cmd_1760.c

安装comedi板卡驱动之后的测试程序

//*************************************************************************
//				
//	         Copyright (c) 2001 IAG Software Team, 
//
//		           Beijing R&D Center 
//	
//		           Advantech Co., Ltd.
//
//	      User program for Linux comedi device driver
//
// This is An Unpublished Work Containing Confidential  And Proprietary
//    Information Which Is The Property Of Advantech  Automation Corp.
//
// Any Disclosure, Use, Or Reproduction, Without Written Authorization From
//           Advantech Automation Corp., Is Strictly Prohibit.
//
//
//*************************************************************************
// Program :    do_1760.c
// Revision:    1.0                                        
// Author  :    Zhang Aimin                                             
// Date    :    12/30/01                                           
//
// Description:  Test various functions of PCI-1760.                             
// 		 This program use insn method to read from the IMB or write to the OMB
//		 of PCI-1760.
//-------------------------------------------------------------------------

/*Options:
 * -i   Digital input   No parameters.
 * -f   Digital filter  Param: Channel SampleNum  
 * -p   Pattern match   Param: Status
 * -c   Counter         Param: ResetValue MatchValue CountEdge
 * -r   Relay output    Param: RelayMask
 * -s   State change    Param: RisingMask FallingMask
 * -m   PWM             Param: PWMn EnableFlag LowPeriods HighPeriods BurstCount
 */

#include<stdio.h>
#include<stdlib.h>
#include<unistd.h>   		//sleep()
#include <comedilib.h>		//comedi library
#include <fcntl.h>		//file control library
#include<errno.h>		//error codes report library 
#include<string.h>		//string function library
#include<getopt.h>		//argument analyse function library
#include<ctype.h>	    //c languge type library

char *filename="/dev/comedi0";	//comedi device file name
int verbose_flag;
comedi_t *device;		//comedi device

int subdevice=2;		//subdevice number
int channel=0;			//channel index

void Usage(char *progname)
{
	printf("Usage:\n");
	printf("    (1) %s -i\n",progname);
	printf("    (2) %s -f Channel SampleNum \n",progname);
	printf("    (3) %s -p ChanMask Pattern\n",progname);
	printf("    (4) %s -c ResetValue MatchValue CountEdge\n",progname);
	printf("    (5) %s -r RelayMask\n",progname);
	printf("    (6) %s -r RisingMask FallingMask\n",progname);
	printf("    (7) %s -m PWMn EnableFlag [HighPeriod LowPeriod BurstCount]\n",progname);
	exit(0);
}

int GetStatus(comedi_insn *insn,int cmd,int *imb0) //COMMAND 0x07
{
	lsampl_t imb[4],omb[4]={0x0,0x0,0x7,0x0};
	
	insn->insn=INSN_WRITE;
	insn->data=omb;
        
	omb[0]=cmd & 0xff;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error:%d %s\n",errno,strerror(errno));
		return -1;
	}
	usleep(500);
	
	insn->insn=INSN_READ;
	insn->data=imb;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error:%d %s\n",errno,strerror(errno));
		return -1;
	}
	*imb0=imb[0] & 0xff;

	return 0;
}

int DigitalInput(comedi_insn *insn,int *data)
{
	lsampl_t dataread[4];
	
	insn->insn=INSN_READ;
	insn->data=dataread;

	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error:%d %s\n",errno,strerror(errno));
		return -1;
	}
	*data=insn->data[3] &0xff;
	printf("data read: 0x%x.\n",*data);
	return 0;
}

int DigitalFilter(comedi_insn *insn,int chan,int samplenum)
{
	return 0;
}

int PatternMatch(comedi_insn *insn, int mask,int pattern)
{
	int count;
	lsampl_t datawrite[4]={0x0,0x0,0x0,0x0},dataread[4];
	insn->insn=INSN_WRITE;
	insn->data=datawrite;

	printf("mask: %d,pattern: %d\n",mask,pattern);

	datawrite[2]=0x21;  //Enable/Disable the pattern match function of IDI
	datawrite[0]=mask & 0xff;  //Pattern match enable mask
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error:%d %s\n",errno,strerror(errno));
		return -1;
	}

	sleep(1);
	
	insn->insn=INSN_READ;
	insn->data=dataread;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("read error!\n");
		return -1;
	}

	insn->insn=INSN_WRITE;	
	datawrite[2]=0x22;  //Set the pattern match value of IDI
	datawrite[0]=pattern & 0xff;  //Pattern match enable mask
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error:%d %s\n",errno,strerror(errno));
		return -1;
	}
	printf("dataread: 0x%x 0x%x 0x%x 0x%x\n",dataread[0],dataread[1],dataread[2],dataread[3]);
	
	sleep(2);
	
	insn->data=datawrite;
	datawrite[2]=0x60;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}
	
	insn->insn=INSN_READ;
	insn->data=dataread;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}
	
	printf("dataread: 0x%x 0x%x 0x%x 0x%x\n",dataread[0],dataread[1],dataread[2],dataread[3]);

	count=0;
	while(count++<10000)
		sleep(1);
	
	return 0;
}

int RelayOutput(comedi_insn *insn,int mask)
{
	lsampl_t omb[4]={0x0,0x0,0x1,0x0};
	
	insn->insn=INSN_WRITE;
	insn->data=omb;
	
	omb[0]=mask;	
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error:%d %s\n",errno,strerror(errno));
		return -1;
	}
	return 0;
}
	
int StateChange(comedi_insn *insn,int rMask,int fMask)
{
	lsampl_t omb[4]={0x0,0x0,0x0,0x0};
	lsampl_t dataread[4],count;
	
	insn->insn=INSN_WRITE;
	insn->data=omb;
	
	omb[0]=rMask; //Rising mask
	omb[2]=0x23;  //Enable/Disable rising edge detection function of IDI
	
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error!\n");
		return -1;
	}

	sleep(1);

	omb[0]=fMask;  //Falling mask
	omb[2]=0x24;   //Enable/Disable falling edge detection funciton of IDI
	if(comedi_do_insn(device,insn)<0)
	{
		printf("comedi_do_insn error!\n");
		return -1;
	}

	sleep(8);
	
	insn->data=omb;
	omb[2]=0x60;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}
	
	insn->insn=INSN_READ;
	insn->data=dataread;
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}

	printf("dataread: 0x%x 0x%x 0x%x 0x%x\n",dataread[0],dataread[1],dataread[2],dataread[3]);

	count=0;
	while(count++<10000)
		sleep(1);

	return 0;
}

int PWM(comedi_insn *insn,int PWMn,int flagEnable,int lPeriod,int hPeriod,int burst)
{
	lsampl_t omb[4]={0x0,0x0,0x0,0x0};
	int hByte,lByte;
	int PWMStatus;

	PWMn &= 1;  //We assure that PWMn=0 or 1
	
	insn->insn=INSN_WRITE;
	insn->data=omb;
	
	/*Step 1: Sets the high period value of PWMn*/
	lByte=hPeriod & 0xff;      
	hByte=(hPeriod >>8) & 0xff;
	
	omb[0]=lByte;  
	omb[1]=hByte;
	omb[2]=0x10+2*PWMn;  //Command code
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}

	/*Step 2: Sets the low period value of PWMn*/
	lByte=lPeriod & 0xff;       
	hByte=(lPeriod >>8) & 0xff;
	
	omb[0]=lByte;  
	omb[1]=hByte;
	omb[2]=0x11+2*PWMn;  //Command code
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}
	
	/*Step 3: Sets the burst count of PWMn*/
	lByte=burst & 0xff;       //Maximum value is 0xff
	hByte=(burst >>8) & 0xff;
	
	omb[0]=lByte;  
	omb[1]=hByte;
	omb[2]=0x14+PWMn;  //Command code
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}

	usleep(100);	
	/*Step 4: Read the PWM outputs' enable/disable flags.
	 *We do this in order not to affect another channel when
	 *we deal with a channel.
	 */
	GetStatus(insn,0x1f,&PWMStatus);
	PWMStatus &= 0x3;  //Only bit0 and bit1 is valid value

	printf("PWMStatus: %d\n",PWMStatus);

	/*Step 5: Enable the PWMn outputs.*/
	insn->insn=INSN_WRITE;
	insn->data=omb;
	flagEnable &= 1;
	if(PWMn==0)
		omb[0]=(2 & PWMStatus) | flagEnable;  
	else
		omb[0]=(1 & PWMStatus) |(flagEnable <<1);
	omb[2]=0x1f;  //Command code
	
	printf("PWMn %d   ~PWMn   %d   ~PWMn&PWMStatus %d  flagEnable %d   Enableflag: %d.\n",PWMn,~PWMn, ~PWMn&PWMStatus,flagEnable,omb[0]);
	if(comedi_do_insn(device,insn)<0)
	{
		printf("write error!\n");
		return -1;
	}
	
	sleep(1);	
	GetStatus(insn,0x1f,&PWMStatus);
	PWMStatus &= 0x3;  //Only bit0 and bit1 is valid value

	printf("PWMStatus: %d\n",PWMStatus);
	sleep(50);
	return 0;
}

int main(int argc,char *argv[])
{
	char progname[20];
	char ch,option='i';
	int optioncount=0;
	extern int optind;
	lsampl_t dataread[4];
	int data;
	comedi_insn insn;
 
 	strncpy(progname,argv[0],19>strlen(argv[0])?19:strlen(argv[0]));

 while((ch=getopt(argc,argv,"if:p:c:r:s:m:"))!=EOF)
   {
	  switch(ch)
      {case 'i':
       case 'f':
       case 'c':
       case 'p':
       case 'r':
       case 's':
       case 'm':
	       option=ch;
	       optioncount++;
	       break;
	   default: Usage(progname);
      }
   }
 if(optioncount >1)
 {
	printf("One and only one option required!\n");
	Usage(progname);
 }
 
 printf("argc=%d,optioncount=%d\n",argc,optioncount);
 argc -=2;
 argv+=2;

	if((device=comedi_open(filename))==NULL)
	{
		printf("comedi_open(\"%s\") error: %s\n",filename,strerror(errno));
		exit(0);
	}
	memset(&insn,0,sizeof(insn));
	insn.subdev=2;
	insn.insn=INSN_READ;
	insn.n=4;
	insn.chanspec=CR_PACK(channel,0,0);
	insn.data=dataread;
 switch(option)
 {
	case 'i':
		DigitalInput(&insn,&data);
		break;
	case 'f':
	{
		int chan,samplenum;
		if(argc <2)
		{
			printf("Invalid parameters!\n");
			Usage(progname);
		}
		chan=atoi(argv[0]);
		samplenum=atoi(argv[1]);	
	    DigitalFilter(&insn,chan,samplenum);
		break;
	}
	case 'c':
	{
		int resetValue,matchValue,enable;
		if(argc <3)
		{
			printf("Invalid parameters!\n");
			Usage(progname);
		}
		resetValue=atoi(argv[0]);
		matchValue=atoi(argv[1]);
		enable=atoi(argv[2]);
//		Counter(&insn,resetValue,matchValue,enable);
		break;		
	}
	case 'p':
	{
		int mask,pattern;
		printf("optind=%d,argc=%d %s %s\n",optind,argc, argv[0],argv[1]);
		if(argc<2)
		{
			printf("Invalid parameters!\n");
			Usage(progname);
		}
		mask=atoi(argv[0]) &0xff;
		pattern=atoi(argv[1]) & 0xff;
	
		PatternMatch(&insn,mask,pattern);
		break;
	}
    case 'r':
	{
		int mask;
		if(argc<1)
		{
			printf("Invalid parameter number!\n");
			Usage(progname);
		}
		mask=atoi(argv[0]) & 0xff;
		RelayOutput(&insn,mask);
		break;
	}
    case 's':
	{
		int rMask,fMask;
		if(argc<2)
		{
			printf("Invalid parameter number!\n");
			Usage(progname);
		}
		rMask=atoi(argv[0]) & 0xff;
		fMask=atoi(argv[1]) & 0xff;
		
		StateChange(&insn,rMask,fMask);
		break;
	}
    case 'm':
	{
		int PWMn,flagEnable,hPeriod,lPeriod,burst;
		hPeriod=1;  //Default value
		lPeriod=1;
		burst=0;   //Continuous
		if(argc<2)
		{
			printf("Invalid parameter number!\n");
			Usage(progname);
		}
		PWMn=atoi(argv[0]) & 1;
		flagEnable=atoi(argv[1]) & 1;
		argc -=2;  argv+=2;
		if(argc>=3)
			lPeriod=atoi(argv[0]) & 0xffff;
		if(argc>=4)
			hPeriod=atoi(argv[1]) & 0xffff;
		if(argc>=5)
			burst=atoi(argv[2]) & 0xffff;
		
		PWM(&insn,PWMn,flagEnable,lPeriod,hPeriod,burst);
		break;
	}
 }
 return 0;
}