libk8055 uses cmake

1 files changed, 600 insertions, 0 deletions

diff --git a/libk8055/libk8055.c b/libk8055/libk8055.c
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+/* $Id: libk8055.c,v 1.7 2008/08/20 17:00:55 mr_brain Exp $
+
+   This file is part of the libk8055 Library.
+
+   The libk8055 Library is free software; you can redistribute it and/or
+   modify it under the terms of the GNU Lesser General Public
+   License as published by the Free Software Foundation; either
+   version 2.1 of the License, or (at your option) any later version.
+
+   The libk8055 Library 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
+   Lesser 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.
+
+   http://opensource.org/licenses/
+
+   Copyleft (C) 2005 by Sven Lindberg
+     k8055@k8055.mine.nu
+
+   Copyright (C) 2007 by Pjetur G. Hjaltason
+       pjetur@pjetur.net
+       Commenting, general rearrangement of code, bugfixes,
+       python interface with swig and simple k8055 python class
+
+
+	Input packet format
+
+	+---+---+---+---+---+---+---+---+
+	|DIn|Sta|A1 |A2 |   C1  |   C2  |
+	+---+---+---+---+---+---+---+---+
+	DIn = Digital input in high nibble, except for input 3 in 0x01
+	Sta = Status, Board number + 1
+	A1  = Analog input 1, 0-255
+	A2  = Analog input 2, 0-255
+	C1  = Counter 1, 16 bits (lsb)
+	C2  = Counter 2, 16 bits (lsb)
+
+	Output packet format
+
+	+---+---+---+---+---+---+---+---+
+	|CMD|DIG|An1|An2|Rs1|Rs2|Dbv|Dbv|
+	+---+---+---+---+---+---+---+---+
+	CMD = Command 
+	DIG = Digital output bitmask
+	An1 = Analog output 1 value, 0-255
+	An2 = Analog output 2 value, 0-255
+	Rs1 = Reset counter 1, command 3
+	Rs2 = Reset counter 3, command 4
+	Dbv = Debounce value for counter 1 and 2, command 1 and 2
+
+	Or split by commands
+
+	Cmd 0, Reset ??
+	Cmd 1, Set debounce Counter 1
+	+---+---+---+---+---+---+---+---+
+	|CMD|   |   |   |   |   |Dbv|   |
+	+---+---+---+---+---+---+---+---+
+	Cmd 2, Set debounce Counter 2
+	+---+---+---+---+---+---+---+---+
+	|CMD|   |   |   |   |   |   |Dbv|
+	+---+---+---+---+---+---+---+---+
+	Cmd 3, Reset counter 1
+	+---+---+---+---+---+---+---+---+
+	| 3 |   |   |   | 00|   |   |   |
+	+---+---+---+---+---+---+---+---+
+	Cmd 4, Reset counter 2
+	+---+---+---+---+---+---+---+---+
+	| 4 |   |   |   |   | 00|   |   |
+	+---+---+---+---+---+---+---+---+
+	cmd 5, Set analog/digital
+	+---+---+---+---+---+---+---+---+
+	| 5 |DIG|An1|An2|   |   |   |   |
+	+---+---+---+---+---+---+---+---+
+
+**/
+
+#include <string.h>
+#include <stdio.h>
+#include <usb.h>
+#include <assert.h>
+#include <math.h>
+#include "k8055.h"
+
+#define STR_BUFF 256
+#define PACKET_LEN 8
+
+#define K8055_IPID 0x5500
+#define VELLEMAN_VENDOR_ID 0x10cf
+#define K8055_MAX_DEV 4
+
+#define USB_OUT_EP 0x01	/* USB output endpoint */
+#define USB_INP_EP 0x81 /* USB Input endpoint */
+
+#define USB_TIMEOUT 20
+#define K8055_ERROR -1
+
+#define DIGITAL_INP_OFFSET 0
+#define DIGITAL_OUT_OFFSET 1
+#define ANALOG_1_OFFSET 2
+#define ANALOG_2_OFFSET 3
+#define COUNTER_1_OFFSET 4
+#define COUNTER_2_OFFSET 6
+
+#define CMD_RESET 0x00
+#define CMD_SET_DEBOUNCE_1 0x01
+#define CMD_SET_DEBOUNCE_2 0x01
+#define CMD_RESET_COUNTER_1 0x03
+#define CMD_RESET_COUNTER_2 0x04
+#define CMD_SET_ANALOG_DIGITAL 0x05
+
+/* set debug to 0 to not print excess info */
+int DEBUG = 0;
+
+/* variables for usb */
+static struct usb_bus *bus, *busses;
+static struct usb_device *dev;
+
+/* globals for datatransfer */
+struct k8055_dev {
+    unsigned char data_in[PACKET_LEN+1];
+    unsigned char data_out[PACKET_LEN+1];
+    struct usb_dev_handle *device_handle;
+    int DevNo;
+};
+
+static struct k8055_dev k8055d[K8055_MAX_DEV];
+static struct k8055_dev *CurrDev;
+
+/* Keep these globals for now */
+unsigned char *data_in, *data_out;
+
+/* char* device_id[]; */
+
+/* Initialize the usb library - only once */
+static void init_usb(void)
+{
+    static int Done = 0;	/* Only need to do this once */
+    if (!Done) 
+    {
+        usb_init();
+        usb_find_busses();
+        usb_find_devices();
+        busses = usb_get_busses();
+        Done = 1;
+    }
+}
+/* Actual read of data from the device endpoint, retry 3 times if not responding ok */
+static int ReadK8055Data(void)
+{
+    int read_status = 0, i = 0;
+
+    if (CurrDev->DevNo == 0) return K8055_ERROR;
+
+    for(i=0; i < 3; i++)
+        {
+        read_status = usb_interrupt_read(CurrDev->device_handle, USB_INP_EP, (char *)CurrDev->data_in, PACKET_LEN, USB_TIMEOUT);
+        if ((read_status == PACKET_LEN) && (CurrDev->data_in[1] == CurrDev->DevNo )) return 0;
+        if (DEBUG)
+            fprintf(stderr, "Read retry\n");
+        }
+    return K8055_ERROR;
+}
+
+/* Actual write of data to the device endpont, retry 3 times if not reponding correctly */
+static int WriteK8055Data(unsigned char cmd)
+{
+    int write_status = 0, i = 0;
+
+    if (CurrDev->DevNo == 0) return K8055_ERROR;
+
+    CurrDev->data_out[0] = cmd;
+    for(i=0; i < 3; i++)
+        {
+        write_status = usb_interrupt_write(CurrDev->device_handle, USB_OUT_EP, (char *)CurrDev->data_out, PACKET_LEN, USB_TIMEOUT);
+        if (write_status == PACKET_LEN) return 0;
+        if (DEBUG)
+            fprintf(stderr, "Write retry\n");
+        }
+    return K8055_ERROR;
+}
+
+/* If device is owned by some kernel driver, try to disconnect it and claim the device*/
+static int takeover_device(usb_dev_handle * udev, int interface)
+{
+    char driver_name[STR_BUFF];
+
+    memset(driver_name, 0, STR_BUFF);
+    int ret = K8055_ERROR;
+
+    assert(udev != NULL);
+    ret = usb_get_driver_np(udev, interface, driver_name, sizeof(driver_name));
+    if (ret == 0)
+    {
+        if (DEBUG)
+            fprintf(stderr, "Got driver name: %s\n", driver_name);
+        if (0 > usb_detach_kernel_driver_np(udev, interface))
+        {
+            if (DEBUG)
+                fprintf(stderr, "Disconnect OS driver: %s\n", usb_strerror());
+        }
+        else if (DEBUG)
+            fprintf(stderr, "Disconnected OS driver: %s\n", usb_strerror());
+    }
+    else if (DEBUG)
+        fprintf(stderr, "Get driver name: - %s\n", usb_strerror());
+
+    /* claim interface */
+    if (usb_claim_interface(udev, interface) < 0)
+    {
+        if (DEBUG)
+            fprintf(stderr, "Claim interface error: %s\n", usb_strerror());
+        return K8055_ERROR;
+    }
+    else
+        usb_set_altinterface(udev, interface);
+    usb_set_configuration(udev, 1);
+
+    if (DEBUG)
+        {
+        fprintf(stderr, "Found interface %d\n", interface);
+        fprintf(stderr, "Took over the device\n");
+        }
+
+    return 0;
+}
+
+/* Open device - scan through usb busses looking for the right device,
+   claim it and then open the device
+*/
+int OpenDevice(long BoardAddress)
+{
+
+    int ipid;
+
+    /* init USB and find all of the devices on all busses */
+    init_usb();
+
+    /* ID of the welleman board is 5500h + address config */
+    if (BoardAddress >= 0 && BoardAddress < K8055_MAX_DEV)
+        ipid = K8055_IPID + (int)BoardAddress;
+    else
+        return K8055_ERROR;              /* throw error instead of being nice */
+
+    /* start looping through the devices to find the correct one */
+    for (bus = busses; bus; bus = bus->next)
+    {
+        for (dev = bus->devices; dev; dev = dev->next)
+        {
+            if ((dev->descriptor.idVendor == VELLEMAN_VENDOR_ID) &&
+                (dev->descriptor.idProduct == ipid))
+            {
+                CurrDev = &k8055d[BoardAddress];
+                CurrDev->device_handle = usb_open(dev);
+                if (DEBUG)
+                    fprintf(stderr,
+                            "Velleman Device Found @ Address %s Vendor 0x0%x Product ID 0x0%x\n",
+                            dev->filename, dev->descriptor.idVendor,
+                            dev->descriptor.idProduct);
+                if (takeover_device(CurrDev->device_handle, 0) < 0)
+                {
+                    if (DEBUG)
+                        fprintf(stderr,
+                                "Can not take over the device from the OS driver\n");
+                    usb_close(CurrDev->device_handle);   /* close usb if we fail */
+                    return K8055_ERROR;  /* throw K8055_ERROR to show that OpenDevice failed */
+                }
+                else
+                {
+                    CurrDev->DevNo = BoardAddress + 1; /* Mark as open and valid */
+                    SetCurrentDevice(BoardAddress);
+                    memset(CurrDev->data_out,0,PACKET_LEN);	/* Write cmd 0, read data */
+                    WriteK8055Data(CMD_RESET);
+                    if (ReadK8055Data() == 0)
+                       return BoardAddress;		/* This function should return board address */
+                    else
+                       return K8055_ERROR;
+                }
+            }
+        }
+    }
+    if (DEBUG)
+        fprintf(stderr, "Could not find Velleman k8055 with address %d\n",
+                (int)BoardAddress);
+    return K8055_ERROR;
+}
+
+/* Close the Current device */
+int CloseDevice()
+{
+     int rc;
+
+     if (CurrDev->DevNo == 0)
+     {
+         if (DEBUG)
+             fprintf(stderr, "Current device is not open\n" );
+         return 0;
+     }
+     rc = usb_close(CurrDev->device_handle);
+     if (rc >= 0)
+     {
+         CurrDev->DevNo = 0;  /* Not active nay more */
+         CurrDev->device_handle = NULL;
+     }
+     return rc;
+}
+
+/* New function in version 2 of Velleman DLL, should return deviceno if OK */
+long SetCurrentDevice(long deviceno)
+{
+    if (deviceno >= 0 && deviceno < K8055_MAX_DEV)
+    {
+        if (k8055d[deviceno].DevNo != 0)
+        {
+            CurrDev  = &k8055d[deviceno];
+            data_in  = CurrDev->data_in;
+            data_out = CurrDev->data_out;
+            return deviceno;
+        }
+    }
+    return K8055_ERROR;
+
+}
+
+/* New function in version 2 of Velleman DLL, should return devices-found bitmask or 0*/
+long SearchDevices(void)
+{
+    int retval = 0;
+    init_usb();
+    /* start looping through the devices to find the correct one */
+    for (bus = busses; bus; bus = bus->next)
+    {
+        for (dev = bus->devices; dev; dev = dev->next)
+        {
+            if (dev->descriptor.idVendor == VELLEMAN_VENDOR_ID) { 
+               if(dev->descriptor.idProduct == K8055_IPID + 0) retval |= 0x01;
+               if(dev->descriptor.idProduct == K8055_IPID + 1) retval |= 0x02;
+               if(dev->descriptor.idProduct == K8055_IPID + 2) retval |= 0x04;
+               if(dev->descriptor.idProduct == K8055_IPID + 3) retval |= 0x08;
+            /* else some other kind of Velleman board */
+            }
+        }
+    }
+    return retval; 
+}
+
+long ReadAnalogChannel(long Channel)
+{
+    if (Channel == 1 || Channel == 2)
+    {
+        if ( ReadK8055Data() == 0)
+        {
+            if (Channel == 2)
+                return CurrDev->data_in[ANALOG_2_OFFSET];
+            else
+                return CurrDev->data_in[ANALOG_1_OFFSET];
+        }
+        else
+            return K8055_ERROR;
+    }
+    else
+        return K8055_ERROR;
+}
+
+int ReadAllAnalog(long *data1, long *data2)
+{
+    if (ReadK8055Data() == 0)
+    {
+        *data1 = CurrDev->data_in[ANALOG_1_OFFSET];
+        *data2 = CurrDev->data_in[ANALOG_2_OFFSET];
+        return 0;
+    }
+    else
+        return K8055_ERROR;
+}
+
+int OutputAnalogChannel(long Channel, long data)
+{
+    if (Channel == 1 || Channel == 2)
+    {
+        if (Channel == 2)
+            CurrDev->data_out[ANALOG_2_OFFSET] = (unsigned char)data;
+        else
+            CurrDev->data_out[ANALOG_1_OFFSET] = (unsigned char)data;
+
+        return WriteK8055Data(CMD_SET_ANALOG_DIGITAL);
+    }
+    else
+        return K8055_ERROR;
+}
+
+int OutputAllAnalog(long data1, long data2)
+{
+    CurrDev->data_out[2] = (unsigned char)data1;
+    CurrDev->data_out[3] = (unsigned char)data2;
+
+    return WriteK8055Data(CMD_SET_ANALOG_DIGITAL);
+}
+
+int ClearAllAnalog()
+{
+    return OutputAllAnalog(0, 0);
+}
+
+int ClearAnalogChannel(long Channel)
+{
+    if (Channel == 1 || Channel == 2)
+    {
+        if (Channel == 2)
+            return OutputAnalogChannel(2, 0);
+        else
+            return OutputAnalogChannel(1, 0);
+    }
+    else
+        return K8055_ERROR;
+}
+
+int SetAnalogChannel(long Channel)
+{
+    if (Channel == 1 || Channel == 2)
+    {
+        if (Channel == 2)
+            return OutputAnalogChannel(2, 0xff);
+        else
+            return OutputAnalogChannel(1, 0xff);
+    }
+    else
+        return K8055_ERROR;
+
+}
+
+int SetAllAnalog()
+{
+    return OutputAllAnalog(0xff, 0xff);
+}
+
+int WriteAllDigital(long data)
+{
+    CurrDev->data_out[1] = (unsigned char)data;
+    return WriteK8055Data(CMD_SET_ANALOG_DIGITAL);
+}
+
+int ClearDigitalChannel(long Channel)
+{
+    unsigned char data;
+
+    if (Channel > 0 && Channel < 9)
+    {
+	data = CurrDev->data_out[1] & ~(1 << (Channel-1));
+        return WriteAllDigital(data);
+    }
+    else
+        return K8055_ERROR;
+}
+
+int ClearAllDigital()
+{
+    return WriteAllDigital(0x00);
+}
+
+int SetDigitalChannel(long Channel)
+{
+    unsigned char data;
+
+    if (Channel > 0 && Channel < 9)
+    {
+        data = CurrDev->data_out[1] | (1 << (Channel-1));
+        return WriteAllDigital(data);
+    }
+    else
+        return K8055_ERROR;
+}
+
+int SetAllDigital()
+{
+    return WriteAllDigital(0xff);
+}
+
+int ReadDigitalChannel(long Channel)
+{
+    int rval;
+    if (Channel > 0 && Channel < 9)
+    {
+        if ((rval = ReadAllDigital()) == K8055_ERROR) return K8055_ERROR;
+        return ((rval & (1 << (Channel-1))) > 0);
+    }
+    else
+        return K8055_ERROR;
+}
+
+long ReadAllDigital()
+{
+    int return_data = 0;
+
+    if (ReadK8055Data() == 0)
+    {
+        return_data = (
+                ((CurrDev->data_in[0] >> 4) & 0x03) |  /* Input 1 and 2 */
+                ((CurrDev->data_in[0] << 2) & 0x04) |  /* Input 3 */
+                ((CurrDev->data_in[0] >> 3) & 0x18) ); /* Input 4 and 5 */
+        return return_data;
+    }
+    else
+        return K8055_ERROR;
+}
+
+int ReadAllValues(long int *data1, long int * data2, long int * data3, long int * data4, long int * data5)
+{
+    if (ReadK8055Data() == 0)
+    {
+        *data1 = (
+                ((CurrDev->data_in[0] >> 4) & 0x03) |  /* Input 1 and 2 */
+                ((CurrDev->data_in[0] << 2) & 0x04) |  /* Input 3 */
+                ((CurrDev->data_in[0] >> 3) & 0x18) ); /* Input 4 and 5 */
+        *data2 = CurrDev->data_in[ANALOG_1_OFFSET];
+        *data3 = CurrDev->data_in[ANALOG_2_OFFSET];
+        *data4 = *((short int *)(&CurrDev->data_in[COUNTER_1_OFFSET]));
+        *data5 = *((short int *)(&CurrDev->data_in[COUNTER_2_OFFSET]));
+        return 0;
+    }
+    else
+        return K8055_ERROR;
+}
+
+int SetAllValues(int DigitalData, int AdData1, int AdData2)
+{
+    CurrDev->data_out[1] = (unsigned char)DigitalData;
+    CurrDev->data_out[2] = (unsigned char)AdData1;
+    CurrDev->data_out[3] = (unsigned char)AdData2;
+
+    return WriteK8055Data(CMD_SET_ANALOG_DIGITAL);
+}
+
+int ResetCounter(long CounterNo)
+{
+    if (CounterNo == 1 || CounterNo == 2)
+    {
+        CurrDev->data_out[0] = 0x02 + (unsigned char)CounterNo;  /* counter selection */
+        CurrDev->data_out[3 + CounterNo] = 0x00;
+        return WriteK8055Data(CurrDev->data_out[0]);
+    }
+    else
+        return K8055_ERROR;
+}
+
+long ReadCounter(long CounterNo)
+{
+    if (CounterNo == 1 || CounterNo == 2)
+    {
+        if (ReadK8055Data() == 0)
+        {
+            if (CounterNo == 2)
+                return *((short int *)(&CurrDev->data_in[COUNTER_2_OFFSET]));
+            else
+                return *((short int *)(&CurrDev->data_in[COUNTER_1_OFFSET]));
+        }
+        else
+            return K8055_ERROR;
+    }
+    else
+        return K8055_ERROR;
+}
+
+int SetCounterDebounceTime(long CounterNo, long DebounceTime)
+{
+    float value;
+
+    if (CounterNo == 1 || CounterNo == 2)
+    {
+        CurrDev->data_out[0] = (unsigned char)CounterNo;
+        /* the velleman k8055 use a exponetial formula to split up the
+           DebounceTime 0-7450 over value 1-255. I've tested every value and
+           found that the formula dbt=0,338*value^1,8017 is closest to
+           vellemans dll. By testing and measuring times on the other hand I
+           found the formula dbt=0,115*x^2 quite near the actual values, a
+           little below at really low values and a little above at really
+           high values. But the time set with this formula is within +-4% */
+        if (DebounceTime > 7450)
+            DebounceTime = 7450;
+        value = sqrtf(DebounceTime / 0.115);
+        if (value > ((int)value + 0.49999999))  /* simple round() function) */
+            value += 1;
+        CurrDev->data_out[5 + CounterNo] = (unsigned char)value;
+        if (DEBUG)
+            fprintf(stderr, "Debouncetime%d value for k8055:%d\n",
+                    (int)CounterNo, CurrDev->data_out[5 + CounterNo]);
+        return WriteK8055Data(CurrDev->data_out[0]);
+    }
+    else
+        return K8055_ERROR;
+}
+
+char * Version(void)
+{
+    return(VERSION);
+}