Add programm with the dio board.

57dd9237 · Tristan Gingold · cc8ba521 · 57dd9237
Commit 57dd9237 authored Mar 03, 2020 by Tristan Gingold
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plc_dio.c sw/plc_urv/plc_dio.c +37 -0

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--- a/sw/plc_urv/plc_dio.c
+++ b/sw/plc_urv/plc_dio.c
+#include <stdint.h>
+#include "plc_urv_regs.h"
+
+/* Ch0: input (bit 1)
+   ch1: -- (bit 0).
+   ch2: --
+   ch3: output (bit 5, en 8)  */
+
+#define SLOT pins_5
+
+#define OEN ((1 << 6) | (1 << 7) | (0 << 8) | (0 << 9) | (0 << 11))
+
+void
+init (void)
+{
+  volatile struct plc_urv_regs *regs =
+    (volatile struct plc_urv_regs *)0x00000;
+
+  regs->relays.SLOT = OEN;
+}
+
+void
+main (void)
+{
+  volatile struct plc_urv_regs *regs =
+    (volatile struct plc_urv_regs *)0x00000;
+
+  while (1) {
+    unsigned v = regs->loops.SLOT;
+
+    v = !! (v & 0x7);
+      // v = (v & 2) >> 1;
+    //    v |= regs->loops.pins_4 & 1;
+
+    regs->relays.SLOT = (v << 5) | OEN;
+  }
+}