added command support

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

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
+
+
+