void resetU6(uint8 res){
/*
Resets U3
*/
uint8 resetIn[4], resetOut[4];
long int ii=0, error=0;
for (ii=0; ii<4; ii++){
resetIn[ii]=0;
resetOut[ii]=0;
}
resetIn[1] = 0x99;
resetIn[2] = res;
resetIn[3] = 0x00;
resetIn[0] = normalChecksum8(resetIn,4);
if( (error = LJUSB_BulkWrite(hU6, U6_PIPE_EP1_OUT, resetIn, 4)) < 4){
LJUSB_BulkRead(hU6, U6_PIPE_EP2_IN, resetOut, 4);
printf("U6 Reset error: %s\n", errormsg[(int)resetOut[3]]);
closeUSBConnection(hU6);
return;
}
printf ("....U6 device reset \n");
return;
}
static void LJUSB_U3_FirmwareHardwareVersion(HANDLE hDevice, struct LJUSB_FirmwareHardwareVersion * fhv)
{
unsigned long i = 0, r = 0;
unsigned long epOut = U3_PIPE_EP1_OUT, epIn = U3_PIPE_EP2_IN;
const unsigned long COMMAND_LENGTH = 26;
const unsigned long RESPONSE_LENGTH = 38;
BYTE command[COMMAND_LENGTH];
BYTE response[RESPONSE_LENGTH];
for (i = 0; i < COMMAND_LENGTH; i++) {
command[i] = 0;
}
for (i = 0; i < RESPONSE_LENGTH; i++) {
response[i] = 0;
}
//Checking firmware for U3. Using ConfigU3 Low-level command
command[0] = 11;
command[1] = (BYTE)(0xF8);
command[2] = (BYTE)(0x0A);
command[3] = (BYTE)(0x08);
LJUSB_BulkWrite(hDevice, epOut, command, COMMAND_LENGTH);
if ((r = LJUSB_BulkRead(hDevice, epIn, response, RESPONSE_LENGTH)) < RESPONSE_LENGTH) {
fprintf(stderr, "ConfigU3 response failed when getting firmware and hardware versions\n");
fprintf(stderr, "Response was:\n");
for (i = 0; i < r; i++) {
fprintf(stderr, "%d ", response[i]);
}
fprintf(stderr, "\n");
return;
}
if (response[1] != command[1] || response[2] != (BYTE)(0x10) || response[3] != command[3]) {
fprintf(stderr, "Invalid ConfigU3 command bytes when getting firmware and hardware versions\n");
fprintf(stderr, "Response was:\n");
for (i = 0; i < r; i++) {
fprintf(stderr, "%d ", response[i]);
}
fprintf(stderr, "\n");
return;
}
fhv->firmwareMajor = response[10];
fhv->firmwareMinor = response[9];
fhv->hardwareMajor = response[14];
fhv->hardwareMinor = response[13];
return;
}
static void LJUSB_UE9_FirmwareHardwareVersion(HANDLE hDevice, struct LJUSB_FirmwareHardwareVersion * fhv)
{
unsigned long i = 0, r = 0;
unsigned long epOut = UE9_PIPE_EP1_OUT, epIn = UE9_PIPE_EP1_IN;
const unsigned long COMMAND_LENGTH = 38;
const unsigned long RESPONSE_LENGTH = 38;
BYTE command[COMMAND_LENGTH];
BYTE response[RESPONSE_LENGTH];
for (i = 0; i < COMMAND_LENGTH; i++) {
command[i] = 0;
}
for (i = 0; i < RESPONSE_LENGTH; i++) {
response[i] = 0;
}
//Checking firmware for UE9. Using CommConfig Low-level command
command[0] = 137;
command[1] = (BYTE)(0x78);
command[2] = (BYTE)(0x10);
command[3] = (BYTE)(0x01);
LJUSB_BulkWrite(hDevice, epOut, command, COMMAND_LENGTH);
if ((r = LJUSB_BulkRead(hDevice, epIn, response, RESPONSE_LENGTH)) < RESPONSE_LENGTH) {
fprintf(stderr, "CommConfig response failed when getting firmware and hardware versions\n");
fprintf(stderr, "Response was:\n");
for (i = 0; i < r; i++) {
fprintf(stderr, "%d ", response[i]);
}
fprintf(stderr, "\n");
return;
}
if (response[1] != command[1] || response[2] != command[2] || response[3] != command[3]) {
fprintf(stderr, "Invalid CommConfig command bytes when getting firmware and hardware versions\n");
fprintf(stderr, "Response was:\n");
for (i = 0; i < r; i++) {
fprintf(stderr, "%d ", response[i]);
}
fprintf(stderr, "\n");
return;
}
fhv->firmwareMajor = response[37];
fhv->firmwareMinor = response[36];
/* TODO: Add hardware major and minor */
return;
}
long ehConfigIO(HANDLE hDevice, uint8 inWriteMask, uint8 inNumberTimersEnabled, uint8 inCounterEnable, uint8 inPinOffset, uint8 *outNumberTimersEnabled, uint8 *outCounterEnable, uint8 *outPinOffset)
{
uint8 sendBuff[16], recBuff[16];
uint16 checksumTotal;
int sendChars, recChars, i;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (uint8)(0x05); //Number of data words
sendBuff[3] = (uint8)(0x0B); //Extended command number
sendBuff[6] = inWriteMask; //Writemask
sendBuff[7] = inNumberTimersEnabled;
sendBuff[8] = inCounterEnable;
sendBuff[9] = inPinOffset;
for(i = 10; i < 16; i++)
sendBuff[i] = 0;
extendedChecksum(sendBuff, 16);
//Sending command to U6
if( (sendChars = LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuff, 16)) < 16)
{
if(sendChars == 0)
printf("ehConfigIO error : write failed\n");
else
printf("ehConfigIO error : did not write all of the buffer\n");
return -1;
}
//Reading response from U6
if( (recChars = LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuff, 16)) < 16)
{
if(recChars == 0)
printf("ehConfigIO error : read failed\n");
else
printf("ehConfigIO error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 16);
if( (uint8)((checksumTotal / 256 ) & 0xff) != recBuff[5])
{
printf("ehConfigIO error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("ehConfigIO error : read buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("ehConfigIO error : read buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x05) || recBuff[3] != (uint8)(0x0B) )
{
printf("ehConfigIO error : read buffer has wrong command bytes\n");
return -1;
}
if( recBuff[6] != 0)
{
printf("ehConfigIO error : read buffer received errorcode %d\n", recBuff[6]);
return (int)recBuff[6];
}
if(outNumberTimersEnabled != NULL)
*outNumberTimersEnabled = recBuff[7];
if(outCounterEnable != NULL)
*outCounterEnable = recBuff[8];
if(outPinOffset != NULL)
*outPinOffset = recBuff[9];
return 0;
}
long I2C(HANDLE hDevice, uint8 I2COptions, uint8 SpeedAdjust, uint8 SDAPinNum, uint8 SCLPinNum, uint8 Address, uint8 NumI2CBytesToSend, uint8 NumI2CBytesToReceive, uint8 *I2CBytesCommand, uint8 *Errorcode, uint8 *AckArray, uint8 *I2CBytesResponse)
{
uint8 *sendBuff, *recBuff;
int sendChars, recChars, sendSize, recSize, i, ret;
uint16 checksumTotal = 0;
uint32 ackArrayTotal, expectedAckArray;
*Errorcode = 0;
ret = 0;
sendSize = 6 + 8 + ((NumI2CBytesToSend%2 != 0)?(NumI2CBytesToSend + 1):(NumI2CBytesToSend));
recSize = 6 + 6 + ((NumI2CBytesToReceive%2 != 0)?(NumI2CBytesToReceive + 1):(NumI2CBytesToReceive));
sendBuff = malloc(sizeof(uint8)*sendSize);
recBuff = malloc(sizeof(uint8)*recSize);
sendBuff[sendSize - 1] = 0;
//I2C command
sendBuff[1] = (uint8)(0xF8); //command byte
sendBuff[2] = (sendSize - 6)/2; //number of data words = 4 + NumI2CBytesToSend
sendBuff[3] = (uint8)(0x3B); //extended command number
sendBuff[6] = I2COptions; //I2COptions
sendBuff[7] = SpeedAdjust; //SpeedAdjust
sendBuff[8] = SDAPinNum; //SDAPinNum
sendBuff[9] = SCLPinNum; //SCLPinNum
sendBuff[10] = Address; //Address
sendBuff[11] = 0; //Reserved
sendBuff[12] = NumI2CBytesToSend; //NumI2CByteToSend
sendBuff[13] = NumI2CBytesToReceive; //NumI2CBytesToReceive
for(i = 0; i < NumI2CBytesToSend; i++)
sendBuff[14 + i] = I2CBytesCommand[i]; //I2CByte
extendedChecksum(sendBuff, sendSize);
//Sending command to U6
sendChars = LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuff, sendSize);
if(sendChars < sendSize)
{
if(sendChars == 0)
printf("I2C Error : write failed\n");
else
printf("I2C Error : did not write all of the buffer\n");
ret = -1;
goto cleanmem;
}
//Reading response from U6
recChars = LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuff, recSize);
if(recChars < recSize)
{
if(recChars == 0)
printf("I2C Error : read failed\n");
else
{
printf("I2C Error : did not read all of the buffer\n");
if(recChars >= 12)
*Errorcode = recBuff[6];
}
ret = -1;
goto cleanmem;
}
*Errorcode = recBuff[6];
AckArray[0] = recBuff[8];
AckArray[1] = recBuff[9];
AckArray[2] = recBuff[10];
AckArray[3] = recBuff[11];
for(i = 0; i < NumI2CBytesToReceive; i++)
I2CBytesResponse[i] = recBuff[12 + i];
if((uint8)(extendedChecksum8(recBuff)) != recBuff[0])
{
printf("I2C Error : read buffer has bad checksum (%d)\n", recBuff[0]);
ret = -1;
}
if(recBuff[1] != (uint8)(0xF8))
{
printf("I2C Error : read buffer has incorrect command byte (%d)\n", recBuff[1]);
ret = -1;
}
if(recBuff[2] != (uint8)((recSize - 6)/2))
{
printf("I2C Error : read buffer has incorrect number of data words (%d)\n", recBuff[2]);
ret = -1;
}
if(recBuff[3] != (uint8)(0x3B))
{
printf("I2C Error : read buffer has incorrect extended command number (%d)\n", recBuff[3]);
ret = -1;
}
checksumTotal = extendedChecksum16(recBuff, recSize);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5] || (uint8)(checksumTotal & 255) != recBuff[4])
{
printf("I2C error : read buffer has bad checksum16 (%d)\n", checksumTotal);
ret = -1;
}
//ackArray should ack the Address byte in the first ack bit
ackArrayTotal = AckArray[0] + AckArray[1]*256 + AckArray[2]*65536 + AckArray[3]*16777216;
expectedAckArray = pow(2.0, NumI2CBytesToSend+1)-1;
if(ackArrayTotal != expectedAckArray)
printf("I2C error : expected an ack of %d, but received %d\n", expectedAckArray, ackArrayTotal);
cleanmem:
free(sendBuff);
free(recBuff);
sendBuff = NULL;
recBuff = NULL;
return ret;
}
long getCalibrationInfo(HANDLE hDevice, u6CalibrationInfo *caliInfo)
{
uint8 sendBuffer[64], recBuffer[64];
int sentRec = 0;
int i = 0;
int offset = 0;
/* sending ConfigU6 command to get see if hi res */
sendBuffer[1] = (uint8)(0xF8); //command byte
sendBuffer[2] = (uint8)(0x0A); //number of data words
sendBuffer[3] = (uint8)(0x08); //extended command number
//setting WriteMask0 and all other bytes to 0 since we only want to read the response
for(i = 6; i < 26; i++)
sendBuffer[i] = 0;
extendedChecksum(sendBuffer, 26);
sentRec = LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuffer, 26);
if(sentRec < 26)
{
if(sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuffer, 38);
if(sentRec < 38)
{
if(sentRec == 0)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x10) || recBuffer[3] != (uint8)(0x08))
goto commandByteError;
caliInfo->hiRes = (((recBuffer[37]&8) == 8)?1:0);
for(i = 0; i < 10; i++)
{
/* reading block i from memory */
sendBuffer[1] = (uint8)(0xF8); //command byte
sendBuffer[2] = (uint8)(0x01); //number of data words
sendBuffer[3] = (uint8)(0x2D); //extended command number
sendBuffer[6] = 0;
sendBuffer[7] = (uint8)i; //Blocknum = i
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuffer, 8);
if(sentRec < 8)
{
if(sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuffer, 40);
if(sentRec < 40)
{
if(sentRec == 0)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x11) || recBuffer[3] != (uint8)(0x2D))
goto commandByteError;
offset = i*4;
//block data starts on byte 8 of the buffer
caliInfo->ccConstants[offset] = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->ccConstants[offset + 1] = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->ccConstants[offset + 2] = FPuint8ArrayToFPDouble(recBuffer + 8, 16);
caliInfo->ccConstants[offset + 3] = FPuint8ArrayToFPDouble(recBuffer + 8, 24);
}
caliInfo->prodID = 6;
return 0;
writeError0:
printf("Error : getCalibrationInfo write failed\n");
return -1;
writeError1:
printf("Error : getCalibrationInfo did not write all of the buffer\n");
return -1;
readError0:
printf("Error : getCalibrationInfo read failed\n");
return -1;
readError1:
printf("Error : getCalibrationInfo did not read all of the buffer\n");
return -1;
commandByteError:
printf("Error : getCalibrationInfo received wrong command bytes for ReadMem\n");
return -1;
}
HANDLE openUSBConnection(int localID)
{
BYTE sendBuffer[26], recBuffer[38];
uint16 checksumTotal = 0;
HANDLE hDevice = 0;
uint32 numDevices = 0;
uint32 dev;
int i;
numDevices = LJUSB_GetDevCount(U6_PRODUCT_ID);
if(numDevices == 0)
{
printf("Open error: No U6 devices could be found\n");
return NULL;
}
for(dev = 1; dev <= numDevices; dev++)
{
hDevice = LJUSB_OpenDevice(dev, 0, U6_PRODUCT_ID);
if(hDevice != NULL)
{
if(localID < 0)
{
return hDevice;
}
else
{
checksumTotal = 0;
//setting up a U6Config
sendBuffer[1] = (uint8)(0xF8);
sendBuffer[2] = (uint8)(0x0A);
sendBuffer[3] = (uint8)(0x08);
for(i = 6; i < 26; i++)
sendBuffer[i] = (uint8)(0x00);
extendedChecksum(sendBuffer, 26);
if(LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuffer, 26) != 26)
goto locid_error;
if(LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuffer, 38) != 38)
goto locid_error;
checksumTotal = extendedChecksum16(recBuffer, 38);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuffer[5])
goto locid_error;
if( (uint8)(checksumTotal & 0xff) != recBuffer[4])
goto locid_error;
if( extendedChecksum8(recBuffer) != recBuffer[0])
goto locid_error;
if( recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x10) ||
recBuffer[3] != (uint8)(0x08) )
goto locid_error;
if( recBuffer[6] != 0)
goto locid_error;
if( (int)recBuffer[21] == localID)
return hDevice;
else
LJUSB_CloseDevice(hDevice);
} //else localID >= 0 end
} //if hDevice != NULL end
} //for end
printf("Open error: could not find a U6 with a local ID of %d\n", localID);
return NULL;
locid_error:
printf("Open error: problem when checking local ID\n");
return NULL;
}
long ehFeedback(HANDLE hDevice, uint8 *inIOTypesDataBuff, long inIOTypesDataSize, uint8 *outErrorcode, uint8 *outErrorFrame, uint8 *outDataBuff, long outDataSize)
{
uint8 *sendBuff, *recBuff;
uint16 checksumTotal;
int sendChars, recChars, i, sendDWSize, recDWSize, commandBytes, ret;
ret = 0;
commandBytes = 6;
if(((sendDWSize = inIOTypesDataSize + 1)%2) != 0)
sendDWSize++;
if(((recDWSize = outDataSize + 3)%2) != 0)
recDWSize++;
sendBuff = malloc(sizeof(uint8)*(commandBytes + sendDWSize));
recBuff = malloc(sizeof(uint8)*(commandBytes + recDWSize));
if(sendBuff == NULL || recBuff == NULL)
{
ret = -1;
goto cleanmem;
}
sendBuff[sendDWSize + commandBytes - 1] = 0;
/* Setting up Feedback command */
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = sendDWSize/2; //Number of data words (.5 word for echo, 1.5
//words for IOTypes)
sendBuff[3] = (uint8)(0x00); //Extended command number
sendBuff[6] = 0; //Echo
for(i = 0; i < inIOTypesDataSize; i++)
sendBuff[i+commandBytes+1] = inIOTypesDataBuff[i];
extendedChecksum(sendBuff, (sendDWSize+commandBytes));
//Sending command to U6
if( (sendChars = LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuff, (sendDWSize+commandBytes))) < sendDWSize+commandBytes)
{
if(sendChars == 0)
printf("ehFeedback error : write failed\n");
else
printf("ehFeedback error : did not write all of the buffer\n");
ret = -1;
goto cleanmem;
}
//Reading response from U6
if( (recChars = LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuff, (commandBytes+recDWSize))) < commandBytes+recDWSize)
{
if(recChars == -1)
{
printf("ehFeedback error : read failed\n");
ret = -1;
goto cleanmem;
}
else if(recChars < 8)
{
printf("ehFeedback error : response buffer is too small\n");
for(i = 0; i < recChars; i++)
printf("%d ", recBuff[i]);
ret = -1;
goto cleanmem;
}
else
printf("ehFeedback error : did not read all of the expected buffer (received %d, expected %d )\n", recChars, commandBytes+recDWSize);
}
checksumTotal = extendedChecksum16(recBuff, recChars);
if( (uint8)((checksumTotal / 256 ) & 0xff) != recBuff[5])
{
printf("ehFeedback error : read buffer has bad checksum16(MSB)\n");
ret = -1;
goto cleanmem;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("ehFeedback error : read buffer has bad checksum16(LBS)\n");
ret = -1;
goto cleanmem;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("ehFeedback error : read buffer has bad checksum8\n");
ret = -1;
goto cleanmem;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[3] != (uint8)(0x00) )
{
printf("ehFeedback error : read buffer has wrong command bytes \n");
ret = -1;
goto cleanmem;
}
*outErrorcode = recBuff[6];
*outErrorFrame = recBuff[7];
for(i = 0; i+commandBytes+3 < recChars && i < outDataSize; i++)
outDataBuff[i] = recBuff[i+commandBytes+3];
cleanmem:
free(sendBuff);
free(recBuff);
sendBuff = NULL;
recBuff = NULL;
return ret;
}
long ehConfigTimerClock(HANDLE hDevice, uint8 inTimerClockConfig, uint8 inTimerClockDivisor, uint8 *outTimerClockConfig, uint8 *outTimerClockDivisor)
{
uint8 sendBuff[10], recBuff[10];
uint16 checksumTotal;
int sendChars, recChars;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (uint8)(0x02); //Number of data words
sendBuff[3] = (uint8)(0x0A); //Extended command number
sendBuff[6] = 0; //Reserved
sendBuff[7] = 0; //Reserved
sendBuff[8] = inTimerClockConfig; //TimerClockConfig
sendBuff[9] = inTimerClockDivisor; //TimerClockDivisor
extendedChecksum(sendBuff, 10);
//Sending command to U6
if( (sendChars = LJUSB_BulkWrite(hDevice, U6_PIPE_EP1_OUT, sendBuff, 10)) < 10)
{
if(sendChars == 0)
printf("ehConfigTimerClock error : write failed\n");
else
printf("ehConfigTimerClock error : did not write all of the buffer\n");
return -1;
}
//Reading response from U6
if( (recChars = LJUSB_BulkRead(hDevice, U6_PIPE_EP2_IN, recBuff, 10)) < 10)
{
if(recChars == 0)
printf("ehConfigTimerClock error : read failed\n");
else
printf("ehConfigTimerClock error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 10);
if( (uint8)((checksumTotal / 256 ) & 0xff) != recBuff[5])
{
printf("ehConfigTimerClock error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("ehConfigTimerClock error : read buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("ehConfigTimerClock error : read buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x02) || recBuff[3] != (uint8)(0x0A) )
{
printf("ehConfigTimerClock error : read buffer has wrong command bytes\n");
return -1;
}
if(outTimerClockConfig != NULL)
*outTimerClockConfig = recBuff[8];
if(outTimerClockDivisor != NULL)
*outTimerClockDivisor = recBuff[9];
if( recBuff[6] != 0)
{
printf("ehConfigTimerClock error : read buffer received errorcode %d\n", recBuff[6]);
return recBuff[6];
}
return 0;
}
long getCalibrationInfo(HANDLE hDevice, ue9CalibrationInfo *caliInfo)
{
uint8 sendBuffer[8];
uint8 recBuffer[136];
int sentRec = 0;
/* reading block 0 from memory */
sendBuffer[1] = (uint8)(0xF8); //command byte
sendBuffer[2] = (uint8)(0x01); //number of data words
sendBuffer[3] = (uint8)(0x2A); //extended command number
sendBuffer[6] = (uint8)(0x00);
sendBuffer[7] = (uint8)(0x00); //Blocknum = 0
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuffer, 8);
if(sentRec < 8)
{
if(sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuffer, 136);
if(sentRec < 136)
{
if(sentRec == 0)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x41) || recBuffer[3] != (uint8)(0x2A))
goto commandByteError;
//block data starts on byte 8 of the buffer
caliInfo->unipolarSlope[0] = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->unipolarOffset[0] = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->unipolarSlope[1] = FPuint8ArrayToFPDouble(recBuffer + 8, 16);
caliInfo->unipolarOffset[1] = FPuint8ArrayToFPDouble(recBuffer + 8, 24);
caliInfo->unipolarSlope[2] = FPuint8ArrayToFPDouble(recBuffer + 8, 32);
caliInfo->unipolarOffset[2] = FPuint8ArrayToFPDouble(recBuffer + 8, 40);
caliInfo->unipolarSlope[3] = FPuint8ArrayToFPDouble(recBuffer + 8, 48);
caliInfo->unipolarOffset[3] = FPuint8ArrayToFPDouble(recBuffer + 8, 56);
/* reading block 1 from memory */
sendBuffer[7] = (uint8)(0x01); //Blocknum = 1
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuffer, 8);
if(sentRec < 8)
{
if(sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuffer, 136);
if(sentRec < 136)
{
if(sentRec == 0)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x41) || recBuffer[3] != (uint8)(0x2A))
{
goto commandByteError;
}
caliInfo->bipolarSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->bipolarOffset = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
/* reading block 2 from memory */
sendBuffer[7] = (uint8)(0x02); //Blocknum = 2
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuffer, 8);
if(sentRec < 8)
{
if(sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuffer, 136);
if(sentRec < 136)
{
if(sentRec == 0)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x41) || recBuffer[3] != (uint8)(0x2A))
{
goto commandByteError;
}
caliInfo->DACSlope[0] = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->DACOffset[0] = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->DACSlope[1] = FPuint8ArrayToFPDouble(recBuffer + 8, 16);
caliInfo->DACOffset[1] = FPuint8ArrayToFPDouble(recBuffer + 8, 24);
caliInfo->tempSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 32);
caliInfo->tempSlopeLow = FPuint8ArrayToFPDouble(recBuffer + 8, 48);
caliInfo->calTemp = FPuint8ArrayToFPDouble(recBuffer + 8, 64);
caliInfo->Vref = FPuint8ArrayToFPDouble(recBuffer + 8, 72);
caliInfo->VrefDiv2 = FPuint8ArrayToFPDouble(recBuffer + 8, 88);
caliInfo->VsSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 96);
/* reading block 3 from memory */
sendBuffer[7] = (uint8)(0x03); //Blocknum = 3
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuffer, 8);
if(sentRec < 8)
{
if(sentRec == -1)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuffer, 136);
if(sentRec < 136)
{
if(sentRec == -1)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x41) || recBuffer[3] != (uint8)(0x2A))
goto commandByteError;
//block data starts on byte 8 of the buffer
caliInfo->hiResUnipolarSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->hiResUnipolarOffset = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
/* reading block 4 from memory */
sendBuffer[7] = (uint8)(0x04); //Blocknum = 4
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuffer, 8);
if(sentRec < 8)
{
if(sentRec == -1)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuffer, 136);
if(sentRec < 136)
{
if(sentRec == -1)
goto readError0;
else
goto readError1;
}
if(recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x41) || recBuffer[3] != (uint8)(0x2A))
goto commandByteError;
//block data starts on byte 8 of the buffer
caliInfo->hiResBipolarSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->hiResBipolarOffset = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->prodID = 9;
return 0;
writeError0:
printf("Error : getCalibrationInfo write failed\n");
return -1;
writeError1:
printf("Error : getCalibrationInfo did not write all of the buffer\n");
return -1;
readError0:
printf("Error : getCalibrationInfo read failed\n");
return -1;
readError1:
printf("Error : getCalibrationInfo did not read all of the buffer\n");
return -1;
commandByteError:
printf("Error : received buffer at byte 1, 2, or 3 are not 0xA3, 0x01, 0x2A \n");
return -1;
}
long ehTimerCounter(HANDLE hDevice, uint8 inTimerClockDivisor, uint8 inEnableMask, uint8 inTimerClockBase, uint8 inUpdateReset, uint8 *inTimerMode, uint16 *inTimerValue, uint8 *inCounterMode, uint32 *outTimer, uint32 *outCounter)
{
uint8 sendBuff[30], recBuff[40];
int sendChars, recChars, i, j;
uint16 checksumTotal;
sendBuff[1] = (uint8)(0xF8); //command byte
sendBuff[2] = (uint8)(0x0C); //number of data words
sendBuff[3] = (uint8)(0x18); //extended command number
sendBuff[6] = inTimerClockDivisor; //TimerClockDivisor
sendBuff[7] = inEnableMask; //EnableMask
sendBuff[8] = inTimerClockBase; //TimerClockBase
sendBuff[9] = inUpdateReset; //UpdateReset
for(i = 0; i < 6; i++)
{
sendBuff[10 + i*3] = inTimerMode[i]; //TimerMode
sendBuff[11 + i*3] = (uint8)(inTimerValue[i]&0x00FF); //TimerValue (low byte)
sendBuff[12 + i*3] = (uint8)((inTimerValue[i]&0xFF00)/256); //TimerValue (high byte)
}
for(i = 0; i < 2; i++)
sendBuff[28 + i] = inCounterMode[i]; //CounterMode
extendedChecksum(sendBuff, 30);
//Sending command to UE9
sendChars = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuff, 30);
if(sendChars < 30)
{
if(sendChars == 0)
printf("ehTimerCounter error : write failed\n");
else
printf("ehTimerCounter error : did not write all of the buffer\n");
return -1;
}
//Reading response from UE9
recChars = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuff, 40);
if(recChars < 40)
{
if(recChars == 0)
printf("ehTimerCounter error : read failed\n");
else
printf("ehTimerCounter error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 40);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
{
printf("ehTimerCounter error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("ehTimerCounter error : read buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("ehTimerCounter error : read buffer has bad checksum8\n");
return -1;
}
if(recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x11) || recBuff[3] != (uint8)(0x18))
{
printf("ehTimerCounter error : read buffer has wrong command bytes for TimerCounter\n");
return -1;
}
if(outTimer != NULL)
{
for(i = 0; i < 6; i++)
{
outTimer[i] = 0;
for(j = 0; j < 4; j++)
outTimer[i] += recBuff[8 + j + i*4]*pow(2, 8*j);
}
}
if(outCounter != NULL)
{
for(i = 0; i < 2; i++)
{
outCounter[i] = 0;
for(j = 0; j < 4; j++)
outCounter[i] += recBuff[32 + j + i*4]*pow(2, 8*j);
}
}
return recBuff[6];
}
long ehDIO_Feedback(HANDLE hDevice, uint8 channel, uint8 direction, uint8 *state)
{
uint8 sendBuff[34], recBuff[64];
int sendChars, recChars;
int i;
uint8 tempDir, tempState, tempByte;
uint16 checksumTotal;
sendBuff[1] = (uint8)(0xF8); //command byte
sendBuff[2] = (uint8)(0x0E); //number of data words
sendBuff[3] = (uint8)(0x00); //extended command number
for(i = 6; i < 34; i++)
sendBuff[i] = 0;
tempDir = ((direction < 1) ? 0 : 1);
tempState = ((*state < 1) ? 0 : 1);
if(channel <= 7)
{
tempByte = pow(2, channel);
sendBuff[6] = tempByte;
if(tempDir)
sendBuff[7] = tempByte;
if(tempState)
sendBuff[8] = tempByte;
}
else if(channel <= 15)
{
tempByte = pow(2, (channel - 8));
sendBuff[9] = tempByte;
if(tempDir)
sendBuff[10] = tempByte;
if(tempState)
sendBuff[11] = tempByte;
}
else if(channel <= 19)
{
tempByte = pow(2, (channel - 16));
sendBuff[12] = tempByte;
if(tempDir)
sendBuff[13] = tempByte*16;
if(tempState)
sendBuff[13] += tempByte;
}
else if(channel <= 22)
{
tempByte = pow(2, (channel - 20));
sendBuff[14] = tempByte;
if(tempDir)
sendBuff[15] = tempByte*16;
if(tempState)
sendBuff[15] += tempByte;
}
else
{
printf("DIO Feedback error: Invalid Channel\n");
return -1;
}
extendedChecksum(sendBuff, 34);
//Sending command to UE9
sendChars = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuff, 34);
if(sendChars < 34)
{
if(sendChars == 0)
printf("DIO Feedback error : write failed\n");
else
printf("DIO Feedback error : did not write all of the buffer\n");
return -1;
}
//Reading response from UE9
recChars = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuff, 64);
if(recChars < 64)
{
if(recChars == 0)
printf("DIO Feedback error : read failed\n");
else
printf("DIO Feedback error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 64);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
{
printf("DIO Feedback error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("DIO Feedback error : read buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("DIO Feedback error : read buffer has bad checksum8\n");
return -1;
}
if(recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x1D) || recBuff[3] != (uint8)(0x00))
{
printf("DIO Feedback error : read buffer has wrong command bytes \n");
return -1;
}
if(channel <= 7)
*state = ((recBuff[7]&tempByte) ? 1 : 0);
else if(channel <= 15)
*state = ((recBuff[9]&tempByte) ? 1 : 0);
else if(channel <= 19)
*state = ((recBuff[10]&tempByte) ? 1 : 0);
else if(channel <= 22)
*state = ((recBuff[11]&tempByte) ? 1 : 0);
return 0;
}
long ehSingleIO(HANDLE hDevice, uint8 inIOType, uint8 inChannel, uint8 inDirBipGainDACL, uint8 inStateResDACH, uint8 inSettlingTime, uint8 *outIOType, uint8 *outChannel, uint8 *outDirAINL, uint8 *outStateAINM, uint8 *outAINH)
{
uint8 sendBuff[8], recBuff[8];
int sendChars, recChars;
sendBuff[1] = (uint8)(0xA3); //command byte
sendBuff[2] = inIOType; //IOType
sendBuff[3] = inChannel; //Channel
sendBuff[4] = inDirBipGainDACL; //Dir/BipGain/DACL
sendBuff[5] = inStateResDACH; //State/Resolution/DACH
sendBuff[6] = inSettlingTime; //Settling time
sendBuff[7] = 0; //Reserved
sendBuff[0] = normalChecksum8(sendBuff, 8);
//Sending command to UE9
sendChars = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuff, 8);
if(sendChars < 8)
{
if(sendChars == 0)
printf("SingleIO error : write failed\n");
else
printf("SingleIO error : did not write all of the buffer\n");
return -1;
}
//Reading response from UE9
recChars = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuff, 8);
if(recChars < 8)
{
if(recChars == 0)
printf("SingleIO error : read failed\n");
else
printf("SingleIO error : did not read all of the buffer\n");
return -1;
}
if((uint8)(normalChecksum8(recBuff, 8)) != recBuff[0])
{
printf("SingleIO error : read buffer has bad checksum\n");
return -1;
}
if(recBuff[1] != (uint8)(0xA3))
{
printf("SingleIO error : read buffer has wrong command byte\n");
return -1;
}
if(outIOType != NULL)
*outIOType = recBuff[2];
if(outChannel != NULL)
*outChannel = recBuff[3];
if(outDirAINL != NULL)
*outDirAINL = recBuff[4];
if(outStateAINM != NULL)
*outStateAINM = recBuff[5];
if(outAINH != NULL)
*outAINH = recBuff[6];
return 0;
}
long ehConfigIO(HANDLE hDevice, uint8 inWriteMask, uint8 inTimerCounterConfig, uint8 inDAC1Enable, uint8 inFIOAnalog, uint8 inEIOAnalog, uint8 *outTimerCounterConfig, uint8 *outDAC1Enable, uint8 *outFIOAnalog, uint8 *outEIOAnalog)
{
uint8 sendBuff[12], recBuff[12];
uint16 checksumTotal;
int sendChars, recChars;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (uint8)(0x03); //Number of data words
sendBuff[3] = (uint8)(0x0B); //Extended command number
sendBuff[6] = inWriteMask; //Writemask
sendBuff[7] = 0; //Reserved
sendBuff[8] = inTimerCounterConfig; //TimerCounterConfig
sendBuff[9] = inDAC1Enable; //DAC1 enable : not enabling
sendBuff[10] = inFIOAnalog; //FIOAnalog
sendBuff[11] = inEIOAnalog; //EIOAnalog
extendedChecksum(sendBuff, 12);
//Sending command to U3
if( (sendChars = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, sendBuff, 12)) < 12)
{
if(sendChars == 0)
printf("ehConfigIO error : write failed\n");
else
printf("ehConfigIO error : did not write all of the buffer\n");
return -1;
}
//Reading response from U3
if( (recChars = LJUSB_BulkRead(hDevice, U3_PIPE_EP2_IN, recBuff, 12)) < 12)
{
if(recChars == 0)
printf("ehConfigIO error : read failed\n");
else
printf("ehConfigIO error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 12);
if( (uint8)((checksumTotal / 256 ) & 0xff) != recBuff[5])
{
printf("ehConfigIO error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("ehConfigIO error : read buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("ehConfigIO error : read buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x03) || recBuff[3] != (uint8)(0x0B) )
{
printf("ehConfigIO error : read buffer has wrong command bytes\n");
return -1;
}
if( recBuff[6] != 0)
{
printf("ehConfigIO error : read buffer received errorcode %d\n", recBuff[6]);
return (int)recBuff[6];
}
if(outTimerCounterConfig != NULL)
*outTimerCounterConfig = recBuff[8];
if(outDAC1Enable != NULL)
*outDAC1Enable = recBuff[9];
if(outFIOAnalog != NULL)
*outFIOAnalog = recBuff[10];
if(outEIOAnalog != NULL)
*outEIOAnalog = recBuff[11];
return 0;
}
long getCalibrationInfo(HANDLE hDevice, u3CalibrationInfo *caliInfo)
{
uint8 sendBuffer[8], recBuffer[40];
uint8 cU3SendBuffer[26], cU3RecBuffer[38];
int sentRec = 0;
int i = 0;
/* sending ConfigU3 command to get hardware version and see if HV */
cU3SendBuffer[1] = (uint8)(0xF8); //command byte
cU3SendBuffer[2] = (uint8)(0x0A); //number of data words
cU3SendBuffer[3] = (uint8)(0x08); //extended command number
//setting WriteMask0 and all other bytes to 0 since we only want to read the response
for (i = 6; i < 26; i++)
cU3SendBuffer[i] = 0;
extendedChecksum(cU3SendBuffer, 26);
sentRec = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, cU3SendBuffer, 26);
if (sentRec < 26)
{
if (sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U3_PIPE_EP1_IN, cU3RecBuffer, 38);
if (sentRec < 38)
{
if (sentRec == 0)
goto readError0;
else
goto readError1;
}
if (cU3RecBuffer[1] != (uint8)(0xF8) || cU3RecBuffer[2] != (uint8)(0x10) || cU3RecBuffer[3] != (uint8)(0x08))
goto commandByteError;
caliInfo->hardwareVersion = cU3RecBuffer[14] + cU3RecBuffer[13]/100.0;
caliInfo->highVoltage = (((cU3RecBuffer[37]&18) == 18)?1:0);
/* reading block 0 from memory */
sendBuffer[1] = (uint8)(0xF8); //command byte
sendBuffer[2] = (uint8)(0x01); //number of data words
sendBuffer[3] = (uint8)(0x2D); //extended command number
sendBuffer[6] = 0;
sendBuffer[7] = 0; //Blocknum = 0
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, sendBuffer, 8);
if (sentRec < 8)
{
if (sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U3_PIPE_EP1_IN, recBuffer, 40);
if (sentRec < 40)
{
if (sentRec == 0)
goto readError0;
else
goto readError1;
}
if (recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x11) || recBuffer[3] != (uint8)(0x2D))
goto commandByteError;
//block data starts on byte 8 of the buffer
caliInfo->ainSESlope = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->ainSEOffset = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->ainDiffSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 16);
caliInfo->ainDiffOffset = FPuint8ArrayToFPDouble(recBuffer + 8, 24);
/* reading block 1 from memory */
sendBuffer[7] = 1; //Blocknum = 1
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, sendBuffer, 8);
if (sentRec < 8)
{
if (sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U3_PIPE_EP1_IN, recBuffer, 40);;
if (sentRec < 40)
{
if (sentRec == 0)
goto readError0;
else
goto readError1;
}
if (recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x11) || recBuffer[3] != (uint8)(0x2D))
goto commandByteError;
caliInfo->dacSlope[0] = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->dacOffset[0] = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->dacSlope[1] = FPuint8ArrayToFPDouble(recBuffer + 8, 16);
caliInfo->dacOffset[1] = FPuint8ArrayToFPDouble(recBuffer + 8, 24);
/* reading block 2 from memory */
sendBuffer[7] = 2; //Blocknum = 2
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, sendBuffer, 8);
if (sentRec < 8)
{
if (sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U3_PIPE_EP1_IN, recBuffer, 40);
if (sentRec < 40)
{
if (sentRec == 0)
goto readError0;
else
goto readError1;
}
if (recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x11) || recBuffer[3] != (uint8)(0x2D))
goto commandByteError;
caliInfo->tempSlope = FPuint8ArrayToFPDouble(recBuffer + 8, 0);
caliInfo->vref = FPuint8ArrayToFPDouble(recBuffer + 8, 8);
caliInfo->vref15 = FPuint8ArrayToFPDouble(recBuffer + 8, 16);
caliInfo->vreg = FPuint8ArrayToFPDouble(recBuffer + 8, 24);
/* reading block 3 from memory */
sendBuffer[7] = 3; //Blocknum = 3
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, sendBuffer, 8);
if (sentRec < 8)
{
if (sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U3_PIPE_EP1_IN, recBuffer, 40);
if (sentRec < 40)
{
if (sentRec == 0)
goto readError0;
else
goto readError1;
}
if (recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x11) || recBuffer[3] != (uint8)(0x2D))
goto commandByteError;
for (i = 0; i < 4; i++)
caliInfo->hvAINSlope[i] = FPuint8ArrayToFPDouble(recBuffer + 8, i*8);
/* reading block 4 from memory */
sendBuffer[7] = 4; //Blocknum = 4
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, U3_PIPE_EP1_OUT, sendBuffer, 8);
if (sentRec < 8)
{
if (sentRec == 0)
goto writeError0;
else
goto writeError1;
}
sentRec = LJUSB_BulkRead(hDevice, U3_PIPE_EP1_IN, recBuffer, 40);
if (sentRec < 40)
{
if (sentRec == 0)
goto readError0;
else
goto readError1;
}
if (recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x11) || recBuffer[3] != (uint8)(0x2D))
goto commandByteError;
for (i = 0; i < 4; i++)
caliInfo->hvAINOffset[i] = FPuint8ArrayToFPDouble(recBuffer + 8, i*8);
caliInfo->prodID = 3;
return 0;
writeError0:
printf("Error : getCalibrationInfo write failed\n");
return -1;
writeError1:
printf("Error : getCalibrationInfo did not write all of the buffer\n");
return -1;
readError0:
printf("Error : getCalibrationInfo read failed\n");
return -1;
readError1:
printf("Error : getCalibrationInfo did not read all of the buffer\n");
return -1;
commandByteError:
printf("Error : getCalibrationInfo received wrong command bytes for ReadMem\n");
return -1;
}
long getCalibrationInfo(HANDLE hDevice, ue9CalibrationInfo *caliInfo)
{
uint8 sendBuffer[8];
uint8 recBuffer[136];
int sentRec = 0, i = 0, j = 0, ccTotal = 0, count = 0;
/* Setting up command */
sendBuffer[1] = (uint8)(0xF8); //command byte
sendBuffer[2] = (uint8)(0x01); //number of data words
sendBuffer[3] = (uint8)(0x2A); //extended command number
sendBuffer[6] = (uint8)(0x00);
for (i = 0; i < 5; i ++)
{
/* reading block 1 from memory */
sendBuffer[7] = (uint8)i; //Blocknum = i
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuffer, 8);
if (sentRec < 8)
{
if (sentRec == 0)
printf("Error : getCalibrationInfo write failed\n");
else
printf("Error : getCalibrationInfo did not write all of the buffer\n");
return -1;
}
sentRec = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuffer, 136);
if (sentRec < 136)
{
if (sentRec == 0)
printf("Error : getCalibrationInfo read failed\n");
else
printf("Error : getCalibrationInfo did not read all of the buffer\n");
}
if (recBuffer[1] != (uint8)(0xF8) || recBuffer[2] != (uint8)(0x41) || recBuffer[3] != (uint8)(0x2A))
{
printf("Error : received buffer at byte 1, 2, or 3 are not 0xA3, 0x01, 0x2A \n");
return -1;
}
//Reading out calbration constants
if (i == 0)
ccTotal = 8;
if (i == 1)
ccTotal = 2;
if (i == 2)
ccTotal = 13;
if (i == 3)
ccTotal = 2;
if (i == 4)
ccTotal = 2;
for (j = 0; j < ccTotal; j++)
{
if (i != 2 || (i == 2 && j != 5 && j != 7) )
{
//block data starts on byte 8 of the buffer
caliInfo->ccConstants[count] = FPuint8ArrayToFPDouble(recBuffer + 8, j*8);
count++;
}
}
}
caliInfo->prodID = 9;
return 0;
}
//Sends a TimerCounter low-level command to enable and set two Timers
//(FIO0, FIO1) and two Counters (FIO2, FIO3), then sends a TimerCounter
//command a second later to read from the Counters and last sends a
//TimerCounter command to disable the Timers and Counters.
int timerCounter_example(HANDLE hDevice)
{
//Note: if using the quadrature input timer mode, the returned 32 bit integer
// is signed
uint8 sendBuff[30], recBuff[40];
int sendChars, recChars, i;
uint32 cnt;
//Enable timers and counters
sendBuff[1] = (uint8)(0xF8); //command byte
sendBuff[2] = (uint8)(0x0C); //number of data words
sendBuff[3] = (uint8)(0x18); //extended command number
sendBuff[6] = (uint8)(0x03); //TimerClockDivisor = 3
sendBuff[7] = (uint8)(0x9A); //Updating: 2 Timers enabled, Counter0 and
//Counter1 enabled
sendBuff[8] = (uint8)(0x00); //TimerClockConfig = 750 kHz (if using system
//clock, call ControlConfig first and set the
//PowerLevel to a fixed state)
sendBuff[9] = (uint8)(0x00); //UpdateReset - not resetting anything
sendBuff[10] = (uint8)(0x00); //Timer0Mode = 16-Bit PWM
//Timer0Value = 32768
sendBuff[11] = (uint8)(0x00); //Timer0Value (low byte)
sendBuff[12] = (uint8)(0x80); //Timer0Value (high byte)
//Timer1Value = 32768
sendBuff[13] = (uint8)(0x01); //Timer1Mode = 8-Bit PWM
sendBuff[14] = (uint8)(0x00); //Timer1Value (low byte)
sendBuff[15] = (uint8)(0x80); //Timer1Value (high byte)
//timer modes and values for timers 2 - 5, which are not enabled
for(i = 16; i < 28; i++)
sendBuff[i] = (uint8)(0x00);
sendBuff[28] = (uint8)(0x00); //Counter0Mode (pass 0)
sendBuff[29] = (uint8)(0x00); //Counter1Mode (pass 0)
extendedChecksum(sendBuff, 30);
//Sending command to UE9
sendChars = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuff, 30);
if(sendChars < 30)
{
if(sendChars == 0)
goto writeError0;
else
goto writeError1;
}
//Reading response from UE9
recChars = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuff, 40);
if(recChars < 40)
{
if(recChars == 0)
goto readError0;
else
goto readError1;
}
if(errorCheck(recBuff) == -1)
return -1;
//wait 1 sec, read counters
sleep(1);
sendBuff[1] = (uint8)(0xF8); //command bytes
sendBuff[2] = (uint8)(0x0C); //number of data words
sendBuff[3] = (uint8)(0x18); //extended command number
//Not updating our configuration, just want to back the counters
for(i = 6; i < 30; i++)
sendBuff[i] = (uint8)(0x00);
extendedChecksum(sendBuff, 30);
//Sending command to UE9
sendChars = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuff, 30);
if(sendChars < 30)
{
if(sendChars == 0)
goto writeError0;
else
goto writeError1;
}
//Reading response from UE9
recChars = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuff, 40);
if(recChars < 40)
{
if(recChars == 0)
goto readError0;
else
goto readError1;
}
if(errorCheck(recBuff) == -1)
return -1;
printf("Current counts from counters after 1 second:\n");
for(i = 0; i < 2; i++)
{
cnt = (unsigned int)recBuff[32 + 4*i] + (unsigned int)recBuff[33 + 4*i]*256 +
(unsigned int)recBuff[34 + 4*i]*65536 + (unsigned int)recBuff[35 + 4*i]*16777216;
printf(" Counter%d : %u\n", i, cnt);
}
//disable timers and counters
sendBuff[1] = (uint8)(0xF8); //command bytes
sendBuff[2] = (uint8)(0x0C); //number of data words
sendBuff[3] = (uint8)(0x18); //extended command number
sendBuff[6] = (uint8)(0x00); //TimerClockDivisor = 0
sendBuff[7] = (uint8)(0x80); //Updating: 0 Timers enabled, Counter0 and
//Counter1 disabled
//setting bytes 8 - 30 to zero since nothing is enabled
for(i = 8; i < 30; i++)
sendBuff[i] = (uint8)(0x00);
extendedChecksum(sendBuff, 30);
//Sending command to UE9
sendChars = LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, sendBuff, 30);
if(sendChars < 30)
{
if(sendChars == 0)
goto writeError0;
else
goto writeError1;
}
//Reading response from UE9
recChars = LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, recBuff, 40);
if(recChars < 40)
{
if(recChars == 0)
goto readError0;
else
goto readError1;
}
if(errorCheck(recBuff) == -1)
return -1;
return 0;
writeError0:
printf("Error : write failed\n");
return -1;
writeError1:
printf("Error : did not write all of the buffer\n");
return -1;
readError0:
printf("Error : read failed\n");
return -1;
readError1:
printf("Error : did not read all of the buffer\n");
return -1;
}
HANDLE openUSBConnection(int localID)
{
BYTE buffer[38];
uint16 checksumTotal = 0;
HANDLE hDevice = 0;
uint32 numDevices = 0;
uint32 dev;
int i;
numDevices = LJUSB_GetDevCount(UE9_PRODUCT_ID);
if(numDevices == 0)
{
printf("Open error: No UE9 devices could be found\n");
return NULL;
}
for(dev = 1; dev <= numDevices; dev++)
{
hDevice = LJUSB_OpenDevice(dev, 0, UE9_PRODUCT_ID);
if(hDevice != NULL)
{
if(localID < 0)
{
return hDevice;
}
else
{
checksumTotal = 0;
//setting up a CommConfig command
buffer[1] = (BYTE)(0x78);
buffer[2] = (BYTE)(0x10);
buffer[3] = (BYTE)(0x01);
for(i = 6; i < 38; i++)
buffer[i] = (BYTE)(0x00);
extendedChecksum(buffer,38);
if(LJUSB_BulkWrite(hDevice, UE9_PIPE_EP1_OUT, buffer, 38) != 38)
goto locid_error;
for(i = 0; i < 38; i++)
buffer[i] = 0;
if(LJUSB_BulkRead(hDevice, UE9_PIPE_EP1_IN, buffer, 38) != 38)
goto locid_error;
checksumTotal = extendedChecksum16(buffer, 38);
if( (BYTE)((checksumTotal / 256) & 0xff) != buffer[5])
goto locid_error;
if( (BYTE)(checksumTotal & 0xff) != buffer[4])
goto locid_error;
if( extendedChecksum8(buffer) != buffer[0])
goto locid_error;
if( buffer[1] != (BYTE)(0x78) || buffer[2] != (BYTE)(0x10) || buffer[3] != (BYTE)(0x01) )
goto locid_error;
if( (int)buffer[8] == localID)
return hDevice;
else
LJUSB_CloseDevice(hDevice);
} //else localID >= 0 end
} //if hDevice != NULL end
} //for end
printf("Open error: could not find a UE9 with a local ID of %d\n", localID);
return NULL;
locid_error:
printf("Open error: problem when checking local ID\n");
return NULL;
}
