// /*------------------------- GPIO -------------------------------------*/
// /* from armadeus/target/packages/as_devices/c/as_gpio* */
// # define ERROR(fmt, ...) printf(fmt, ##__VA_ARGS__)
// //# define ERROR(fmt, ...) /*fmt, ##__VA_ARGS__*/
// int pin_file; /* pin file for 2.6.29 interface*/
// struct gpio_device *RTU_GPIO_dev;
// static int write_file_bool(int fd, int value)
// ret = write(fd, value?"1":"0", 1);
// ERROR("write error\n");
// if (lseek(fd, 0, SEEK_SET) < 0) {
// ERROR("lseek error\n");
// static struct gpio_device *gpio_open(int aGpioNum)
// struct gpio_device *dev;
// export_file = open("/sys/class/gpio/export", O_WRONLY);
// if (export_file < 0) {
// ERROR("Can't open /sys/class/gpio/export\nBe sure that gpiolib is under your kernel\n");
// snprintf(buf, BUFF_SIZE, "%%d", aGpioNum);
// retval = write(export_file, buf, strlen(buf));
// ERROR("/sys/class/gpio/export can't be written\n");
// snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/direction", aGpioNum);
// gpio_dir_fd = open(buf, O_WRONLY);
// if (gpio_dir_fd < 0) {
// ERROR("Can't open gpio%%d direction\n", aGpioNum);
// ret = write(gpio_dir_fd, "out", 3);
// ERROR("Error writing direction\n");
// snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/value", aGpioNum);
// pin_file = open(buf, O_RDWR);
// ERROR("Can't export gpio number %%d\n", aGpioNum);
// dev = malloc(sizeof(struct gpio_device));
// ERROR("Can't allocate gpio_device structure\n");
// dev->port_num = aGpioNum;
// dev->pin_file = pin_file;
// static int gpio_close(struct gpio_device *aDev)
// ERROR("device is NULL\n");
// unexport_file = open("/sys/class/gpio/unexport", O_WRONLY);
// if (unexport_file < 0) {
// ERROR("Can't open /sys/class/gpio/unexport\nBe sure that gpiolib is under your kernel\n");
// snprintf(buf, BUFF_SIZE, "%%d", aDev->port_num);
// retval = write(unexport_file, buf, strlen(buf));
// ERROR("/sys/class/gpio/unexport can't be written\n");
// close(aDev->pin_file);
// static int gpio_set_pin_value(struct gpio_device *aDev, int aValue)
// int pin_file = aDev->pin_file;
// retval = write_file_bool(pin_file, aValue);
// ERROR("Can't write value\n");
// #define REG_DISCRETE_START 0 /**< Input discrete start address */
// #define REG_DISCRETE_NREGS 511 /**< 512 bits (type: single bit, Read only) */
// #define REG_COILS_START 0 /**< Coils start address */
// #define REG_COILS_NREGS 511 /**< 512 bits (type: single bit, Read/Write) */
// #define REG_INPUT_START 0 /**< Input registers start address */
// #define REG_INPUT_NREGS 511 /**< 512 words (type: 16-bit word, Read only) */
// #define REG_HOLDING_START 0 /**< Holding registers start address */
// #define REG_HOLDING_NREGS 511 /**< 512 words (type: 16-bit word, Read/Write) */
// #define MAX_MOD_RTU_DEVICES 16
// typedef struct _mbRtuRdHoldingRegs {
// unsigned short startAddr;
// unsigned short* buffer;
// typedef struct _mbRtuRdDiscInputs {
// unsigned short startAddr;
// unsigned short length;
// unsigned char* buffer;
// // unsigned short* buffer;
// typedef struct _mbRtuRdCoils {
// unsigned short startAddr;
// unsigned short length;
// unsigned char* buffer;
// typedef struct _mbRtuWrSingleCoil {
// unsigned short startAddr;
// unsigned char* buffer;
// typedef struct _mbRtuWrCoils {
// unsigned short startAddr;
// unsigned short length;
// unsigned char* buffer;
// typedef struct _mbRtuRdInputRegs {
// unsigned short startAddr;
// unsigned short* buffer;
// typedef struct _mbRtuWrSingleReg {
// unsigned short startAddr;
// unsigned short* buffer;
// typedef struct _mbRtuWrMultiRegs {
// unsigned short startAddr;
// unsigned short* buffer;
// typedef struct _mbRtuSlaveConfig {
// unsigned char slaveAddr;
// mbRtuRdDiscInputs rdDiscInputs;
// mbRtuWrSingleCoil wrSingleCoil;
// mbRtuRdInputRegs rdInputRegs;
// mbRtuRdHoldingRegs rdHoldingRegs;
// mbRtuWrSingleReg wrSingleReg;
// mbRtuWrMultiRegs wrMultiRegs;
// mbRtuSlaveConfig mbRtuSlaveDev[MAX_MOD_RTU_DEVICES]; /**< Tables containing information about connected Modbus network devices (initialized by Composer) */
// commTimer mbRtuDevTim[MAX_MOD_RTU_DEVICES]; /**< Table of timers (one for each position) */
// unsigned short usRegInputValue[REG_INPUT_NREGS]; /**< Array of Modbus input registers */
// unsigned short usRegHoldingValue[REG_HOLDING_NREGS]; /**< Array of Modbus holding registers */
// unsigned char ubCoilValue[REG_COILS_NREGS/8]; /**< Array of Modbus coils (8 coils per byte) */
// unsigned char ubRegDiscreteValue[REG_DISCRETE_NREGS/8]; /**< Array of Modbus discrete inputs (8 inputs per byte) */
// /* prototypes for functions defined in shared library */
// void mbmrtu_BusUpdate(void);
// static RT_TASK RTU_UART_task;
// static RT_TASK RTU_task;
// static RT_MUTEX RTU_BuffMutex;
// void LockMBRTUBuffer(void){
// rt_mutex_acquire(&RTU_BuffMutex, TM_INFINITE );
// void UnLockMBRTUBuffer(void){
// rt_mutex_release(&RTU_BuffMutex);
// typedef void (RTU_UART_task_proc_t*)(void*);
// void CreateMBRTUSerialTask(RTU_UART_task_proc_t* RTU_UART_task_proc, void* param){
// if(rt_task_start(&RTU_UART_task, RTU_UART_task_proc, param))
// static void mbmrtu_BusUpdate_proc(void){
// while (rt_task_sleep_until(TM_INFINITE) == -EINTR){
// void TransmitMode(void){
// gpio_set_pin_value(RTU_GPIO_dev, 1);
// now = rt_timer_read();
// void RecieveMode(int us){
// while(rt_task_sleep_until(
// now + rt_timer_ns2ticks(1000LL*us)
// gpio_set_pin_value(RTU_GPIO_dev, 0);
