void start_fpga(NiFpga_Session* session, NiFpga_Status* status)
{
// must be called before any other calls
*status = NiFpga_Initialize();
printf("initializing FPGA read AI AO\n");
printf("bitfile expected at:\n");
printf(NiFpga_FPGA_read_ai_ao_Bitfile);
printf("\n");
//printf("Current working dir: %s\n", strcat(cwd, '../labview_fpga_lib/read_ai_ao/'));
if (NiFpga_IsNotError(*status))
{
// opens a session, downloads the bitstream, and runs the FPGA
NiFpga_MergeStatus(status, NiFpga_Open(NiFpga_FPGA_read_ai_ao_Bitfile,
NiFpga_FPGA_read_ai_ao_Signature,
"RIO0",
NiFpga_OpenAttribute_NoRun,
session));
if (NiFpga_IsNotError(*status))
{
// run the FPGA application
NiFpga_MergeStatus(status, NiFpga_Run(*session, 0));
}
else{
// print warning
printf("error occurred at FPGA open");
printf("%d", *status);
}
}
fflush(stdout);
}
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());
}
// 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 FPGA_SetPIDdt(uint16_t dt) {
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteU16(FPGA_Session,NiFpga_mainFPGA_ControlU16_PIDdt, dt));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set PID dt failed");
}
}
int16_t read_AI2(NiFpga_Session* session, NiFpga_Status* status)
{
int16_t value;
NiFpga_MergeStatus(status, NiFpga_ReadI16(*session,NiFpga_FPGA_read_ai_ao_IndicatorI16_Connector1AI2,&value));
return value;
}
void FPGA_setLPIDIntGain(int16_t gain) {
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteI16(FPGA_Session,NiFpga_mainFPGA_ControlI16_LPIDIntGain,gain));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set left PID integral gain failed");
}
}
// Sets the sabertooth address
void FPGA_setSabertoothAddress(uint8_t address) {
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteU8(FPGA_Session,NiFpga_mainFPGA_ControlU8_SerialAddress, address));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Failed to set Sabertooth Address");
}
}
void FPGA_setMaxPIDSpeed(uint16_t max) {
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteU16(FPGA_Session,NiFpga_mainFPGA_ControlU16_maxPIDSpeedTicksPerDt, max));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set max PID speed failed");
}
}
void FPGA_setRPIDDerGain(int16_t gain) {
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteI16(FPGA_Session,NiFpga_mainFPGA_ControlI16_RPIDDerGain,gain));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set right PID derivative gain failed");
}
}
int16_t FPGA_GetCRIOVLineRead() {
int16_t retval;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_cRIOVMonitormV,&retval));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get cRIOV Line Read Failed.");
}
return retval;
}
uint16_t FPGA_GetRCCH3() {
uint16_t retval;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadU16(FPGA_Session,NiFpga_mainFPGA_IndicatorU16_C3Mode,&retval));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get RC CH3 Read Failed.");
}
return retval;
}
int16_t FPGA_GetVersion()
{
int16_t version;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_FPGAVersion,&version));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get FPGA Version Failed.");
}
return version;
}
void FPGA_SetMotorStatus(int value)
{
if(value)
{
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteBool(FPGA_Session,NiFpga_mainFPGA_ControlBool_enableMotors,NiFpga_True));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set Motor Status Failed.");
}
}
else
{
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteBool(FPGA_Session,NiFpga_mainFPGA_ControlBool_enableMotors,NiFpga_False));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Set Motor Status Failed.");
}
}
}
int32_t FPGA_GetGPSArrayData(uint8_t * data, uint32_t length)
{
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadArrayU8(FPGA_Session, NiFpga_mainFPGA_IndicatorArrayU8_GPSPOSBytes, data, length));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("GetArrayFailed");
}
return 0;
}
// Returns the tick value of the right motor
int32_t FPGA_GetRightMotorTicks()
{
int32_t ticks;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI32(FPGA_Session,NiFpga_mainFPGA_IndicatorI32_RPosMotor,&ticks));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Right Motor Ticks Failed.");
}
return ticks;
}
int16_t FPGA_GetYawRef()
{
int16_t value;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_YawRefmV,&value));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Yaw Ref Failed.");
}
LOG.DATA("YawRef = %d",value);
return value;
}
// Returns the tick value on the right wheel
int32_t FPGA_GetRightWheelTicks()
{
int32_t ticks;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI32(FPGA_Session,NiFpga_mainFPGA_IndicatorI32_RPosWheel,&ticks));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Right Wheel Ticks Failed.");
}
LOG.DATA("RwT = %d",ticks);
return ticks;
}
// Returns the velocity of the left motor
float FPGA_GetLeftMotorVelocity()
{
int16_t ticks;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_LeftMotorVTicksPerDt,&ticks));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Left Motor Velocity Failed.");
}
float Speed = ticks /leftWheelConversionConstant;
LOG.DATA("LMV = %f",Speed);
return Speed;
}
float FPGA_GetCompassHeading(void)
{
uint32_t current;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadU32(FPGA_Session,NiFpga_mainFPGA_IndicatorU32_HeadingFloat,¤t));
if(NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Compass Heading Failed");
}
float out;
out = *((float *)¤t);
LOG.DATA("Compass %f",out);
return out;
}
/**
* Sets options for the encoder configuration register.
*
* @param[in] channel A struct containing the registers on the encoder channel
* to modify.
* @param[in] mask Array of flags that indicate which of the configure
* settings are valid.
* @param[in] settings Array of flags that indicate the configuration settings.
*/
void Encoder_Configure(MyRio_Encoder* channel, Encoder_ConfigureMask mask,
Encoder_ConfigureSettings settings)
{
NiFpga_Status status;
uint8_t cnfgValue;
/*
* Get the current value of the configure register.
*
* The returned NiFpga_Status value is stored for error checking.
*/
status = NiFpga_ReadU8(myrio_session, channel->cnfg, &cnfgValue);
/*
* Check if there was an error reading from the encoder registers.
*
* If there was an error then the rest of the function cannot complete
* correctly so print an error message to stdout and return from the
* function early.
*/
MyRio_ReturnIfNotSuccess(status,
"Could not read from the encoder configure registers!")
/*
* Clear the value of the masked bits in the configure register. This is
* done so that the correct value can be set later on.
*/
cnfgValue = cnfgValue & (~mask);
/*
* Set the value of the settings in the configure register. If the
* value to set is 0 this operation would not work unless the bit was
* previously cleared.
*/
cnfgValue = cnfgValue | settings;
/*
* Write the new value of the configure register to the device.
*/
NiFpga_MergeStatus(&status,
NiFpga_WriteU8(myrio_session, channel->cnfg, cnfgValue));
/*
* Check if there was an error writing to encoder configure registers.
*
* If there was an error then print an error message to stdout.
*/
MyRio_ReturnIfNotSuccess(status,
"Could not write to the encoder configure registers!")
}
uint32_t FPGA_IsGPSNew(void)
{
uint32_t current;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadU32(FPGA_Session,NiFpga_mainFPGA_IndicatorU32_GPSPOSCount,¤t));
if(NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get GPS Counter Failed");
}
if(current != FPGA_IsGPSNewPrevious)
{
FPGA_IsGPSNewPrevious = current;
return 1;
}
return 0;
}
uint32_t FPGA_IsCompassNew(void)
{
uint32_t current;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadU32(FPGA_Session,NiFpga_mainFPGA_IndicatorU32_CompassResponseCount,¤t));
if(NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Compass Counter Failed");
}
if(current != FPGA_IsCompassNewPrevious)
{
current = FPGA_IsCompassNewPrevious;
return 1;
}
return 0;
}
// Sets the left wheel velocity
void FPGA_SetLeftWheelVelocity(float MetersPerSecond)
{
/* Check if NAN */
if (MetersPerSecond != MetersPerSecond)
{
MetersPerSecond = 0.0;
LOG.ERR("Left Wheel command was NaN. Sending 0 instead");
}
int16_t ticks = MetersPerSecond * leftWheelConversionConstant;
LOG.DATA("LwT Commanded: %d for %f", ticks, MetersPerSecond);
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteI16(FPGA_Session,NiFpga_mainFPGA_ControlI16_PIDLCmdTicksPerDt,ticks));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Setting Left Wheel Velocity Failed.");
}
}
uint8_t FPGA_GetRCESTOP() {
NiFpga_Bool rcestop;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadBool(FPGA_Session,NiFpga_mainFPGA_IndicatorBool_RCeSTOP,&rcestop));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get RCEStop Failed.");
}
if(rcestop == NiFpga_False)
{
LOG.DATA("RCEstop = False");
return 0;
}
else
{
LOG.DATA("RCEStop = True");
return 1;
}
}
uint8_t FPGA_GetESTOPTriggered()
{
NiFpga_Bool ReStopTriggered;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadBool(FPGA_Session,NiFpga_mainFPGA_IndicatorBool_eSTOPTriggered,&ReStopTriggered));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get EStop Status Failed.");
}
if(ReStopTriggered == NiFpga_False)
{
LOG.DATA("EStopTriggered = False");
return 0;
}
else
{
LOG.DATA("EStopTriggered = True");
return 1;
}
return 0;
}
uint8_t FPGA_GetRCOn()
{
NiFpga_Bool RC;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadBool(FPGA_Session,NiFpga_mainFPGA_IndicatorBool_RCOn,&RC));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get RCon Status Failed.");
}
if(RC == NiFpga_False)
{
LOG.DATA("RCOn = False");
return 0;
}
else
{
LOG.DATA("RCOn = True");
return 1;
}
return 0;
}
// Initializes the FPGA, the sabertooth and the mototrs
void FPGA_Boot(void)
{
LOG.INFO("Initializing FPGA...");
FPGA_Status = NiFpga_Initialize();
if (NiFpga_IsNotError(FPGA_Status))
{
// opens a session, downloads the bitstream, and runs the FPGA.
LOG.INFO("Opening a session FPGA...");
NiFpga_MergeStatus(&FPGA_Status, NiFpga_Open(NiFpga_mainFPGA_Bitfile,
NiFpga_mainFPGA_Signature,
"RIO0",
NiFpga_OpenAttribute_NoRun,
&FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("ReDownloading the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Download(FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("Restarting the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Reset(FPGA_Session));
if (NiFpga_IsNotError(FPGA_Status))
{
LOG.INFO("Running the FPGA");
NiFpga_MergeStatus(&FPGA_Status,NiFpga_Run(FPGA_Session, 0));
if (NiFpga_IsNotError(FPGA_Status))
{
}
else
{
LOG.ERR("FPGA Fail to run fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to redownload fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to redownload fpga %d ",FPGA_Status);
}
}
else
{
LOG.ERR("FPGA Fail to open a session. Error Code %d ",FPGA_Status);
}
}
LOG.VERBOSE("Reading Constants for the fpga");
if(fileExists("config/odometry.ini"))
{
dictionary* config = iniparser_load("config/odometry.ini");
leftWheelConversionConstant = 1/(iniparser_getdouble(config,"MotorEncoderConstant:MeterPerTickLeft",0)) * PIDUpdateRateInMs/1000;
rightWheelConversionConstant = 1/(iniparser_getdouble(config,"MotorEncoderConstant:MeterPerTickRight",0)) * PIDUpdateRateInMs/1000;
iniparser_freedict(config);
LOG.VERBOSE("Odometry Ini file loaded for fpga!");
}
else
{
LOG.ERR("!!!!!!!!!!!!!!!!odomentry.ini was not found!!!!!!!!!!!!!!!!!!!!!!");
}
if(fileExists("config/pid.ini")) {
dictionary* config = iniparser_load("config/pid.ini");
max_pid_speed = (uint16_t) iniparser_getint(config, "Both:MaxSpeedTicksPerDt", 0);
left_pid_pro_gain = iniparser_getint(config, "LeftPID:ProportionalGain",0);
left_pid_int_gain = iniparser_getint(config, "LeftPID:IntegralGain",0);
left_pid_der_gain = iniparser_getint(config, "LeftPID:DerivativeGain", 0);
right_pid_pro_gain = iniparser_getint(config, "RightPID:ProportionalGain",0);
right_pid_int_gain = iniparser_getint(config, "RightPID:IntegralGain",0);
right_pid_der_gain = iniparser_getint(config, "RightPID:DerivativeGain",0);
iniparser_freedict(config);
LOG.VERBOSE("PID INI file loaded for FPGA");
}
else {
LOG.ERR("PID.ini was not found");
}
if(fileExists("config/CRIO.ini")) {
dictionary* config = iniparser_load("config/CRIO.ini");
sabertooth_address = (uint8_t) iniparser_getint(config, "Sabertooth:Address", 130);
iniparser_freedict(config);
LOG.VERBOSE("Sabertooth address loaded for FPGA");
}
else {
LOG.ERR("Unable to load Sabertooth address");
}
NiFpga_MergeStatus(&FPGA_Status,NiFpga_WriteU8(FPGA_Session,NiFpga_mainFPGA_ControlU8_SlewRateControl, 10));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Failed to set Sabertooth slew rate");
}
FPGA_SetPIDdt(PIDUpdateRateInMs * 1000);
FPGA_setMaxPIDSpeed(max_pid_speed);
FPGA_setLPIDProGain(left_pid_pro_gain);
FPGA_setLPIDIntGain(left_pid_int_gain);
FPGA_setLPIDDerGain(left_pid_der_gain);
FPGA_setRPIDProGain(right_pid_pro_gain);
FPGA_setRPIDIntGain(right_pid_int_gain);
FPGA_setRPIDDerGain(right_pid_der_gain);
FPGA_setSabertoothAddress(sabertooth_address);
// This logs the version number
LOG.INFO("FPGA VERSION = %d",FPGA_GetVersion());
LOG.INFO("Turning on the motors");
FPGA_SetMotorStatus(1);
}
uint32_t FPGA_GetSonarPing_5() {
uint32_t value;
NiFpga_MergeStatus(&FPGA_Status, NiFpga_ReadU32(FPGA_Session, NiFpga_mainFPGA_IndicatorU32_Sonar5PWM, &value));
LOG.DATA("SonarPing 5= %d", value);
return value;
}
void set_AO7(int16_t value, NiFpga_Session* session, NiFpga_Status* status)
{
NiFpga_MergeStatus(status, NiFpga_WriteI16(*session,NiFpga_FPGA_read_ai_ao_ControlI16_Connector1AO7,value));
}
/**
* Reserve the interrupt from FPGA and configure DI IRQ.
*
* @param[in] irqChannel A structure containing the registers and settings
for a particular analog IRQ I/O to modify.
* @param[in] irqContext IRQ context under which you need to reserve.
* @param[in] irqNumber The IRQ number (IRQNO_MIN-IRQNO_MAX).
* @param[in] count The incremental times that you use to trigger the interrupt.
* @param[in] type The trigger type that you use to increment the count.
* @return the configuration status.
*/
int32_t Irq_RegisterDiIrq(MyRio_IrqDi* irqChannel,
NiFpga_IrqContext* irqContext,
uint8_t irqNumber,
uint32_t count,
Irq_Dio_Type type)
{
int32_t status;
uint8_t cnfgValue;
uint16_t typeValue;
/*
* Reserve an IRQ context. IRQ contexts are single-threaded; only one thread
* can wait with a particular context at any given time. To minimize jitter
* when first waiting on IRQs, reserve as many contexts as the application requires.
* If a context is successfully reserved, you must unreserve it later.
* Otherwise a memory leak will occur.
*/
status = NiFpga_ReserveIrqContext(myrio_session, irqContext);
/*
* Check if there was an error when you reserved an IRQ.
*
* If there was an error, print an error message to stdout and return the configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"A required NiFpga_IrqContext was not reserved.")
/*
* Limit the IRQ number within a range,
* if the entered value is out of range, print an error message.
*/
if (irqNumber > IRQNO_MAX || irqNumber < IRQNO_MIN)
{
printf("The specified IRQ Number is out of range.\n");
return NiMyrio_Status_IrqNumberNotUsable;
}
/*
* Check if the IRQ number or channel value already exists in the resource list,
* return the configuration status and print error message.
*/
status = Irq_CheckReserved(irqChannel->dioChannel, irqNumber);
if (status == NiMyrio_Status_IrqNumberNotUsable)
{
printf("You have already registered an interrupt with the same interrupt number.\n");
return status;
}
else if (status == NiMyrio_Status_IrqChannelNotUsable)
{
printf("You have already registered an interrupt with the same channel name.\n");
return status;
}
/*
* Write the value to the DI IRQ number register.
*/
status = NiFpga_WriteU8(myrio_session, irqChannel->dioIrqNumber, irqNumber);
/*
* Check if there was an error when your wrote to the DI IRQ number register.
*
* If there was an error, print an error message to stdout and return the configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to DI IRQ number register!")
/*
* Write the value to the DI IRQ count register.
*/
status = NiFpga_WriteU32(myrio_session, irqChannel->dioCount, count);
/*
* Check if there was an error when you reserved an IRQ.
*
* If there was an error, print an error message to stdout and return the configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to DI IRQ count register!")
/*
* Get the current value of the DI rising-configure register.
*/
status = NiFpga_ReadU8(myrio_session, irqChannel->dioIrqRisingEdge, &cnfgValue);
typeValue = (uint16_t) cnfgValue;
/*
* Get the current value of the DI falling-configure register.
* Merge it with the rising-configure register and write to typeValue.
*/
NiFpga_MergeStatus(&status,
NiFpga_ReadU8(myrio_session, irqChannel->dioIrqFallingEdge, &cnfgValue));
typeValue = typeValue | (cnfgValue << 8);
/*
* Check if there was an error reading from the DI rising/falling configure registers.
*
* If there was an error, the rest of the function cannot execute successfully, print
* an error message to stdout and return the configuration status from the earlier
* execution of the function.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not read from the DI rise/fall configure registers!")
/*
* Get the current value of the DI configure register.
*/
status = NiFpga_ReadU8(myrio_session, irqChannel->dioIrqEnable, &cnfgValue);
/*
* Check if there was an error when you reserved an IRQ.
*
* If there was an error, print an error message to stdout and return the configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not read from the DI configure register!")
/*
* Configure the IRQ triggered-type for the particular digital IRQ I、O.
*/
if (irqChannel->dioChannel == Irq_Dio_A0)
{
/*
* Clear the value of the masked bits in the DI configure register, then
* set which IO is enabled.
*/
cnfgValue = cnfgValue & (~Irq_Dio_A0_Enable);
cnfgValue = cnfgValue | Irq_Dio_A0_Enable;
/*
* Clear the value of the masked bits in the DI configure register and set the I/O to enable.
*/
typeValue = typeValue & (~Irq_Dio_A0_Edge);
if (type == Irq_Dio_RisingEdge)
{
typeValue = typeValue | Irq_Dio_A0_RisingEdge;
}
else if (type == Irq_Dio_FallingEdge)
{
typeValue = typeValue | Irq_Dio_A0_FallingEdge;
}
else if (type == Irq_Dio_Edge)
{
typeValue = typeValue | Irq_Dio_A0_Edge;
}
}
else if (irqChannel->dioChannel == Irq_Dio_A1)
{
/*
* Clear the value of the masked bits in the DI configure register, then
* set which IO is enabled.
*/
cnfgValue = cnfgValue & (~Irq_Dio_A1_Enable);
cnfgValue = cnfgValue | Irq_Dio_A1_Enable;
/*
* Clear the value of the masked bits in the DI configure register, then
* set the triggered type.
*/
typeValue = typeValue & (~Irq_Dio_A1_Edge);
if (type == Irq_Dio_RisingEdge)
{
typeValue = typeValue | Irq_Dio_A1_RisingEdge;
}
else if (type == Irq_Dio_FallingEdge)
{
typeValue = typeValue | Irq_Dio_A1_FallingEdge;
}
else if (type == Irq_Dio_Edge)
{
typeValue = typeValue | Irq_Dio_A1_Edge;
}
}
else if (irqChannel->dioChannel == Irq_Dio_A2)
{
/*
* Clear the value of the masked bits in the DI configure register, then
* set which IO is enabled.
*/
cnfgValue = cnfgValue & (~Irq_Dio_A2_Enable);
cnfgValue = cnfgValue | Irq_Dio_A2_Enable;
/*
* Clear the value of the masked bits in the DI configure register, then
* set the triggered type.
*/
typeValue = typeValue & (~Irq_Dio_A2_Edge);
if (type == Irq_Dio_RisingEdge)
{
typeValue = typeValue | Irq_Dio_A2_RisingEdge;
}
else if (type == Irq_Dio_FallingEdge)
{
typeValue = typeValue | Irq_Dio_A2_FallingEdge;
}
else if (type == Irq_Dio_Edge)
{
typeValue = typeValue | Irq_Dio_A2_Edge;
}
}
else if (irqChannel->dioChannel == Irq_Dio_A3)
{
/*
* Clear the value of the masked bits in the DI configure register, then
* set which IO is enabled.
*/
cnfgValue = cnfgValue & (~Irq_Dio_A3_Enable);
cnfgValue = cnfgValue | Irq_Dio_A3_Enable;
/*
* Clear the value of the masked bits in the DI configure register, then
* set the triggered type.
*/
typeValue = typeValue & (~Irq_Dio_A3_Edge);
if (type == Irq_Dio_RisingEdge)
{
typeValue = typeValue | Irq_Dio_A3_RisingEdge;
}
else if (type == Irq_Dio_FallingEdge)
{
typeValue = typeValue | Irq_Dio_A3_FallingEdge;
}
else if (type == Irq_Dio_Edge)
{
typeValue = typeValue | Irq_Dio_A3_Edge;
}
}
/*
* Write the new value of the DI enable configure register to the device.
*/
status = NiFpga_WriteU8(myrio_session, irqChannel->dioIrqEnable, cnfgValue);
/*
* Check if there was an error writing to DI enable configure registers.
*
* If there was an error then print an error message to stdout and return configuration status.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to the DI enable configure registers!")
/*
* Write the new value of the DI rise-configure register to the device.
*/
status = NiFpga_WriteU8(myrio_session, irqChannel->dioIrqRisingEdge, (uint8_t) typeValue);
/*
* Write the new value of the DI fall-configure register to the device.
*/
NiFpga_MergeStatus(&status,
NiFpga_WriteU8(myrio_session, irqChannel->dioIrqFallingEdge, (uint8_t)(typeValue >> 8)));
/*
* Check if there was an error writing to DI rise/fall configure registers.
*
* If there was an error then print an error message to stdout.
*/
MyRio_ReturnStatusIfNotSuccess(status,
"Could not write to the DI rise/fall configure registers!")
/*
* Add the channel value and IRQ number in the list.
*/
Irq_AddReserved(irqChannel->dioChannel, irqNumber);
return NiMyrio_Status_Success;
}