Motion Control USB I/O added

otherio/exp/rt/src/os_linux/hw_x86/makefile

+include $(pwre_dir_symbols)
+
+ifndef variables_mk
+ -include $(pwre_croot)/src/tools/bld/src/$(os_name)/$(hw_name)/variables.mk
+endif
+ifndef variables_mk
+ include $(pwre_croot)/src/tools/bld/src/$(os_name)/variables.mk
+endif
+
+
+ifndef rules_mk
+ -include $(pwre_croot)/src/tools/bld/src/$(os_name)/$(hw_name)/rules.mk
+endif
+ifndef rules_mk
+ include $(pwre_croot)/src/tools/bld/src/$(os_name)/rules.mk
+endif
+
+
+.PHONY : all init copy lib exe clean realclean\
+         $(clean_c)
+
+all : init copy lib
+
+init :
+
+copy : $(lib_dir)/libusbio.a $(inc_dir)/libusbio.h
+
+lib :
+
+exe :
+
+clean :
+
+realclean : clean $(clean_obj) 
+
+.SUFFIXES:
+
+$(lib_dir)/libusbio.a : ../libusbio.a
+	@ echo "Copying libusbio.a"
+	@ $(cp) $(cpflags) $(source) $(target)
+
+$(inc_dir)/libusbio.h : ../libusbio.h
+	@ echo "Copying libusbio.h"
+	@ $(cp) $(cpflags) $(source) $(target)
+
+
+
+
+
+

otherio/exp/rt/src/os_linux/libusbio.h

+/*************************************************************
+*                                                            *
+* COPYRIGHT © 2007 Motion Control i Västerås AB, Sweden	     *
+*                                                            *
+* All rights including ownership and copyright to the 	     *
+* software herein are held by Motion Control i Västerås AB.  *
+* The software may be used and/ or copied only with the	     *
+* written permission from Motion Control i Västerås AB or    *
+* in accordance with the terms and conditions stipulated     *
+* agreement/ contract under which the software has been      *
+* supplied.                                                  *
+*------------------------------------------------------------*
+* Programenhet :   USBIO driver for Linux 2.6                *
+* Filnamn :        libusbio.h                                *
+* Tillhörande      libusbio.c                                *
+* filer :                                                    *
+*----------------------------------------------------------- *
+* Beskrivning :    Detta är H-filen för supportbiblioteket   *
+*                  till USB I/O enheten.                     *
+*------------------------------------------------------------*
+* Programhistoria :                                          *
+* Ver, Datum,    Utförd av,                                  *
+* 1.0  07-01-29  Marcus Tönnäng                              *
+* 1.2  07-02-06  Johan Zetterlund portad till Linux.         *
+*                                                            *
+**************************************************************/
+
+//Communication
+int USBIO_Open(int *Handle);
+// int USBIO_OpenBySerialNr(int *Handle, int Serial[]);
+// int USBIO_OpenByIdNr(int *Handle, int IdNr);
+int USBIO_Close(int *Handle);
+int USBIO_IsConnected(int *Handle);	
+// int USBIO_SetTimeOut(int *Handle, unsigned int TimeOut);
+// int USBIO_ListAll(int *Antal, int IdNr[]);  //Ändra, mer info
+
+//Read
+int USBIO_ReadDI( int *Handle, int Port, int *Value);
+int USBIO_ReadChannelDI( int *Handle, int Port, int Channel, int *Value);
+int USBIO_ReadAI( int *Handle, int Channel, float *Value);
+int USBIO_ReadAllAI( int *Handle, float AIValue[]);		
+int USBIO_ReadADVal( int *Handle, int Channel, int *Value);
+int USBIO_ReadAllADVal( int *Handle, int ADValue[]);
+int USBIO_ReadCounter( int *Handle, unsigned int *Value, int *Overflow);
+int USBIO_ReadUART( int *Handle, int *Nr, unsigned char Value[], int *Overflow);
+// int USBIO_ReadFreq( int *Handle, float *Value, float *Width);
+
+//Write				
+int USBIO_WriteDO(int *Handle, int Port, int Value);
+int USBIO_WriteChannelDO(int *Handle, int Port, int Channel, int Value);
+int USBIO_WriteAO( int *Handle, int Channel, float Value);
+int USBIO_WritePWM( int *Handle, int Channel, int Value);
+int USBIO_WriteLowFreq( int *Handle, int Freq, unsigned char PortA, unsigned char PortB, unsigned char PortC);
+int USBIO_WriteUART( int *Handle, unsigned char Value);
+int USBIO_WriteLED( int *Handle, int Value); 
+
+//Configure				
+int USBIO_ConfigDIO(int *Handle, int Port, int Value);
+int USBIO_ConfigAI(int *Handle, int Value);	
+int USBIO_ConfigAO(int *Handle, int Value);
+int USBIO_ConfigPWM(int *Handle, int Value, int Freq);	
+int USBIO_ConfigCounter(int *Handle, int Value);	
+int USBIO_ConfigUART(int *Handle, int BaudRate);
+//int USBIO_Reset(int *Handle);
+int USBIO_SoftReset(int *Handle);
+int USBIO_SetIdNr(int *Handle, int IdNr, char Description[]);
+int USBIO_ConfigWatchdog(int *Handle, int Active, int TimeOut, int Reset, unsigned char PortMask[], unsigned char Port[], int AOfunction);
+int USBIO_ResetWatchdog(int *Handle);
+
+//Status
+int USBIO_GetStatus(int *Handle, int Value[]);
+int USBIO_GetFirmwareVersion(int *Handle, char *Version);
+int USBIO_GetHardwareVersion(int *Handle, char *Version);
+int USBIO_GetSerialNr(int *Handle, unsigned int *Serial);
+int USBIO_GetLibVersion(char *Version);
+int USBIO_GetIdNr(int *Handle, int *IdNr, char *Description);
+
+//Error
+int USBIO_GetErrorString(int Error, char *ErrorMessage , int *StringLength);	
+
+//Advanced functions
+int USBIO_WriteAndRead(int *Handle, unsigned char WriteBuffer[], unsigned char ReadBuffer[]);
+
+
+
+
+
+
+
+
+
+
+
+

otherio/lib/rt/src/os_linux/hw_x86/makefile

+include $(pwre_dir_symbols)
+
+-include $(pwre_kroot)/tools/bld/src/$(os_name)/$(hw_name)/$(type_name)_generic.mk
+
+ifeq ($($(type_name)_generic_mk),)
+ -include $(pwre_kroot)/tools/bld/src/$(os_name)/$(type_name)_generic.mk
+endif
+
+ifeq ($($(type_name)_generic_mk),)
+ include $(pwre_kroot)/tools/bld/src/$(type_name)_generic.mk
+endif
+
+-include ../../special.mk
+-include ../special.mk
+-include special.mk

otherio/lib/rt/src/os_linux/rt_io_m_motioncontrol_usb.c

+/* 
+ * Proview   $Id: rt_io_m_motioncontrol_usb.c,v 1.1 2007-11-22 13:28:59 claes Exp $
+ * Copyright (C) 2005 SSAB Oxelsund AB.
+ *
+ * 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 (at your option) 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 the program, if not, write to the Free Software 
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ */
+
+/* rt_io_m_motioncontrol_usbio.c -- I/O methods for class MotionControl_USBIO. */
+
+#include "pwr.h"
+#include "pwr_basecomponentclasses.h"
+#include "pwr_otherioclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_rack_init.h"
+#include "rt_io_rack_close.h"
+#include "rt_io_msg.h"
+#include "libusbio.h"
+#include "rt_io_m_motioncontrol_usb.h"
+
+static pwr_tStatus IoRackInit( io_tCtx ctx,
+			       io_sAgent *ap,
+			       io_sRack *rp)
+{
+  io_sLocalUSB *local;
+  int status;
+  int i;
+  unsigned int snum;
+  int found;
+  io_sCard *cp;
+  pwr_sClass_MotionControl_USB *op = (pwr_sClass_MotionControl_USB *)rp->op;
+
+  local = (io_sLocalUSB *) calloc( 1, sizeof(io_sLocalUSB));
+  rp->Local = local;
+
+  for ( i = 0; i < (int)sizeof(local->USB_Handle); i++) {
+    status = USBIO_Open( &local->USB_Handle[i]);
+    if ( status) {
+      if ( i == 0)
+	op->Status = status;
+      break;
+    }
+
+    /* Check is this card is configured */
+    status = USBIO_GetSerialNr( &local->USB_Handle[i], &snum);
+    if ( !status) {
+      found = 0;
+      for ( cp = rp->cardlist; cp; cp = cp->next) {
+	if ( ((pwr_sClass_MotionControl_USBIO *)cp->op)->Super.Address == snum) {
+	  local->snum[i] = snum;
+	  found = 1;
+	  break;
+	}
+      }
+      if ( !found) {
+	errh_Info( "USBIO Serial number %d not configured", snum);
+	op->Status = USBIO_Close( &local->USB_Handle[i]);
+	i--;
+	continue;
+      }
+    }
+    else
+      errh_Error( "USBIO Serial number error '%s'", rp->Name);
+  }
+
+  errh_Info( "Init of USBIO rack '%s'", rp->Name);
+
+  return IO__SUCCESS;
+}
+
+static pwr_tStatus IoRackClose( io_tCtx ctx,
+			        io_sAgent *ap,
+			        io_sRack *rp)
+{
+  io_sLocalUSB *local = rp->Local;
+  pwr_sClass_MotionControl_USB *op = (pwr_sClass_MotionControl_USB *)rp->op;
+  int i;
+
+  for ( i = 0; i < (int)sizeof(local->USB_Handle); i++) {
+    if ( local->USB_Handle[i])
+      USBIO_Close( &local->USB_Handle[i]);
+    else
+      break;
+  }
+  op->Status = 0;
+  return IO__SUCCESS;
+}
+
+/*  Every method should be registred here. */
+
+pwr_dExport pwr_BindIoMethods(MotionControl_USB) = {
+  pwr_BindIoMethod(IoRackInit),
+  pwr_BindIoMethod(IoRackClose),
+  pwr_NullMethod
+};

otherio/lib/rt/src/os_linux/rt_io_m_motioncontrol_usb.h

+/* ra_io_m_motioncontrol_usb.h -- I/O methods for class MotionControl_USBIO. */
+
+#ifndef ra_io_m_motioncontrol_usb_h
+#define ra_io_m_motioncontrol_usb_h
+
+#define USB_MAX_CARDS 50
+
+typedef struct {
+  int USB_Handle[USB_MAX_CARDS];
+  unsigned int snum[USB_MAX_CARDS];
+} io_sLocalUSB;
+
+#endif

otherio/lib/rt/src/rt_io_otherio.meth

+MotionControl_USB
+MotionControl_USBIO

otherio/mmi/mcomp/src/os_linux/hw_x86/makefile

+include $(pwre_dir_symbols)
+
+-include $(pwre_kroot)/tools/bld/src/$(os_name)/$(hw_name)/$(type_name)_generic.mk
+
+ifeq ($($(type_name)_generic_mk),)
+ -include $(pwre_kroot)/tools/bld/src/$(os_name)/$(type_name)_generic.mk
+endif
+
+ifeq ($($(type_name)_generic_mk),)
+ include $(pwre_kroot)/tools/bld/src/$(type_name)_generic.mk
+endif
+
+-include ../../special.mk
+-include ../special.mk
+-include special.mk
+
+
+
+
+

otherio/wbl/mcomp/src/os_linux/hw_x86/makefile

+include $(pwre_dir_symbols)
+
+-include $(pwre_kroot)/tools/bld/src/$(os_name)/$(hw_name)/$(type_name)_generic.mk
+
+ifeq ($($(type_name)_generic_mk),)
+ -include $(pwre_kroot)/tools/bld/src/$(os_name)/$(type_name)_generic.mk
+endif
+
+ifeq ($($(type_name)_generic_mk),)
+ include $(pwre_kroot)/tools/bld/src/$(type_name)_generic.mk
+endif
+
+-include ../../special.mk
+-include ../special.mk
+-include special.mk
+
+
+
+
+