motorIo1.c -- Configure Transceiver as input or output and toggle.
/* motorIo1.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Configure Motor I/O bit as input or output and toggle.
This sample application configures a single I/O bit, on one motor,
for input or output.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "sqNodeLib.h"
#include "apputil.h"
/* User Settings */
#define MOTOR_NUMBER (0)
#define IO_CONFIG (MPIMotorIoTypeOUTPUT) /* INPUT or OUTPUT */
#define IO_ID (MPIMotorIoConfigIndex0) /* Index to Motor I/O. */
#define INVERT_BIT (FALSE)
/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Parse command line for Control type and address */
argIndex = argControl(argc, argv, controlType, controlAddress);
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr,"usage: %s %s\n", argv[0], ArgUSAGE);
exit(MPIMessageARG_INVALID);
}
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPIMotor *motor,
long motorNumber)
{
long returnValue;
/* Obtain a control handle */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize the controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Obtain a motor handle */
*motor =
mpiMotorCreate(*control, motorNumber);
msgCHECK(mpiMotorValidate(*motor));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIMotor *motor)
{
long returnValue;
/* Delete motor handle */
returnValue =
mpiMotorDelete(*motor);
msgCHECK(returnValue);
*motor = MPIHandleVOID;
/* Delete control handle */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Configure Motor I/O */
void configureMotorIo(MPIMotor motor,
MPIMotorIoConfigIndex ioIndex,
MPIMotorIoType type,
long invert)
{
MPIMotorConfig motorConfigXmp;
long returnValue;
/* Configure selected I/O bit */
returnValue =
mpiMotorConfigGet(motor,
NULL,
&motorConfigXmp);
msgCHECK(returnValue);
motorConfigXmp.Io[IO_ID].Type = IO_CONFIG;
returnValue =
mpiMotorConfigSet(motor,
NULL,
&motorConfigXmp);
msgCHECK(returnValue);
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotor motor;
MPIMotorIoConfigIndex ioIndex = IO_ID;
MPIMotorIoType type = IO_CONFIG;
long motorNumber = 0;
long invert = INVERT_BIT;
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&motor,
motorNumber);
/* Configure Motor I/O */
configureMotorIo(motor,
ioIndex,
type,
invert);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&motor);
return MPIMessageOK;
}
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