io_input.c

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#define _GNU_SOURCE 1
#include "stdio.h"
#include <termios.h>
#include <unistd.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/time.h>
#include "libpruio/pruio.h"
 
 
int
isleep(unsigned int mseconds)
{
  fd_set set;
  struct timeval timeout;
 
  /* Initialize the file descriptor set. */
  FD_ZERO(&set);
  FD_SET(STDIN_FILENO, &set);
 
  /* Initialize the timeout data structure. */
  timeout.tv_sec = 0;
  timeout.tv_usec = mseconds * 1000;
 
  return TEMP_FAILURE_RETRY(select(FD_SETSIZE,
                                   &set, NULL, NULL,
                                   &timeout));
}
 
int main(int argc, char **argv)
{
  pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 4, 0x98, 0); 
  do { //                                      pseudo loop to avoid goto
    if (io->Errr) {
               printf("initialisation failed (%s)\n", io->Errr); break;}
 
    if (pruio_config(io, 1, 0x1FE, 0, 4)) {
                       printf("config failed (%s)\n", io->Errr); break;}
 
    struct termios oldt, newt; //             make terminal non-blocking
    tcgetattr( STDIN_FILENO, &oldt );
    newt = oldt;
    newt.c_lflag &= ~( ICANON | ECHO );
    newt.c_cc[VMIN] = 0;
    newt.c_cc[VTIME] = 0;
    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
 
    while(!isleep(1)) { //                      run loop until keystroke
      printf("\r%8X %8X %8X %8X  %4X %4X %4X %4X %4X %4X %4X %4X"
           , io->Gpio->Raw[0]->Mix, io->Gpio->Raw[1]->Mix, io->Gpio->Raw[2]->Mix, io->Gpio->Raw[3]->Mix
           , io->Adc->Value[1], io->Adc->Value[2], io->Adc->Value[3], io->Adc->Value[4]
           , io->Adc->Value[5], io->Adc->Value[6], io->Adc->Value[7], io->Adc->Value[8]);
      fflush(STDIN_FILENO);
    }
    tcsetattr(STDIN_FILENO, TCSANOW, &oldt); //           reset terminal
 
    printf("\n");
  } while (0);
 
  pruio_destroy(io);       /* destroy driver structure */
    return 0;
}