added command support

diff --git a/lib/Makefile b/lib/Makefile
index 6ffbdbf8b910a29ca874df7147d71b99b7ec6f5e..afcc160a14eab5542b910511965c5b0476b55972 100644 (file)
--- a/lib/Makefile
+++ b/lib/Makefile
@@ -2,7 +2,7 @@
 CFLAGS=-fPIC -Wall -O2 -I../include -I.
 
 OBJS=comedi.o timer.o sv.o range.o ioctl.o filler.o timed.o error.o \
-       dio.o data.o get.o
+       dio.o data.o get.o command.o
 
 libcomedi.a: $(OBJS)
        #gcc -shared -Wl,-soname,libcomedi.so,-T,version_script -o libcomedi.so.${VERSION_CODE} $(OBJS) -lm

diff --git a/lib/command.c b/lib/command.c
new file mode 100644 (file)
index 0000000..d1aedd1
--- /dev/null
+++ b/lib/command.c
@@ -0,0 +1,156 @@
+/*
+    lib/command.c
+    comedi library routines
+
+    COMEDILIB - Control and Measurement Device Interface Library
+    Copyright (C) 2000 David A. Schleef <ds@stm.lbl.gov>
+
+    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 this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+*/
+
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <comedi.h>
+#include <string.h>
+
+#include <libinternal.h>
+
+
+
+int comedi_data_write(comedi_t *it,unsigned int subdev,unsigned int chan,unsigned int range,
+               unsigned int aref,lsampl_t data)
+{
+       comedi_trig cmd={
+               mode:           0,
+               flags:          TRIG_WRITE,
+               n_chan:         1,
+               n:              1,
+               trigsrc:        0,
+               trigvar:        0,
+               trigvar1:       0,
+       };
+       sampl_t sdata=data;
+
+       if(!valid_chan(it,subdev,chan))
+               return -1;
+       
+       chan=CR_PACK(chan,range,aref);
+
+       cmd.subdev=subdev;
+       if(it->subdevices[subdev].subd_flags & SDF_LSAMPL){
+               cmd.data=(sampl_t *)(&data);
+       }else{
+               cmd.data=&sdata;
+       }
+       cmd.chanlist=&chan;
+
+       return ioctl_trigger(it->fd,&cmd);
+}
+
+
+int comedi_data_read(comedi_t *it,unsigned int subdev,unsigned int chan,unsigned int range,
+               unsigned int aref,lsampl_t *data)
+{
+       comedi_trig cmd={
+               mode:           0,
+               flags:          0,
+               n_chan:         1,
+               n:              1,
+               trigsrc:        0,
+               trigvar:        0,
+               trigvar1:       0,
+       };
+       int ret;
+       sampl_t sdata;
+
+       if(!valid_chan(it,subdev,chan))
+               return -1;
+       
+       chan=CR_PACK(chan,range,aref);
+       
+       cmd.subdev=subdev;
+       cmd.chanlist=&chan;
+       if(it->subdevices[subdev].subd_flags & SDF_LSAMPL){
+               cmd.data=(sampl_t *)data;
+       }else{
+               cmd.data=&sdata;
+       }
+
+       ret=ioctl_trigger(it->fd,&cmd);
+       if(ret<0)
+               return ret;
+
+       if(!(it->subdevices[subdev].subd_flags & SDF_LSAMPL)){
+               *data=sdata;
+       }
+
+       return 0;
+}
+
+#if 1
+/*
+   I don't like this function, which is why it is marked out.
+   The problem is the sampl_t/lsampl_t fiasco, which is beginning
+   to be a PITA.
+ */
+int comedi_data_read_n(comedi_t *it,unsigned int subdev,unsigned int chan,unsigned int range,
+               unsigned int aref,unsigned int n,lsampl_t *data)
+{
+       comedi_trig cmd;
+       unsigned int i;
+       int ret;
+
+       if(!valid_chan(it,subdev,chan))
+               return -1;
+       
+       if(n==0)
+               return 0;
+
+       chan=CR_PACK(chan,range,aref);
+       
+       memset(&cmd,0,sizeof(cmd));
+       cmd.mode=0;
+       cmd.n_chan=1;
+       cmd.subdev=subdev;
+       cmd.chanlist=&chan;
+
+       i=0;
+       while(i<n){
+               cmd.data=(void *)(data+i);
+               cmd.n=n-i;
+
+               ret=ioctl_trigger(it->fd,&cmd);
+               if(ret<0)
+                       goto out;
+
+               i+=ret;
+       }
+out:
+       if(i==0)return -1;
+
+       return (int)i;
+}
+#endif
+
+
+