koreio.c File Reference

This module provides useful API to use a KoreIO from a KoreBot program. More...

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Functions

void kio_GetFWVersion (knet_dev_t *dev, unsigned int *version)

int kio_ReadAnalog (knet_dev_t *dev, unsigned int an, uint16_t *value, uint32_t *time)

int kio_ReadCAN (knet_dev_t *dev, uint32_t *id, char *len, uint32_t *can_data1, uint32_t *can_data2, char *can_status, uint32_t *time)

int kio_SendCAN (knet_dev_t *dev, uint32_t id, uint32_t can_data1, uint32_t can_data2, char len, char can_status)

int kio_SetANValue (knet_dev_t *dev, unsigned int an, unsigned int value)

int kio_ConfigIO (knet_dev_t *dev, unsigned io, unsigned config)

int kio_ReadIO (knet_dev_t *dev, unsigned int io)

int kio_SetIO (knet_dev_t *dev, unsigned int io)

int kio_ChangeLed (knet_dev_t *dev, unsigned state)

int kio_ChangeIO (knet_dev_t *dev, unsigned int io)

int kio_ClearIO (knet_dev_t *dev, unsigned int io)

int kio_ChangePWM_ratio (knet_dev_t *dev, unsigned int io, unsigned int ratio)

int kio_ChangePWM_freq (knet_dev_t *dev, uint16_t freq)

int kio_ChangePW (knet_dev_t *dev, unsigned int io)

int kio_SetPW (knet_dev_t *dev, unsigned int io)

int kio_ClearPW (knet_dev_t *dev, unsigned int io)

int kio_Timer (knet_dev_t *dev, unsigned action)

void kio_i2c_StartScan (knet_dev_t *dev)

int kio_i2c_ListScan (knet_dev_t *dev, char *list)

void kio_i2c_StartRead (knet_dev_t *dev, char device, char reg, char n_read)

int kio_i2c_ReturnRead (knet_dev_t *dev, char n_read, uint32_t *values)

int kio_i2c_Write (knet_dev_t *dev, char device, char reg, char txdata)

Detailed Description

This module provides useful API to use a KoreIO from a KoreBot program.

Support for the KoreIO board.

Author:: Pierre Bureau (K-Team SA) Fr�d�ric Lambercy (K-Team SA)

Note:: Copyright (C) 2004 K-TEAM SA

Bug:: none discovered.

Todo:: nothing.

Definition in file koreio.c.

Function Documentation

int kio_ChangeIO	(	knet_dev_t *	dev,
		unsigned int	io
	)

Change the state of a digital IO

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the io to reset (0-15)

Returns:

0 if succesful

-1 if the given io is invalid
-2 if the given io is not in output mode

Definition at line 406 of file koreio.c.

References KIO_IOChgBase, and knet_write8().

Referenced by changeio(), and main().

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int kio_ChangeLed	(	knet_dev_t *	dev,
		unsigned	state
	)

Change the state of the LED

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	state	The LED state is 0 to switch it off 1 to switch it on 2 to changed it

Returns:

0 if succesful

-1 if the given state is invalid

Definition at line 381 of file koreio.c.

References KIO_IOChgLed, and knet_write8().

Referenced by changeled().

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int kio_ChangePW	(	knet_dev_t *	dev,
		unsigned int	io
	)

Change the state of a power output

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the power output to set (0-6)

Returns:

0 if succesful

-1 if the given pw is invalid

Definition at line 501 of file koreio.c.

References KIO_PWChgBase, and knet_write8().

Referenced by changepw().

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int kio_ChangePWM_freq	(	knet_dev_t *	dev,
		uint16_t	freq
	)

Change PWM frequency

Parameters:

	dev	K-Net Device Descriptor to the KoreIo
	freq	Frequency of the PWM

Returns:

0 if succesful
-1 if fail

Definition at line 473 of file koreio.c.

References KIO_FreqBase, and knet_write8().

Referenced by main(), and setfreq().

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int kio_ChangePWM_ratio	(	knet_dev_t *	dev,
		unsigned int	io,
		unsigned int	ratio
	)

Change PWM channel ratio

Parameters:

	dev	K-Net Device Descriptor to the KoreIo
	io	the io to modify PWM ratio ratio the ratio value

Returns:

0 if succesful
-1 if the given io is invalid

Definition at line 449 of file koreio.c.

References KIO_PWMRatio, and knet_write8().

Referenced by elbow(), finger(), gripper(), main(), motor(), rotate(), sequence(), setratio(), shoulder(), and wrist().

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int kio_ClearIO	(	knet_dev_t *	dev,
		unsigned int	io
	)

Set a digital IO state to 0

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the io to reset (0-15)

Returns:

0 if succesful

-1 if the given io is invalid
-2 if the given io is not in output mode

Definition at line 427 of file koreio.c.

References KIO_IOClearBase, and knet_write8().

Referenced by main(), and resetio().

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int kio_ClearPW	(	knet_dev_t *	dev,
		unsigned int	io
	)

Set a power output state to 0

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the power output to reset (0-6)

Returns:

0 if succesful

-1 if the given pw is invalid

Definition at line 543 of file koreio.c.

References KIO_PWClearBase, and knet_write8().

Referenced by main(), and resetpw().

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int kio_ConfigIO	(	knet_dev_t *	dev,
		unsigned	io,
		unsigned	config
	)

Configure a digital IO to be used as an input, output or PWM ouput

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the io to set (0-15)
	config	the mode to set (0: input) (1: ouput) (2: pwm)

Returns:

0 if succesful

-1 if the given io is invalid
-2 if the given config is invalid

Definition at line 296 of file koreio.c.

References KIO_IOConfigIn, KIO_IOConfigOut, KIO_IOConfigPwm, and knet_write8().

Referenced by configio(), and main().

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void kio_GetFWVersion	(	knet_dev_t *	dev,
		unsigned int *	version
	)

This function get the firmware version and revision number.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	version	A pointer to a variable that will receive the firmware version number.

Definition at line 41 of file koreio.c.

References KIO_FWVersion, and knet_read8().

Referenced by main().

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int kio_i2c_ListScan	(	knet_dev_t *	dev,
		char *	list
	)

Return the list of answering devices from a scan on the secondary I2C bus. The scan must be started using kio_i2c_StartScan.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	list	A pointer to an array of characters to store the list. The array must be large enough to store all the addesses (up to 128bytes).

Returns:

the number of answering devices

-1 if the given pointer is null
-2 in case of knet transfer failure

Definition at line 602 of file koreio.c.

References KIO_I2C_ScanRead, KIO_I2CList, knet_lltransfer(), and knet_read8().

Referenced by listscan().

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int kio_i2c_ReturnRead	(	knet_dev_t *	dev,
		char	n_read,
		uint32_t *	values
	)

return the values of the previous I2C Read bus.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	n_read	Number of returned values (max 4)
	values	Pointer to store the returned values

Returns:

0 if succesful
-1 if fail

Definition at line 661 of file koreio.c.

References buf, KIO_I2CReturnRead, and knet_lltransfer().

Referenced by readi2c().

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void kio_i2c_StartRead	(	knet_dev_t *	dev,
		char	device,
		char	reg,
		char	n_read
	)

Start an register read on the secondary I2C bus.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	device	Device address
	reg	Device register address
	n_read	Number of read (max 4)

Definition at line 632 of file koreio.c.

References KIO_I2CReadBase, and knet_write8().

Referenced by readi2c().

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void kio_i2c_StartScan ( knet_dev_t * dev )

Start an address scan on the secondary I2C bus.

Parameters:

dev

K-Net Device Descriptor to the KoreIO

Definition at line 583 of file koreio.c.

References KIO_I2CScan, and knet_write8().

Referenced by startscan().

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int kio_i2c_Write	(	knet_dev_t *	dev,
		char	device,
		char	reg,
		char	txdata
	)

Write on the secondary I2C bus.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	device	Device address
	reg	Device register address
	txdata	Data to write on device

Returns:

0 if succesful
-1 if fail

Definition at line 699 of file koreio.c.

References KIO_I2CWriteAddr, KIO_I2CWriteBase, and knet_write8().

Referenced by writei2c().

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int kio_ReadAnalog	(	knet_dev_t *	dev,
		unsigned int	an,
		uint16_t *	value,
		uint32_t *	time
	)

Read an Analog input level. The 10 bit value, as well as the corresponding timestamp are returned. The timestamp is given is mS since the last reset of the timer.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	an	The analog input to read
	value	Pointer to store the 10bit value from the A/D
	time	Pointer to store the 32bit value of the timestamp

Returns:

0 if succesful
-1 if the given Analog is invalid
-2 in case of knet transfer failure

Definition at line 67 of file koreio.c.

References buf, KIO_ANReadBase, and knet_read8().

Referenced by main(), and readad().

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int kio_ReadCAN	(	knet_dev_t *	dev,
		uint32_t *	id,
		char *	len,
		uint32_t *	can_data1,
		uint32_t *	can_data2,
		char *	can_status,
		uint32_t *	time
	)

Read the Can message and erase it. Return the number of other Can messages available.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	id	Pointer to store the 32bit value of the identifier
	len	Pointer to store the Data length of the message
	can_data1	Pointer to store the 4 Bytes high of Data
	can_data2	Pointer to store the 4 Bytes low of Data
	status	Pointer to store the Status bits of the message
	time	Pointer to store the 4 Bytes of the message timing

Returns:

n_mess The number of available messages if succesful
-1 if the buffer is empty
-2 in case of knet transfer failure

Definition at line 123 of file koreio.c.

References buf, KIO_CANReadBase, KIO_ClearCAN, knet_lltransfer(), and knet_write8().

Referenced by readcan().

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int kio_ReadIO	(	knet_dev_t *	dev,
		unsigned int	io
	)

Read a digital IO state

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the io to read (0-15)

Returns:

0 if succesful

-1 if the given io is invalid
-2 if the given io is not in input mode

Definition at line 331 of file koreio.c.

References KIO_IOReadBase, and knet_read8().

Referenced by readio().

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int kio_SendCAN	(	knet_dev_t *	dev,
		uint32_t	id,
		uint32_t	can_data1,
		uint32_t	can_data2,
		char	len,
		char	can_status
	)

Send a CAN message on the CAN bus

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	id	Can identifier on 32 Bits
	can_data1	4 Data high
	can_data2	4 Data low
	len	Number of Bytes to send on the Bus
	status	Set the CAN control bits

Returns:

0 if succesful
1 if fail

Definition at line 195 of file koreio.c.

References KIO_CANWriteBase, KIO_Status, knet_read8(), and knet_write8().

Referenced by can7seg(), and canled().

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int kio_SetANValue	(	knet_dev_t *	dev,
		unsigned int	an,
		unsigned int	value
	)

Change a analog output value

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	an	the output to set (0-7)
	value	the analog value (0-255)

Returns:

0 if succesful
-1 if the given output is invalid

Definition at line 265 of file koreio.c.

References KIO_ANWriteBase, and knet_write8().

Referenced by setad().

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int kio_SetIO	(	knet_dev_t *	dev,
		unsigned int	io
	)

Set a digital IO state to 1

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the io to set (0-15)

Returns:

0 if succesful

-1 if the given io is invalid
-2 if the given io is not in output mode

Definition at line 358 of file koreio.c.

References KIO_IOSetBase, and knet_write8().

Referenced by main(), and setio().

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int kio_SetPW	(	knet_dev_t *	dev,
		unsigned int	io
	)

Set a power output state to 1

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	io	the power output to set (0-6)

Returns:

0 if succesful

-1 if the given pw is invalid

Definition at line 522 of file koreio.c.

References KIO_PWSetBase, and knet_write8().

Referenced by main(), and setpw().

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int kio_Timer	(	knet_dev_t *	dev,
		unsigned	action
	)

Handle the koreio timer for analog measurements timestamp.

Parameters:

	dev	K-Net Device Descriptor to the KoreIO
	action	The action to perform with the timer 0: Reset the timer 1: Stop the timer 2: Launch the timer

Returns:

0 if succesful

-1 if the given action is invalid

Definition at line 567 of file koreio.c.

References KIO_TimerBase, and knet_write8().

Referenced by timer().

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Functions
void	kio_GetFWVersion (knet_dev_t dev, unsigned int version)
int	kio_ReadAnalog (knet_dev_t dev, unsigned int an, uint16_t value, uint32_t *time)
int	kio_ReadCAN (knet_dev_t dev, uint32_t id, char len, uint32_t can_data1, uint32_t can_data2, char can_status, uint32_t *time)
int	kio_SendCAN (knet_dev_t *dev, uint32_t id, uint32_t can_data1, uint32_t can_data2, char len, char can_status)
int	kio_SetANValue (knet_dev_t *dev, unsigned int an, unsigned int value)
int	kio_ConfigIO (knet_dev_t *dev, unsigned io, unsigned config)
int	kio_ReadIO (knet_dev_t *dev, unsigned int io)
int	kio_SetIO (knet_dev_t *dev, unsigned int io)
int	kio_ChangeLed (knet_dev_t *dev, unsigned state)
int	kio_ChangeIO (knet_dev_t *dev, unsigned int io)
int	kio_ClearIO (knet_dev_t *dev, unsigned int io)
int	kio_ChangePWM_ratio (knet_dev_t *dev, unsigned int io, unsigned int ratio)
int	kio_ChangePWM_freq (knet_dev_t *dev, uint16_t freq)
int	kio_ChangePW (knet_dev_t *dev, unsigned int io)
int	kio_SetPW (knet_dev_t *dev, unsigned int io)
int	kio_ClearPW (knet_dev_t *dev, unsigned int io)
int	kio_Timer (knet_dev_t *dev, unsigned action)
void	kio_i2c_StartScan (knet_dev_t *dev)
int	kio_i2c_ListScan (knet_dev_t dev, char list)
void	kio_i2c_StartRead (knet_dev_t *dev, char device, char reg, char n_read)
int	kio_i2c_ReturnRead (knet_dev_t dev, char n_read, uint32_t values)
int	kio_i2c_Write (knet_dev_t *dev, char device, char reg, char txdata)