#include <linux/module.h>
#include <linux/init.h>
#include <linux/kernel.h>
#include <linux/proc_fs.h>
#include <rtai.h>
#include <rtai_sched.h>
#include <rtai_fifos.h>
#include <rtai_proc_fs.h>
#include <comedilib.h>

MODULE_LICENSE("GPL");
MODULE_DESCRIPTION("Squelette de programme RTAI et carte ni-6221");
MODULE_AUTHOR("NOM BINOME");


/*
 *	command line parameters
 */


#define ms  1000000

#define microsec 1000

#define CAN 0
#define CNA 1
#define DIO 2
#define CHAN_0 0
#define CHAN_1 1
#define CAN_RANGE 1 // [-5, +5]


float ech[50]={0.000000 , 0.125270 , 0.248566 , 0.367947 , 0.481530 , 0.587527 , 0.684268 , 0.770229 , 0.844055 , 0.904583 , 0.950859 , 0.982156 , 0.997978 , 0.998078 , 0.982454 , 0.951351 , 0.905261 , 0.844908 , 0.771244 , 0.685429 , 0.588815 , 0.482925 , 0.369427 , 0.250108 , 0.126849 , 0.001592 , -0.123690 , -0.247024 , -0.366465 , -0.480134 , -0.586238 , -0.683106 , -0.769212 , -0.843199 , -0.903902 , -0.950365 , -0.981855 , -0.997876 , -0.998176 , -0.982750 , -0.951841 , -0.905937 , -0.845759 , -0.772258 , -0.686589 , -0.590104 , -0.484321 , -0.370909 , -0.251653 , -0.128432};

int bit_n = 0;
int bit_a = 0;
int bit_f = 0;
int bit_p = 1;
long Tp = 20000000;


static RT_TASK Tache1_Ptr; // Pointeur pour la tache 1
static RT_TASK Handler_Ptr; // Pointeur pour la tache de reprise de main

comedi_t *carte;

void Tache1 (long int x)

{int i=0;
long e;

  while (1)
  {
  e = (65535/20)*(ech[i]) + 32767;


      comedi_dio_read(carte,DIO,0,&bit_n);
      comedi_dio_read(carte,DIO,1,&bit_a);
      comedi_dio_read(carte,DIO,2,&bit_f);
      comedi_dio_read(carte,DIO,3,&bit_p);







      comedi_data_write(carte ,CNA,0,0,AREF_GROUND,e);
      rt_task_wait_period();
      i++;
      if (i==50) i=0;
    //comedi_perror("e=%d",e) ;
  }
}







int init_module(void)
{	RTIME now;
 	 // Création des tâches

 	// Initialisation de la carte d'E/S
  carte = comedi_open("/dev/comedi0");
  if(carte == NULL)
  {
    comedi_perror("Comedi fails to open");
    return -1;
  }

	// Configurer le device DIGITAL_INPUT pour recevoir les donnees/signaux
	// et DIGITAL_OUTPUT pour envoyer les donnees/signaux
	rt_set_oneshot_mode();
	rt_assign_irq_to_cpu(TIMER_8254_IRQ, 0);


	// Lancement du timer
	start_rt_timer(0);
	now=rt_get_time();
  	// Lancement des taches
	rt_task_init(&Tache1_Ptr,Tache1,0,2000,5,0,0);
	//timer_period = start_rt_timer(nano2count(100*microsec));
	rt_task_make_periodic(&Tache1_Ptr,now,nano2count(Tp));
  return 0;
}


void cleanup_module(void)
{
  stop_rt_timer();
  // Destruction des objets de l'application
  rt_reset_irq_to_sym_mode(TIMER_8254_IRQ);
  rt_task_delete(&Tache1_Ptr);
 }