koreio_robot.c File Reference

Include dependency graph for koreio_robot.c:

Go to the source code of this file.

Defines
#define	id   0x00000400
#define	null   0x1E7F4000
#define	one   0x1E7F7900
#define	two   0x1E7F2400
#define	three   0x1E7F3000
#define	four   0x1E7F1900
#define	five   0x1E7F1200
#define	six   0x1E7F0200
#define	seven   0x1E7F7800
#define	eight   0x1E7F0000
#define	nine   0x1E7F1000
#define	can_status   0x02
#define	id_led   0x00000300
#define	can_data1   0x1E
Functions
static void	ctrlc_handler (int sig)
int	quit (int argc, char *argv[], void *data)
int	readios (int argc, char *argv[], void *data)
int	configio (int argc, char *argv[], void *data)
int	resetio (int argc, char *argv[], void *data)
int	changeled (int argc, char *argv[], void *data)
int	changeio (int argc, char *argv[], void *data)
int	setio (int argc, char *argv[], void *data)
int	readad (int argc, char *argv[], void *data)
int	readcan (int argc, char *argv[], void *data)
int	can7seg (int argc, char *argv[], void *data)
int	canled (int argc, char *argv[], void *data)
int	setad (int argc, char *argv[], void *data)
int	setratio (int argc, char *argv[], void *data)
int	motor (int argc, char *argv[], void *data)
int	gripper (int argc, char *argv[], void *data)
int	setfreq (int argc, char *argv[], void *data)
int	readio (int argc, char *argv[], void *data)
int	changepw (int argc, char *argv[], void *data)
int	setpw (int argc, char *argv[], void *data)
int	readi2c (int argc, char *argv[], void *data)
int	writei2c (int argc, char *argv[], void *data)
int	startscan (int argc, char *argv[], void *data)
int	listscan (int argc, char *argv[], void *data)
int	resetpw (int argc, char *argv[], void *data)
int	timer (int argc, char *argv[], void *data)
int	sequence (int argc, char *argv[], void *data)
int	help (int argc, char *argv[], void *data)
int	main (int argc, char *argv[])
Variables
static int	quitReq = 0
static knet_dev_t *	koreio
static kb_command_t	cmds []
static char	buf [1024]

---

Define Documentation

#define can_data1   0x1E

#define can_status   0x02

#define eight   0x1E7F0000

#define five   0x1E7F1200

#define four   0x1E7F1900

#define id   0x00000400

#define id_led   0x00000300

#define nine   0x1E7F1000

#define null   0x1E7F4000

#define one   0x1E7F7900

#define seven   0x1E7F7800

#define six   0x1E7F0200

#define three   0x1E7F3000

#define two   0x1E7F2400

---

Function Documentation

int can7seg	(	int	argc,
		char *	argv[],
		void *	data
	)

Write on the CAN bus and change the 7 seg value (work only with the CAN developement kit)

Definition at line 186 of file koreio_robot.c.

References can_status, eight, five, four, kio_SendCAN(), nine, null, one, seven, six, three, and two.

Here is the call graph for this function:

int canled	(	int	argc,
		char *	argv[],
		void *	data
	)

Change the state of the three led on the CAN developpement kit

Definition at line 250 of file koreio_robot.c.

References can_data1, can_status, id_led, kio_SendCAN(), and status().

Here is the call graph for this function:

int changeio	(	int	argc,
		char *	argv[],
		void *	data
	)

Change the given digital output value

Definition at line 115 of file koreio_robot.c.

References kio_ChangeIO().

Here is the call graph for this function:

int changeled	(	int	argc,
		char *	argv[],
		void *	data
	)

Change the LED state

Definition at line 100 of file koreio_robot.c.

References kio_ChangeLed().

Here is the call graph for this function:

int changepw	(	int	argc,
		char *	argv[],
		void *	data
	)

Change the given power output value

Definition at line 386 of file koreio_robot.c.

References kio_ChangePW().

Here is the call graph for this function:

int configio	(	int	argc,
		char *	argv[],
		void *	data
	)

Configure the given digital IO The first argument is the IO number The second argument is: 0 to set as input 1 to set as ouput 2 to set as pwm

Definition at line 66 of file koreio_robot.c.

References kio_ConfigIO().

Here is the call graph for this function:

static void ctrlc_handler

(

int

sig

)

[static]

Make sure the program terminate properly on a ctrl-c

Definition at line 35 of file koreio_robot.c.

References quitReq.

int gripper	(	int	argc,
		char *	argv[],
		void *	data
	)

Set the PWM ratio for the motor

Definition at line 335 of file koreio_robot.c.

References kio_ChangePWM_ratio().

Here is the call graph for this function:

int help	(	int	argc,
		char *	argv[],
		void *	data
	)

Display a list of available commands.

Definition at line 453 of file koala_GoAutomation.c.

int listscan	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 468 of file koreio_robot.c.

References kio_i2c_ListScan().

Here is the call graph for this function:

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 717 of file koreio_robot.c.

References ctrlc_handler(), kb_init(), kb_parse_command(), kb_set_debug_level(), kio_ChangePWM_freq(), kio_ChangePWM_ratio(), kio_ConfigIO(), kio_GetFWVersion(), KNET_BUS_ANY, knet_close(), knet_open(), and quitReq.

Here is the call graph for this function:

int motor	(	int	argc,
		char *	argv[],
		void *	data
	)

Set the PWM ratio for the motor

Definition at line 311 of file koreio_robot.c.

References kio_ChangePWM_ratio().

Here is the call graph for this function:

int quit	(	int	argc,
		char *	argv[],
		void *	data
	)

Quit the program.

Definition at line 43 of file koreio_robot.c.

References quitReq.

int readad	(	int	argc,
		char *	argv[],
		void *	data
	)

Read the given analog input value

Definition at line 145 of file koreio_robot.c.

References kio_ReadAnalog().

Here is the call graph for this function:

int readcan	(	int	argc,
		char *	argv[],
		void *	data
	)

Read the can message in the buffer and erase it

Definition at line 163 of file koreio_robot.c.

References can_data1, can_status, id, and kio_ReadCAN().

Here is the call graph for this function:

int readi2c	(	int	argc,
		char *	argv[],
		void *	data
	)

read on the secondary I2C bus n_times (max 4)

Definition at line 416 of file koreio_robot.c.

References kio_i2c_ReturnRead(), and kio_i2c_StartRead().

Here is the call graph for this function:

int readio	(	int	argc,
		char *	argv[],
		void *	data
	)

Read the given IO state

Definition at line 371 of file koreio_robot.c.

References kio_ReadIO().

Here is the call graph for this function:

int readios	(	int	argc,
		char *	argv[],
		void *	data
	)

Read all the IO states and display them. The first digit displayed is IO0 and the last is IO15. A x is displayed for IOs in output mode and a p is displayed for IOs in pwm mode

Definition at line 53 of file koreio_robot.c.

int resetio	(	int	argc,
		char *	argv[],
		void *	data
	)

Reset the given digital output value

Definition at line 85 of file koreio_robot.c.

References kio_ClearIO().

Here is the call graph for this function:

int resetpw	(	int	argc,
		char *	argv[],
		void *	data
	)

Reset the given power output value

Definition at line 488 of file koreio_robot.c.

References kio_ClearPW().

Here is the call graph for this function:

int sequence	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 520 of file koreio_robot.c.

References kio_ChangePWM_ratio().

Here is the call graph for this function:

int setad	(	int	argc,
		char *	argv[],
		void *	data
	)

Change the given analog output value

Definition at line 278 of file koreio_robot.c.

References kio_SetANValue().

Here is the call graph for this function:

int setfreq	(	int	argc,
		char *	argv[],
		void *	data
	)

Set the PWM channel frequence

Definition at line 356 of file koreio_robot.c.

References kio_ChangePWM_freq().

Here is the call graph for this function:

int setio	(	int	argc,
		char *	argv[],
		void *	data
	)

Set the given digital output value

Definition at line 130 of file koreio_robot.c.

References kio_SetIO().

Here is the call graph for this function:

int setpw	(	int	argc,
		char *	argv[],
		void *	data
	)

Set the given power output value

Definition at line 401 of file koreio_robot.c.

References kio_SetPW().

Here is the call graph for this function:

int setratio	(	int	argc,
		char *	argv[],
		void *	data
	)

Set the PWM channel ratio

Definition at line 296 of file koreio_robot.c.

References kio_ChangePWM_ratio().

Here is the call graph for this function:

int startscan	(	int	argc,
		char *	argv[],
		void *	data
	)

Start an address Scan on the secondary I2C bus. The list of answering devices must be consulted using readlist.

Definition at line 459 of file koreio_robot.c.

References kio_i2c_StartScan().

Here is the call graph for this function:

int timer	(	int	argc,
		char *	argv[],
		void *	data
	)

Handle the Analog measurement timestamp timer Argument 1 is: 0 to reset the timer 1 to stop the timer 2 to launch the timer

Definition at line 507 of file koreio_robot.c.

References kio_Timer().

Here is the call graph for this function:

int writei2c	(	int	argc,
		char *	argv[],
		void *	data
	)

Write on the secondary I2C bus

Definition at line 446 of file koreio_robot.c.

References kio_i2c_Write().

Here is the call graph for this function:

---

Variable Documentation

char buf[1024] [static]

Main program to process the command line.

Definition at line 715 of file koreio_robot.c.

kb_command_t cmds[] [static]

The command table contains: command name : min number of args : max number of args : the function to call

Definition at line 664 of file koreio_robot.c.

knet_dev_t* koreio [static]

Definition at line 29 of file koreio_robot.c.

int quitReq = 0 [static]

Definition at line 28 of file koreio_robot.c.