int io_init(ElevatorType type){
elevatorType = type;
switch(elevatorType){
case ET_comedi:
it_g = comedi_open("/dev/comedi0");
if (it_g == NULL) {
return 0;
}
int status = 0;
for (int i = 0; i < 8; i++) {
status |= comedi_dio_config(it_g, PORT_1_SUBDEVICE, i + PORT_1_CHANNEL_OFFSET, PORT_1_DIRECTION);
status |= comedi_dio_config(it_g, PORT_2_SUBDEVICE, i + PORT_2_CHANNEL_OFFSET, PORT_2_DIRECTION);
status |= comedi_dio_config(it_g, PORT_3_SUBDEVICE, i + PORT_3_CHANNEL_OFFSET, PORT_3_DIRECTION);
status |= comedi_dio_config(it_g, PORT_4_SUBDEVICE, i + PORT_4_CHANNEL_OFFSET, PORT_4_DIRECTION);
}
return (status == 0);
case ET_simulation:
//simulation_elevator_start();
return 1;
default:
return 0;
}
}
int io_init()
{
int i;
int res;
it_g = comedi_open("/dev/comedi0");
if (it_g == NULL) return -1;
// init 3 inputs and 3 outputs
for(i=1; i<4; i++)
{
res = comedi_dio_config(it_g, IO_DEV, DI(i), COMEDI_INPUT);
if (res<0) return res;
res = comedi_dio_config(it_g, IO_DEV, DO(i), COMEDI_OUTPUT);
if (res<0) return res;
res = comedi_dio_write(it_g, IO_DEV, DO(i), 0);
if (res<0) return res;
}
// set outputs to high
for(i=1; i<4; i++)
{
comedi_dio_write(it_g, IO_DEV, DO(i), 1);
}
return 1;
}
void ComediSubDeviceDOut::init(bool all_bits)
{
Logger::In in( nameserver.getName( this ).c_str() );
if (!myCard) {
log(Error) << "Error creating ComediSubDeviceDOut: null ComediDevice given." <<endlog();
return;
}
if ( ( myCard->getSubDeviceType( subDevice ) != COMEDI_SUBD_DO ) &&
( myCard->getSubDeviceType( subDevice ) != COMEDI_SUBD_DIO) )
{
Logger::In in("ComediSubDeviceDOut");
log(Error) << "SubDevice "<< subDevice <<" is not a digital output:";
log() << "type = " << myCard->getSubDeviceType( subDevice ) << endlog();
// channels remains '0'.
return;
}
channels = comedi_get_n_channels(myCard->getDevice()->it, subDevice);
// Only for DIO
if ( ( myCard->getSubDeviceType( subDevice ) == COMEDI_SUBD_DIO) && all_bits) {
log(Info) << "Configuring first "<<channels<<" dio channels on subdevice "<<subDevice<<" as output type." << endlog();
for (unsigned int i=0; i<channels; ++i)
comedi_dio_config(myCard->getDevice()->it, subDevice, i, COMEDI_OUTPUT);
} else {
log(Info) << "Subdevice "<<subDevice<<" is digital output with "<<channels << " channels." << endlog();
}
}
bool ComediDigitalInput::initialise()
{
// set as input channel
if(!(comedi_dio_config(m_device,m_subdevice,m_channels[0],COMEDI_INPUT))==0)
Logger(Critical, "ComediDigitalInput::initialise() - Config error: %s.\n",comedi_strerror(comedi_errno()));
return true;
}
void config_output(void)
{
int i;
for(i=0;i<8;i++){
comedi_dio_config(device,out_subd,i,COMEDI_OUTPUT);
}
}
int io_init()
{
int i, status = 0;
it_g = comedi_open("/dev/comedi0");
if (it_g == NULL)
return 0;
for (i = 0; i < 8; i++) {
status |= comedi_dio_config(it_g, PORT1, i, COMEDI_INPUT);
status |= comedi_dio_config(it_g, PORT2, i, COMEDI_OUTPUT);
status |= comedi_dio_config(it_g, PORT3, i+8, COMEDI_OUTPUT);
status |= comedi_dio_config(it_g, PORT4, i+16, COMEDI_INPUT);
}
return (status == 0);
}
int io_init(void) {
it_g = comedi_open("/dev/comedi0");
if (it_g == NULL) {
return 0;
}
int status = 0;
for (int i = 0; i < 8; i++) {
status |= comedi_dio_config(it_g, PORT_1_SUBDEVICE, i + PORT_1_CHANNEL_OFFSET, PORT_1_DIRECTION);
status |= comedi_dio_config(it_g, PORT_2_SUBDEVICE, i + PORT_2_CHANNEL_OFFSET, PORT_2_DIRECTION);
status |= comedi_dio_config(it_g, PORT_3_SUBDEVICE, i + PORT_3_CHANNEL_OFFSET, PORT_3_DIRECTION);
status |= comedi_dio_config(it_g, PORT_4_SUBDEVICE, i + PORT_4_CHANNEL_OFFSET, PORT_4_DIRECTION);
}
return (status == 0);
}
static void dio_config( void )
{
comedi_t *dev = lookup_dev( *sp++ );
unsigned int subdev = *sp++;
unsigned int chan = *sp++;
unsigned int data = *sp++;
int c = comedi_dio_config( dev, subdev, chan, data );
if( c < 1 ) comedi_perror( "<dio> " );
}
int main(int argc, char *argv[])
{
int ret;
int stype;
int i;
struct parsed_options options;
init_parsed_options(&options);
options.subdevice = -1;
parse_options(&options, argc, argv);
device = comedi_open(options.filename);
if(!device){
comedi_perror(options.filename);
exit(-1);
}
if(options.subdevice < 0)
{
options.subdevice = comedi_find_subdevice_by_type(device, COMEDI_SUBD_DIO, 0);
if(options.subdevice < 0){
fprintf(stderr,"No dio subdevice found.\n");
exit(-1);
}
}
stype = comedi_get_subdevice_type(device, options.subdevice);
if(stype != COMEDI_SUBD_DIO){
printf("%d is not a digital I/O subdevice\n", options.subdevice);
exit(-1);
}
printf("configuring pin %d for output...\n", chan_dat);
ret = comedi_dio_config(device, options.subdevice, chan_dat, COMEDI_OUTPUT);
printf("configuring pin %d for output...\n", chan_clk);
ret = comedi_dio_config(device, options.subdevice, chan_clk, COMEDI_OUTPUT);
for(i = 0; i < 0x100; i++){
write_bits(options.subdevice, i);
}
//write_bits(0xa5);
return 0;
}
void __po_hi_c_driver_exarm_ni_6071e_digital_init (__po_hi_device_id device_id)
{
int ret;
po_hi_driver_exarm_ni_6071e_digital_it = comedi_open("/dev/comedi0");
ret = comedi_dio_config(po_hi_driver_exarm_ni_6071e_digital_it, 2, 1, COMEDI_INPUT);
if (ret == -1)
{
__DEBUGMSG ("Error when invoking comedi_dio_config()");
}
ret = comedi_dio_config(po_hi_driver_exarm_ni_6071e_digital_it, 2, 0, COMEDI_INPUT);
if (ret == -1)
{
__DEBUGMSG ("Error when invoking comedi_dio_config()");
}
return;
}
int main(int argc, char *argv[])
{
int ret;
int stype;
struct parsed_options options;
init_parsed_options(&options);
parse_options(&options, argc, argv);
device = comedi_open(options.filename);
if(!device){
comedi_perror(options.filename);
exit(-1);
}
stype = comedi_get_subdevice_type(device, options.subdevice);
if(stype != COMEDI_SUBD_DIO){
printf("%d is not a digital I/O subdevice\n", options.subdevice);
exit(-1);
}
printf("configuring pin %d on subdevice %d ", options.channel, options.subdevice);
if(options.value)
{
printf("for output.\n");
ret = comedi_dio_config(device, options.subdevice, options.channel, COMEDI_OUTPUT);
}else
{
printf("for input.\n");
ret = comedi_dio_config(device, options.subdevice, options.channel, COMEDI_INPUT);
}
if(ret < 0){
comedi_perror("comedi_dio_config");
exit(-1);
}
return 0;
}
bool ComediDigitalOutput::initialise()
{
// set as output
if(!(comedi_dio_config(m_device, m_subdevice, m_channels[0],COMEDI_OUTPUT))==0) {
Logger(Critical, "ComediDigitalOutput::initialise() - Config error: %s.\n",comedi_strerror(comedi_errno()));
return false;
}
if(!(comedi_set_routing(m_device, m_subdevice, m_channels[0], NI_PFI_OUTPUT_PFI_DO))==0) {
Logger(Critical, "ComediDigitalOutput::initialise() - Routing error: %s.\n",comedi_strerror(comedi_errno()));
return false;
}
return true;
}
extern uchar init(char* dev) {
uint i, nchan;
ni = comedi_open(dev);
if (ni == NULL) {
printf("Error opening device\n");
return -1;
}
nchan = comedi_get_n_channels(ni, 0);
printf("found comedi system with %d channels\n", nchan);
for (i=0; i < nchan; i++) {
if (comedi_dio_config(ni, 0, i, COMEDI_OUTPUT) < 0)
return -1;
}
return 0;
}
/** set this to a write (output) device -- note that this only does something for DIO chans in non-daq-task mode.
*/
void ComediChan::setDIOOutput()
{
if (m_isdio && !daq)
comedi_dio_config(m_dev, m_subdev, m_chan, COMEDI_OUTPUT);
}
int set_dio_input(int chan) {
return comedi_dio_config(it,
subdev_dio,
chan,
COMEDI_INPUT);
}
bool ComediSubDeviceDIn::useBit( unsigned int bit )
{
return comedi_dio_config(myCard->getDevice()->it, _subDevice, bit, COMEDI_INPUT) == 0;
}
