int main(int argc, char *argv[]) {
board_t *board = NULL;
int ret = 0;
encoder_module_t enc;
if (argc == 1) {
print_short_usage();
return 0;
}
if (process_cmd_line(argc, argv) == -1) {
return -1;
}
board_access.verbose = verbose_flag;
if (anyio_init(&board_access) != 0) { // init library
return -1;
}
ret = anyio_find_dev(&board_access); // find board
if (ret < 0) {
return -1;
}
board = anyio_get_dev(&board_access, 1); // if found the get board handle
if (board == NULL) {
printf("No %s board found\n", board_access.device_name);
return -1;
}
board->open(board); // open board for communication
board->print_info(board); // print what card it is
hm2_read_idrom(&(board->llio.hm2)); // read hostmot2 idrom
ret = encoder_init(&enc, board, instance, delay); // init encoder 'instance' module on 'board'
if (ret < 0) {
goto fail0;
}
while (1) {
encoder_read(&enc); // read encoder
printf("tsc = %u, raw_counts = %u, velocity = %.2f\n", enc.global_time_stamp, enc.raw_counts, enc.velocity);
usleep(delay*1000); // wait delay ms
}
encoder_cleanup(&enc); // cleanup enocder module
fail0:
board->close(board); // close board communication
anyio_cleanup(&board_access); // close library
return 0;
}
int main(int argc, char *argv[]) {
int ret = 0;
if (argc == 1) {
print_short_usage();
return 0;
}
if (process_cmd_line(argc, argv) == -1)
return -1;
if (info_flag == 1) {
anyio_bitfile_print_info(bitfile_name, 1);
} else if (device_flag == 1) {
board_t *board = NULL;
access.verbose = verbose_flag;
access.recover = recover_flag;
access.address = addr_flag;
if (anyio_init(&access) != 0)
exit(1);
ret = anyio_find_dev(&access);
if (ret < 0) {
return -1;
}
board = anyio_get_dev(&access, 1);
if (board == NULL) {
printf("No %s board found\n", access.device_name);
return -1;
}
board->open(board);
if (readhmid_flag == 1) {
anyio_dev_print_hm2_info(board, xml_flag);
} else if (sserial_flag == 1) {
anyio_dev_print_sserial_info(board);
} else if (rpo_flag == 1) {
u32 data;
board->llio.read(&(board->llio), rpo_addr, &data, sizeof(u32));
printf("%08X\n", data);
} else if (wpo_flag == 1) {
board->llio.write(&(board->llio), wpo_addr, &wpo_data, sizeof(u32));
} else if (set_flag == 1) {
ret = anyio_dev_set_remote_ip(board, lbp16_set_ip_addr);
} else if (write_flag == 1) {
ret = anyio_dev_write_flash(board, bitfile_name, fallback_flag);
if (reload_flag == 1) {
ret = anyio_dev_reload(board, fallback_flag);
if (ret == -1) {
printf("\nYou must power cycle the hardware to load a new firmware.\n");
}
} else {
printf("\nYou must power cycle the hardware or use the --reload command to load a new firmware.\n");
}
} else if (verify_flag == 1) {
ret = anyio_dev_verify_flash(board, bitfile_name, fallback_flag);
} else if (program_flag == 1) {
ret = anyio_dev_program_fpga(board, bitfile_name);
} else if (reload_flag == 1) {
anyio_dev_reload(board, fallback_flag);
} else if (reset_flag == 1) {
anyio_dev_reset(board);
} else {
board->print_info(board);
}
board->close(board);
anyio_cleanup(&access);
} else {
printf("No action requested. Please specify at least --device or --info.\n");
}
return ret;
}