/*
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* Analogy for Linux, instruction write 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 <stdio.h>
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#include <stdlib.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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/* Ten triggered scans by default */
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#define SCAN_CNT 10
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#define FILENAME "analogy0"
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#define BUF_SIZE 10000
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static int value = 0;
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static double dvalue = 0;
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static char *filename = FILENAME;
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static int verbose;
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static int idx_subd = -1;
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static int idx_chan;
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static int idx_rng = -1;
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struct option insn_write_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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{"scan-count", required_argument, NULL, 'S'},
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{"channel", required_argument, NULL, 'c'},
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{"range", required_argument, NULL, 'R'},
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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:\tinsn_write [OPTS]\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 -c, --channel: channel to use\n");
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fprintf(stdout, "\t\t -R, --range: range to use\n");
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fprintf(stdout, "\t\t -V, --value: value to write\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 err = 0;
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a4l_desc_t dsc = { .sbdata = NULL };
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a4l_sbinfo_t *sbinfo;
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a4l_chinfo_t *chinfo;
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a4l_rnginfo_t *rnginfo;
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unsigned int scan_size;
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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:c:R:V:h", insn_write_opts,
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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 'c':
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idx_chan = strtoul(optarg, NULL, 0);
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break;
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case 'R':
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idx_rng = strtoul(optarg, NULL, 0);
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break;
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case 'V':
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/* Do not perform the conversion until we know
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which variable we need */
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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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/* Restart the argument scanning */
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optind = 1;
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while ((err = getopt_long(argc,
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argv,
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"vrd:s:c:R:V:h", insn_write_opts,
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NULL)) >= 0) {
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switch (err) {
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case 'V':
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if (idx_rng < 0)
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value = (int)strtoul(optarg, NULL, 0);
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else
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dvalue = strtod(optarg, NULL);
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}
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}
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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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"insn_write: 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("insn_write: device %s opened (fd=%d)\n", filename,
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dsc.fd);
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printf("insn_write: 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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err = -ENOMEM;
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fprintf(stderr, "insn_write: info buffer allocation failed\n");
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goto out_insn_write;
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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, "insn_write: a4l_fill_desc failed (err=%d)\n",
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err);
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goto out_insn_write;
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}
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if (verbose != 0)
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printf("insn_write: complex descriptor retrieved\n");
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/* If no subdevice index was set, look for an analog output
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subdevice */
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if (idx_subd == -1)
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idx_subd = dsc.idx_write_subd;
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if (idx_subd == -1) {
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fprintf(stderr,
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"insn_write: no analog output subdevice available\n");
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err = -EINVAL;
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goto out_insn_write;
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}
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if (verbose != 0)
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printf("insn_write: selected subdevice index = %d\n", idx_subd);
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/* We must check that the subdevice is really an AO 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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"insn_write: 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_insn_write;
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}
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if ((sbinfo->flags & A4L_SUBD_TYPES) != A4L_SUBD_AO) {
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fprintf(stderr,
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"insn_write: wrong subdevice selected "
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"(not an analog output)\n");
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err = -EINVAL;
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goto out_insn_write;
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}
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if (idx_rng >= 0) {
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err = a4l_get_rnginfo(&dsc,
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idx_subd, idx_chan, idx_rng, &rnginfo);
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if (err < 0) {
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fprintf(stderr,
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"insn_write: failed to recover range descriptor\n");
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goto out_insn_write;
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}
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if (verbose != 0) {
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printf("insn_write: range descriptor retrieved\n");
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printf("\t min = %ld\n", rnginfo->min);
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printf("\t max = %ld\n", rnginfo->max);
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}
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}
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/* Retrieve the subdevice data size */
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err = a4l_get_chinfo(&dsc, idx_subd, idx_chan, &chinfo);
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if (err < 0) {
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fprintf(stderr,
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"insn_write: info for channel %d on subdevice %d "
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"not available (err=%d)\n",
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idx_chan, idx_subd, err);
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goto out_insn_write;
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}
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/* Set the data size to write */
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scan_size = (chinfo->nb_bits % 8 == 0) ?
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chinfo->nb_bits / 8 : (chinfo->nb_bits / 8) + 1;
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if (verbose != 0) {
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printf("insn_write: channel width is %u bits\n",
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chinfo->nb_bits);
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printf("insn_write: global scan size is %u\n", scan_size);
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}
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/* If a range was selected, converts the samples */
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if (idx_rng >= 0) {
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if (a4l_dtoraw(chinfo, rnginfo, &value, &dvalue, 1) < 0) {
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fprintf(stderr,
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"insn_write: data conversion failed (err=%d)\n",
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err);
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goto out_insn_write;
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}
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if (verbose != 0)
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printf("insn_write: writing value %F (raw=0x%x)\n",
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dvalue, value);
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} else if (verbose != 0)
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printf("insn_write: writing raw value 0x%x\n", value);
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/* Handle little endian case with bit range < 32 */
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if (scan_size == sizeof(char))
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value *= 0x01010101;
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else if (scan_size == sizeof(short))
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value *= 0x00010001;
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/* Perform the write operation */
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err = a4l_sync_write(&dsc,
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idx_subd, CHAN(idx_chan), 0, &value, scan_size);
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if (err < 0) {
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fprintf(stderr,
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"insn_write: a4l_sync_write failed (err=%d)\n", err);
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goto out_insn_write;
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}
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if (verbose != 0)
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printf("insn_write: %u bytes successfully sent\n", scan_size);
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out_insn_write:
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/* Free the information buffer */
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if (dsc.sbdata != NULL)
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free(dsc.sbdata);
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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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