From 682e609ebeb4e66e68f106850a5beec94ac48bf9 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Fri, 1 Mar 2019 09:47:36 +0100
Subject: [PATCH] comedi implemented
---
Makefile | 20 ++--
moberg.c | 7 --
moberg.h | 2 +-
moberg_config.c | 1 -
moberg_device.c | 82 +------------
{modules => plugins}/comedi/Makefile | 0
{modules => plugins}/comedi/comedi.c | 117 +++++++++++++++++--
{modules => plugins}/serial2002/Makefile | 0
{modules => plugins}/serial2002/serial2002.c | 0
9 files changed, 116 insertions(+), 113 deletions(-)
rename {modules => plugins}/comedi/Makefile (100%)
rename {modules => plugins}/comedi/comedi.c (81%)
rename {modules => plugins}/serial2002/Makefile (100%)
rename {modules => plugins}/serial2002/serial2002.c (100%)
diff --git a/Makefile b/Makefile
index 1eab439..1b8a069 100644
--- a/Makefile
+++ b/Makefile
@@ -1,17 +1,17 @@
LIBRARIES=libmoberg.so
CCFLAGS+=-Wall -Werror -I$(shell pwd) -g
LDFLAGS+=-L$(shell pwd)/build/ -lmoberg
-MODULES:=$(wildcard modules/*)
+PLUGINS:=$(wildcard plugins/*)
export CCFLAGS LDFLAGS
LDFLAGS_parse_config=-ldl
#-export-dynamic
-all: $(LIBRARIES:%=build/%) $(MODULES)
- echo $(MODULES)
+all: $(LIBRARIES:%=build/%) $(PLUGINS)
+ echo $(PLUGINS)
echo $(CCFLAGS)
-build/libmoberg.so: moberg.c Makefile | build
- $(CC) -o $@ $(CCFLAGS) -shared -fPIC -I. $< \
+build/libmoberg.so: Makefile | build
+ $(CC) -o $@ $(CCFLAGS) -shared -fPIC -I. \
$(filter %.o,$^) -lxdg-basedir -ldl
build/lib build:
@@ -27,25 +27,21 @@ build/lib/%.o: %.c Makefile | build/lib
$(CC) $(CCFLAGS) -c -fPIC -o $@ $<
-.PHONY: $(MODULES)
-$(MODULES):
+.PHONY: $(PLUGINS)
+$(PLUGINS):
$(MAKE) -C $@
.PHONY: test
test: all
$(MAKE) -C test test
-# LD_LIBRARY_PATH=build \
-# valgrind ./parse_config test/*/*.conf
-# LD_LIBRARY_PATH=build HOME=$$(pwd)/test \
-# valgrind -q --error-exitcode=1 test/test_c
-
clean:
find build -type f -delete
rm -f *~
make -C test clean
+build/libmoberg.so: build/lib/moberg.o
build/libmoberg.so: build/lib/moberg_config.o
build/libmoberg.so: build/lib/moberg_device.o
build/libmoberg.so: build/lib/moberg_parser.o
diff --git a/moberg.c b/moberg.c
index 32437cd..e302fce 100644
--- a/moberg.c
+++ b/moberg.c
@@ -100,9 +100,7 @@ static void parse_config_at(
if (read(fd, buf, statbuf.st_size) == statbuf.st_size) {
buf[statbuf.st_size] = 0;
}
- printf("Parsing... %s %d %d\n", pathname, dirfd, fd);
struct moberg_config *config = moberg_parse(moberg, buf);
- printf("-> %p\n", config);
if (config) {
if (! moberg->config) {
moberg->config = config;
@@ -151,7 +149,6 @@ static int install_channel(struct moberg *moberg,
struct moberg_device* device,
struct moberg_channel *channel)
{
- fprintf(stderr, "CHAN %p %d %d\n", channel, channel->kind, index);
if (channel) {
struct moberg_channel *old = NULL;
switch (channel->kind) {
@@ -294,9 +291,7 @@ int moberg_analog_in_open(struct moberg *moberg,
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->analog_in, index, &channel);
if (channel) {
- printf("Call open\n");
channel->open(channel);
- channel->up(channel);
*analog_in = channel->action.analog_in;
return 1;
}
@@ -310,9 +305,7 @@ int moberg_analog_in_close(struct moberg *moberg,
struct moberg_channel *channel = NULL;
channel_list_get(&moberg->analog_in, index, &channel);
if (channel && channel->action.analog_in.context == analog_in.context) {
- printf("Call close\n");
channel->close(channel);
- channel->down(channel);
}
return 1;
}
diff --git a/moberg.h b/moberg.h
index 062892a..1ffa2c3 100644
--- a/moberg.h
+++ b/moberg.h
@@ -21,7 +21,7 @@ struct moberg_analog_in {
struct moberg_analog_out {
struct moberg_channel_analog_out *context;
- int (*write)(struct moberg_channel_analog_in *, double value);
+ int (*write)(struct moberg_channel_analog_out *, double value);
};
struct moberg_digital_in {
diff --git a/moberg_config.c b/moberg_config.c
index 879b6e8..6349bde 100644
--- a/moberg_config.c
+++ b/moberg_config.c
@@ -83,7 +83,6 @@ int moberg_config_install_channels(struct moberg_config *config,
if (moberg_device_in_use(device->device)) {
previous = &device->next;
} else {
- fprintf(stderr, "FREE\n");
moberg_device_free(device->device);
free(device);
*previous = next;
diff --git a/moberg_device.c b/moberg_device.c
index e4f339b..a85c71b 100644
--- a/moberg_device.c
+++ b/moberg_device.c
@@ -86,8 +86,7 @@ void moberg_device_free(struct moberg_device *device)
free(channel);
channel = next;
}
- int use = device->driver.down(device->device_context);
- fprintf(stderr, "USE: %d\n", use);
+ device->driver.down(device->device_context);
free(device);
}
@@ -95,7 +94,6 @@ int moberg_device_in_use(struct moberg_device *device)
{
device->driver.up(device->device_context);
int use = device->driver.down(device->device_context);
- fprintf(stderr, "IN_USE: %d\n", use);
return use > 1;
}
@@ -123,81 +121,6 @@ err:
return 0;
}
-int moberg_device_add_analog_in(struct moberg_device* device,
- struct moberg_channel_analog_in *channel)
-{
- int result = 0;
-
- if (device->range->kind == chan_ANALOGIN &&
- device->range->min <= device->range->max) {
- printf("Mapping %d\n", device->range->min);
- result = add_channel(device, device->range->kind, device->range->min,
- (union channel) { .analog_in=channel });
- device->range->min++;
- }
- return result;
-}
-
-int moberg_device_add_analog_out(struct moberg_device* device,
- struct moberg_channel_analog_out *channel)
-{
- int result = 0;
-
- if (device->range->kind == chan_ANALOGOUT &&
- device->range->min <= device->range->max) {
- printf("Mapping %d\n", device->range->min);
- result = add_channel(device, device->range->kind, device->range->min,
- (union channel) { .analog_out=channel });
- device->range->min++;
- }
- return result;
-}
-
-int moberg_device_add_digital_in(struct moberg_device* device,
- struct moberg_channel_digital_in *channel)
-{
- int result = 0;
-
- if (device->range->kind == chan_DIGITALIN &&
- device->range->min <= device->range->max) {
- printf("Mapping %d\n", device->range->min);
- result = add_channel(device, device->range->kind, device->range->min,
- (union channel) { .digital_in=channel });
- device->range->min++;
- }
- return result;
-}
-
-int moberg_device_add_digital_out(struct moberg_device* device,
- struct moberg_channel_digital_out *channel)
-{
- int result = 0;
-
- if (device->range->kind == chan_DIGITALOUT &&
- device->range->min <= device->range->max) {
- printf("Mapping %d\n", device->range->min);
- result = add_channel(device, device->range->kind, device->range->min,
- (union channel) { .digital_out=channel });
- device->range->min++;
- }
- return result;
-}
-
-int moberg_device_add_encoder_in(struct moberg_device* device,
- struct moberg_channel_encoder_in *channel)
-{
- int result = 0;
-
- if (device->range->kind == chan_ENCODERIN &&
- device->range->min <= device->range->max) {
- printf("Mapping %d\n", device->range->min);
- result = add_channel(device, device->range->kind, device->range->min,
- (union channel) { .encoder_in=channel });
- device->range->min++;
- }
- return result;
-}
-
static int map(struct moberg_device* device,
struct moberg_channel *channel)
{
@@ -205,7 +128,6 @@ static int map(struct moberg_device* device,
if (device->range->kind == channel->kind &&
device->range->min <= device->range->max) {
- printf("XX Mapping %d\n", device->range->min);
result = add_channel(device, device->range->kind, device->range->min,
(union channel) { .channel=channel });
device->range->min++;
@@ -236,7 +158,6 @@ int moberg_device_parse_map(struct moberg_device* device,
result = device->driver.parse_map(device->device_context, parser,
kind, &map_channel);
device->range = NULL;
- printf("RRR %d %d\n", r.min, r.max);
return result;
}
@@ -244,7 +165,6 @@ int moberg_device_install_channels(struct moberg_device *device,
struct moberg_channel_install *install)
{
- printf("INSTALL\n");
struct channel_list *channel = device->channel_head;
while (channel) {
struct channel_list *next;
diff --git a/modules/comedi/Makefile b/plugins/comedi/Makefile
similarity index 100%
rename from modules/comedi/Makefile
rename to plugins/comedi/Makefile
diff --git a/modules/comedi/comedi.c b/plugins/comedi/comedi.c
similarity index 81%
rename from modules/comedi/comedi.c
rename to plugins/comedi/comedi.c
index 32853eb..8af55cf 100644
--- a/modules/comedi/comedi.c
+++ b/plugins/comedi/comedi.c
@@ -73,16 +73,91 @@ struct moberg_channel_encoder_in {
static int analog_in_read(struct moberg_channel_analog_in *analog_in,
double *value)
{
+ if (! value) { goto err; }
struct channel_descriptor descriptor = analog_in->channel_context.descriptor;
lsampl_t data;
comedi_data_read(analog_in->channel_context.device->comedi.handle,
descriptor.subdevice,
descriptor.subchannel,
0, 0, &data);
-
*value = descriptor.min + data * descriptor.delta;
- fprintf(stderr, "Data: %d %f\n", data, *value);
return 1;
+err:
+ return 0;
+}
+
+static int analog_out_write(struct moberg_channel_analog_out *analog_out,
+ double value)
+{
+ if (! value) { goto err; }
+ struct channel_descriptor descriptor = analog_out->channel_context.descriptor;
+ lsampl_t data;
+ if (value < descriptor.min) {
+ data = 0;
+ } else if (value > descriptor.max) {
+ data = descriptor.maxdata;
+ } else {
+ data = (value - descriptor.min) / descriptor.delta;
+ }
+ if (data < 0) {
+ data = 0;
+ } else if (data > descriptor.maxdata) {
+ data = descriptor.maxdata;
+ }
+ comedi_data_write(analog_out->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, data);
+ return 1;
+err:
+ return 0;
+}
+
+static int digital_in_read(struct moberg_channel_digital_in *digital_in,
+ int *value)
+{
+ if (! value) { goto err; }
+ struct channel_descriptor descriptor = digital_in->channel_context.descriptor;
+ lsampl_t data;
+ comedi_data_read(digital_in->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, &data);
+ *value = data;
+ return 1;
+err:
+ return 0;
+}
+
+static int digital_out_write(struct moberg_channel_digital_out *digital_out,
+ int value)
+{
+ if (! value) { goto err; }
+ struct channel_descriptor descriptor = digital_out->channel_context.descriptor;
+ lsampl_t data = value==0?0:1;
+ comedi_data_write(digital_out->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, data);
+ return 1;
+err:
+ return 0;
+}
+
+static int encoder_in_read(struct moberg_channel_encoder_in *encoder_in,
+ long *value)
+{
+ if (! value) { goto err; }
+ struct channel_descriptor descriptor = encoder_in->channel_context.descriptor;
+ lsampl_t data;
+ comedi_data_read(encoder_in->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, &data);
+ *value = data - descriptor.maxdata / 2;
+ return 1;
+err:
+ return 0;
}
static struct moberg_device_context *new_context(struct moberg *moberg,
@@ -186,10 +261,6 @@ static int channel_open(struct moberg_channel *channel)
{
channel_up(channel);
if (! device_open(channel->context->device)) { goto err; }
- fprintf(stderr, "Open %s[%d][%d]\n",
- channel->context->device->name,
- channel->context->descriptor.subdevice,
- channel->context->descriptor.subchannel);
lsampl_t maxdata;
comedi_range *range;
@@ -219,6 +290,30 @@ static int channel_open(struct moberg_channel *channel)
channel->context->descriptor.min = range->min;
channel->context->descriptor.max = range->max;
channel->context->descriptor.delta = (range->max - range->min) / maxdata;
+ if (channel->kind == chan_DIGITALIN) {
+ comedi_dio_config(channel->context->device->comedi.handle,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel,
+ 0);
+ } else if (channel->kind == chan_DIGITALOUT) {
+ comedi_dio_config(channel->context->device->comedi.handle,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel,
+ 1);
+ }
+ if (channel->context->descriptor.route != -1) {
+ comedi_insn insn;
+ lsampl_t data[2];
+ memset(&insn, 0, sizeof(comedi_insn));
+ insn.insn = INSN_CONFIG;
+ insn.subdev = channel->context->descriptor.subdevice;
+ insn.chanspec = channel->context->descriptor.subchannel;
+ insn.data = data;
+ insn.n = sizeof(data) / sizeof(data[0]);
+ data[0] = INSN_CONFIG_SET_ROUTING;
+ data[1] = channel->context->descriptor.route;
+ comedi_do_insn(channel->context->device->comedi.handle, &insn);
+ }
return 1;
err:
return 0;
@@ -360,7 +455,7 @@ static int parse_map(struct moberg_device_context *device,
enum moberg_channel_kind kind,
struct moberg_channel_map *map)
{
- token_t min, max, route={ .u.integer.value=0 };
+ token_t min, max, route={ .u.integer.value=-1 };
if (! acceptsym(c, tok_LBRACE, NULL)) { goto err; }
for (;;) {
@@ -419,7 +514,7 @@ static int parse_map(struct moberg_device_context *device,
kind,
(union moberg_channel_action) {
.analog_out.context=channel,
- .analog_out.write=NULL });
+ .analog_out.write=analog_out_write });
map->map(map->device, &channel->channel);
}
} break;
@@ -436,7 +531,7 @@ static int parse_map(struct moberg_device_context *device,
kind,
(union moberg_channel_action) {
.digital_in.context=channel,
- .digital_in.read=NULL });
+ .digital_in.read=digital_in_read });
map->map(map->device, &channel->channel);
}
} break;
@@ -453,7 +548,7 @@ static int parse_map(struct moberg_device_context *device,
kind,
(union moberg_channel_action) {
.digital_out.context=channel,
- .digital_out.write=NULL });
+ .digital_out.write=digital_out_write });
map->map(map->device, &channel->channel);
}
} break;
@@ -470,7 +565,7 @@ static int parse_map(struct moberg_device_context *device,
kind,
(union moberg_channel_action) {
.encoder_in.context=channel,
- .encoder_in.read=NULL });
+ .encoder_in.read=encoder_in_read });
map->map(map->device, &channel->channel);
}
} break;
diff --git a/modules/serial2002/Makefile b/plugins/serial2002/Makefile
similarity index 100%
rename from modules/serial2002/Makefile
rename to plugins/serial2002/Makefile
diff --git a/modules/serial2002/serial2002.c b/plugins/serial2002/serial2002.c
similarity index 100%
rename from modules/serial2002/serial2002.c
rename to plugins/serial2002/serial2002.c
--
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