/* $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 #include #include #include #include #include "k8055.h" #define STR_BUFF 256 #define READ_RETRY 3 #define WRITE_RETRY 3 #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 */ static int debug = 0; static struct k8055_dev k8055d[K8055_MAX_DEV]; static struct k8055_dev* curr_dev; /* Actual read of data from the device endpoint, retry READ_RETRY times if not responding ok */ static int k8055_read( struct k8055_dev* dev ) { if( dev->dev_no==0 ) return K8055_ERROR; for( int i=0; idevice_handle, USB_INP_EP, ( char* )dev->data_in, PACKET_LEN, USB_TIMEOUT ); if( ( read_status==PACKET_LEN ) && ( dev->data_in[1]==dev->dev_no ) ) return 0; if( debug ) fprintf( stderr, "k8055 read retry\n" ); } return K8055_ERROR; } /* Actual write of data to the device endpont, retry WRITE_RETRY times if not reponding correctly */ static int k8055_write( struct k8055_dev* dev ) { if( dev->dev_no == 0 ) return K8055_ERROR; for( int i=0; idevice_handle, USB_OUT_EP, ( char* )dev->data_out, PACKET_LEN, USB_TIMEOUT ); if( write_status==PACKET_LEN ) return 0; if( debug ) fprintf( stderr, "k8055 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 ); if( usb_get_driver_np( udev, interface, driver_name, sizeof( driver_name ) )==0 ) { if( debug ) fprintf( stderr, "usb_get_driver_np success: %s\n", driver_name ); if( usb_detach_kernel_driver_np( udev, interface )==0 ) { if( debug ) fprintf( stderr, "usb_detach_kernel_driver_np success" ); } else { if( debug ) fprintf( stderr, "usb_detach_kernel_driver_np failure : %s\n", usb_strerror() ); } } else { if( debug ) fprintf( stderr, "usb_get_driver_np failure : %s\n", usb_strerror() ); } if ( usb_claim_interface( udev, interface )==0 ) { usb_set_altinterface( udev, interface ); } else { if( debug ) fprintf( stderr, "usb_claim_interface failure: %s\n", usb_strerror() ); return K8055_ERROR; } usb_set_configuration( udev, 1 ); if ( debug ) fprintf( stderr, "Found interface %d, took over the device\n", interface ); return 0; } void set_debug_on( void ) { debug = 1; } void set_debug_off( void ) { debug = 0; } char* version( void ) { return( VERSION ); } int open_device( struct k8055_dev* dev, int board_address ) { usb_init(); usb_find_busses(); usb_find_devices(); int ipid = K8055_IPID + board_address; struct usb_bus* busses = usb_get_busses(); for( struct usb_bus* bus=busses; bus; bus=bus->next ) { for( struct usb_device* usb_dev=bus->devices; usb_dev; usb_dev=usb_dev->next ) { if( ( usb_dev->descriptor.idVendor==VELLEMAN_VENDOR_ID ) && ( usb_dev->descriptor.idProduct==ipid ) ) { dev->dev_no = 0; dev->device_handle = usb_open( usb_dev ); if( dev->device_handle==NULL ) { if( debug ) fprintf( stderr,"usb_open failure : %s\n", usb_strerror() ); return K8055_ERROR; } if( debug ) fprintf( stderr, "Velleman Device Found @ Address %s Vendor 0x0%x Product ID 0x0%x\n", usb_dev->filename, usb_dev->descriptor.idVendor, usb_dev->descriptor.idProduct ); if( takeover_device( dev->device_handle, 0 )<0 ) { if( debug ) fprintf( stderr, "Can not take over the device from the OS driver\n" ); usb_close( dev->device_handle ); dev->device_handle = NULL; return K8055_ERROR; } else { memset( dev->data_out,0,PACKET_LEN ); dev->dev_no = board_address + 1; dev->data_out[0] = CMD_RESET; k8055_write( dev ); if ( k8055_read( dev )==0 ) { if( debug ) fprintf( stderr, "Device %d ready\n", board_address ); return board_address; } else { if( debug ) fprintf( stderr, "Device %d not ready\n", board_address ); dev->dev_no = 0; usb_close( dev->device_handle ); dev->device_handle = NULL; return K8055_ERROR; } } } } } if( debug ) fprintf( stderr, "Could not find Velleman k8055 with address %d\n", board_address ); return K8055_ERROR; } int close_device( struct k8055_dev* dev ) { if ( dev->dev_no == 0 ) { if ( debug ) fprintf( stderr, "Current device is not open\n" ); return 0; } if( dev->device_handle==NULL ) { if ( debug ) fprintf( stderr, "Current device is marked as open, but device hanlde is NULL\n" ); dev->dev_no = 0; return 0; } int rc = usb_close( dev->device_handle ); if ( rc >= 0 ) { dev->dev_no = 0; dev->device_handle = NULL; } return rc; } long search_devices( void ) { int ret = 0; usb_init(); usb_find_busses(); usb_find_devices(); struct usb_bus* busses = usb_get_busses(); for ( struct usb_bus* bus = busses; bus; bus = bus->next ) { for( struct usb_device* usb_dev=bus->devices; usb_dev; usb_dev=usb_dev->next ) { if ( usb_dev->descriptor.idVendor == VELLEMAN_VENDOR_ID ) { if( usb_dev->descriptor.idProduct == K8055_IPID + 0 ) ret |= 0x01; if( usb_dev->descriptor.idProduct == K8055_IPID + 1 ) ret |= 0x02; if( usb_dev->descriptor.idProduct == K8055_IPID + 2 ) ret |= 0x04; if( usb_dev->descriptor.idProduct == K8055_IPID + 3 ) ret |= 0x08; /* else some other kind of Velleman board */ } } } if( debug ) fprintf( stderr,"found devices : %X\n",ret ); return ret; } long read_analog_channel( struct k8055_dev* dev, long channel ) { if ( !( channel==1 || channel==2 ) ) return K8055_ERROR; if ( k8055_read( dev )==0 ) { if ( channel==1 ) { return dev->data_in[ANALOG_1_OFFSET]; } else { return dev->data_in[ANALOG_2_OFFSET]; } } return K8055_ERROR; } int read_all_analog( struct k8055_dev* dev, long* data1, long* data2 ) { if ( k8055_read( dev )!=0 ) return K8055_ERROR; *data1 = dev->data_in[ANALOG_1_OFFSET]; *data2 = dev->data_in[ANALOG_2_OFFSET]; return 0; } int output_analog_channel( struct k8055_dev* dev ,long channel, long data ) { if ( !( channel==1 || channel==2 ) ) return K8055_ERROR; dev->data_out[0] = CMD_SET_ANALOG_DIGITAL; if ( channel==1 ) { dev->data_out[ANALOG_1_OFFSET] = ( unsigned char )data; } else { dev->data_out[ANALOG_2_OFFSET] = ( unsigned char )data; } return k8055_write( dev ); } int output_all_analog( struct k8055_dev* dev, long data1, long data2 ) { dev->data_out[0] = CMD_SET_ANALOG_DIGITAL; dev->data_out[2] = ( unsigned char )data1; dev->data_out[3] = ( unsigned char )data2; return k8055_write( dev ); } int clear_all_analog( struct k8055_dev* dev ) { return output_all_analog( dev, 0, 0 ); } int clear_analog_channel( struct k8055_dev* dev, long channel ) { if ( !( channel==1 || channel==2 ) ) return K8055_ERROR; if ( channel==1 ) { return output_analog_channel( dev, 1, 0 ); } else { return output_analog_channel( dev, 2, 0 ); } } int set_analog_channel( struct k8055_dev* dev, long channel ) { if ( !( channel==1 || channel==2 ) ) return K8055_ERROR; if ( channel == 2 ) { return output_analog_channel( dev, 2, 0xff ); } else { return output_analog_channel( dev, 1, 0xff ); } } int set_all_analog( struct k8055_dev* dev ) { return output_all_analog( dev, 0xff, 0xff ); } int write_all_digital( struct k8055_dev* dev, long data ) { dev->data_out[0] = CMD_SET_ANALOG_DIGITAL; dev->data_out[1] = ( unsigned char )data; return k8055_write( dev ); } int clear_digital_channel( struct k8055_dev* dev, long channel ) { unsigned char data; if ( channel<1 || channel>8 ) return K8055_ERROR; data = dev->data_out[1] & ~( 1 << ( channel-1 ) ); return write_all_digital( dev, data ); } int clear_all_digital( struct k8055_dev* dev ) { return write_all_digital( dev, 0x00 ); } int set_digital_channel( struct k8055_dev* dev, long channel ) { unsigned char data; if ( channel<1 || channel>8 ) return K8055_ERROR; data = dev->data_out[1] | ( 1 << ( channel-1 ) ); return write_all_digital( dev, data ); } int set_all_digital( struct k8055_dev* dev ) { return write_all_digital( dev, 0xff ); } int read_digital_channel( struct k8055_dev* dev, long channel ) { int rval; if ( channel<1 || channel>8 ) return K8055_ERROR; if ( ( rval = read_all_digital( dev ) ) == K8055_ERROR ) return K8055_ERROR; return ( ( rval & ( 1 << ( channel-1 ) ) ) > 0 ); } long read_all_digital( struct k8055_dev* dev ) { int return_data = 0; if ( k8055_read( dev )!=0 ) return K8055_ERROR; return_data = ( ( ( dev->data_in[0] >> 4 ) & 0x03 ) | /* Input 1 and 2 */ ( ( dev->data_in[0] << 2 ) & 0x04 ) | /* Input 3 */ ( ( dev->data_in[0] >> 3 ) & 0x18 ) ); /* Input 4 and 5 */ return return_data; } int read_all_values( struct k8055_dev* dev, long int* data1, long int* data2, long int* data3, long int* data4, long int* data5 ) { if ( k8055_read( dev )!=0 ) return K8055_ERROR; *data1 = ( ( ( dev->data_in[0] >> 4 ) & 0x03 ) | /* Input 1 and 2 */ ( ( dev->data_in[0] << 2 ) & 0x04 ) | /* Input 3 */ ( ( dev->data_in[0] >> 3 ) & 0x18 ) ); /* Input 4 and 5 */ *data2 = dev->data_in[ANALOG_1_OFFSET]; *data3 = dev->data_in[ANALOG_2_OFFSET]; *data4 = *( ( short int* )( &dev->data_in[COUNTER_1_OFFSET] ) ); *data5 = *( ( short int* )( &dev->data_in[COUNTER_2_OFFSET] ) ); return 0; } int set_all_values( struct k8055_dev* dev, int digital_data, int ad_data1, int ad_data2 ) { dev->data_out[0] = CMD_SET_ANALOG_DIGITAL; dev->data_out[1] = ( unsigned char )digital_data; dev->data_out[2] = ( unsigned char )ad_data1; dev->data_out[3] = ( unsigned char )ad_data2; return k8055_write( dev ); } int reset_counter( struct k8055_dev* dev, long counter ) { if ( !( counter==1 || counter==2 ) ) return K8055_ERROR; dev->data_out[0] = 0x02 + ( unsigned char )counter; dev->data_out[3+counter] = 0x00; return k8055_write( dev ); } long read_counter( struct k8055_dev* dev, long counter ) { if ( !( counter==1 || counter==2 ) ) return K8055_ERROR; if ( k8055_read( dev )!=0 ) return K8055_ERROR; if ( counter==1 ) { return *( ( short int* )( &dev->data_in[COUNTER_1_OFFSET] ) ); } else { return *( ( short int* )( &dev->data_in[COUNTER_2_OFFSET] ) ); } } int set_counter_debounce_time( struct k8055_dev* dev, long counter, long debounce_time ) { float value; if ( !( counter==1 || counter==2 ) ) return K8055_ERROR; dev->data_out[0] = ( unsigned char )counter; /* * the velleman k8055 use a exponetial formula to split up the * debounce_time 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% * -- Sven Lindberg */ if ( debounce_time > 7450 ) debounce_time = 7450; value = sqrtf( debounce_time / 0.115 ); /* simple round() function) */ if ( value > ( ( int )value + 0.49999999 ) ) value+=1; dev->data_out[5+counter] = ( unsigned char )value; if ( debug ) fprintf( stderr, "Debouncetime%d value for k8055:%d\n",( int )counter, dev->data_out[5+counter] ); return k8055_write( dev ); } /** Velleman API ***************************************************************************************************************************/ char* Version( void ) { return( VERSION ); } /* New function in version 2 of Velleman DLL, should return devices-found bitmask or 0*/ long SearchDevices( void ) { return search_devices(); } /* Open device - scan through usb busses looking for the right device, claim it and then open the device */ int OpenDevice( long board_address ) { if( board_address<0 || board_address>=K8055_MAX_DEV ) return K8055_ERROR; if( k8055d[board_address].dev_no!=0 ) return board_address; int ret = open_device( &k8055d[board_address], board_address ); if ( ret != K8055_ERROR ) { curr_dev = &k8055d[board_address]; return ret; } return K8055_ERROR; } /* Close the Current device */ int CloseDevice() { return close_device( curr_dev ); } /* New function in version 2 of Velleman DLL, should return deviceno if OK */ long SetCurrentDevice( long deviceno ) { if ( deviceno < 0 || deviceno >= K8055_MAX_DEV ) return K8055_ERROR; if ( k8055d[deviceno].dev_no == 0 ) return K8055_ERROR; curr_dev = &k8055d[deviceno]; return deviceno; } long ReadAnalogChannel( long channel ) { return read_analog_channel( curr_dev, channel ); } int ReadAllAnalog( long* data1, long* data2 ) { return read_all_analog( curr_dev, data1, data2 ); } int OutputAnalogChannel( long channel, long data ) { return output_analog_channel( curr_dev, channel, data ); } int OutputAllAnalog( long data1, long data2 ) { return output_all_analog( curr_dev, data1, data2 ); } int ClearAllAnalog() { return clear_all_analog( curr_dev ); } int ClearAnalogChannel( long channel ) { return clear_analog_channel( curr_dev, channel ); } int SetAnalogChannel( long channel ) { return set_analog_channel( curr_dev, channel ); } int SetAllAnalog() { return set_all_analog( curr_dev ); } int WriteAllDigital( long data ) { return write_all_digital( curr_dev, data ); } int ClearDigitalChannel( long channel ) { return clear_digital_channel( curr_dev, channel ); } int ClearAllDigital() { return clear_all_digital( curr_dev ); } int SetDigitalChannel( long channel ) { return set_digital_channel( curr_dev, channel ); } int SetAllDigital() { return set_all_digital( curr_dev ); } int ReadDigitalChannel( long channel ) { return read_digital_channel( curr_dev, channel ); } long ReadAllDigital() { return read_all_digital( curr_dev ); } int ReadAllValues( long int* data1, long int* data2, long int* data3, long int* data4, long int* data5 ) { return read_all_values( curr_dev, data1, data2, data3, data4, data5 ); } int SetAllValues( int DigitalData, int AdData1, int AdData2 ) { return set_all_values( curr_dev, DigitalData, AdData1, AdData2 ); } int ResetCounter( long counter ) { return reset_counter( curr_dev, counter ); } long ReadCounter( long counter ) { return read_counter( curr_dev, counter ); } int SetCounterDebounceTime( long counter, long debounce_time ) { return set_counter_debounce_time( curr_dev, counter, debounce_time ); }