ArVersalogicIO Class Reference

Interface to integrated digital and analog I/O interfaces on Versalogic VSBC8 and EBX-12 Cobra computers (digital IO on 2nd * gen. More...

#include <ArVersalogicIO.h>

Public Types
enum	Direction { DIGITAL_INPUT, DIGITAL_OUTPUT }

Public Member Functions
	ArVersalogicIO (const char *dev="/dev/amrio")
	Constructor. More...
bool	closeIO (void)
	tries to close the device. Returns false if operation failed More...
bool	getAnalogValue (int port, double *val)
	Take an analog reading from a port number from 0-7. More...
bool	getAnalogValueRaw (int port, int *val)
	Take an analog reading from a port number from 0-7. More...
Direction	getDigitalBankDirection (int bank)
	returns the direction (input or output) for the given bank
bool	getDigitalBankInputs (int bank, unsigned char *val)
	get the current value of the digital inputs on a certain bank More...
bool	getDigitalBankOutputs (int bank, unsigned char *val)
	get the current value of the digital outputs bits on a certain bank More...
bool	getSpecialControlRegister (unsigned char *val)
	gets the special register of the motherboard. More...
bool	isAnalogSupported (void)
	returns true if analog values are supported
bool	isEnabled (void)
	returns true if the device is opened and operational
int	lock (void)
	lock the amrio device instance
bool	setDigitalBankDirection (int bank, Direction dir)
	set direction for a particular digital I/O bank
bool	setDigitalBankOutputs (int bank, unsigned char val)
	set the value of the digital outputs bits More...
int	tryLock ()
	Try to lock the device instance without blocking.
int	unlock (void)
	unlock the amrio device instance
virtual	~ArVersalogicIO (void)
	Destructor. More...

Protected Attributes
bool	myAnalogEnabled
unsigned char	myDigitalBank0
unsigned char	myDigitalBank1
unsigned char	myDigitalBank2
unsigned char	myDigitalBank3
ArRetFunctorC< bool, ArVersalogicIO >	myDisconnectCB
bool	myEnabled
int	myFD
int	myNumBanks

Static Protected Attributes
static ArMutex	myMutex

Detailed Description

Interface to integrated digital and analog I/O interfaces on Versalogic VSBC8 and EBX-12 Cobra computers (digital IO on 2nd * gen.

PatrolBot)

This class is a basic set of calls to use the Linux device driver, amrio, which reads and writes data to VersaLogic's Opto22 and analog interfaces. The amrio driver must be built into the Linux kernel or its module loaded. Contact MobileRobots for information about obtaining this driver. It currently supports the Versalogic VSBC-8d, VSBC-8k, and EBX12 (Cobra) motherboards.

The digital portion of the Opto22 consists of two banks of 8 pins on the VSBC8 and four banks of 8 pins on the EBX12. Each bank can be set as either inputs or outputs. The banks are zero-indexed, so bank0 is the first one.

The analog inputs require a separate chip. There are 8 inputs, only one of which can be read at a time. It currently returns a value between 0 and 4096 or a decimal value in the range of 0-5V. The constructor will attempt an analog conversion, and if it fails will assume that the chip is not present and will disable the analog function.

See the motherboard manual for information about physical connections and specifications of the analog input and Opto22 digital IO. Computer motherboard manuals are available at http://robots.mobilerobots.com/docs .

The SPECIAL_CONTROL_REGISTER contains a few bits of information, the one of importance at the moment is the CPU_OVERTEMPERATURE bit, which will be set high if the CPU temp is over the warning temp as set in the BIOS. Bitwise AND the special_control_register output with 0x20 to find the temperature bit.

The destructor closes the device, so just delete the ArVersalogicIO instance to close the device.

Note

Not available on Windows

Constructor & Destructor Documentation

ArVersalogicIO()

ArVersalogicIO::ArVersalogicIO

(

const char *

dev = "/dev/amrio"

)

Constructor.

Constructor for the ArVersalogicIO class.

This will open the device named by dev (the default is "/dev/amrio" if the argument is omitted). It will find the number of digital banks and set the to inputs. It will also attempt to take an analog reading, which will fail if there is not analog chip present. If the conversion fails it will disable the analog portion of the code.

Check isEnabled() to see if the device was properly opened during construction.

~ArVersalogicIO()

ArVersalogicIO::~ArVersalogicIO ( void  )

virtual

Destructor.

Attempt to close the device if it was opened

Member Function Documentation

closeIO()

bool ArVersalogicIO::closeIO

(

void

)

tries to close the device. Returns false if operation failed

Close the device when Aria exits.

getAnalogValue()

bool ArVersalogicIO::getAnalogValue	(	int	port,
		double *	val
	)

Take an analog reading from a port number from 0-7.

Returns an analog value converted from the raw reading to a scale if 0-5V.

This returns a conversion of the bits to a decimal value, currently assumed to be in the 0-5V range

Parameters

port	the port number, between 0 and 7
val	the address of the double to store the reading in

Returns

true if a reading was acquired. false otherwise

getAnalogValueRaw()

bool ArVersalogicIO::getAnalogValueRaw	(	int	port,
		int *	val
	)

Take an analog reading from a port number from 0-7.

Returns the raw bit value as read by the chip.

This returns the actual reading from the chip, which is 12-bits

Parameters

port	the port number, between 0 and 7
val	the address of the integer to store the reading in

Returns

true if a reading was acquired. false otherwise

getDigitalBankInputs()

bool ArVersalogicIO::getDigitalBankInputs	(	int	bank,
		unsigned char *	val
	)

get the current value of the digital inputs on a certain bank

Returns the bits of the digital input bank.

A zero is 'on' for the hardware side of things, so this function negates it to make it more intuitive.

Returns

true if the ioctl call was succcessfull, false otherwise

getDigitalBankOutputs()

bool ArVersalogicIO::getDigitalBankOutputs	(	int	bank,
		unsigned char *	val
	)

get the current value of the digital outputs bits on a certain bank

Returns the state of the bits as they are currently set in the outputs.

It doesn't reconfirm with the hardware, but instead keeps track of how it last set them.

Parameters

bank	which bank to check
val	the byte to write the values into

Returns

true if the request was satisfied, false otherwise

getSpecialControlRegister()

bool ArVersalogicIO::getSpecialControlRegister

(

unsigned char *

val

)

gets the special register of the motherboard.

The special_control_register contains various status bits, of which can be found in the manuals for the motherboards.

One interesting bit is the temperature bit, which gets set high if the CPU is over the specified threshold as set in the BIOS

setDigitalBankOutputs()

bool ArVersalogicIO::setDigitalBankOutputs	(	int	bank,
		unsigned char	val
	)

set the value of the digital outputs bits

The bits on the hardware side of the digital I/O ports are inverse-logic.

The bit must be set high in the register for the output to be off, and be set low to be turned on. This function negates that so that it is more intuitive.

Parameters

bank	the bank number to use. 0 is the lowest bank
val	the status of the 8-bits in a single byte.

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The documentation for this class was generated from the following files:

• ArVersalogicIO.h
• ArVersalogicIO.cpp