/*
* Query and display generic information about the DyIO device.
*/
void dyio_info(dyio_t *d)
{
int voltage;
/* Print firmware revision. */
dyio_call(d, PKT_GET, ID_DYIO, "_rev", 0, 0);
if (d->reply_len < 6) {
printf("dyio-info: incorrect _rev reply: length %u bytes\n", d->reply_len);
exit(-1);
}
printf("Firmware Revision: %u.%u.%u\n",
d->reply[0], d->reply[1], d->reply[2]);
/* Print voltage and power status. */
dyio_call(d, PKT_GET, ID_DYIO, "_pwr", 0, 0);
if (d->reply_len < 5) {
printf("dyio-info: incorrect _pwr reply: length %u bytes\n", d->reply_len);
exit(-1);
}
voltage = (d->reply[2] << 8) | d->reply[3];
printf("Power Input: %.1fV, Override=%u\n",
voltage / 1000.0, d->reply[4]);
printf("Rail Power Source: Right=%s, Left=%s\n",
d->reply[0] ? "Internal" : "External",
d->reply[1] ? "Internal" : "External");
}
/*
* Query and display information about the channels.
*/
void dyio_print_channels(dyio_t *d)
{
int num_channels, c;
uint8_t chan_mode[MAX_CHANNELS], *p;
int chan_value[MAX_CHANNELS];
/* Get current channel modes. */
dyio_call(d, PKT_GET, ID_BCS_IO, "gacm", 0, 0);
if (d->reply_len < 1) {
printf("dyio-info: incorrect gacm reply: length %u bytes\n", d->reply_len);
exit(-1);
}
num_channels = d->reply[0];
memcpy(chan_mode, &d->reply[1], num_channels);
/* Get current pin values. */
dyio_call(d, PKT_GET, ID_BCS_IO, "gacv", 0, 0);
if (d->reply_len < 1) {
printf("dyio-info: incorrect gacv reply: length %u bytes\n", d->reply_len);
exit(-1);
}
for (c=0; c<num_channels; c++) {
p = &d->reply[1 + c*4];
chan_value[c] = (p[0] << 24) | (p[1] << 16) | (p[2] << 8) | p[3];
}
printf("\nChannel Status:\n");
for (c=0; c<num_channels; c++) {
printf(" %2u: %-20s = %u\n", c,
mode_name(chan_mode[c]), chan_value[c]);
}
}
/*
* Query and print a table of channel capabilities.
*/
void dyio_print_channel_features(dyio_t *d)
{
int num_channels, c, num_modes, i, m;
uint8_t query[1], chan_feature[MAX_CHANNELS][MAX_MODES];
/* Get number of channels. */
dyio_call(d, PKT_GET, ID_BCS_IO, "gchc", 0, 0);
if (d->reply_len < 4) {
printf("dyio-info: incorrect gchc reply: length %u bytes\n", d->reply_len);
exit(-1);
}
num_channels = d->reply[3];
memset(chan_feature, 0, sizeof(chan_feature));
/* Build a matrix of channel features. */
for (c=0; c<num_channels; c++) {
/* Get a list of channel modes. */
query[0] = c;
dyio_call(d, PKT_GET, ID_BCS_IO, "gcml", query, 1);
if (d->reply_len < 1) {
printf("dyio-info: incorrect gcml[%u] reply\n", c);
exit(-1);
}
num_modes = d->reply[0];
for (i=0; i<num_modes; i++) {
m = d->reply[1+i];
chan_feature[c][m] = 1;
}
}
printf("\n");
printf("Channel Features: 1 1 1 1 1 1 1 1 1 1 2 2 2 2\n");
printf(" 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3\n");
for (m=MODE_DI; m<MAX_MODES; m++) {
if (m == MODE_UNUSED)
continue;
printf(" %-22s", mode_name(m));
for (c=0; c<num_channels; c++) {
printf("%c ", chan_feature[c][m] ? '+' : '.');
}
printf("\n");
}
}
/*
* Set channel mode.
*/
void dyio_set_mode(int ch, int mode)
{
uint8_t query[3];
query[0] = ch;
query[1] = mode;
query[2] = 0;
dyio_call(PKT_POST, ID_BCS_SETMODE, "schm", query, 3);
if (dyio_replylen < 1) {
printf("dyio-info: incorrect schm[%u] reply\n", ch);
exit(-1);
}
}
/*
* Set channel value.
*/
int dyio_get_value(int ch)
{
uint8_t query[1];
int value;
query[0] = ch;
dyio_call(PKT_GET, ID_BCS_IO, "gchv", query, 1);
if (dyio_replylen < 5) {
printf("dyio-info: incorrect gchv[%u] reply\n", ch);
exit(-1);
}
value = (dyio_reply[1] << 24) | (dyio_reply[2] << 16) |
(dyio_reply[3] << 8) | dyio_reply[4];
return value;
}
/*
* Establish a connection to the DyIO device.
*/
void dyio_connect(const char *devname)
{
/* Open serial port */
if (serial_open(devname, 115200) < 0) {
/* failed to open serial port */
exit(-1);
}
/* Ping the device. */
dyio_call(PKT_GET, ID_BCS_CORE, "_png", 0, 0);
if (dyio_debug)
printf("dyio-connect: OK\n");
if (verbose)
printf("DyIO device address: %02x-%02x-%02x-%02x-%02x-%02x\n",
dyio_reply_mac[0], dyio_reply_mac[1], dyio_reply_mac[2],
dyio_reply_mac[3], dyio_reply_mac[4], dyio_reply_mac[5]);
}
/*
* Set channel value.
*/
void dyio_set_value(int ch, int value, int msec)
{
uint8_t query[9];
query[0] = ch;
query[1] = value >> 24;
query[2] = value >> 16;
query[3] = value >> 8;
query[4] = value;
query[5] = msec >> 24;
query[6] = msec >> 16;
query[7] = msec >> 8;
query[8] = msec;
dyio_call(PKT_POST, ID_BCS_IO, "schv", query, 9);
if (dyio_replylen < 2) {
printf("dyio-info: incorrect schv[%u] reply\n", ch);
exit(-1);
}
}
/*
* Query and display information about the namespaces.
*/
void dyio_print_namespaces(dyio_t *d)
{
int query_type, resp_type, num_args, num_resp;
int num_spaces, ns, num_methods, m;
uint8_t query[2], *args, *resp;
char rpc[5];
/* Query the number of namespaces. */
dyio_call(d, PKT_GET, ID_BCS_CORE, "_nms", 0, 0);
if (d->reply_len < 1) {
printf("dyio-info: incorrect _nms reply: length %u bytes\n", d->reply_len);
exit(-1);
}
num_spaces = d->reply[0];
/* Print info about every namespace. */
for (ns=0; ns<num_spaces; ns++) {
query[0] = ns;
dyio_call(d, PKT_GET, ID_BCS_CORE, "_nms", query, 1);
if (d->reply_len < 1) {
printf("dyio-info: incorrect _nms[%u] reply\n", ns);
exit(-1);
}
printf("Namespace %u: %s\n", ns, d->reply);
/* Print available methods. */
num_methods = 1;
for (m=0; m<num_methods; m++) {
/* Get method name (RPC). */
query[0] = ns;
query[1] = m;
dyio_call(d, PKT_GET, ID_BCS_RPC, "_rpc", query, 2);
if (d->reply_len < 7) {
printf("dyio-info: incorrect _rpc[%u] reply\n", ns);
exit(-1);
}
num_methods = d->reply[2];
rpc[0] = d->reply[3];
rpc[1] = d->reply[4];
rpc[2] = d->reply[5];
rpc[3] = d->reply[6];
rpc[4] = 0;
/* Get method args. */
query[0] = ns;
query[1] = m;
dyio_call(d, PKT_GET, ID_BCS_RPC, "args", query, 2);
if (d->reply_len < 6) {
printf("dyio-info: incorrect args[%u] reply\n", ns);
exit(-1);
}
query_type = d->reply[2];
num_args = d->reply[3];
args = &d->reply[4];
resp_type = d->reply[4 + num_args];
num_resp = d->reply[5 + num_args];
resp = &d->reply[6 + num_args];
printf(" %s %s(", rpc, pkt_name(query_type));
print_args(num_args, args);
printf(") -> %s(", pkt_name(resp_type));
print_args(num_resp, resp);
printf(")\n");
}
}
}