Initial commit of Comedi driver for MF624 card; Original author Francois Poulain...

[mf6xx.git] / src / comedi / fpoulain / comedi+rtai / configEnc.c

diff --git a/src/comedi/fpoulain/comedi+rtai/configEnc.c b/src/comedi/fpoulain/comedi+rtai/configEnc.c
new file mode 100755 (executable)
index 0000000..9a44259
--- /dev/null
+++ b/src/comedi/fpoulain/comedi+rtai/configEnc.c
@@ -0,0 +1,75 @@
+/***********************************************************************
+Copyright (C) 2007  Francois Poulain, <fpoulain AT gmail DOT com>
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software Foundation,
+Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+***********************************************************************/
+
+#include <stdio.h>
+#include <time.h>
+#include <comedilib.h>
+#include "mf624.h"
+
+#define PERIOD         250000000.0     /* in nanoseconds       */
+#define TIME   2.0             /* in seconds           */
+
+int main(void)
+{
+       comedi_t *device;
+       comedi_insn instruction;
+       lsampl_t data[MF624_ENC_DATA_SIZE], dataReaded;
+       int subdev = MF624_ENC_SUBDEV;
+       int chan = 2;
+       int range = 0;
+       int aref = 0;
+       char filename[] = "/dev/comedi0";
+       
+       int toc = 0;
+       struct timespec tempo;
+
+       tempo.tv_sec = PERIOD/1e9;
+       tempo.tv_nsec = PERIOD - tempo.tv_sec*1e9;
+
+       data[0] = MF624_ENC_MODE_RISING;                /* Encoder mode         */
+       data[1] = MF624_ENC_COUNT_ENABLE;               /* Encoder counting     */
+       data[2] = MF624_ENC_RESET_ENABLE_BYINPUT;       /* Encoder reset        */
+       data[3] = MF624_ENC_FILTER_ON;                  /* Encoder filtering    */
+
+       instruction.insn = INSN_CONFIG;
+       instruction.n = MF624_ENC_DATA_SIZE;
+       instruction.data = data;
+       instruction.subdev = subdev;
+       instruction.chanspec=CR_PACK(chan,range,aref);
+
+//     comedi_loglevel(4);
+
+       /* Open comedi device */
+       device = comedi_open(filename);
+       if(!device){
+               comedi_perror(filename);
+               return(1);
+       }
+
+       comedi_do_insn(device , &instruction);
+
+       while(toc++ < TIME/(PERIOD/1000000000)){
+               comedi_data_read(device, subdev, chan, range, aref, &dataReaded);
+               printf("retour : %x\n", dataReaded);
+               nanosleep(&tempo, NULL);
+       }
+
+       comedi_close(device);
+
+       return 0;
+}
+