int main(int argc, char *argv[])
{
int ret = 0, len, ofs;
unsigned int i, scan_size = 0, cnt = 0;
unsigned long buf_size;
void *map = NULL;
a4l_desc_t dsc = { .sbdata = NULL };
int (*dump_function) (a4l_desc_t *, a4l_cmd_t*, unsigned char *, int) =
dump_text;
/* Compute arguments */
while ((ret = getopt_long(argc,
argv,
"vrd:s:S:c:mwk:h",
cmd_read_opts, NULL)) >= 0) {
switch (ret) {
case 'v':
verbose = 1;
break;
case 'r':
real_time = 1;
break;
case 'd':
filename = optarg;
break;
case 's':
cmd.idx_subd = strtoul(optarg, NULL, 0);
break;
case 'S':
cmd.stop_arg = strtoul(optarg, NULL, 0);
break;
case 'c':
str_chans = optarg;
break;
case 'm':
use_mmap = 1;
break;
case 'w':
dump_function = dump_raw;
break;
case 'k':
wake_count = strtoul(optarg, NULL, 0);
break;
case 'h':
default:
do_print_usage();
return 0;
}
}
if (isatty(STDOUT_FILENO) && dump_function == dump_raw) {
fprintf(stderr,
"cmd_read: cannot dump raw data on a terminal\n\n");
return -EINVAL;
}
/* Recover the channels to compute */
do {
cmd.nb_chan++;
len = strlen(str_chans);
ofs = strcspn(str_chans, ",");
if (sscanf(str_chans, "%u", &chans[cmd.nb_chan - 1]) == 0) {
fprintf(stderr, "cmd_read: bad channel argument\n");
return -EINVAL;
}
str_chans += ofs + 1;
} while (len != ofs);
/* Update the command structure */
cmd.scan_end_arg = cmd.nb_chan;
cmd.stop_src = cmd.stop_arg != 0 ? TRIG_COUNT : TRIG_NONE;
if (real_time != 0) {
if (verbose != 0)
printf("cmd_read: switching to real-time mode\n");
/* Prevent any memory-swapping for this program */
ret = mlockall(MCL_CURRENT | MCL_FUTURE);
if (ret < 0) {
ret = errno;
fprintf(stderr, "cmd_read: mlockall failed (ret=%d)\n",
ret);
goto out_main;
}
/* Turn the current process into an RT task */
ret = rt_task_shadow(&rt_task_desc, NULL, 1, 0);
if (ret < 0) {
fprintf(stderr,
"cmd_read: rt_task_shadow failed (ret=%d)\n",
ret);
goto out_main;
}
}
/* Open the device */
ret = a4l_open(&dsc, filename);
if (ret < 0) {
fprintf(stderr, "cmd_read: a4l_open %s failed (ret=%d)\n",
filename, ret);
return ret;
}
if (verbose != 0) {
printf("cmd_read: device %s opened (fd=%d)\n",
filename, dsc.fd);
printf("cmd_read: basic descriptor retrieved\n");
printf("\t subdevices count = %d\n", dsc.nb_subd);
printf("\t read subdevice index = %d\n", dsc.idx_read_subd);
printf("\t write subdevice index = %d\n", dsc.idx_write_subd);
}
/* Allocate a buffer so as to get more info (subd, chan, rng) */
dsc.sbdata = malloc(dsc.sbsize);
if (dsc.sbdata == NULL) {
fprintf(stderr, "cmd_read: malloc failed \n");
return -ENOMEM;
}
/* Get this data */
ret = a4l_fill_desc(&dsc);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_fill_desc failed (ret=%d)\n", ret);
goto out_main;
}
if (verbose != 0)
printf("cmd_read: complex descriptor retrieved\n");
/* Get the size of a single acquisition */
for (i = 0; i < cmd.nb_chan; i++) {
a4l_chinfo_t *info;
ret = a4l_get_chinfo(&dsc,
cmd.idx_subd, cmd.chan_descs[i], &info);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_get_chinfo failed (ret=%d)\n",
ret);
goto out_main;
}
if (verbose != 0) {
printf("cmd_read: channel %x\n", cmd.chan_descs[i]);
printf("\t ranges count = %d\n", info->nb_rng);
printf("\t bit width = %d (bits)\n", info->nb_bits);
}
scan_size += a4l_sizeof_chan(info);
}
if (verbose != 0) {
printf("cmd_read: scan size = %u\n", scan_size);
if (cmd.stop_arg != 0)
printf("cmd_read: size to read = %u\n",
scan_size * cmd.stop_arg);
}
/* Cancel any former command which might be in progress */
a4l_snd_cancel(&dsc, cmd.idx_subd);
if (use_mmap != 0) {
/* Get the buffer size to map */
ret = a4l_get_bufsize(&dsc, cmd.idx_subd, &buf_size);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_get_bufsize() failed (ret=%d)\n",
ret);
goto out_main;
}
if (verbose != 0)
printf("cmd_read: buffer size = %lu bytes\n", buf_size);
/* Map the analog input subdevice buffer */
ret = a4l_mmap(&dsc, cmd.idx_subd, buf_size, &map);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_mmap() failed (ret=%d)\n",
ret);
goto out_main;
}
if (verbose != 0)
printf
("cmd_read: mmap performed successfully (map=0x%p)\n",
map);
}
ret = a4l_set_wakesize(&dsc, wake_count);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_set_wakesize failed (ret=%d)\n", ret);
goto out_main;
}
if (verbose != 0)
printf("cmd_read: wake size successfully set (%lu)\n",
wake_count);
/* Send the command to the input device */
ret = a4l_snd_command(&dsc, &cmd);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_snd_command failed (ret=%d)\n", ret);
goto out_main;
}
if (verbose != 0)
printf("cmd_read: command successfully sent\n");
if (use_mmap == 0) {
/* Fetch data */
do {
/* Perform the read operation */
ret = a4l_async_read(&dsc, buf, BUF_SIZE, A4L_INFINITE);
if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_read failed (ret=%d)\n",
ret);
goto out_main;
}
/* Display the results */
if (dump_function(&dsc, &cmd, buf, ret) < 0) {
ret = -EIO;
goto out_main;
}
/* Update the counter */
cnt += ret;
} while (ret > 0);
} else {
unsigned long front = 0;
/* Fetch data without any memcpy */
do {
/* Retrieve and update the buffer's state
(In input case, we recover how many bytes are available
to read) */
ret = a4l_mark_bufrw(&dsc, cmd.idx_subd, front, &front);
if (ret == -ENOENT)
break;
else if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_mark_bufrw() failed (ret=%d)\n",
ret);
goto out_main;
}
/* If there is nothing to read, wait for an event
(Note that a4l_poll() also retrieves the data amount
to read; in our case it is useless as we have to update
the data read counter) */
if (front == 0) {
ret = a4l_poll(&dsc, cmd.idx_subd, A4L_INFINITE);
if (ret == 0)
break;
else if (ret < 0) {
fprintf(stderr,
"cmd_read: a4l_poll() failed (ret=%d)\n",
ret);
goto out_main;
}
}
/* Display the results */
if (dump_function(&dsc,
&cmd,
&((unsigned char *)map)[cnt % buf_size],
front) < 0) {
ret = -EIO;
goto out_main;
}
/* Update the counter */
cnt += front;
} while (1);
}
if (verbose != 0)
printf("cmd_read: %d bytes successfully received\n", cnt);
ret = 0;
out_main:
if (use_mmap != 0)
/* Clean the pages table */
munmap(map, buf_size);
/* Free the buffer used as device descriptor */
if (dsc.sbdata != NULL)
free(dsc.sbdata);
/* Release the file descriptor */
a4l_close(&dsc);
return ret;
}
/*!*****************************************************************************
*******************************************************************************
\note initNI6259
\date Nov. 2009
\remarks
Initializes the communication with the DAQ
*******************************************************************************
Function Parameters: [in]=input,[out]=output
\param[in] ad_only_flag: only initialize A/D convert
\return TRUE for sucess, or FALSE if there was a problem
******************************************************************************/
int
init_NI6259(int ad_only_flag)
{
int i,rc;
static int ni6259_initialized = FALSE;
unsigned int data[10];
a4l_insn_t insn;
int real_osc_enabled = FALSE;
if (ni6259_initialized)
return TRUE;
// Open the device
rc = a4l_open(&desc, DEVICE);
if (rc < 0) {
printf("initNI6259: a4l_open %s failed (rc=%d)\n",DEVICE, rc);
return FALSE;
}
// Fill the descriptor completely, as a4l_open only does a partial job.
// First, allocate a buffer so as to get more info (subd, chan, rng)
desc.sbdata = malloc(desc.sbsize);
if (desc.sbdata == NULL) {
printf("initNI6259: malloc failed \n");
return FALSE;
}
// Second, get the data
rc = a4l_fill_desc(&desc);
if (rc < 0) {
printf("initNI6259: a4l_fill_desc %s failed (rc=%d)\n",DEVICE, rc);
return FALSE;
}
// activate the analog outputs for the oscilloscope debugging
if (read_parameter_pool_int(config_files[PARAMETERPOOL],"real_osc_enabled", &rc))
real_osc_enabled = rc;
if (real_osc_enabled)
setD2AFunction(d2a_NI6259);
if (!ad_only_flag) {
// plot some output about device
//printDeviceInfo(&desc);
// enable the counter clock
// makeCounterClock(1000, FALSE);
// route DIO16 (PFI) to PFI channels
for (i=0; i<16; ++i) {
insn.type = A4L_INSN_CONFIG;
insn.idx_subd = SUBDEV_PFI;
insn.chan_desc = i;
insn.data_size = sizeof(data[0])*2;
data[0] = A4L_INSN_CONFIG_SET_ROUTING;
data[1] = NI_PFI_OUTPUT_PFI_DO;
insn.data = data;
rc = a4l_snd_insn(&desc, &insn);
if (rc < 0)
fprintf(stderr,"re-route PFI channels: routing of channe %d failed (rc=%d)\n",i,rc);
}
// set DIO32 channels to READ mode by default
dio32_NI6259_config(0xffffffff, DIO_READ);
// set DIO16 channels to READ mode by default
dio16_NI6259_config(0xffffffff, DIO_READ);
}
// all done
ni6259_initialized = TRUE;
return TRUE;
}
bool AnalogyAnalogIO::openDevice()
{
int flag, i;
Logger(Debug, "AnalogyAnalogIO::openDevice()\n");
flag = a4l_open(&m_dsc, m_deviceFile);
if (flag != 0) {
Logger(Critical, "Unable to open device [%s].\n", m_deviceFile);
return false;
}
/* Allocate a buffer so as to get more info (subd, chan, rng) */
m_dsc.sbdata = malloc(m_dsc.sbsize);
if (m_dsc.sbdata == NULL) {
Logger(Critical, "Unable to allocate buffer.\n");
return false;
}
/* Get this data */
flag = a4l_fill_desc(&m_dsc);
if (flag < 0) {
Logger(Critical, "AnalogyAnalogIO::openDevice(): a4l_fill_desc failed (flag=%d)\n", flag);
return false;
}
/* Get the size of a single acquisition */
/*
int scan_size = 0;
for (i=0; i<m_nChannels; i++) {
a4l_chinfo_t *chinfo;
a4l_rnginfo_t *rnginfo;
flag = a4l_get_chinfo(&m_dsc, m_subdevice, m_channels[i], &chinfo);
if (flag < 0) {
Logger(Critical, "AnalogyAnalogIO::openDevice(): a4l_get_chinfo failed (flag=%d)\n", flag);
return false;
}
flag = a4l_get_rnginfo(&m_dsc, m_subdevice, m_channels[i], &rnginfo);
if (flag < 0) {
Logger(Critical, "AnalogyAnalogIO::openDevice(): a4l_get_rnginfo failed (flag=%d)\n", flag);
return false;
}
Logger(Info, "AnalogyAnalogIO::openDevice(): channel %x\n", m_channels[i]);
Logger(Info, "\t ranges count = %d\n", chinfo->nb_rng);
Logger(Info, "\t bit width = %d (bits)\n", chinfo->nb_bits);
scan_size += a4l_sizeof_chan(chinfo);
}
Logger(Info, "AnalogyAnalogIO::openDevice(): scan size = %u\n", scan_size);
*/
//if (cmd.stop_arg != 0)
// printf("cmd_read: size to read = %u\n", scan_size * cmd.stop_arg);
/* Cancel any former command which might be in progress */
a4l_snd_cancel(&m_dsc, m_subdevice);
return true;
}
int main(int argc, char *argv[])
{
int err = 0;
unsigned int cnt = 0;
a4l_desc_t dsc = { .sbdata = NULL };
a4l_sbinfo_t *sbinfo;
a4l_chinfo_t *chinfo;
a4l_rnginfo_t *rnginfo;
int (*dump_function) (a4l_desc_t *, unsigned char *, int) = dump_text;
/* Compute arguments */
while ((err = getopt_long(argc,
argv,
"vrd:s:S:c:R:y:wh", insn_read_opts,
NULL)) >= 0) {
switch (err) {
case 'v':
verbose = 1;
break;
case 'd':
filename = optarg;
break;
case 's':
idx_subd = strtoul(optarg, NULL, 0);
break;
case 'S':
scan_size = strtoul(optarg, NULL, 0);
break;
case 'c':
idx_chan = strtoul(optarg, NULL, 0);
break;
case 'R':
idx_rng = strtoul(optarg, NULL, 0);
dump_function = dump_converted;
break;
case 'w':
dump_function = dump_raw;
break;
case 'y':
dump_function = dump_calibrated;
calibration_file = optarg;
break;
case 'h':
default:
do_print_usage();
return 0;
}
}
if (isatty(STDOUT_FILENO) && dump_function == dump_raw) {
fprintf(stderr,
"insn_read: cannot dump raw data on a terminal\n\n");
return -EINVAL;
}
/* Open the device */
err = a4l_open(&dsc, filename);
if (err < 0) {
fprintf(stderr,
"insn_read: a4l_open %s failed (err=%d)\n",
filename, err);
return err;
}
if (verbose != 0) {
printf("insn_read: device %s opened (fd=%d)\n", filename,
dsc.fd);
printf("insn_read: basic descriptor retrieved\n");
printf("\t subdevices count = %d\n", dsc.nb_subd);
printf("\t read subdevice index = %d\n", dsc.idx_read_subd);
printf("\t write subdevice index = %d\n", dsc.idx_write_subd);
}
/* Allocate a buffer so as to get more info (subd, chan, rng) */
dsc.sbdata = malloc(dsc.sbsize);
if (dsc.sbdata == NULL) {
err = -ENOMEM;
fprintf(stderr, "insn_read: info buffer allocation failed\n");
goto out_insn_read;
}
/* Get this data */
err = a4l_fill_desc(&dsc);
if (err < 0) {
fprintf(stderr, "insn_read: a4l_fill_desc failed (err=%d)\n",
err);
goto out_insn_read;
}
if (verbose != 0)
printf("insn_read: complex descriptor retrieved\n");
/* If no subdevice index was set, look for an analog input
subdevice */
if (idx_subd == -1)
idx_subd = dsc.idx_read_subd;
if (idx_subd == -1) {
fprintf(stderr,
"insn_read: no analog input subdevice available\n");
err = -EINVAL;
goto out_insn_read;
}
if (verbose != 0)
printf("insn_read: selected subdevice index = %d\n", idx_subd);
/* We must check that the subdevice is really an AI one
(in case, the subdevice index was set with the option -s) */
err = a4l_get_subdinfo(&dsc, idx_subd, &sbinfo);
if (err < 0) {
fprintf(stderr,
"insn_read: get_sbinfo(%d) failed (err = %d)\n",
idx_subd, err);
err = -EINVAL;
goto out_insn_read;
}
if ((sbinfo->flags & A4L_SUBD_TYPES) != A4L_SUBD_AI) {
fprintf(stderr,
"insn_read: wrong subdevice selected "
"(not an analog input)\n");
err = -EINVAL;
goto out_insn_read;
}
if (idx_rng >= 0) {
err = a4l_get_rnginfo(&dsc,
idx_subd, idx_chan, idx_rng, &rnginfo);
if (err < 0) {
fprintf(stderr,
"insn_read: failed to recover range descriptor\n");
goto out_insn_read;
}
if (verbose != 0) {
printf("insn_read: range descriptor retrieved\n");
printf("\t min = %ld\n", rnginfo->min);
printf("\t max = %ld\n", rnginfo->max);
}
}
/* Retrieve the subdevice data size */
err = a4l_get_chinfo(&dsc, idx_subd, idx_chan, &chinfo);
if (err < 0) {
fprintf(stderr,
"insn_read: info for channel %d on subdevice %d not available (err=%d)\n",
idx_chan, idx_subd, err);
goto out_insn_read;
}
/* Set the data size to read */
scan_size *= a4l_sizeof_chan(chinfo);
if (verbose != 0) {
printf("insn_read: channel width is %u bits\n",
chinfo->nb_bits);
printf("insn_read: global scan size is %u\n", scan_size);
}
while (cnt < scan_size) {
int tmp = (scan_size - cnt) < BUF_SIZE ?
(scan_size - cnt) : BUF_SIZE;
/* Perform the synchronous read */
err = a4l_sync_read(&dsc,
idx_subd, CHAN(idx_chan), 0, buf, tmp);
if (err < 0) {
fprintf(stderr,
"insn_read: a4l_sync_read failed (err=%d)\n",
err);
goto out_insn_read;
}
/* Dump the read data */
tmp = dump_function(&dsc, buf, err);
if (tmp < 0) {
err = tmp;
goto out_insn_read;
}
/* Update the count */
cnt += err;
}
if (verbose != 0)
printf("insn_read: %u bytes successfully received\n", cnt);
err = 0;
out_insn_read:
/* Free the information buffer */
if (dsc.sbdata != NULL)
free(dsc.sbdata);
/* Release the file descriptor */
a4l_close(&dsc);
return err;
}
