DAINCUBE DTP10-L User manual

The Embedded-based Teach Pendant optimized for industrial robots.
DTP10-L
API Manual
DAINCUBE Corp.
ARM Cortex-A9 Linux system
FORM 140108F –2018.01.11
DTP10-L API manual
Form 140108F-171206—January, 2018
DAINCUBE Corp.
Web: www.daincube.com
E-mail: [e-mail]
Tel: [phone]~4
Fax: [phone]
#401-701, Bucheon TechnoPark 4-Danji,
655 Pyeongcheon-ro, Wonmi-gu, Bucheon-Si,
Gyeonggi-Do, Republic of Korea
Copyright © 2005–2018 Daincube
All rights reserved.
Printed in the Republic of Korea

Preface
Copyright notice
Copyright © 2005–2018 Daincube. All rights reserved.
Copying of this document, and giving it to others and the use or communication of the Contents thereof, is
forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or design.
Important information
This documentation is intended for qualified audience only. The product described herein is not an end user
product. It was developed and manufactured for further processing by trained personnel.
Disclaimer
Although this document has been generated with the utmost care no warranty or liability for correctness or
suitability for any particular purpose is implied. The information in this document is provided “as is” and is
subject to change without notice.
Trademarks
All used product names, logos or trademarks are property of their respective owners.
Product support
DAINCUBE Corp.
Web: www.daincube.com
E - MAIL: sa[email protected]om
Safety precautions
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all definitions
of these terms and related symbols given below, before you proceed to the manual.
Safety precautions
The following symbols may be used in this specification:
⚠Warning:
Warnings indicate conditions that, if not observed, can cause personal injury.
⚠Caution :
Cautions warn the user about how to prevent damage to hardware or loss of data.
✏Note:
Notes call attention to important information that should be observed.

Revision history
Revision
Data
Comment
Version 0.1
(Preliminary)
2018.01.11
Preliminary version

Contents
1. Introduction .................................................................................................................5
2. How to use Serial Daemon.........................................................................................5
2.1. COM port open ........................................................................................................................5
2.2. Write to serial port ..................................................................................................................6
2.3. Read from serial port and write ring buffer .............................................................................7
3. Defines of ETC values..................................................................................................8
3.1. Description ..............................................................................................................................8
4. How to control ETC driver ..........................................................................................8
4.1. Example using LED..................................................................................................................8
4.2. Examples using Buzzer ............................................................................................................9
4.3. Examples using Keypad.........................................................................................................10
4.4. Examples using event filter....................................................................................................12

1. Introduction
Thank you very much for purchasing our products.
This document describes an example program for controlling Key, LED and Buzzer on DTP10-L.
If you will control Key, LED and Buzzer, you need to develop serial communication program. However, if it is
difficult to develop serial communication program, refer to the event filter function in this document. (Event
filter function can only control LED and Buzzer.) This program is only sample program. So, you must to
modify it for your application.
2. How to use Serial Daemon
2.1.COM port open
Key, LED and Buzzer use ttyACM0 COM port on DTP10-L. Therefore ttyACM0 port must be opened and
function used are as follows.
fd= open ( SERPORT, 0_RDWR | O_NOCTTY);
if( fd < 0 ) {
// Serial Port Open Fail
} else {
// Serial Port Open Success
}
If the serial port is successfully opened, set additional settings for serial communication.
Example )
/*
* Function name : Serial_Port_Open
* Description : Open serial port (ttyACM0) and initialize of serial port.
*/
void Serial_Daemon::Serial_Port_Open()
{
struct termios newtio;
/* Serial port open */
fd = open( SERPORT, O_RDWR | O_NOCTTY);
if ( fd < 0 )
{
/* Serial port open fail */
g_com_flag = 0;
ui->Btn_Open->setText("OPEN");
ui->Btn_Open->setEnabled(1);
return;
}
else
{
/* Serial port init */
memset(&newtio, 0, sizeof(newtio));
newtio.c_iflag = IGNPAR; // non-parity
newtio.c_oflag = 0;
newtio.c_cflag = CS8 | CLOCAL | CREAD | BAUD_RATE; // NO-RTS/CTS
/* Set input mode (non-canonical, no echo,.....) */
newtio.c_lflag = 0;
newtio.c_cc[VTIME] = TIME;
newtio.c_cc[VMIN] = MIN;

/* Flush the input and output */
tcflush ( fd, TCIOFLUSH );
/* Set the new options for the port */
tcsetattr( fd, TCSANOW, &newtio );
notRsRead = new QSocketNotifier(fd, QSocketNotifier::Read, this);
connect(notRsRead, SIGNAL(activated(int)), this, SLOT(Receive_Event()));
ui->Btn_Open->setEnabled(1);
/* Ring buffer create */
m_abyBuffer.Create(BUFF_MAX);
Open_uinput_port();
}
}
2.2.Write packet to serial port
The method of writing packet to serial port is as follows. Transmit serial packet through the write function.
Example )
/*
* Function name : on_Btn_LED1_clicked
* Description : This function is control Right LED 1.
*/
void Serial_Daemon::on_Btn_LED1_clicked()
{
char LED_Packet[10] = {0, };
unsigned int crc_buf;
unsigned long dwBytes = 0;
static char i = 0;
LED_Packet[0] = STX; // STX
LED_Packet[1] = MOD_SET; // MOD (get : 0x10, set : 0x11)
LED_Packet[2] = SEL_LED; // SEL (LED : 0x3A)
LED_Packet[3] = RIGHT_LED1; // Data1 (SUB ADDRESS)
if ( i == 3 )
LED_Packet[4] = LED_OFF; // Data2 (off : 0x30, blue : 0x31, red : 0x32, all :
0x33)
else
LED_Packet[4] = LED_BLUE + i;
LED_Packet[5] = DATA_RESERVED; // Data3 (Reserved : 0x20)
crc_buf = crc16_append(LED_Packet,6);
LED_Packet[6] = (char)(crc_buf>>8)&0xff;
LED_Packet[7] = (char)crc_buf&0xff;
LED_Packet[8] = ETX; // ETX
LED_Packet[9] = '\0';
dwBytes = strlen(LED_Packet);
write( fd, LED_Packet, dwBytes );
usleep(1000);
switch (i) {
case 0 :
ui->Btn_LED1->setText("BLUE");
i++;
break;
case 1 :
ui->Btn_LED1->setText("RED");
i++;

break;
case 2 :
ui->Btn_LED1->setText("ALL");
i++;
break;
case 3 :
ui->Btn_LED1->setText("OFF");
i = 0;
break;
}
}
2.3.Read from serial port and write ring buffer
Read to serial packet and fill in the ring buffer.
/*
* Function name : Receive_Event
* Description : This function takes packet and stacks it in the ring buffer.
*/
void Serial_Daemon::Receive_Event()
{
char Receive_Packet[BUFF_MAX];
int temp;
memset(Receive_Packet,0,sizeof(Receive_Packet));
read(fd, Receive_Packet, BUFF_MAX);
m_abyBuffer.WriteBinary(Receive_Packet, BUFF_SIZE); //write ring buffer
if(m_abyBuffer.FindChar(STX, temp)){
if(temp == 10){
return;
}
mThreadKEY->start();
}
}

3. Defines of ETC values
3.1.Description
4. How to control ETC driver
4.1.Example using LED
Control the LED of DTP10-L by using serial daemon program provided by Daincube.
-Serial COM port open
-Packet buffer create.
-CRC create and fill in the packet buffer
-Transmit serial packet
-Serial COM port close
You can control LED of DTP10-L by transmit serial packet as below.
STX
MOD
SEL
DATA1
DATA2
DATA3
CRC_H
CRC_L
ETX
0x02
0x11
0x3A
0x63
0x33
0x20
0xXX
0xXX
0x03
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
MOD : MOD_GET = 0x10, MOD_SET = 0x11
SEL : SEL_LED = 0x3A
DATA1 : RIGHT_LED1 = 0x63, RIGHT_LED2 = 0x62, RIGHT_LED3 = 0x61
DATA2 : LED_OFF = 0x30, LED_BLUE = 0x31, LED_RED = 0x32, LED_ALL_ON = 0x33
DATA3 : DATA_RESERVED = 0x20
/*
* Function name : LED_Set
* Descripition : This function is control of LED and each led has its own value.
* If you control LED, using this function.
*/
void Serial_Daemon::LED_Set(char sel, char data)

{
char LED_Packet[10] = {0, };
unsigned int crc_buf;
unsigned long dwBytes = 0;
LED_Packet[0] = STX; // STX
LED_Packet[1] = MOD_SET; // MOD (get : 0x10, set : 0x11)
LED_Packet[2] = SEL_LED; // SEL (LED : 0x3A)
LED_Packet[5] = DATA_RESERVED; // Data3 (Reserved : 0x20)
LED_Packet[8] = ETX; // ETX
LED_Packet[9] = '\0';
switch(sel) {
case RIGHT_LED1:
LED_Packet[3] = RIGHT_LED1;
break;
case RIGHT_LED2:
LED_Packet[3] = RIGHT_LED2;
break;
case RIGHT_LED3:
LED_Packet[3] = RIGHT_LED3;
break;
case LED_ALL:
LED_Packet[3] = LED_ALL;
}
if (data & 0x1) { // Blue color
LED_Packet[4] = LED_BLUE;
} else if (data & 0x2) { // Red color
LED_Packet[4] = LED_RED;
} else if (data & 0x4) { // All color
LED_Packet[4] = LED_ALL_ON;
} else { // LED Off
LED_Packet[4] = LED_OFF;
}
crc_buf = crc16_append(LED_Packet,6);
LED_Packet[6] = (char)(crc_buf>>8)&0xff;
LED_Packet[7] = (char)crc_buf&0xff;
dwBytes = strlen(LED_Packet);
write( fd, LED_Packet, dwBytes );
usleep(1000);
}
4.2.Examples using Buzzer
Control the Buzzer of DTP10-L by using serial daemon program provided by Daincube.
-Serial COM port open
-Packet buffer create.
-CRC create and fill in the packet buffer
-Transmit serial packet
-Serial COM port close
You can control Buzzer of DTP10-L by transmit serial packet as below.
STX
MOD
SEL
DATA1
DATA2
DATA3
CRC_H
CRC_L
ETX
0x02
0x11
0x3B
0x31
0x20
0x20
0xXX
0xXX
0x03

1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
MOD : MOD_GET = 0x10, MOD_SET = 0x11
SEL : SEL_BUZZ = 0x3B
DATA1 : BUZZ_OFF = 0x30, BUZZ_ON = 0x31
DATA2 : 0x20 = DATA_RESERVED
DATA3 : 0x20 = DATA_RESERVED
/*
* Function name : BUZ_Set
* Description : This function is control of Buzzer and Buzzer on,off has its own value.
* If you control Buzzer, using this function.
*/
void Serial_Daemon::BUZ_Set(char data)
{
char buf_printf[10] = {0, };
unsigned int crc_buf;
unsigned long dwBytes = 0;
buf_printf[0] = STX; // STX
buf_printf[1] = MOD_SET; // MOD (get : 0x10, set : 0x11)
buf_printf[2] = SEL_BUZZ; // SEL (BUZZ : 0x3B)
if ( data == BUZZ_ON )
buf_printf[3] = BUZZ_ON; // Data1 (on : 0x31, off : 0x30)
else if ( data == BUZZ_OFF )
buf_printf[3] = BUZZ_OFF;
buf_printf[4] = DATA_RESERVED; // Data2 (Reserved : 0x20)
buf_printf[5] = DATA_RESERVED; // Data3 (Reserved : 0x20)
crc_buf = crc16_append(buf_printf,6);
buf_printf[6] = (char)(crc_buf>>8)&0xff;
buf_printf[7] = (char)crc_buf&0xff;
buf_printf[8] = ETX; // ETX
buf_printf[9] = '\0';
dwBytes = strlen(buf_printf);
write( fd, buf_printf, dwBytes );
usleep(1000);
}
4.3.Examples using Keypad
Receive keypad event of DTP10-L by using serial daemon program provided by Daincube.
-Serial COM port open
-Packet buffer create.
-CRC create and fill in the packet buffer
-Receive serial packet
-Receive packet check and parsing
-Serial COM port close
You can check the keypad status of DTP10-L by transmit/receive serial packet as below.
STX
MOD
SEL
DATA1
DATA2
DATA3
CRC_H
CRC_L
ETX
0x02
0x10
0x3D
0x30
0x33
0x30
0xXX
0xXX
0x03
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
1BYTE
MOD : MOD_GET = 0x10
SEL : SEL_KEYPAD = 0x3D

DATA1 : KEYPAD_UP = 0x30, KEYPAD_DOWN = 0x31
DATA2 : KEY_A = 30, KEY_B = 48, KEY_C = 46, KEY_D = 32, KEY_E = 18, KEY_F = 33, KEY_G = 34,
KEY_H = 35, KEY_I = 23, KEY_J = 36, KEY_K = 37, KEY_L = 38, KEY_M = 50, KEY_N = 49,
KEY_O = 24, KEY_P = 25, KEY_F1 = 59, KEY_F2 = 60, KEY_F10 = 68, KEY_F11 = 87
DATA3 : DATA_RESERVED = 0x20
/*
* Function name : OperThread
* Description : This function is a parsing packets in ring buffer.
*/
void Serial_Daemon::OperThread()
{
int ptr_start, ptr_end;
unsigned int crc_buf;
/* check STX and ETX in packet */
m_abyBuffer.FindChar(STX,ptr_start);
m_abyBuffer.FindChar(ETX,ptr_end);
if((ptr_start >= ptr_end) && (ptr_end - ptr_start != 8)){
return;
}
…중략 …
/* Pasing packet */
if(g_Packet_Buffer[1] != MOD_GET){
return;
}
if(g_Packet_Buffer[2] != SEL_KEYPAD){
return;
}
crc_buf = crc16_append(g_Packet_Buffer,6);
if((g_Packet_Buffer[6] !=(char)((crc_buf>>8)&0xff)) ||
(g_Packet_Buffer[7]!=(char)(crc_buf&0xff))){ //CRC Check
return;
}
if(g_Packet_Buffer[3] == KEYPAD_DOWN){
Keydown_Event(g_Packet_Buffer);
}
if(g_Packet_Buffer[3] == KEYPAD_UP){
Keyup_Event(g_Packet_Buffer);
}
}
/*
* Function name : Keydown_Event
* Description : This functin is keydown event.
* If you want to output consecutive key values, add a sync event.
*/
void Serial_Daemon::Keydown_Event(char key_down[10])
{
struct input_event event;
char Receive_Packetf[10] = {0, };
strcpy(Receive_Packetf,key_down);
//Input key event
memset(&event,0,sizeof(event));
event.type = EV_KEY;
event.code = Receive_Packetf[4];

event.value = 1;
write(key_fd,&event,sizeof(event));
}
/*
* Function name : Keyup_Event
* Description : This function is keyup event.
*/
void Serial_Daemon::Keyup_Event(char key_up[10])
{
struct input_event event;
char Receive_Packetf[10] = {0, };
strcpy(Receive_Packetf,key_up);
//Input key event
memset(&event,0,sizeof(event));
event.type = EV_KEY;
event.code = Receive_Packetf[4];
event.value = 0;
write(key_fd,&event,sizeof(event));
//Sync event
memset(&event,0,sizeof(event));
event.type = EV_SYN;
event.code = SYN_REPORT;
event.value = 0;
write(key_fd,&event,sizeof(event));
}
4.4.Examples using event filter
Control LED and Buzzer of DTP10-L by using event filter of serial daemon program provided by Daincube.
If you makes keyboard event of predefined key code, you can control LED and buzzer.
However, it will work only active mode. Do not work inactive mode (hide mode, hidden mode,
etc.) Therefore you can refer to the event filter section of serial daemon ini your application to control
the LE and buzzer through keyboard events.
/* Function name : eventFilter
* description : This function is receive the keyboard events and control the LED or Buzzer.
* It is possible only when serial daemon application is active mode.
* If you want to control the LED or Buzzer using keyboard events in your
application, refer to this function.
*/
bool Serial_Daemon::eventFilter(QObject *object, QEvent *event)
{
char sel, data;
QKeyEvent *Keyevent = static_cast <QKeyEvent *>(event);
if(event->type() == QEvent::KeyPress)
{
if((Keyevent->key() == Qt::Key_A) ||
(Keyevent->key() == Qt::Key_B) ||
(Keyevent->key() == Qt::Key_C) ){
data = 0x1; //blue
}
else if((Keyevent->key() == Qt::Key_D) ||
(Keyevent->key() == Qt::Key_E) ||
(Keyevent->key() == Qt::Key_F) ){

data = 0x2; //red
}
else if((Keyevent->key() == Qt::Key_G) ||
(Keyevent->key() == Qt::Key_H) ||
(Keyevent->key() == Qt::Key_I) ){
data = 0x4; //all
}
else if((Keyevent->key() == Qt::Key_J)){
BUZ_Set(BUZZ_ON);
usleep(1000);
}
}
else if (event->type() == QEvent::KeyRelease){
data = 0x0;
LED_Set(sel,data);
usleep(1000);
BUZ_Set(BUZZ_OFF);
usleep(1000);
}
switch(Keyevent->key()){
case Qt::Key_A:
case Qt::Key_D:
case Qt::Key_G:
sel = RIGHT_LED1;
break;
case Qt::Key_B:
case Qt::Key_E:
case Qt::Key_H:
sel = RIGHT_LED2;
break;
case Qt::Key_C:
case Qt::Key_F:
case Qt::Key_I:
sel = RIGHT_LED3;
break;
default:
break;
}
LED_Set(sel,data);
return QObject::eventFilter(object,event);
}