LinuxCNC HAL pokeys.comp, edited per Andy P to support scaled anolog outputs

pokeys.comp

component pokeys "PoKeys IO driver, by Mit Zot";

option userspace yes;


pin out bit in-# [55];
pin out float ain-# [3];
pin out bit err;
pin in float analog-scale-# [3];
pin in unsigned devSerial;
pin out bit alive;

license "GPL";
;;

#include "PoKeysLib.h"
#include <unistd.h>   /* UNIX standard function definitions */

sPoKeysDevice * dev=0;
int i=0;

void user_mainloop(void)
{

    while(0xb){
       FOR_ALL_INSTS() {

	 while(dev == NULL)dev = PK_ConnectToDeviceWSerial(devSerial, 2000);  //waits for usb device


	 alive=1;
	 if ((PK_DigitalIOGet(dev) == PK_OK) && (PK_AnalogIOGet(dev) == PK_OK)){  //gets IO data and checks return value
		err=0;
		for(i=0;i<54;i++)in(i)=!dev->Pins[i].DigitalValueGet;           //just transfers values
		for(i=0;i<3;i++)ain(i)=(dev->Pins[i+44].AnalogValue * analog_scale(i)) /4096.0;
	 }
         else{             		  //on connection error
		PK_DisconnectDevice(dev);
		dev=NULL;  		  //tries to reconnect
		err=1;
		for(i=0;i<54;i++)in(i)=0;
		for(i=0;i<3;i++)ain(i)=0;
	 }
	 alive=0;
	usleep(40000);
        }
    }

    exit(0);
}