/*
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* Analogy for Linux, digital command test program
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*
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* Copyright (C) 1997-2000 David A. Schleef <ds@schleef.org>
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* Copyright (C) 2008 Alexis Berlemont <alexis.berlemont@free.fr>
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*
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* Xenomai is free software; you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* Xenomai is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Xenomai; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <errno.h>
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#include <getopt.h>
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#include <rtdm/analogy.h>
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#define FILENAME "analogy0"
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static char *filename = FILENAME;
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static int verbose;
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/* TODO: to be removed */
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static unsigned int chans[4] = {0, 1, 2, 3};
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/* The command to send by default */
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a4l_cmd_t cmd = {
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.idx_subd = -1,
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.flags = 0,
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.start_src = TRIG_INT,
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.start_arg = 0,
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.scan_begin_src = TRIG_EXT,
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.scan_begin_arg = 28, /* in ns */
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.convert_src = TRIG_NOW,
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.convert_arg = 0, /* in ns */
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.scan_end_src = TRIG_COUNT,
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.scan_end_arg = 4,
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.stop_src = TRIG_NONE,
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.stop_arg = 0,
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.nb_chan = 4,
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.chan_descs = chans,
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};
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a4l_insn_t insn = {
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.type = A4L_INSN_INTTRIG,
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.idx_subd = -1,
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.data_size = 0,
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};
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struct option cmd_bits_opts[] = {
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{"verbose", no_argument, NULL, 'v'},
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{"device", required_argument, NULL, 'd'},
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{"subdevice", required_argument, NULL, 's'},
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{"help", no_argument, NULL, 'h'},
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{0},
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};
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static void do_print_usage(void)
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{
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fprintf(stdout, "usage:\tcmd_bits [OPTS] <bits_values> <mask>\n");
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fprintf(stdout, "\tOPTS:\t -v, --verbose: verbose output\n");
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fprintf(stdout,
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"\t\t -d, --device: "
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"device filename (analogy0, analogy1, ...)\n");
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fprintf(stdout, "\t\t -s, --subdevice: subdevice index\n");
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fprintf(stdout, "\t\t -h, --help: print this help\n");
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}
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int main(int argc, char *argv[])
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{
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int i = 0, err = 0;
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a4l_desc_t dsc = { .sbdata = NULL };
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a4l_sbinfo_t *sbinfo;
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int scan_size, idx_subd = -1;
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int value, mask = 0;
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/* Trigger status, written data..., before triggering */
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int triggered = 0, total = 0, trigger_threshold = 128;
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/* Compute arguments */
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while ((err = getopt_long(argc,
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argv,
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"vd:s:h", cmd_bits_opts, NULL)) >= 0) {
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switch (err) {
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case 'v':
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verbose = 1;
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break;
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case 'd':
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filename = optarg;
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break;
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case 's':
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idx_subd = strtoul(optarg, NULL, 0);
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break;
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case 'h':
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default:
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do_print_usage();
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return 0;
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}
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}
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value = (argc - optind > 0) ? strtoul(argv[optind], NULL, 0) : 0;
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mask = (argc - optind > 1) ? strtoul(argv[optind + 1], NULL, 0) : 0;
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/* Open the device */
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err = a4l_open(&dsc, filename);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: a4l_open %s failed (err=%d)\n",
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FILENAME, err);
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return err;
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}
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if (verbose != 0) {
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printf("cmd_bits: device %s opened (fd=%d)\n",
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filename, dsc.fd);
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printf("cmd_bits: basic descriptor retrieved\n");
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printf("\t subdevices count = %d\n", dsc.nb_subd);
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printf("\t read subdevice index = %d\n", dsc.idx_read_subd);
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printf("\t write subdevice index = %d\n", dsc.idx_write_subd);
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}
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/* Allocate a buffer so as to get more info (subd, chan, rng) */
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dsc.sbdata = malloc(dsc.sbsize);
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if (dsc.sbdata == NULL) {
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fprintf(stderr, "cmd_bits: malloc failed \n");
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return -ENOMEM;
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}
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/* Get this data */
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err = a4l_fill_desc(&dsc);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: a4l_get_desc failed (err=%d)\n", err);
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goto out_cmd_bits;
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}
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if (verbose != 0)
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printf("cmd_bits: complex descriptor retrieved\n");
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/* If no subdevice index was set, choose for the first digital
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subdevice found */
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while (idx_subd == -1 && i < dsc.nb_subd) {
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err = a4l_get_subdinfo(&dsc, i, &sbinfo);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: "
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"a4l_get_subdinfo(%d) failed (err = %d)\n",
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i, err);
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goto out_cmd_bits;
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}
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if ((sbinfo->flags & A4L_SUBD_TYPES) == A4L_SUBD_DIO ||
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(sbinfo->flags & A4L_SUBD_TYPES) == A4L_SUBD_DO) {
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idx_subd = i;
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}
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i++;
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}
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if (idx_subd == -1) {
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fprintf(stderr, "cmd_bits: no digital subdevice available\n");
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err = -EINVAL;
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goto out_cmd_bits;
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}
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if (verbose != 0)
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printf("cmd_bits: selected subdevice index = %d\n",
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idx_subd);
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/* We must check that the subdevice is really a digital one
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(in case, the subdevice index was set with the option -s) */
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err = a4l_get_subdinfo(&dsc, idx_subd, &sbinfo);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: get_sbinfo(%d) failed (err = %d)\n",
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idx_subd, err);
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err = -EINVAL;
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goto out_cmd_bits;
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}
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cmd.idx_subd = insn.idx_subd = idx_subd;
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if ((sbinfo->flags & A4L_SUBD_TYPES) != A4L_SUBD_DIO &&
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(sbinfo->flags & A4L_SUBD_TYPES) != A4L_SUBD_DO) {
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fprintf(stderr,
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"cmd_bits: selected subdevice is not digital\n");
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err = -EINVAL;
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goto out_cmd_bits;
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}
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/* Set the data size to read / write */
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scan_size = a4l_sizeof_subd(sbinfo);
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/* Handle little endian case with scan size < 32 */
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if (scan_size == sizeof(uint8_t)) {
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value *= 0x01010101;
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}
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else if (scan_size == sizeof(uint16_t)) {
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value *= 0x00010001;
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}
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/* Configure the polarities */
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for (i = 0; i < scan_size; i++) {
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int mode = (mask & (1 << i)) ?
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A4L_INSN_CONFIG_DIO_OUTPUT : A4L_INSN_CONFIG_DIO_INPUT;
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err = a4l_config_subd(&dsc, cmd.idx_subd, mode, i);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: configuration of "
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"line %d failed (err=%d)\n",
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i, err);
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goto out_cmd_bits;
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}
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}
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/* Send the command to the output device */
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err = a4l_snd_command(&dsc, &cmd);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: a4l_snd_command failed (err=%d)\n", err);
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goto out_cmd_bits;
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}
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if (verbose != 0)
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printf("cmd_bits: command successfully sent\n");
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/* Perform the write operations */
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do {
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err = a4l_async_write(&dsc, &value, scan_size, A4L_INFINITE);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: a4l_write failed (err=%d)\n", err);
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goto out_cmd_bits;
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}
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total += err;
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if (!triggered && total > trigger_threshold) {
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err = a4l_snd_insn(&dsc, &insn);
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if (err < 0) {
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fprintf(stderr,
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"cmd_bits: triggering failed (err=%d)\n",
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err);
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goto out_cmd_bits;
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}
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}
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} while (err > 0);
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out_cmd_bits:
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/* Free the buffer used as device descriptor */
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if (dsc.sbdata != NULL)
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free(dsc.sbdata);
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/* The fd closure will automatically trigger a cancel; so,
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wait a little bit for the end of the transfer */
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sleep(1);
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/* Release the file descriptor */
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a4l_close(&dsc);
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return err;
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}
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