    value[( i- 6)/2]= STV_RecombineInt( buf[ i], buf[ i+1]) ;
  }
 
  image_info->descriptor = value[0] ; 


  /* Decode the descriptor */

  /*STV_PrintBits(( unsigned int)value[0], 16) ; */

  if(( image_info->descriptor & ID_BITS_MASK)== ID_BITS_10) {

    /*    fprintf( stderr, "ADC Resolution: 10 bits\n") ; */

  } else if(( image_info->descriptor & ID_BITS_MASK )== ID_BITS_8) {

    /*fprintf( stderr, "Resolution: 8 bits (focus mode only)\n") ; */
  }

  if(( image_info->descriptor & ID_UNITS_MASK)== ID_UNITS_INCHES) {

    /*fprintf( stderr, "Units: inch\n") ; */

  } else if(( image_info->descriptor & ID_UNITS_MASK)== ID_UNITS_CM) {

    /*fprintf( stderr, "Unis: cm\n") ;  */
  } 

  if(( image_info->descriptor & ID_SCOPE_MASK)== ID_SCOPE_REFRACTOR) {
 
    /*fprintf( stderr, "Refractor\n") ;  */
  } else if(( image_info->descriptor & ID_SCOPE_MASK)== ID_SCOPE_REFLECTOR) {

    /*fprintf( stderr, "Reflector\n") ;  */
  }


  if(( image_info->descriptor & ID_DATETIME_MASK)== ID_DATETIME_VALID) {

    /*fprintf( stderr, "Date and time valid\n") ;  */
  } else if(( image_info->descriptor & ID_DATETIME_MASK)== ID_DATETIME_INVALID) {

    /*fprintf( stderr, "Date and time invalid\n") ;  */
  }


  if(( image_info->descriptor & ID_BIN_MASK)== ID_BIN_1X1) {

    image_info->binning=1 ; 
  } else if(( image_info->descriptor & ID_BIN_MASK)== ID_BIN_2X2) {

    image_info->binning=2 ; 
  } else if(( image_info->descriptor & ID_BIN_MASK)== ID_BIN_3X3) {

    image_info->binning=3 ; 
  }

  if(( image_info->descriptor & ID_PM_MASK)== ID_PM_PM) {

    /*fprintf( stderr, "Time: PM\n") ;  */
  } else if(( image_info->descriptor & ID_PM_MASK)== ID_PM_AM) {

    /*fprintf( stderr, "Time: AM\n") ;  */
  }

  /* ToDo: Include that to the fits header */
  if(( image_info->descriptor & ID_FILTER_MASK)== ID_FILTER_LUNAR) {
    /*fprintf( stderr, "Filter: Lunar\n") ;  */
  } else if(( image_info->descriptor & ID_FILTER_MASK)== ID_FILTER_NP ) {
    /*fprintf( stderr, "Filter: clear\n") ;  */
  }

  /* ToDo: Include that to the fits header */
  if(( image_info->descriptor & ID_DARKSUB_MASK )== ID_DARKSUB_YES) {

    /*fprintf( stderr, "Drak sub yes\n") ;  */
  } else if(( image_info->descriptor & ID_DARKSUB_MASK )== ID_DARKSUB_NO) {

    /*fprintf( stderr, "Dark sub no\n") ;  */
  }

  if(( image_info->descriptor & ID_MOSAIC_MASK)== ID_MOSAIC_NONE) {

    /*fprintf( stderr, "Is NOT a mosaic\n") ;  */
  } else if(( image_info->descriptor & ID_MOSAIC_MASK)== ID_MOSAIC_SMALL) {

    /*fprintf( stderr, "Is a small mosaic\n") ;  */
  } else if(( image_info->descriptor & ID_MOSAIC_MASK)== ID_MOSAIC_LARGE) {

    /*fprintf( stderr, "Is a large mosaic\n") ;  */
  }

  image_info->height     = value[1] ; 
  image_info->width      = value[2] ; 
  image_info->top        = value[3] ; 
  image_info->left       = value[4] ; 

  /* Exposure time */

  if((value[5]>= 100 ) && (value[5]<= 60000)) {

    image_info->exposure   = ((float)value[5]) * 0.01; 

  } else if((value[5]>= 60001 ) && (value[5]<= 60999)){

    image_info->exposure   = (( float)value[5]- 60000.) *.001 ;
  } else {
    fprintf( stderr, "Error Exposure time %d\n", value[5]) ;
    image_info->exposure   = -1. ;
  }

  image_info->noExposure = value[6] ; 
  image_info->analogGain = value[7] ; 
  image_info->digitalGain= value[8] ; 
  image_info->focalLength= value[9] ; 
  image_info->aperture   = value[10] ; 


  image_info->packedDate = value[11] ; 
  image_info->year  = STV_GetBits( value[11], 6, 7) + 1999;
  image_info->day   = STV_GetBits( value[11], 11, 5) ;
  image_info->month = STV_GetBits( value[11], 15, 4) ;

  image_info->packedTime = value[12];
  image_info->seconds    = STV_GetBits( value[12], 5, 6) ;
  image_info->minutes    = STV_GetBits( value[12], 11, 6) ;
  image_info->hours      = STV_GetBits( value[12], 15, 4) ;

  if(( image_info->descriptor & ID_PM_PM) > 0) {

    image_info->hours += 12 ;
  }
  
  if((value[13] & 0x8000)== 0x8000) {
    
    image_info->ccdTemp=  (float)(0xffff - value[13]) /100. ;
   
  } else {

    image_info->ccdTemp=   (float)value[13]/100. ; 
  }

  image_info->siteID     = value[14] ; 
  image_info->eGain      = value[15] ; 
  image_info->background = value[16] ; 
  image_info->range      = value[17] ; 
  image_info->pedestal   = value[18] ; 
  image_info->ccdTop     = value[19] ; 
  image_info->ccdLeft    = value[20] ; 


/*   fprintf( stderr, "descriptor:%d 0x%2x 0x%2x\n", image_info->descriptor, buf[6], buf[6+1]) ; */
/*   fprintf( stderr, "height:%d\n", image_info->height) ; */
/*   fprintf( stderr, "width:%d\n", image_info->width) ; */
/*   fprintf( stderr, "top:%d\n", image_info->top) ; */
/*   fprintf( stderr, "left:%d\n", image_info->left) ; */
/*   fprintf( stderr, "exposure:%f\n", image_info->exposure) ; */
/*   fprintf( stderr, "noExposure:%d\n", image_info->noExposure) ; */
/*   fprintf( stderr, "analogGain:%d\n", image_info->analogGain) ; */
/*   fprintf( stderr, "digitalGain:%d\n", image_info->digitalGain) ; */
/*   fprintf( stderr, "focalLength:%d\n", image_info->focalLength) ; */
/*   fprintf( stderr, "aperture:%d\n", image_info->aperture) ; */
/*   fprintf( stderr, "packedDate:%d\n", image_info->packedDate) ; */
/*   fprintf( stderr, "Year:%d\n", image_info->year) ; */
/*   fprintf( stderr, "Day:%d\n", image_info->day) ; */
/*   fprintf( stderr, "Month:%d\n", image_info->month) ; */
/*   fprintf( stderr, "packedTime:%d\n", image_info->packedTime) ; */
/*   fprintf( stderr, "Seconds:%d\n", image_info->seconds) ; */
/*   fprintf( stderr, "minutes:%d\n", image_info->minutes) ; */
/*   fprintf( stderr, "hours:%d\n", image_info->hours) ; */
/*   fprintf( stderr, "ccdTemp:%f\n", image_info->ccdTemp) ; */
/*   fprintf( stderr, "siteID:%d\n", image_info->siteID) ; */
/*   fprintf( stderr, "eGain:%d\n", image_info->eGain) ; */
/*   fprintf( stderr, "background:%d\n", image_info->background) ; */
/*   fprintf( stderr, "range :%d\n", image_info->range ) ; */
/*   fprintf( stderr, "pedestal:%d\n", image_info->pedestal) ; */
/*   fprintf( stderr, "ccdTop  :%d\n", image_info->ccdTop) ; */
/*   fprintf( stderr, "ccdLeft:%d\n", image_info->ccdLeft) ; */

  return 0 ;
}

int STV_RequestImage( int compression, int buffer, int x_offset, int y_offset, int *length, int *lines, int image[][320], IMAGE_INFO *image_info) {

  int i, j ;
  int res ;
  int n_values ; 
  unsigned char buf[0xffff] ;
  int values[1024] ;
  int data[]= { 0, y_offset, *length, buffer} ;  /* Offset row, Offset line, length, buffer number */
  int XOFF ;

  /* fprintf(stderr, "STV_RequestImage: --------------------------------buffer= %d, %d\n", buffer, lines) ; */

  if(( res= STV_RequestImageInfo( buffer, image_info)) != 0) {  /* Trigger for download */
    /* buffer empty */
    return res ;
  } 
  res= STV_BKey() ; /* "press" the STV Value button */ 
  usleep(50000) ;
  res= STV_ReceivePacket(buf, 0) ;

  /* Check the boundaries obtained from the image data versus windowing */
  /* Take the smaller boundaries in each direction */

  if( x_offset > image_info->height) {
    x_offset= image_info->height ;
  }
  XOFF=  image_info->top +  x_offset ;

  if( y_offset > image_info->width) {
    y_offset= image_info->width ;
  }
  data[1]=  image_info->left +  y_offset ;

  if( *length > image_info->width- y_offset) {
    *length= image_info->width- y_offset  ;
  }
  data[2]= *length ;

  if( *lines > image_info->height- x_offset) {
    *lines= image_info->height- x_offset  ;
  }
 
  /*fprintf(stderr, "STV_RequestImage: DATA 0=%d, 1=%d, 2=%d, 3=%d, length=%d, lines=%d\n", data[0], data[1], data[2], data[3], *length, *lines) ; */

  for( j= 0 ; j < *lines ; j++) {

    data[0]=  j + XOFF; /*line */
  
    if(( n_values= STV_RequestImageData( compression, data, j, *length, values)) < 0) {
      fprintf(stderr, "STV_RequestImage: Calling STV_RequestImageData failed %d\n", n_values) ; 
      return n_values ;
    } else {
      for( i= 0; i < n_values ; i++) {

      image[j][i]= values[i] ;
      }
      ISUpdateDisplay( buffer, j) ;
    }
  }
  /* Read the 201th line, see mosaic mode */

  /* ToDo: analyze/display the data or use them in the fits header(s) */
  data[0]=  200; /*line */

  if(( res= STV_RequestImageData( 1, data, 200, *length, values)) < 0) {

    return res ;
  } else {
    for( i= 0 ; i< n_values ; i++) {

      /* fprintf( stderr, "%d: %d ", i, values[i]) ; */
    }
    /* fprintf( stderr, "\n") ; */
  }
  res= STV_DownloadComplete() ; 
  ISUpdateDisplay( buffer,  -j) ;
  return  0 ;
}

int STV_RequestImageData( int compression, int *data, int j, int length, int *values) {

  int i ;
  int res ; 
  int data_length ;
  int n_values ;
  unsigned char buf[0xffff] ;

  data_length= -1 ;
 
  if( compression== ON) { /* compressed download */
  
    if(( res= STV_SendPacket( REQUEST_COMPRESSED_IMAGE_DATA, data, 4)) != 0){

      fprintf(stderr, "STV_RequestImageData: could not write\n") ;
      return -1 ;
    } 

AGAINC:    if(( res= STV_ReceivePacket(buf, 0)) > 0) {


      if( buf[1] != REQUEST_COMPRESSED_IMAGE_DATA) {

      if( buf[1] != DISPLAY_ECHO) {
        if( buf[1] != ACK) {
          fprintf(stderr, "STV_RequestImageData: expected REQUEST_COMPRESSED_IMAGE_DATA, received %2x\n",  buf[1]) ;
        }
      }
      goto AGAINC ;
      }

      data_length= (int)buf[3] * 0x100 + (int)buf[2] ;
      
      if(( n_values= STV_DecompressData((buf+6), values, data_length, length)) < 0 ) {

      n_values= -n_values ;
      fprintf( stderr, "SEVERE ERROR on Line %d, pixel position=%d\n", j, n_values) ;
      _exit( -1) ;
      }

      if( n_values == length) {

        return n_values ;
      } else {

      fprintf( stderr, "SEVERE Error: Length not equal, Line: %d, %d != %d, data %2x %2x, values %d, %d\n", j, n_values, length, buf[ 6+ length -2], buf[ 6+ length -1], values[n_values-2], values[n_values-1]) ;
      _exit( 1) ;
      }
    } else {
      fprintf( stderr, "Error: waiting for data on the serial port at line %d\n", j) ;
      return -1 ;
    }
  } else { /* uncompressed download */

    if(( res= STV_SendPacket( REQUEST_IMAGE_DATA, data, 4))== 0) {

AGAINU:      if(( res= STV_ReceivePacket(buf, 0)) > 0) {

      if( buf[1] != REQUEST_IMAGE_DATA) {
        if( buf[1] != DISPLAY_ECHO) {
          if( buf[1] != ACK) {
            fprintf(stderr, "STV_RequestImageData: expected REQUEST_IMAGE_DATA, received %2x\n",  buf[1]) ;
          }
        }
        goto AGAINU ;
      }

      data_length= (int)buf[3] * 0x100 + (int)buf[2] ;

      for( i= 0; i < data_length ; i += 2) {

        values[i/2]= STV_RecombineInt(buf[6 + i], buf[7 + i]) ;
      }
      return      data_length/2 ;
      /*ISUpdateDisplay( buffer, j) ; */ /* Update the display of the INDI client */
      } else {
      fprintf( stderr, "Error: waiting for data on the serial port at line %d\n", j) ;
      return -1 ;
      } 
    } else {
      fprintf( stderr, "STV_RequestImageData: error writing %d\n",  res) ;
    }
  } 
  return 0 ;
}
int STV_DecompressData( unsigned char *data, int *values, int length, int expected_n_values) {

  int i, n_values ;
  int value ;
  int base ;
 
  base= STV_RecombineInt( data[0], data[1]) ; /*STV Manual says: MSB then LSB! */

  values[0]= base ;
  i= 2 ;
  n_values= 1 ;

  while( i < length ) {
   
    if( (( data[ i] & 0xc0))== 0x80) { /*two bytes, first byte: bit 7 set, 6 cleared, 14 bits data */

      if(( data[ i] & 0x20)== 0x20) { /* minus sign set? */

      value= - ((int)(( (~data[ i] & 0x1f)) * 0x100) + (((int) (~data[ i+ 1])) & 0xff))- 1 ; /* value without sign */
      } else {

      value=   (int) (( data[ i] & 0x1f) * 0x100) + (int) (data[ i + 1]) ;
      }      

      base= value + base ; /* new base value */
      values[n_values++]= base ; /*pixel data */
      i += 2 ;

    } else if((( data[ i] & 0x80))== 0) { /* one byte: bit 7 clear (7 bits data) */

      if(( data[ i] & 0x40)== 0x40) { /* minus sign set? */
      
      value= - (int) ( (~(data[ i])) & 0x3f) - 1 ; /* value without sign */
      } else {

      value=   (int) ( data[ i] & 0x3f) ;
      /*fprintf( stderr, "Value 7P: %d, pixel value: %d, length %d, pix=%d\n", value, value+ base, length, n_values) ; */
      }
      /* Sometimes the STV send a 0 at the end, thats not very likely a pixel to pixel variation */
      /* I checked the last decompressed pixel value against the last uncompressed pixel value */
      /* with different images - it seems to be ok.    */
      if(( value == 0) &&( n_values== expected_n_values)){
      /*fprintf( stderr, "Ignoring byte %d, Zero difference obtained values: %d\n", i, n_values) ; */
      } else {
      base= value + base ;
      values[n_values++]= base ; 
      }
      i++ ;
    } else if( (( data[ i] & 0xc0))== 0xc0) { /*two bytes, values= pixel_n/4  */


      /*STV_PrintBits(  data[ i], 8) ; */
      /*STV_PrintBits(  data[ i+ 1], 8) ; */


      value=  4* ((int) (( data[ i] & 0x3f) * 0x100) + (int) (data[ i + 1])) ;
      /*fprintf( stderr, "Value 14P: %d, pixel value: %d, length %d, pix=%d\n", value, value+ base, length, n_values) ; */
    
      base= value ;
      values[n_values++]= value ;
 
      i += 2 ;
      /*return -n_values ; */
    } else {

      fprintf( stderr, "Unknown compression case: %2x, length %d, i=%d\n",  data[ i], length, i) ;
      return -n_values ; /* exit */
    }
  }
  return n_values ;
}

int STV_TXDisplay(void) {

  int data[]={TRUE} ;
  return  STV_SendPacket( DISPLAY_ECHO, data, 1);
}

int STV_TerminateTXDisplay(void) {
  int res ;
  int data[]={FALSE} ;

  res= STV_SendPacket( DISPLAY_ECHO, data, 1); 

  /* Despite the manual says so, I not always see an ACK packet */
  /* So i flush it for the moment */

  tcflush(fd, TCIOFLUSH);
  return res ;
}

int STV_FileStatus(int status) {

  int data[]= {status} ;
  return STV_SendPacket( FILE_STATUS, data, 1);
}

int STV_DownloadComplete(void) {

  return STV_SendPacket( DOWNLOAD_COMPLETE, NULL, 0);
}

int STV_Download(void) {
  
  return STV_SendPacket( REQUEST_DOWNLOAD, NULL, 0) ;
}

int STV_DownloadAll(void) {
 
 return STV_SendPacket( REQUEST_DOWNLOAD_ALL, NULL, 0);
}

int STV_RequestAck(void) {
  int data[]={0x06,0x06,0x06 } ;
  /* SBIG manual says contains data, which? */
  return STV_SendPacket( REQUEST_ACK, data, 3) ;
}

int STV_BufferStatus( int buffer){

  unsigned char buf[1024];
  int buffers ;
  int res ;
  int val ;

  /*fprintf(stderr, "STV_BufferStatus entering\n") ; */
  usleep(50000) ;
  if(( res= STV_SendPacket( REQUEST_BUFFER_STATUS, NULL, 0)) < 0) {
    fprintf( stderr, "STV_BufferStatus: Error requesting buffer status: %d\n", buffer) ;
    return -1 ;
  } else {
    /*fprintf( stderr, "STV_BufferStatus %2d\n", buffer) ; */
  }
 
AGAIN: if(( res= STV_ReceivePacket( buf, 0)) < 0) { 
          fprintf( stderr, "STV_BufferStatus: Error reading: %d\n", res) ;
          return -1 ;;
       } 

  if( buf[1]== REQUEST_BUFFER_STATUS) {

    buffers= STV_RecombineInt( buf[6], buf[7]) * 0x10000 + STV_RecombineInt( buf[8], buf[9]) ;

    if(( val= STV_GetBits( buffers, buffer, 1))== 1) {

      res= 0 ; /* image present */
    } else {
      
      /*fprintf( stderr, "STV_BufferStatus %2d is empty\n", buffer) ; */
      res= 1 ; /* empty */
    }
  } else {
    /* The SBIG manual does not specify an ACK, but it is there (at least sometimes) */
    if(( val= STV_CheckAck( buf))== 0) {
      /*fprintf( stderr, "STV_BufferStatus SAW ACK, reading again\n") ; */
      goto AGAIN ;
    } 
    /* The SBIG manual does not specify the cmd in the answer */
    if( buf[1] !=  DISPLAY_ECHO) {
      fprintf( stderr, "STV_BufferStatus: unexpected cmd byte received %d\n", buf[1]) ;
      val=  STV_RecombineInt(buf[2], buf[3]) ;
      res= STV_PrintBuffer( buf, 6+ val + 2) ;
      return -1 ;
    } else {
      /* a display packet is silently ignored, there are many of this kind */
      fprintf( stderr, "STV_BufferStatus  DISPLAY_ECHO received, try again\n") ;
      return -1 ;
    }
  }
  /* fprintf(stderr, "STV_BufferStatus leaving\n") ; */
  return  res;
}
/* Low level communication */
/*  STV_ReceivePacket n_bytes read */
int STV_ReceivePacket( unsigned char *buf, int mode) {

  int i,j,k ;
  int n_bytes=0 ;
  int length=0 ;
  int res ;
  int trb=0 ;
  int pos=0 ;
  char display1[25] ;
  char display2[25] ;
 
  j= 0 ;
  tracking_buf[ 0]= 0 ;

  /*fprintf( stderr,"R") ; */

  while(pos < 6) { 

    /* Read the header first, calculate length of data */
    /* At higher speeds the data arrives in smaller chunks, assembling the packet */
    if(( trb= read( fd, (char *)(buf + pos), 1))== -1) {
      fprintf(stderr, "Error, %s\n", strerror(errno)) ;     
    }
    
    if(buf[0]== 0xa5) { 

      if( pos== 5) {

      pos++ ;
      break ;
      } else {    

      pos+= trb ; /* could be zero */
      }
    } else { 
      /* In tracking mode the STV sends raw data (time, brightnes, centroid x,y). */
      /* Under normal operation here appear pieces of a packet. This could happen */
      /* on start up or if something goes wrong. */

      tracking_buf[ j++]= buf[pos] ;
      /*fprintf(stderr, "READ: %d, read %d, pos %d,  0x%2x< %c\n", j, trb, pos, buf[pos], buf[pos]) ;  */
    }
  }


  if( j> 0) { 
    /* Sometimes the packets are corrupt, e.g. at the very beginning */
    /* Or it is tracking information */

    tracking_buf[ j]= 0 ;

    if( mode== ON) { /* Tracking mode */
    
      fprintf(stderr, "%s\n", tracking_buf) ;
    } else {

      for( k= 0 ; k< j; k++) {
      if(!( tracking_buf[ k] >29 &&  tracking_buf[ k] < 127)) {
        tracking_buf[ k]= 0x20 ; /* simply */
      }
      }
      fprintf(stderr, "Not a packet: length: %d >%s<\n", j, tracking_buf) ;
    }
  }

  n_bytes= pos ; 
      
  if(( buf[0]== 0xa5) && ( pos== 6)) { /* Check the sanity of the header part */
    if((res= STV_CheckHeaderSum( buf))== 0) {

      length= (int)buf[3] * 0x100 + (int)buf[2]; ;
    
      if( length >0) {

        trb= 0 ;
      while( pos < 6 + length + 2) { /* header, data, check sum */

        /* At higher speeds the data arrives in smaller chunks, assembling the packet */
       
        if(( trb= read(fd, (char *)(buf + pos), (6 + length + 2)- pos))== -1) {

          fprintf(stderr, "STV_ReceivePacket: Error reading at serial port, %s\n", strerror( errno)) ;      
          return -1 ;
        }
        pos += trb ;
      }
      n_bytes += pos ;
      /*fprintf(stderr, "STV_ReceivePacket: LEAVING LOOP length %d, to read %d, read %d, pos %d\n",  length, (6 + length + 2)- pos, trb, pos) ; */
      }
    } else {    

      fprintf(stderr, "STV_ReceivePacket: Header check failed\n") ;
      return -1 ;
    }
  } else if( pos >0) {
    
    for(i= 0 ; i < 6 ; i++) { 
      if( buf[i]==0xa5){
       fprintf(stderr, "STV_ReceivePacket: pos= %d, saw 0xa5 at %d\n", pos, i) ;
      }
    }
    return -1 ;
  } else {
    
    fprintf(stderr, "STV_ReceivePacket: NO 0xa5 until pos= %d\n", pos) ; 
    return -1 ;
  }

  if( length > 0) { /* Check the sanity of the data */

    if((res= STV_CheckDataSum( buf))== -1) {
      return -1 ;
    }
  }
  /* Analyse the display and retrieve the values */
  if( buf[1]== DISPLAY_ECHO) {

    for( i=0 ; i< 24; i++) {

      display1[i]= buf[i+6] ;
      if(  display1[i]== 0 ){
      display1[i]= 0x32 ;
      }
      display2[i]= buf[i+30] ;
      if(  display2[i]== 0 ){
      display2[i]= 0x32 ;
      }
    }
    display1[24]= 0 ;
    display2[24]= 0 ;
               
    /*fprintf(stderr, "STV_ReceivePacket: DISPLAY1 %s<\n", display1) ; */
    /*fprintf(stderr, "STV_ReceivePacket: DISPLAY2 %s<\n", display2) ; */

    /* CCD temperature */ 
    if(( res= strncmp( "CCD Temp.", display2, 9)) ==0) {
      float t ;
      res= sscanf( display2, "CCD Temp.          %f", &t) ;
      di.ccd_temperature= (double) t;
      /*fprintf(stderr, "STV_ReceivePacket: Read from DISPLAY2 %g<\n", di.ccd_temperature ) ; */
    }/* further values can be stored here */
  } 
  return n_bytes ;
}


int STV_CheckHeaderSum( unsigned char *buf) {
 
  int sum   =  buf[0] + buf[1] + buf[2] + buf[3] ; /* Calculated header sum */
  int sumbuf=  STV_RecombineInt( buf[4],buf[5]) ;  /* STV packet header sum */

  if(buf[0] != 0xa5) {

    fprintf(stderr, "STV_CheckHeaderSum:  Wrong start byte, skipping\n") ;
    return -1 ;
  }

  if( sum != sumbuf) {

    fprintf(stderr, "STV_CheckHeaderSum: NOK: %d==%d\n", sum, sumbuf ) ;
    return -1 ;
  }
  return 0 ;
}

int STV_CheckDataSum( unsigned char *buf) {
  /* *buf points to the beginning of the packet */

  int j, n ; 
  int sum= 0 ;
  int sumbuf=0  ;

  n= STV_RecombineInt( buf[2], buf[3]) ;

  if( n== 0) {
    fprintf(stderr, "STV_CheckDataSum: No data present\n") ;
    return 0 ;    
  }
  sumbuf=  STV_RecombineInt( buf[6 + n], buf[6 + n +1]) ;

  for( j=0; j < n ; j++) {

    sum += (int)buf[6 + j] ;
  }
  sum= sum & 0xffff ; 
 
  if( sum != sumbuf)  {

   fprintf(stderr, "DATA SUM NOK: %d !=%d\n",  sum, sumbuf) ;
   return -1 ;
  }
  return 0 ;
}

int STV_PrintBuffer( unsigned char *buf, int n ) {
  /* For debugging purposes only */
  int i ;

  fprintf(stderr, "\nHEADER: %d bytes ", n) ;
  for(i=0; i < n; i++) {

    if( i==6) {
      fprintf(stderr, "\nDATA  : ") ;
    }
    fprintf(stderr, "%d:0x%2x<>%c<  >>", i, (unsigned char)buf[i], (unsigned char)buf[i]) ;
    /*STV_PrintBits((unsigned int) buf[i], 8) ; */
  }
  fprintf(stderr, "\n") ;

  return 0 ;
}
int STV_PrintBufferAsText( unsigned char *buf, int n ) {
  /* For debugging purposes only */
  int i ;

  fprintf(stderr, "\nHEADER: %d bytes ", n) ;
  for(i=0; i < n; i++) {

    if( i==6) {
      fprintf(stderr, "\nDATA  : ") ;
    }
    fprintf(stderr, "%c", (unsigned char)buf[i]) ;
  }
  fprintf(stderr, "\n") ;

  return 0 ;
}
/* Aggregates a STV command packet */

int STV_SendPacket( int cmd, int *data, int n) {

  char buf[1024];
 
  int j,l ; 
  int res ;
  int sum ; /* check sum */

  /* Header section */
  buf[0] = (unsigned char) 0xa5;    /* start byte */
  buf[1] = (unsigned char) cmd;             /* command byte */
  buf[2] = (unsigned char) 2 * n;   /* data length N (low byte) */
  buf[3] = (unsigned char) 0x00;    /* data length N (high byte) */

  sum = buf[0] + buf[1] + buf[2] + buf[3]; /* header checksum */
  buf[4] = (unsigned char) sum % 0x100;    /* header checksum low byte */
  buf[5] = (unsigned char) (sum / 0x100);  /* header checksum high byte */

  /* DATA section */
  l= 0 ;
  if( n > 0) {

    l= 2 ; /* Two bytes per value are sent to STV */
    for( j=0; j < 2 * n ; j += 2) {
      buf[6+ j] = (unsigned char) (data[j/2] % 0x100); /* data low byte */
      buf[7+ j] = (unsigned char) (data[j/2] / 0x100); /* data high byte */
    }

    sum = 0 ;
    for( j=0; j < 2 * n ; j++) {

      if((int)buf[6+ j] < 0 ) {

      sum = sum + 0xff+ (int)buf[6+ j] + 1 ;

      } else {
      
      sum = sum + (int)buf[6+ j] ;
      }  
    }
    buf[6 + 2 * n ] = (unsigned char) (sum  % 0x10000) ;   /* data checksum (low byte) */
    buf[7 + 2 * n ] = (unsigned char) (sum  / 0x100) ;     /* data checksum (high byte) */
  }
  if(( res= STV_CheckHeaderSum( (unsigned char *) buf)) != 0) { /* Check outgoing packet as well */
    
    fprintf(stderr, "STV_SendPacket: corrupt header\n") ;

    if(n > 0) { 
      if(( res= STV_CheckDataSum( (unsigned char *) buf)) != 0) {
      fprintf(stderr, "STV_SendPacket: corrupt data\n") ;
      }
    }
  }
  return STV_portWrite( buf, 8 + l * n ) ;
}

/* Returns 0 or -1 in case of an error */

int STV_portWrite( char *buf, int nbytes){

  int bytesWritten = 0;   

  /*fprintf( stderr,"w") ; */
  while (nbytes > 0) {
    
    if((bytesWritten = write(fd, buf, nbytes)) == -1) {
      fprintf(stderr, "STV_portWrite: Error writing at serial port, %s\n", strerror( errno)) ;
      /* return -1 ; */
    }

    if (bytesWritten < 0) {

      fprintf( stderr, "STV_portWrite: Error writing\n") ;
      return -1;
    } else {

      buf += bytesWritten;
      nbytes -= bytesWritten;
    }
  }
  return nbytes ;
}

int STV_CheckAck( unsigned char *buf) {
  /* Watch out for an ACK, for debugging purposes only */
  int i ;
  unsigned char ackseq[]= {0xa5, 0x06, 0x00, 0x00, 0xab, 0x00} ;

  for(i= 0; i < 6; i++ ) {

    if( buf[i] != ackseq[i] ) {
      return -1 ;
    }
  }
  return 0 ;
}

unsigned int STV_RecombineInt( unsigned char low_byte, unsigned char high_byte) {

  return (unsigned int) high_byte * (unsigned int)0x100 + (unsigned int)low_byte ;
}

unsigned int STV_GetBits( unsigned int x, int p, int n){ /* from the C book */
 
  return ( x >> (p+ 1-n)) & ~(~0 << n) ;
}

void STV_PrintBits( unsigned int x, int n) {
  /* debugging purposes only */
  int i ;
  int res ;
  fprintf( stderr, "STV_PrintBits:\n") ;

  if( n> 8) {

    fprintf( stderr, "54321098 76543210\n") ;

  } else {
    fprintf( stderr, "76543210\n") ;
  }

  for( i= n; i >0 ; i--) {

    if(( i==8) && (n> 8)) {
      fprintf( stderr, " ") ;
    }
    if(( res=STV_GetBits( x, i-1, 1))==0) {
      fprintf( stderr, "0") ; 
    } else {
       fprintf( stderr, "1") ; 
    }
  }
  fprintf( stderr, "\n") ;
}

double STV_SetCCDTemperature( double set_value) {

  int i ;
  int res ;
  int delay= 40000 ;
  unsigned char buf[1024] ;
  /* 1st step */
  res= STV_Interrupt() ; /* Reset Display */
  tcflush(fd, TCIOFLUSH);
  usleep( 100000) ;
  
  STV_MenueCCDTemperature( delay) ;
 
  for( i=0 ; i< 100  ; i++) { /* Change to the highest temperature */
    res= STV_LRRotaryIncrease() ;
    tcflush(fd, TCIOFLUSH);
    usleep( delay) ;
  }

  di.ccd_temperature= 25.2 ; /* The actual value is set in STV_ReceivePacket, needed to enter the while() loop */
  i= 0 ;
  while( set_value < di.ccd_temperature) {

    /*fprintf( stderr, "STV_SetCCDTemperature %g %g\n", set_value, di.ccd_temperature) ; */
    res= STV_LRRotaryDecrease() ; /* Lower CCD temperature */
    /*fprintf(stderr, ":") ; */
    usleep( 10000) ; 
    res= STV_TerminateTXDisplay();
    usleep( 10000) ; 
    res= STV_TXDisplay(); /* That's the trick, STV sends at least one display */
    res= STV_ReceivePacket( buf, 0) ; /* discard it */
    
    /*STV_PrintBufferAsText( buf, res) ; */
    if(( res != 62) || ( i++ > 100)) { /* why 56 + 6?, 6 + 48 + 6 */
      STV_PrintBuffer( buf, res) ;
      /*STV_PrintBufferAsText( buf, res) ; */
      return 0.0 ;
    }
  }
  res= STV_Interrupt() ;

  return di.ccd_temperature ;
}

int STV_MenueCCDTemperature( int delay) {

  int res ;

  res= STV_MenueSetup( delay) ;
  usleep( delay) ;
  res= STV_UDRotaryIncrease() ; /* Change to CCD Temperature */
  /*usleep( delay) ; */
  tcflush(fd, TCIOFLUSH);
  return 0 ;
}

#ifdef HAVE_NOVA_H
int STV_SetDateTime( char *times) 
{
  int i ;
  int res ;
  int turn ;
  struct ln_date utm;
  int delay= 20000 ;
  /*fprintf(stderr, "STV_SetTime\n") ; */
  
  if((times== NULL) || (( res= strlen(times))==0)) 
      ln_get_date_from_sys(&utm);
  else
   {
      if( extractISOTime( times, &utm) < 0) 
      {
            fprintf( stderr, "Bad time string %s\n", times) ;
                  return -1 ;
      }
   }
  /* Print out the date and time in the standard format. */
  /*fprintf( stderr, "TIME %s\n", asctime (utc)) ; */

  /* 1st step */
  res= STV_Interrupt() ; /* Reset Display */
  usleep( delay) ;
  tcflush(fd, TCIOFLUSH);

  res= STV_MenueDateTime( delay) ;
  usleep( delay) ;
  res= STV_MenueDateTime( delay) ; /* This not an error */
  usleep( delay) ;

  for( i=0 ; i< 13  ; i++) { /* Reset Month menu to the lef most position */
    res= STV_LRRotaryDecrease() ; 
    usleep( delay) ;
  }

  for( i=0 ; i< utm.months  ; i++) { /* Set Month menu */
    res= STV_LRRotaryIncrease() ; 
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  res=  STV_AKey() ; /* Press the Parameter button */
  usleep( delay) ;
  tcflush(fd, TCIOFLUSH);

  for( i=0 ; i< 32 ; i++) { /* Reset Day menu to the lef most position */
    res= STV_LRRotaryDecrease() ; 
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }

  for( i= 0; i< utm.days-1  ; i++) { /* Set Day menu -1? */
    res= STV_LRRotaryIncrease() ; 
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  res=  STV_AKey() ; /* Press the Parameter button */
  usleep( delay) ;
  tcflush(fd, TCIOFLUSH);

  for( i=0 ; i< 128  ; i++) { /* Reset Year menu to the lef most position, ATTENTION */
    res= STV_LRRotaryDecrease() ; 
    
    usleep( delay) ; /* sleep a 1/100 second */
    tcflush(fd, TCIOFLUSH);
  }
 
  /* JM: Is this how you want not? Please verify the code! */
  int ymenu = utm.years % 100;

  for( i=0 ; i< ymenu  ; i++) { /* Set Year menu */
    res= STV_LRRotaryIncrease() ;   
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  res=  STV_AKey() ; /* Press the Parameter button */
  usleep( delay) ;
 tcflush(fd, TCIOFLUSH);

  for( i=0 ; i< 25  ; i++) { /* Reset Hour menu to the lef most position, ATTENTION */
    res= STV_LRRotaryDecrease() ; 
    usleep( delay) ; 
    tcflush(fd, TCIOFLUSH);
  }
  for( i=0 ; i< utm.hours ; i++) { /* Set Hour menu */
    res= STV_LRRotaryIncrease() ; 
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  res=  STV_AKey() ; /* Press the Parameter button */
  usleep( delay) ;
  tcflush(fd, TCIOFLUSH);

  for( i=0 ; i< 61  ; i++) { /* Reset Minute menu to the lef most position, ATTENTION */
    res= STV_LRRotaryDecrease() ; 
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  for( i=0 ; i< utm.minutes  ; i++) { /* Set Minute menu */
    res= STV_LRRotaryIncrease() ; 
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  res=  STV_AKey() ; /* Press the Parameter button */
  tcflush(fd, TCIOFLUSH); 
  for( i=0 ; i< 5  ; i++) { /* Reset Seconds menu to the lef most position, ATTENTION */
    res= STV_LRRotaryDecrease() ; 
    usleep( delay) ; 
    tcflush(fd, TCIOFLUSH);
  }

  if ( utm.seconds < 15) {
    turn= 0 ;
  } else if ( utm.seconds < 30) {
    turn= 1 ;
  } else if ( utm.seconds < 45) {
    turn= 2 ;
  } else {
    turn= 3 ;
  }

  for( i=0 ; i< turn  ; i++) { /* Set Seconds menu, steps of 15 seconds */
    res= STV_LRRotaryIncrease() ;
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  res=  STV_AKey() ; /* Press the Parameter button */
  usleep( delay) ;
  tcflush(fd, TCIOFLUSH);

  res=  STV_BKey() ; /* Press the Parameter button */
  usleep( delay) ;
 tcflush(fd, TCIOFLUSH);
  res= STV_Interrupt() ;
  return 0 ;
}
#endif

int STV_MenueDateTime( int delay) {

  int i ;
  int res ;

  res= STV_MenueSetup( delay) ;
  usleep( delay) ;
  res=  STV_BKey() ; /* Press the Value button */
  usleep( delay) ;

  for( i=0 ; i< 8  ; i++) { /* Reset Date menu to the lef most position */
 
   res= STV_UDRotaryDecrease() ; 
   usleep( delay) ;
   tcflush(fd, TCIOFLUSH);
  }
  return 0 ;
}

int STV_MenueSetup( int delay) {

  int i ;
  int res ;

  res= STV_Setup() ;    /* Change to Setup */
  usleep( delay) ;
  
  for( i=0 ; i< 16  ; i++) { /* Reset Setup menu to the lef most position */
    res= STV_UDRotaryDecrease() ;
    usleep( delay) ;
    tcflush(fd, TCIOFLUSH);
  }
  return 0 ;
}

int STV_Connect( char *device, int baud) {


  /*fprintf( stderr, "STV_Connect\n") ; */
  if(( fd= init_serial( device, baud, 8, 0, 1))== -1) {
    fprintf(stderr, "Error on port %s, %s\n", device, strerror(errno)) ;      
    return -1 ;
  }

  return fd ;
}

/******************************************************************************
 * shutdown_serial(..)
 ******************************************************************************
 * Restores terminal settings of open serial port device and close the file.
 * Arguments:
 *   fd: file descriptor of open serial port device.
 *****************************************************************************/
void
shutdown_serial(int fd)
{
  if (fd > 0) {
    if (tcsetattr(fd, TCSANOW, &orig_tty_setting) < 0) {
      perror("shutdown_serial: can't restore serial device's terminal settings.");
    }
    close(fd);
  }
}
/******************************************************************************
 * init_serial(..)
 ******************************************************************************
 * Opens and initializes a serial device and returns it's file descriptor.
 * Arguments:
 *   device_name : device name string of the device to open (/dev/ttyS0, ...)
 *   bit_rate    : bit rate
 *   word_size   : number of data bits, 7 or 8, USE 8 DATA BITS with modbus
 *   parity      : 0=no parity, 1=parity EVEN, 2=parity ODD
 *   stop_bits   : number of stop bits : 1 or 2
 * Return:
 *   file descriptor  of successfully opened serial device
 *   or -1 in case of error.
 *****************************************************************************/
int
init_serial(char *device_name, int bit_rate, int word_size,
            int parity, int stop_bits)
{
  int fd;
  char *msg;

  /* open serial device */
  fd = open(device_name, O_RDWR | O_NOCTTY);
  if (fd < 0) {
    if (asprintf(&msg, "init_serial: open %s failed", device_name) < 0)
      perror(NULL);
    else
      perror(msg);

    return -1;
  }

  /* save current tty settings */
  if (tcgetattr(fd, &orig_tty_setting) < 0) {
    perror("init_serial: can't get terminal parameters.");
    return -1;
  }


  /* Control Modes */
  /* Set bps rate */
  int bps;
  switch (bit_rate) {
    case 0:
      bps = B0;
      break;
    case 50:
      bps = B50;
      break;
    case 75:
      bps = B75;
      break;
    case 110:
      bps = B110;
      break;
    case 134:
      bps = B134;
      break;
    case 150:
      bps = B150;
      break;
    case 200:
      bps = B200;
      break;
    case 300:
      bps = B300;
      break;
    case 600:
      bps = B600;
      break;
    case 1200:
      bps = B1200;
      break;
    case 1800:
      bps = B1800;
      break;
    case 2400:
      bps = B2400;
      break;
    case 4800:
      bps = B4800;
      break;
    case 9600:
      bps = B9600;
      break;
    case 19200:
      bps = B19200;
      break;
    case 38400:
      bps = B38400;
      break;
    case 57600:
      bps = B57600;
      break;
    case 115200:
      bps = B115200;
      break;
    case 230400:
      bps = B230400;
      break;
    default:
      if (asprintf(&msg, "init_serial: %d is not a valid bit rate.", bit_rate) < 0)
        perror(NULL);
      else
        perror(msg);
      return -1;
  }
  if ((cfsetispeed(&tty_setting, bps) < 0) ||
      (cfsetospeed(&tty_setting, bps) < 0))
  {
    perror("init_serial: failed setting bit rate.");
    return -1;
  }

  /* Control Modes */
  /* set no flow control word size, parity and stop bits. */
  /* Also don't hangup automatically and ignore modem status. */
  /* Finally enable receiving characters. */
  tty_setting.c_cflag &= ~(CSIZE | CSTOPB | PARENB | PARODD | HUPCL | CRTSCTS);
  /*  #ifdef CBAUDEX */
  /*tty_setting.c_cflag &= ~(CBAUDEX); */
  /*#endif */
  /*#ifdef CBAUDEXT */
  /*tty_setting.c_cflag &= ~(CBAUDEXT); */
  /*#endif */
  tty_setting.c_cflag |= (CLOCAL | CREAD);

  /* word size */
  switch (word_size) {
    case 5:
      tty_setting.c_cflag |= CS5;
      break;
    case 6:
      tty_setting.c_cflag |= CS6;
      break;
    case 7:
      tty_setting.c_cflag |= CS7;
      break;
    case 8:
      tty_setting.c_cflag |= CS8;
      break;
    default:

      fprintf( stderr, "Default\n") ;
      if (asprintf(&msg,
                   "init_serial: %d is not a valid data bit count.",
                    word_size) < 0)
        perror(NULL);
      else
        perror(msg);

      return -1;
  }

  /* parity */
  switch (parity) {
    case PARITY_NONE:
      break;
    case PARITY_EVEN:
      tty_setting.c_cflag |= PARENB;
      break;
    case PARITY_ODD:
      tty_setting.c_cflag |= PARENB | PARODD;
      break;
    default:

   fprintf( stderr, "Default1\n") ;
      if (asprintf(&msg,
                   "init_serial: %d is not a valid parity selection value.",
                    parity) < 0)
        perror(NULL);
      else
        perror(msg);

      return -1;
  }

  /* stop_bits */
  switch (stop_bits) {
    case 1:
      break;
    case 2:
      tty_setting.c_cflag |= CSTOPB;
      break;
    default:
   fprintf( stderr, "Default2\n") ;
      if (asprintf(&msg,
                   "init_serial: %d is not a valid stop bit count.",
                    stop_bits) < 0)
        perror(NULL);
      else
        perror(msg);

      return -1;
  }
  /* Control Modes complete */

  /* Ignore bytes with parity errors and make terminal raw and dumb. */
  tty_setting.c_iflag &= ~(PARMRK | ISTRIP | IGNCR | ICRNL | INLCR | IXOFF | IXON | IXANY);
  tty_setting.c_iflag |= INPCK | IGNPAR | IGNBRK;

  /* Raw output. */
  tty_setting.c_oflag &= ~(OPOST | ONLCR);

  /* Local Modes */
  /* Don't echo characters. Don't generate signals. */
  /* Don't process any characters. */
  tty_setting.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG | IEXTEN | NOFLSH | TOSTOP);
  tty_setting.c_lflag |=  NOFLSH;

  /* blocking read until 1 char arrives */
  tty_setting.c_cc[VMIN]  = 1;
  tty_setting.c_cc[VTIME] = 0;

  /* now clear input and output buffers and activate the new terminal settings */
  tcflush(fd, TCIOFLUSH);
  if (tcsetattr(fd, TCSANOW, &tty_setting)) {
    perror("init_serial: failed setting attributes on serial port.");
    shutdown_serial(fd);
    return -1;
  }
  return fd;
}

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