Analog and Digital I/O Functions

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Detailed Description

Use these functions to read or write to digital I/O pins or read from analog input pins.

Data Structures
union	_int_union_
	INT FLAGS. More...
union	_io_flags_union
	IO FLAGS. More...
Typedefs
typedef union _int_union_	INT_FLAGS
typedef union _io_flags_union	IO_FLAGS
Functions
NDICMDC_API BOOL	NdiCmd_ReadDIO (int handle, int pin, BOOL *value)
	Read Digital Input.
NDICMDC_API BOOL	NdiCmd_WriteDIO (int handle, int pin, BOOL value)
	Write Digital Output.
NDICMDC_API BOOL	NdiCmd_ReadAIO (int handle, int pin, double *value)
	Read Analog Input.
NDICMDC_API BOOL	NdiCmd_SetInterrupt (int handle, INT_FLAGS flags)
	Set Interrupt.
NDICMDC_API BOOL	NdiCmd_GetInterruptStatus (int handle, INT_FLAGS *flags, WORD *io_lines)
	Get Interrupt Status.
NDICMDC_API BOOL	NdiCmd_SetDIOMonitorInfo (int handle, int pin, IO_FLAGS flags)
	Set DIO Monitor Info.
NDICMDC_API BOOL	NdiCmd_SetAIOMonitorInfo (int handle, int pin, IO_FLAGS flags, WORD lo, WORD hi)
	Set AIO Monitor Info.

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Function Documentation

NDICMDC_API BOOL NdiCmd_GetInterruptStatus	(	int	handle,
		INT_FLAGS *	flags,
		WORD *	io_lines
	)

Get Interrupt Status.

When the host determines that the interrupt line has been asserted, it should call this function to find out what caused the interrupt. It must then clear the interrupt by querying the state of the active source.

Parameters:

	handle	an integer WheelCommander handle
	flags	a pointer to an INT_FLAGS bitfield structure
	io_lines	a pointer to a WORD containing one bit per digital input in bits 0-7, and a bit for each analog input in bits 8-15.

Returns:

BOOL

NDICMDC_API BOOL NdiCmd_ReadAIO	(	int	handle,
		int	pin,
		double *	value
	)

Read Analog Input.

Given the specified pin, this reads the analog voltage level by reading the 10 bit A/D converter value, then scaling that by 5.0 volts per 1024 values.

Parameters:

	handle	an integer WheelCommander handle
	pin	an integer specifying which analog input to read
	value	a pointer to a double returning the voltage

Returns:

BOOL

NDICMDC_API BOOL NdiCmd_ReadDIO	(	int	handle,
		int	pin,
		BOOL *	value
	)

Read Digital Input.

Given the I/O pin number to read (0-7), this sets the specified pin to be a high-impedance input, then returns the current logic level of that pin at the BOOL pointed to by value.

Parameters:

	handle	an integer WheelCommander handle
	pin	an integer specifying which DIO pin to read
	value	a pointer to a BOOL, where the level is returned

Returns:

BOOL

NDICMDC_API BOOL NdiCmd_SetAIOMonitorInfo	(	int	handle,
		int	pin,
		IO_FLAGS	flags,
		WORD	lo,
		WORD	hi
	)

Set AIO Monitor Info.

For the analog input 'pin', set up monitoring (or turn it off) based on the IO_FLAGS parameter flags and the lo and/or hi reference values. If watch_for_hi and watch_for_lo are both set in flags, then lo and hi can either specify a range outside of which an interrupt occurs (if lo < hi) or a range inside of which an interrupt occurs (if hi < lo). If only one of watch_for_lo or watch_for_hi is set, then this allows for a simple threshold test.

Parameters:

	handle	an integer WheelCommander handle
	pin	an integer indicating the digital input pin number (0-7)
	flags	an IO_FLAGS bitfield structure
	lo	a 10 bit analog input reference point (stored in a 16 bit WORD)
	hi	a 10 bit analog input reference point (stored in a 16 bit WORD)

Returns:

BOOL

NDICMDC_API BOOL NdiCmd_SetDIOMonitorInfo	(	int	handle,
		int	pin,
		IO_FLAGS	flags
	)

Set DIO Monitor Info.

For the digital input 'pin', set up monitoring (or turn it off) based on the IO_FLAGS parameter flags. If watch_for_lo is set in flags, then an interrupt will occur when the input goes low; if watch_for_hi, when it goes high. If both are set, then any change causes an interrupt. None of this occurs if monitor is not set in flags, or if 'input' in flags is clear, or if 'digital' in flags is clear. If the flag called 'set' is high in the IO_FLAGS parameter passed, in, then the user interrupt will be immediately asserted.

Parameters:

	handle	an integer WheelCommander handle
	pin	an integer indicating the digital input pin number (0-7)
	flags	an IO_FLAGS bitfield structure

Returns:

BOOL

NDICMDC_API BOOL NdiCmd_SetInterrupt	(	int	handle,
		INT_FLAGS	flags
	)

Set Interrupt.

This provides a means to enable assertion of a specified digital output line, either as an active high or low signal, upon the occurance of certain conditions (motion operation complete; digital input at a certain state; analog input in a certain range). Digital and analog input monitoring is set using NdiCmd_SetDIOMonitorInfo() and NdiCmd_SetAIOMonitorInfo().

Parameters:

	handle	an integer WheelCommander handle
	flags	an INT_FLAGS bitfield structure

Returns:

BOOL

NDICMDC_API BOOL NdiCmd_WriteDIO	(	int	handle,
		int	pin,
		BOOL	value
	)

Write Digital Output.

This sets the specified pin to be a digital output, then sets the logic level of the specified pin to value.

Parameters:

	handle	an integer WheelCommander handle
	pin	an integer specifying which DIO pin to write
	value	a BOOL setting the level of the pin

Returns:

BOOL