#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <termios.h>
#include <math.h>
//#include "linux_arb_usb.h"
#define HANDLE int

char*	checkerror(int error_num){
	switch(error_num){
	case EAGAIN: return "EAGAIN";
	case EBADF: return "EBADF";
	case EFAULT: return "EFAULT";
	case EINTR: return "EINTR";
	case EINVAL: return "EINVAL";
	case EIO: return "EIO";
	case EISDIR: return "EISDIR";
	default: return "Unknown error";
	}
}
	


long int Read_ARB_USB(HANDLE hCom,unsigned long arb_addr,int *data){
	unsigned char message[6];
	int num_bytes_read;
	int num_bytes_written;
	int total_bytes_read=0;
	int timeout;
	int A;
	message[0] = 3<<6 | ((arb_addr >> 14) & 0x3f);
	message[1] = 1<<6 | ((arb_addr >> 8) & 0x3f);
	message[2] = 2<<6 | ((arb_addr >> 2) & 0x3f);
	message[3] = 2<<6 | ((arb_addr << 4) & 0x30);
	message[4] = 0;
	message[5] = 0;
	num_bytes_written = (int)write(hCom,message,4);

	timeout = 10000;
	while((0 >= (num_bytes_read = 
		(int)read(hCom,message + 4,1))) 
		&& (timeout-- > 0));
	if(num_bytes_read == -1) printf("D0 Errno: %s\n",
		checkerror(errno));
	if(timeout == 0) printf("D0 timeout\n");
	if(num_bytes_read == 1) total_bytes_read++;

	timeout = 10000;
	while((0 >= (num_bytes_read = 
		(int)read(hCom,message + 5,1)))
		&& (timeout-- > 0));
	if(num_bytes_read == -1) printf("D1 Errno: %s\n",
		checkerror(errno));
	if(timeout == 0) printf("D1 timeout\n");
	if(num_bytes_read == 1) total_bytes_read++;

	*data = ((message[4] & 0xff) << 8) | (message[5] & 0xff);
	if(total_bytes_read == 2){
		return ((message[4] & 0xff) << 8) | (message[5] & 0xff);
	} else {
		write(hCom,"\0\0\0",2);
		return -(total_bytes_read+1);
	}
	
}  
void Write_ARB_USB(HANDLE hCom,unsigned long int arb_addr,
		unsigned int arb_data){ 
	unsigned char message[6];
	int A;
	int num_bytes_written;
	message[0] = 3<<6 | ((arb_addr >> 14) & 0x3f);
	message[1] = 2<<6 | ((arb_addr >> 8) & 0x3f);
	message[2] = 2<<6 | ((arb_addr >> 2) & 0x3f);
	message[3] = 2<<6 | ((arb_addr << 4) & 0x30) 
		| ((arb_data >> 12) & 0xf);
	message[4] = 2<<6 | ((arb_data >> 6) & 0x3f);
	message[5] = 2<<6 | ((arb_data << 0) & 0x3f);
	
	num_bytes_written = (int)write(hCom,message,6);
	if(num_bytes_written == -1) printf("Errno: %d\n",errno);
	//printf("Wrote %d\n",/*A*/num_bytes_written);
	return;
}

int open_usb_port(const char* name){
	int port;
	struct termios termios_p;
 	port = open(name,
		O_RDWR | O_NOCTTY | O_NDELAY);
	if(port == -1) return -1;
 	tcgetattr(port, &termios_p);
 	termios_p.c_cflag = B115200;
   	termios_p.c_cflag |= CS8;
  	termios_p.c_cflag |= CREAD;
 	termios_p.c_cflag |= CLOCAL;
   	termios_p.c_oflag = 0;
  	termios_p.c_lflag = 0;
  	termios_p.c_cc[VTIME] = 0;
  	termios_p.c_cc[VMIN] = 1;
  	tcsetattr(port, TCSANOW, &termios_p);
 	tcflush(port, TCOFLUSH);  
    tcflush(port, TCIFLUSH);
	return port;
}

void close_usb_port(HANDLE port){
	close(port);
}