Access to EV3 ports and extended ports. More...

Data Structures
struct	EV3_PORT
	Structure of a EV3 port descriptor. More...

Macros
#define	PORT_DIR "/sys/class/lego-port"

#define	PORT_DESC__LIMIT_ DESC_LIMIT

#define	PORT__NONE_ PORT_DESC__LIMIT_

#define	EV3_PORT__NONE_ 0 /* XXX: 0 is used */
	Identifiers of EV3 ports and extended ports.

#define	EXT_PORT__NONE_ EV3_PORT__NONE_

#define	INPUT_1 49

#define	INPUT_2 50

#define	INPUT_3 51

#define	INPUT_4 52

#define	OUTPUT_A 65

#define	OUTPUT_B 66

#define	OUTPUT_C 67

#define	OUTPUT_D 68

#define	MUX_1 49

#define	MUX_2 50

#define	MUX_3 51

#define	MUX_4 52

#define	SERVO__OFFSET_ 16

#define	SERVO_1 65

#define	SERVO_2 66

#define	SERVO_3 67

#define	SERVO_4 68

#define	SERVO_5 69

#define	SERVO_6 70

#define	SERVO_7 71

#define	SERVO_8 72

#define	NXTMMX__OFFSET_ 28

#define	NXTMMX_1 77

#define	NXTMMX_2 78

#define	WEDO__OFFSET_ 48

#define	WEDO_1 97

#define	WEDO_2 98

#define	WEDO_3 99

#define	WEDO_4 100

Enumerations
enum	{ PORT_TYPE__NONE_ = 0, HT_NXT_SMUX_PORT, LEGOEV3_INPUT_PORT, LEGOEV3_OUTPUT_PORT, MS_EV3_SMUX_PORT, MS_NXTMMX_OUT_PORT, WEDO_PORT, PORT_TYPE__COUNT_, PORT_TYPE__UNKNOWN_ = PORT_TYPE__COUNT_ }
	Identifiers of EV3 port types. More...

enum	{ PORT_MODE__NONE_ = 0, HT_NXT_SMUX_PORT_ANALOG, HT_NXT_SMUX_ANALOG = HT_NXT_SMUX_PORT_ANALOG, HT_NXT_SMUX_PORT_I2C, HT_NXT_SMUX_I2C = HT_NXT_SMUX_PORT_I2C, LEGOEV3_INPUT_PORT_AUTO, INPUT_AUTO = LEGOEV3_INPUT_PORT_AUTO, LEGOEV3_INPUT_PORT_NXT_ANALOG, INPUT_NXT_ANALOG = LEGOEV3_INPUT_PORT_NXT_ANALOG, LEGOEV3_INPUT_PORT_NXT_COLOR, INPUT_NXT_COLOR = LEGOEV3_INPUT_PORT_NXT_COLOR, LEGOEV3_INPUT_PORT_NXT_I2C, INPUT_NXT_I2C = LEGOEV3_INPUT_PORT_NXT_I2C, LEGOEV3_INPUT_PORT_OTHER_I2C, INPUT_OTHER_I2C = LEGOEV3_INPUT_PORT_OTHER_I2C, LEGOEV3_INPUT_PORT_EV3_ANALOG, INPUT_EV3_ANALOG = LEGOEV3_INPUT_PORT_EV3_ANALOG, LEGOEV3_INPUT_PORT_EV3_UART, INPUT_EV3_UART = LEGOEV3_INPUT_PORT_EV3_UART, LEGOEV3_INPUT_PORT_OTHER_UART, INPUT_OTHER_UART = LEGOEV3_INPUT_PORT_OTHER_UART, LEGOEV3_INPUT_PORT_RAW, INPUT_RAW = LEGOEV3_INPUT_PORT_RAW, LEGOEV3_OUTPUT_PORT_AUTO, OUTPUT_AUTO = LEGOEV3_OUTPUT_PORT_AUTO, LEGOEV3_OUTPUT_PORT_TACHO_MOTOR, OUTPUT_TACHO_MOTOR = LEGOEV3_OUTPUT_PORT_TACHO_MOTOR, LEGOEV3_OUTPUT_PORT_DC_MOTOR, OUTPUT_DC_MOTOR = LEGOEV3_OUTPUT_PORT_DC_MOTOR, LEGOEV3_OUTPUT_PORT_LED, OUTPUT_LED = LEGOEV3_OUTPUT_PORT_LED, LEGOEV3_OUTPUT_PORT_RAW, OUTPUT_RAW = LEGOEV3_OUTPUT_PORT_RAW, MS_EV3_SMUX_PORT_UART, MS_EV3_SMUX_UART = MS_EV3_SMUX_PORT_UART, MS_EV3_SMUX_PORT_ANALOG, MS_EV3_SMUX_ANALOG = MS_EV3_SMUX_PORT_ANALOG, MS_NXTMMX_OUT_PORT_TACHO_MOTOR, MS_NXTMMX_TACHO_MOTOR = MS_NXTMMX_OUT_PORT_TACHO_MOTOR, WEDO_PORT_AUTO, WEDO_AUTO = WEDO_PORT_AUTO, PORT_MODE__COUNT_, PORT_MODE__UNKNOWN_ = PORT_MODE__COUNT_ }
	Identifiers of EV3 port "mode" attribute. More...

Functions
	EV3_PORT_VAR (EV3_PORT ev3_port[PORT_DESC__LIMIT_])
	Vector of EV3 port descriptors (filled by ev3_port_init).

size_t	get_port_address (uint8_t sn, char *buf, size_t sz)
	Read "address" attribute of the EV3 port. More...

size_t	get_port_driver_name (uint8_t sn, char *buf, size_t sz)
	Read "driver_name" attribute of the EV3 port. More...

size_t	get_port_mode (uint8_t sn, char *buf, size_t sz)
	Read "mode" attribute of the EV3 port. More...

size_t	set_port_mode (uint8_t sn, char *value)
	Write "mode" attribute of the EV3 port. More...

size_t	multi_set_port_mode (uint8_t sn, char value)
	Write "mode" attribute of several EV3 ports. More...

size_t	get_port_modes (uint8_t sn, char *buf, size_t sz)
	Read "modes" attribute of the EV3 port. More...

size_t	set_port_set_device (uint8_t sn, char *value)
	Write "set_device" attribute of the EV3 port. More...

size_t	multi_set_port_set_device (uint8_t sn, char value)
	Write "set_device" attribute of several EV3 ports. More...

size_t	get_port_status (uint8_t sn, char *buf, size_t sz)
	Read "status" attribute of the EV3 port. More...

const char *	ev3_port_type (INX_T type_inx)
	Get name of the specified EV3 port type. More...

INX_T	get_port_type_inx (uint8_t sn)
	Read "driver_name" attribute and get index of the EV3 port type. More...

size_t	get_port_desc (uint8_t sn, EV3_PORT *desc)
	Read EV3 port attributes that are required for filling the descriptor. More...

EV3_PORT *	ev3_port_desc (uint8_t sn)
	Get descriptor of the EV3 port. More...

INX_T	ev3_port_desc_type_inx (uint8_t sn)
	Get type from the EV3 port descriptor. More...

uint8_t	ev3_port_desc_port (uint8_t sn)
	Get EV3 port from the EV3 port descriptor. More...

uint8_t	ev3_port_desc_extport (uint8_t sn)
	Get extended port from the EV3 port descriptor. More...

uint8_t	ev3_port_desc_addr (uint8_t sn)
	Get I2C address from the EV3 port descriptor. More...

char *	ev3_port_port_name (uint8_t sn, char *buf)
	Assemble EV3 port name from the EV3 port descriptor. More...

bool	ev3_search_port_type (INX_T type_inx, uint8_t *sn, uint8_t from)
	Search of a sequence number of the specified EV3 port type. More...

bool	ev3_search_port_plugged_in (uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from)
	Search of a sequence number the EV3 port by plug-in attributes. More...

const char *	ev3_port_mode (INX_T mode_inx)
	Get name of the specified EV3 port mode. More...

INX_T	get_port_mode_inx_of_type (uint8_t sn, INX_T type_inx)
	Read "mode" attribute of the specified EV3 port type and get the index. More...

INX_T	get_port_mode_inx (uint8_t sn)
	Read "mode" attribute of the EV3 port and get the index. More...

size_t	set_port_mode_inx (uint8_t sn, INX_T mode_inx)
	Write "mode" attribute of the EV3 port by the index. More...

size_t	multi_set_port_mode_inx (uint8_t *sn, INX_T mode_inx)
	Write "mode" attribute of several EV3 ports by the index. More...

int	ev3_port_init (void)
	Detect connected EV3 ports. More...

uint8_t	ev3_search_port (uint8_t port, uint8_t extport)
	Search of a port sequence number by the EV3 port and the extended port. More...

void	ev3_parse_port_name (char name, uint8_t port, uint8_t extport, uint8_t addr)
	Parse name of the EV3 port. More...

char *	ev3_port_name (uint8_t port, uint8_t extport, uint8_t addr, char *buf)
	Assemble name of the EV3 port. More...

Detailed Description

Access to EV3 ports and extended ports.

See also: http://www.ev3dev.org/docs/ports/; http://www.ev3dev.org/docs/drivers/lego-port-class/

Macro Definition Documentation

#define PORT__NONE_ PORT_DESC__LIMIT_

EV3 port is not found.

#define PORT_DESC__LIMIT_ DESC_LIMIT

Limit of EV3 port descriptors.

#define PORT_DIR "/sys/class/lego-port"

Directory of EV3 ports.

Enumeration Type Documentation

anonymous enum

Identifiers of EV3 port types.

Enumerator
PORT_TYPE__COUNT_	Count of EV3 port types.

anonymous enum

Identifiers of EV3 port "mode" attribute.

Enumerator
PORT_MODE__COUNT_	Count of EV3 port "mode" attribute.

Function Documentation

void ev3_parse_port_name	(	char *	name,
		uint8_t *	port,
		uint8_t *	extport,
		uint8_t *	addr
	)

Parse name of the EV3 port.

Parameters

name	Port name.
port	Buffer for the EV3 port index.
extport	Buffer for the extended port index.
addr	Buffer for the address.

EV3_PORT* ev3_port_desc ( uint8_t sn )

Get descriptor of the EV3 port.

Parameters

sn	Sequence number.

Returns: Pointer to the EV3 port descriptor.

uint8_t ev3_port_desc_addr ( uint8_t sn )

Get I2C address from the EV3 port descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

uint8_t ev3_port_desc_extport ( uint8_t sn )

Get extended port from the EV3 port descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

uint8_t ev3_port_desc_port ( uint8_t sn )

Get EV3 port from the EV3 port descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

INX_T ev3_port_desc_type_inx ( uint8_t sn )

Get type from the EV3 port descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

int ev3_port_init ( void )

Detect connected EV3 ports.

Returns: Number of found EV3 ports or -1 in case of an error.

const char* ev3_port_mode ( INX_T mode_inx )

Get name of the specified EV3 port mode.

Parameters

mode_inx Index of the EV3 port mode.

Returns: Requested value.

char* ev3_port_name	(	uint8_t	port,
		uint8_t	extport,
		uint8_t	addr,
		char *	buf
	)

Assemble name of the EV3 port.

Parameters

	port	EV3 port index.
	extport	Extended port index.
	addr	Address.
[out]	buf	Buffer for result.

Returns: Requested value.

char* ev3_port_port_name	(	uint8_t	sn,
		char *	buf
	)

Assemble EV3 port name from the EV3 port descriptor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Requested value.

const char* ev3_port_type ( INX_T type_inx )

Get name of the specified EV3 port type.

Parameters

type_inx Index of the EV3 port type.

Returns: Requested value.

uint8_t ev3_search_port	(	uint8_t	port,
		uint8_t	extport
	)

Search of a port sequence number by the EV3 port and the extended port.

Parameters

port	EV3 port index.
extport	Extended port index.

Returns: Port sequence number.

bool ev3_search_port_plugged_in	(	uint8_t	port,
		uint8_t	extport,
		uint8_t *	sn,
		uint8_t	from
	)

Search of a sequence number the EV3 port by plug-in attributes.

Parameters

	port	EV3 port.
	extport	Extended port.
[out]	sn	Buffer for the sequence number.
	from	Search initial value.

Returns: Flag - the EV3 port is found.

bool ev3_search_port_type	(	INX_T	type_inx,
		uint8_t *	sn,
		uint8_t	from
	)

Search of a sequence number of the specified EV3 port type.

Parameters

	type_inx	EV3 port type.
[out]	sn	Buffer for the sequence number.
	from	Search initial value.

Returns: Flag - the EV3 port is found.

size_t get_port_address	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "address" attribute of the EV3 port.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_port_desc	(	uint8_t	sn,
		EV3_PORT *	desc
	)

Read EV3 port attributes that are required for filling the descriptor.

Parameters

sn	Sequence number.
desc	Buffer for the descriptor.

Returns: Count of read bytes.

size_t get_port_driver_name	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "driver_name" attribute of the EV3 port.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_port_mode	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "mode" attribute of the EV3 port.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

INX_T get_port_mode_inx ( uint8_t sn )

Read "mode" attribute of the EV3 port and get the index.

Parameters

sn	Sequence number.

Returns: Requested value.

This function gets type of the EV3 port from the descriptor.

INX_T get_port_mode_inx_of_type	(	uint8_t	sn,
		INX_T	type_inx
	)

Read "mode" attribute of the specified EV3 port type and get the index.

Parameters

sn	Sequence number.
type_inx	Index of the EV3 port type.

Returns: Requested value.

size_t get_port_modes	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "modes" attribute of the EV3 port.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_port_status	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "status" attribute of the EV3 port.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

INX_T get_port_type_inx ( uint8_t sn )

Read "driver_name" attribute and get index of the EV3 port type.

Parameters

sn	Sequence number.

Returns: Requested value.

size_t multi_set_port_mode	(	uint8_t *	sn,
		char *	value
	)

Write "mode" attribute of several EV3 ports.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_port_mode_inx	(	uint8_t *	sn,
		INX_T	mode_inx
	)

Write "mode" attribute of several EV3 ports by the index.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
mode_inx	Index of the EV3 port mode.

Returns: Count of written bytes.

size_t multi_set_port_set_device	(	uint8_t *	sn,
		char *	value
	)

Write "set_device" attribute of several EV3 ports.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t set_port_mode	(	uint8_t	sn,
		char *	value
	)

Write "mode" attribute of the EV3 port.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_port_mode_inx	(	uint8_t	sn,
		INX_T	mode_inx
	)

Write "mode" attribute of the EV3 port by the index.

Parameters

sn	Sequence number.
mode_inx	Index of the EV3 port mode.

Returns: Count of written bytes.

size_t set_port_set_device	(	uint8_t	sn,
		char *	value
	)

Write "set_device" attribute of the EV3 port.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation