void main(void)
{
/*
* Local Variable Declarations:
*/
i16 iStatus = 0;
i16 iRetVal = 0;
i16 iDevice = 1;
u32 ulGpctrNum = ND_COUNTER_0;
u32 ulCount = 0;
u32 ulZIndexCount = 0;
u32 ulInitCount = 0;
i32 ulTCReached = ND_NO;
u32 iLoopCount = 100;
i16 iIgnoreWarning = 0;
i16 iYieldON = 1;
iStatus = GPCTR_Control(iDevice, ulGpctrNum, ND_RESET);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Control/RESET",
iIgnoreWarning);
/* Setup for a position measurement application. */
/* NOTE: If you want to measure speed at the same time, you must
timestamp each reading at the exact moment you take a quadrature
encoded position measurement. By determining the position change from
the previous measurement and the time difference since the previous
measurement, you can calculate the speed. */
iStatus = GPCTR_Set_Application(iDevice, ulGpctrNum,
ND_POSITION_MSR);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Set_Application",
iIgnoreWarning);
/* Setup the encoder type for Quadrature Encoder (X1) measurement.
You can change this to X2 or X4 if you wish. */
GPCTR_Change_Parameter(iDevice, ulGpctrNum, ND_ENCODER_TYPE,
ND_QUADRATURE_ENCODER_X1);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/QUADRATURE_ENCODER_X1", iIgnoreWarning);
/* Activate a Z-index pulse to reset the counter to an initial
value, specified by 'ulCount' later. */
GPCTR_Change_Parameter(iDevice, ulGpctrNum, ND_Z_INDEX_ACTIVE,
ND_YES);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/Z_INDEX_PULSE", iIgnoreWarning);
/* Specify the value that gets loaded when a Z-index pulse
arrives. */
iStatus = GPCTR_Change_Parameter(iDevice, ulGpctrNum,
ND_Z_INDEX_VALUE, ulZIndexCount);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/Z-INDEX_COUNT", iIgnoreWarning);
/* Load initial count. */
iStatus = GPCTR_Change_Parameter(iDevice, ulGpctrNum,
ND_INITIAL_COUNT, ulInitCount);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/INITCOUNT", iIgnoreWarning);
/* Signals from quadrature encoders often have noise and glitches
that result in measurement errors. Setup 5 usec filtering on each
input from the quadrature encoder. */
/* Setup filter for Channel A. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_39,
ND_LINE_FILTER, ND_5_MICROSECONDS);
iRetVal = NIDAQErrorHandler(iStatus,
"Line_Change_Attribute/ND_PFI_39", iIgnoreWarning);
/* Setup filter for Channel B. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_37,
ND_LINE_FILTER, ND_5_MICROSECONDS);
iRetVal = NIDAQErrorHandler(iStatus,
"Line_Change_Attribute/ND_PFI_37", iIgnoreWarning);
/* Setup filter for Z-index Channel. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_38,
ND_LINE_FILTER, ND_5_MICROSECONDS);
iRetVal = NIDAQErrorHandler(iStatus,
"Line_Change_Attribute/ND_PFI_38", iIgnoreWarning);
printf(" Connect the encoder Channel A signal to PFI 39.\n");
printf(" Connect the encoder Channel B signal to PFI 37.\n");
printf(" Connect the Z-index signal to PFI 38.\n");
iStatus = GPCTR_Control(iDevice, ulGpctrNum, ND_PROGRAM);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Control/PROGRAM",
iIgnoreWarning);
/* Loop 100 times. */
do {
iStatus = GPCTR_Watch(iDevice, ulGpctrNum, ND_COUNT,
&ulCount);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Watch/COUNT",
iIgnoreWarning);
if (iStatus == 0) {
printf(" Current encoder position is at %ld\n", ulCount);
}
--iLoopCount;
iRetVal = NIDAQYield(iYieldON);
} while ((iLoopCount > 0) && (iStatus == 0));
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Watch",
iIgnoreWarning);
/* CLEANUP - Don't check for errors on purpose. */
/* Clear filter settings. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_39,
ND_LINE_FILTER, ND_NONE);
iStatus = Line_Change_Attribute(iDevice, ND_PFI_37,
ND_LINE_FILTER, ND_NONE);
iStatus = Line_Change_Attribute(iDevice, ND_PFI_38,
ND_LINE_FILTER, ND_NONE);
/* Reset GPCTR. */
iStatus = GPCTR_Control(iDevice, ulGpctrNum, ND_RESET);
printf(" Done with quadrature encoded position measurement!\n");
}
i16 device::filterLine(u32 PfiLineID, LineFilter code)
{
if (status==0) status = Line_Change_Attribute (deviceno, PfiLineID, ND_LINE_FILTER, FilterID[code]);
return status;
}
void main(void)
{
/*
* Local Variable Declarations:
*/
i16 iStatus = 0;
i16 iRetVal = 0;
i16 iDevice = 1;
u32 ulGpctrNum = ND_COUNTER_0;
u32 ulZIndexCount = 0;
static u32 pulBuffer[100] = {0};
static u32 pulReadBuf[50] = {0};
u32 ulCount = 100;
u32 ulReadCount = 50;
i16 iLoopCount = 10;
u32 ulInitCount = 0;
u32 ulNumPtsToRead = 50;
u32 ulNumPtsRead = 0;
u32 ulReadOffset = 0;
u32 ulTimeOut = 5;
i16 iIgnoreWarning = 0;
i16 iYieldON = 1;
iStatus = GPCTR_Control(iDevice, ulGpctrNum, ND_RESET);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Control/RESET",
iIgnoreWarning);
/* Setup for a buffered position measurement application. */
iStatus = GPCTR_Set_Application(iDevice, ulGpctrNum,
ND_BUFFERED_POSITION_MSR);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Set_Application",
iIgnoreWarning);
/* Setup the encoder type for Quadrature Encoder (X1) measurement.
You can change this to X2 or X4 if you wish. */
GPCTR_Change_Parameter(iDevice, ulGpctrNum, ND_ENCODER_TYPE,
ND_QUADRATURE_ENCODER_X1);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/QUADRATURE_ENCODER_X1", iIgnoreWarning);
/* Activate a Z-index pulse to reset the counter to an initial
value, specified by 'ulZIndexCount' later. */
GPCTR_Change_Parameter(iDevice, ulGpctrNum, ND_Z_INDEX_ACTIVE,
ND_YES);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/Z_INDEX_PULSE", iIgnoreWarning);
/* Specify the value that gets loaded when a Z-index pulse
arrives. */
iStatus = GPCTR_Change_Parameter(iDevice, ulGpctrNum,
ND_Z_INDEX_VALUE, ulZIndexCount);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/Z-INDEX_COUNT", iIgnoreWarning);
/* Load initial count. */
iStatus = GPCTR_Change_Parameter(iDevice, ulGpctrNum,
ND_INITIAL_COUNT, ulInitCount);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/INITCOUNT", iIgnoreWarning);
/* Signals from quadrature encoders often have noise and glitches
that result in measurement errors. Setup 5 usec filtering on each
input from the quadrature encoder. */
/* Setup filter for Channel A. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_39,
ND_LINE_FILTER, ND_5_MICROSECONDS);
iRetVal = NIDAQErrorHandler(iStatus,
"Line_Change_Attribute/ND_PFI_39", iIgnoreWarning);
/* Setup filter for Channel B. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_37,
ND_LINE_FILTER, ND_5_MICROSECONDS);
iRetVal = NIDAQErrorHandler(iStatus,
"Line_Change_Attribute/ND_PFI_37", iIgnoreWarning);
/* Setup filter for Z-index Channel. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_38,
ND_LINE_FILTER, ND_5_MICROSECONDS);
iRetVal = NIDAQErrorHandler(iStatus,
"Line_Change_Attribute/ND_PFI_38", iIgnoreWarning);
/* Each time a pulse arrives in the gate, a new value will be
latched into the counter and sent to the data buffer. */
iStatus = GPCTR_Change_Parameter(iDevice, ulGpctrNum, ND_GATE,
ND_PFI_34);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/GATE", iIgnoreWarning);
/* Enable double-buffer mode. */
iStatus = GPCTR_Change_Parameter(iDevice, ulGpctrNum,
ND_BUFFER_MODE, ND_DOUBLE);
iRetVal = NIDAQErrorHandler(iStatus,
"GPCTR_Change_Parameter/BUFFERMODE", iIgnoreWarning);
iStatus = GPCTR_Config_Buffer(iDevice, ulGpctrNum, 0, ulCount,
pulBuffer);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Config_Buffer",
iIgnoreWarning);
iStatus = GPCTR_Control(iDevice, ulGpctrNum, ND_PROGRAM);
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Control/PROGRAM",
iIgnoreWarning);
printf(" Connect the encoder Channel A signal to PFI 39.\n");
printf(" Connect the encoder Channel B signal to PFI 37.\n");
printf(" Connect the Z-index signal to PFI 38.\n");
printf(" Apply your gating pulse train to PFI 34.\n");
/* Loop 10 times. */
do {
iStatus = GPCTR_Read_Buffer(iDevice, ulGpctrNum, ND_READ_MARK,
ulReadOffset, ulNumPtsToRead, ulTimeOut, &ulNumPtsRead, pulReadBuf);
--iLoopCount;
printf(" %lu points read into buffer 'pulReadBuf' (loop count %d ).\n", ulNumPtsRead, iLoopCount);
/* Print out the firt point in the buffer. */
printf(" Current encoder position is at %ld\n", pulReadBuf[0]);
iRetVal = NIDAQYield(iYieldON);
} while ((iLoopCount > 0) && (iStatus >= 0));
iRetVal = NIDAQErrorHandler(iStatus, "GPCTR_Read_Buffer",
iIgnoreWarning);
/* CLEANUP - Don't check for errors on purpose. */
/* Clear filter settings. */
iStatus = Line_Change_Attribute(iDevice, ND_PFI_39,
ND_LINE_FILTER, ND_NONE);
iStatus = Line_Change_Attribute(iDevice, ND_PFI_37,
ND_LINE_FILTER, ND_NONE);
iStatus = Line_Change_Attribute(iDevice, ND_PFI_38,
ND_LINE_FILTER, ND_NONE);
/* Reset GPCTR. */
iStatus = GPCTR_Control(iDevice, ulGpctrNum, ND_RESET);
printf(" Done with circular buffered position measurement!\n");
}
i16 device::syncLine(u32 PfiLineID, int enable)
{
u32 enableid = enable ? ND_SYNCHRONIZATION : ND_NONE;
if (status==0) status = Line_Change_Attribute (deviceno, PfiLineID, ND_LINE_FILTER, enableid);
return status;
}
