/**
* Closes the session to the myRIO FPGA Personality.
*
* This function resets the FPGA (unless there is another open session) and
* unloads the NiFpga library.
*
* @warning This function is not thread-safe.
* It should be called after all other function calls and only once
* per application.
*/
NiFpga_Status MyRio_Close()
{
NiFpga_Status status;
/*
* Close and Reset the FPGA
*/
status = NiFpga_Close(myrio_session, 0);
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not Close FPGA!\n");
return status;
}
/*
* Unload the NiFpga library
*/
status = NiFpga_Finalize();
if (MyRio_IsNotSuccess(status))
{
MyRio_PrintStatus(status);
printf("Could not unload NiFpga library!\n");
return status;
}
return status;
}
void stop_fpga(NiFpga_Session* session, NiFpga_Status* status)
{
// close the session now that we're done
NiFpga_MergeStatus(status, NiFpga_Close(*session, 0));
// must be called after all other calls
NiFpga_MergeStatus(status, NiFpga_Finalize());
}
bool nifpga::Close(uint32_t attribute) {
bool status = false;
if (sessionOpen) {
if (sessionRunning) status = Abort();
status = HandleStatus(NiFpga_Close(sessionHandle,attribute));
if (status) sessionOpen = false;
}
return status;
}
// Closes the FPGA session
void FPGA_Close(void)
{
// close the session now that we're done
printf("Closing the session...");
if (NiFpga_IsNotError(FPGA_Status))
{
NiFpga_MergeStatus(&FPGA_Status, NiFpga_Close(FPGA_Session, 0));
}
// must be called after all other calls
printf("Finalizing...");
NiFpga_MergeStatus(&FPGA_Status, NiFpga_Finalize());
}
void lia_readI32(double control[], int32_t value[])
{
/* Create status, initialize to good */
NiFpga_Status status = NiFpga_Status_Success;
/* Create a session variable */
NiFpga_Session session;
/* Load the NiFpga library */
NiFpga_Initialize();
/* Load bitfile */
NiFpga_Open(NiFpga_lockin_fpga_Bitfile, NiFpga_lockin_fpga_Signature, "RIO0", NiFpga_OpenAttribute_NoRun,&session);
/* Read value from control */
NiFpga_ReadI32(session, control[0], value);
/* Close session */
NiFpga_Close(session,0);
NiFpga_Finalize();
}
int main()
{
double desired_angle;
int32_t desired_tick;
int32_t Kd = .5 * ACCURACY;
int32_t Kp = 5 * ACCURACY;
int32_t Ki = .0001 * ACCURACY;
int32_t error=0xFFFF;
/* must be called before any other calls */
printf("Initializing...\n");
NiFpga_Status status = NiFpga_Initialize();
if (NiFpga_IsNotError(status))
{
NiFpga_Session session;
/* opens a session, downloads the bitstream, and runs the FPGA */
printf("Opening a session...\n");
NiFpga_MergeStatus(&status,
NiFpga_Open(NiFpga_Math_Pid_Bitfile, NiFpga_Math_Pid_Signature,
"rio://146.6.84.251/RIO0",
NiFpga_OpenAttribute_NoRun,&session));
if (NiFpga_IsNotError(status))
{
/* run the FPGA application */
printf("Running the FPGA...\n");
NiFpga_MergeStatus(&status, NiFpga_Run(session, 0));
/********************************************************************/
/* Code goes here */
NiFpga_MergeStatus(&status,
NiFpga_WriteBool(session,NiFpga_Encoder_Reset,0));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Kd,Kd));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Kp,Kp));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Ki,Ki));
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Accuracy,ACCURACY));
printf("Enter Desired(in degrees): ");
scanf("%lf",&desired_angle);
desired_tick = degree_tick(desired_angle);
printf("Desired(in ticks) %d\n", desired_tick);
NiFpga_MergeStatus(&status,
NiFpga_WriteI32(session,NiFpga_Desired,desired_tick));
printf("Entering loop\n");
while(error != 0) {
NiFpga_MergeStatus(&status,
NiFpga_ReadI32(session,NiFpga_RealError,&error)); printf("Error:%d\n", error);
}
/********************************************************************/
/* Stopping */
printf("Press <Enter> to stop and quit...");
getchar();
/* stop the FPGA loops */
printf("Stopping the FPGA...\n");
/* close the session now that we're done */
printf("Closing the session...\n");
NiFpga_MergeStatus(&status, NiFpga_Close(session, 0));
}
/* must be called after all other calls */
printf("Finalizing...\n");
NiFpga_MergeStatus(&status, NiFpga_Finalize());
}
/* check if anything went wrong */
if (NiFpga_IsError(status))
{
printf("Error %d!\n", status);
printf("Press <Enter> to quit...\n");
getchar();
}
return status;
}
