260 lines
7.4 KiB
C
260 lines
7.4 KiB
C
/*
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UL call demonstrated: ulCInConfigScan()
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Purpose: Performs a continuous scan of the
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specified encoder channels
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Demonstration: Displays the counter data for
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the specified encoders
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Steps:
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1. Call ulGetDaqDeviceInventory() to get the list of available DAQ devices
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2. Call ulCreateDaqDevice() to to get a handle for the first DAQ device
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3. Verify the DAQ device has a counter input subsystem
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4. Verify the counter input subsystem has a hardware pacer
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5. Call ulConnectDaqDevice() to establish a UL connection to the DAQ device
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6. Get the counter numbers for the supported encoders
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7. Call ulCConfigScan() to configure the encoder channel
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8. Call ulCInScan() to start the scan of encoder channels
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9. Call ulCInScanStatus() to check the status of the background operation
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10. Display the data for each channel
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11. Call ulCInScanStop() to stop the background operation
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12. Call ulDisconnectDaqDevice() and ulReleaseDaqDevice() before exiting the process.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include "uldaq.h"
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#include "utility.h"
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#define MAX_DEV_COUNT 100
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#define MAX_SCAN_OPTIONS_LENGTH 256
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#define MAX_ENCODER_COUNTERS 2
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int main(void)
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{
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int descriptorIndex = 0;
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DaqDeviceDescriptor devDescriptors[MAX_DEV_COUNT];
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DaqDeviceInterface interfaceType = ANY_IFC;
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DaqDeviceHandle daqDeviceHandle = 0;
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unsigned int numDevs = MAX_DEV_COUNT;
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// set some variables that are used to acquire data
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int lowCtr = 0;
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int highCtr = 0;
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int firstEncoder = 0;
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int encoderCount = MAX_ENCODER_COUNTERS;
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const int samplesPerCounter = 10000;
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double rate = 1000;
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ScanOption scanOptions = (ScanOption) (SO_DEFAULTIO | SO_CONTINUOUS);
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CInScanFlag flags = CINSCAN_FF_DEFAULT;
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// encoder settings
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CounterMeasurementType type = CMT_ENCODER;
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CounterMeasurementMode mode = (CounterMeasurementMode) (CMM_ENCODER_X1 | CMM_ENCODER_CLEAR_ON_Z);
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CounterEdgeDetection edgeDetection = CED_RISING_EDGE;
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CounterTickSize tickSize = CTS_TICK_20ns;
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CounterDebounceMode debounceMode = CDM_NONE;
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CounterDebounceTime debounceTime = CDT_DEBOUNCE_0ns;
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CConfigScanFlag configFlags = CF_DEFAULT;
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int hasCI = 0;
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int hasPacer = 0;
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int index = 0;
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int numberOfEncoders = 0;
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int encoderCounters[MAX_ENCODER_COUNTERS];
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char scanOptionsStr[MAX_SCAN_OPTIONS_LENGTH];
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unsigned long long* buffer = NULL;
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UlError err = ERR_NO_ERROR;
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int i = 0;
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int __attribute__((unused)) ret;
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char c;
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// Get descriptors for all of the available DAQ devices
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err = ulGetDaqDeviceInventory(interfaceType, devDescriptors, &numDevs);
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if (err != ERR_NO_ERROR)
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goto end;
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// verify at least one DAQ device is detected
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if (numDevs == 0)
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{
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printf("No DAQ device is detected\n");
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goto end;
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}
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printf("Found %d DAQ device(s)\n", numDevs);
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for (i = 0; i < (int) numDevs; i++)
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printf(" %s: (%s)\n", devDescriptors[i].productName, devDescriptors[i].uniqueId);
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// get a handle to the DAQ device associated with the first descriptor
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daqDeviceHandle = ulCreateDaqDevice(devDescriptors[descriptorIndex]);
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if (daqDeviceHandle == 0)
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{
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printf ("\nUnable to create a handle to the device\n");
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goto end;
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}
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// verify the specified DAQ device supports counter input
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err = getDevInfoHasCtr(daqDeviceHandle, &hasCI);
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if (!hasCI)
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{
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printf("\nThe specified DAQ device does not support counter input\n");
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goto end;
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}
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// verify the specified DAQ device supports hardware pacing for counters
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err = getCtrInfoHasPacer(daqDeviceHandle, &hasPacer);
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if (!hasPacer)
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{
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printf("\nThe specified DAQ device does not support hardware paced counter input\n");
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goto end;
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}
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printf("\nConnecting to device %s - please wait ...\n", devDescriptors[descriptorIndex].devString);
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// create a connection to the device
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err = ulConnectDaqDevice(daqDeviceHandle);
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if (err != ERR_NO_ERROR)
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goto end;
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// get the counter numbers for the supported encoders
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err = getCtrInfoSupportedEncoderCounters(daqDeviceHandle, encoderCounters, &numberOfEncoders);
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if (numberOfEncoders == 0)
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{
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printf("\nThe specified DAQ device does not support encoder channels\n");
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goto end;
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}
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if (numberOfEncoders > MAX_ENCODER_COUNTERS)
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numberOfEncoders = MAX_ENCODER_COUNTERS;
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// verify that the low_encoder number is valid
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firstEncoder = encoderCounters[0];
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if (lowCtr < firstEncoder)
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lowCtr = firstEncoder;
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if (lowCtr > firstEncoder + numberOfEncoders - 1)
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lowCtr = firstEncoder;
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// Verify that the encoder count is valid
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if (encoderCount > numberOfEncoders)
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encoderCount = numberOfEncoders;
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// set the high_encoder channel
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highCtr = lowCtr + encoderCount - 1;
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if (highCtr > firstEncoder + numberOfEncoders - 1)
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highCtr = firstEncoder + numberOfEncoders - 1;
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// update the actual number of encoders being used
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encoderCount = highCtr - lowCtr + 1;
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// configure the encoders
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for (i = 0; i < encoderCount; i++)
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{
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err = ulCConfigScan(daqDeviceHandle, i + lowCtr, type, mode, edgeDetection, tickSize, debounceMode, debounceTime, configFlags);
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}
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// allocate a buffer to receive the data
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buffer = (unsigned long long*) malloc(encoderCount * samplesPerCounter * sizeof(unsigned long long));
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if(buffer == 0)
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{
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printf("\nOut of memory, unable to create scan buffer\n");
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goto end;
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}
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ConvertScanOptionsToString(scanOptions, scanOptionsStr);
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printf("\n%s ready\n", devDescriptors[descriptorIndex].devString);
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printf(" Function demonstrated: ulCConfigScan()\n");
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printf(" Counter: %d - %d\n", lowCtr, highCtr);
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printf(" Samples per channel: %d\n", samplesPerCounter);
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printf(" Rate: %f\n", rate);
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printf(" Scan options: %s\n", scanOptionsStr);
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printf("\nHit ENTER to continue\n");
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ret = scanf("%c", &c);
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ret = system("clear");
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// start the acquisition
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err = ulCInScan(daqDeviceHandle, lowCtr, highCtr, samplesPerCounter, &rate, scanOptions, flags, buffer);
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if(err == ERR_NO_ERROR)
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{
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ScanStatus status;
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TransferStatus transferStatus;
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int i = 0;
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// get the initial status of the acquisition
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ulCInScanStatus(daqDeviceHandle, &status, &transferStatus);
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while(status == SS_RUNNING && err == ERR_NO_ERROR && !enter_press())
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{
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// get the current status of the acquisition
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err = ulCInScanStatus(daqDeviceHandle, &status, &transferStatus);
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if(err == ERR_NO_ERROR)
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{
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// reset the cursor to the top of the display and
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// show the termination message
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resetCursor();
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printf("Hit 'Enter' to terminate the process\n\n");
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printf("actual scan rate = %f\n\n", rate);
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index = transferStatus.currentIndex;
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printf("currentScanCount = %10llu \n", transferStatus.currentScanCount);
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printf("currentTotalCount = %10llu \n", transferStatus.currentTotalCount);
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printf("currentIndex = %10d \n\n", index);
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// display the data
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for (i = 0; i < encoderCount; i++)
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{
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clearEOL();
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printf("chan %d = %llu \n",
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i + lowCtr,
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buffer[index + i]);
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}
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usleep(100000);
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}
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}
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// stop the acquisition if it is still running
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if (status == SS_RUNNING && err == ERR_NO_ERROR)
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{
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err = ulCInScanStop(daqDeviceHandle);
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}
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}
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// disconnect from the DAQ device
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ulDisconnectDaqDevice(daqDeviceHandle);
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end:
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// release the handle to the DAQ device
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ulReleaseDaqDevice(daqDeviceHandle);
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// release the scan buffer
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if(buffer)
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free(buffer);
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if(err != ERR_NO_ERROR)
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{
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char errMsg[ERR_MSG_LEN];
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ulGetErrMsg(err, errMsg);
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printf("Error Code: %d \n", err);
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printf("Error Message: %s \n", errMsg);
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}
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return 0;
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}
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