int motorControl::motorEnable()
{
uInt32 dataEnable=0x00000001;
char errBuff[2048]={'\0'};
int32 error=0;
float64 zeroVoltages[3]={0.0,0.0,0.0},zeroVoltage={0.0};
DAQmxErrChk (DAQmxStartTask(motorEnableHandle));
DAQmxErrChk (DAQmxStartTask(motorTaskHandle));
DAQmxErrChk (DAQmxWriteDigitalU32(motorEnableHandle,1,1,10.0,DAQmx_Val_GroupByChannel,&dataEnable,NULL,NULL));
DAQmxErrChk (DAQmxWriteAnalogF64(motorTaskHandle,1,FALSE,10,DAQmx_Val_GroupByChannel,zeroVoltages,NULL,NULL));
Sleep(500);
DAQmxStopTask(motorTaskHandle);
DAQmxStopTask(motorEnableHandle);
isEnable = TRUE;
Error:
if( DAQmxFailed(error) ) {
DAQmxGetExtendedErrorInfo(errBuff,2048);
DAQmxStopTask(motorTaskHandle);
DAQmxClearTask(motorTaskHandle);
DAQmxStopTask(motorEnableHandle);
DAQmxClearTask(motorEnableHandle);
printf("DAQmx Error: %s\n",errBuff);
printf("Motor enable Error\n");
}
return 0;
}
int motorControl::motorDisable()
{
int32 error=0;
char errBuff[2048] = {'\0'};
uInt32 dataDisable=0x00000000;
int32 written;
float64 zeroVoltages[3]={0.0,0.0,0.0};
while(isControlling){
}
DAQmxErrChk (DAQmxStartTask(motorEnableHandle));
DAQmxErrChk (DAQmxStartTask(motorTaskHandle));
DAQmxErrChk (DAQmxWriteDigitalU32(motorEnableHandle,1,1,10.0,DAQmx_Val_GroupByChannel,&dataDisable,NULL,NULL));
DAQmxErrChk (DAQmxWriteAnalogF64(motorTaskHandle,1,FALSE,10,DAQmx_Val_GroupByChannel,zeroVoltages,NULL,NULL));
Sleep(500);
DAQmxStopTask(motorTaskHandle);
DAQmxStopTask(motorEnableHandle);
isControlling = FALSE;
isWindUp = FALSE;
live = FALSE;
isEnable = FALSE;
Error:
if( DAQmxFailed(error) ){
printf("DisableMotor Error: %s\n",errBuff);
DAQmxGetExtendedErrorInfo(errBuff,2048);
printf("DAQmx Error: %s\n",errBuff);
DAQmxStopTask(motorEnableHandle);
DAQmxStopTask(motorTaskHandle);
DAQmxClearTask(motorEnableHandle);
DAQmxClearTask(motorTaskHandle);
}
return 0;
}
motorControl::~motorControl()
{
DAQmxClearTask(motorEnableHandle);
DAQmxClearTask(motorTaskHandle);
DAQmxClearTask(loadCelltaskHandle);
live = FALSE;
}
// from StopTasks();
int LifetimeAcq::stopTasks()
{
//Stop Task;
if( aoTaskHandle!=0 )
{
DAQmxStopTask(aoTaskHandle);
DAQmxClearTask(aoTaskHandle);
aoTaskHandle = 0;
}
if( acqTaskHandle!=0 )
{
DAQmxStopTask(acqTaskHandle);
DAQmxClearTask(acqTaskHandle);
acqTaskHandle = 0;
}
if( ctrTaskHandle!=0 )
{
DAQmxStopTask(ctrTaskHandle);
DAQmxClearTask(ctrTaskHandle);
ctrTaskHandle = 0;
}
return 1;
}
int SetDaqAbort()
{
int32 error = 0;
char errBuff[2048];
epicsPrintf("**** DAQmx Task Abort****\n");
DAQmxErrChk(DAQmxStopTask(daq6220pvt.taskHandle));
DAQmxErrChk(DAQmxClearTask(daq6220pvt.taskHandle));
daq6220pvt.status = DAQ_STATUS_STOP;
return 0;
Error:
if( DAQmxFailed(error) )
DAQmxGetExtendedErrorInfo(errBuff,2048);
if( daq6220pvt.taskHandle!=0 ) {
DAQmxStopTask(daq6220pvt.taskHandle);
DAQmxClearTask(daq6220pvt.taskHandle);
}
if( DAQmxFailed(error) )
epicsPrintf("DAQmx Error(6220): %s\n",errBuff);
return -1;
}
int motorControl::motorControllerEnd()
{
live = FALSE;
motorControl::motorDisable();
isControlling = FALSE;
DAQmxStopTask(motorTaskHandle);
DAQmxClearTask(motorTaskHandle);
DAQmxStopTask(loadCelltaskHandle);
DAQmxClearTask(loadCelltaskHandle);
DAQmxStopTask(encodertaskHandle);
DAQmxClearTask(encodertaskHandle);
return 0;
}
void ScanThreadLinear::StopTasks(void)
{
DAQmxStopTask(taskAnalog);
DAQmxStopTask(taskTrig);
DAQmxStopTask(taskTrA);
DAQmxStopTask(taskClock);
//CLEAR TASKS
DAQmxClearTask(taskAnalog);
DAQmxClearTask(taskTrig);
DAQmxClearTask(taskTrA);
DAQmxClearTask(taskClock);
}
int microStep(int in)
{
uInt8 MS1Sig[2];
uInt8 MS2Sig[2];
// Pull to zero for active in current controller mode
switch (in){
case 1 : // no mirostep
MS1Sig[0] = 0; MS1Sig[1] = 0;
MS2Sig[0] = 0; MS2Sig[1] = 0;
break;
case 2 : // half step
MS1Sig[0] = 1; MS1Sig[1] = 1;
MS2Sig[0] = 0; MS2Sig[1] = 0;
break;
case 4: // quarter step
MS1Sig[0] = 0; MS1Sig[1] = 0;
MS2Sig[0] = 1; MS2Sig[1] = 1;
break;
case 8: // eighth step
MS1Sig[0] = 1; MS1Sig[1] = 1;
MS2Sig[0] = 1; MS2Sig[1] = 1;
break;
default :
return -1;
}
TaskHandle microStep = 0;
DAQmxCreateTask("MS1", µStep);
DAQmxCreateDOChan(microStep, "Dev1/port0/line6", "MS1", DAQmx_Val_ChanForAllLines); // MS1
DAQmxCfgSampClkTiming(microStep, NULL, 3000.0, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, 2); // Ext. Trig
DAQmxWriteDigitalLines(microStep, 2, 0, 1000.0, DAQmx_Val_GroupByChannel, MS1Sig, NULL, NULL); // MS1 out
DAQmxStartTask(microStep);
DAQmxWaitUntilTaskDone(microStep, 1.0); // Wait for action to be completed
DAQmxStopTask(microStep);
DAQmxClearTask(microStep);
microStep = 0;
DAQmxCreateTask("MS2", µStep);
DAQmxCreateDOChan(microStep, "Dev1/port0/line7", "MS2", DAQmx_Val_ChanForAllLines); // MS1
DAQmxCfgSampClkTiming(microStep, NULL, 3000.0, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, 2); // Ext. Trig
DAQmxWriteDigitalLines(microStep, 2, 0, 1000.0, DAQmx_Val_GroupByChannel, MS2Sig, NULL, NULL); // MS1 out
DAQmxStartTask(microStep);
DAQmxWaitUntilTaskDone(microStep, 1.0); // Wait for action to be completed
DAQmxStopTask(microStep);
DAQmxClearTask(microStep);
return 0;
}
// destructor
Tweezers::~Tweezers()
{
cerr<<"reset...";
Reset();
DAQmxClearTask(AItaskHandle);
DAQmxClearTask(AOtaskHandle);
DAQmxClearTask(DOtaskHandle);
DAQmxClearTask(TRtaskHandle);
DAQmxResetDevice("Dev1");
DAQmxGetExtendedErrorInfo(errBuff,2048);
cerr<<errBuff;
cerr<<"delete.\n";
}
int EXPORT_API EOGStopTask(TaskHandle taskHandle)
{
int32 error = 0;
char errBuff[2048] = { '\0' };
if (taskHandle != 0)
{
DAQmxErrChk(DAQmxStopTask(taskHandle));
DAQmxClearTask(taskHandle);
return 1;
}
else
{
return 2;
}
Error:
if (DAQmxFailed(error))
{
DAQmxGetExtendedErrorInfo(errBuff, 2048);
Cleanup();
printf("DAQmx Error: %s\n", errBuff);
}
return 0;
}
void QxrdNIDAQPlugin::setAnalogOutput(int chan, double value)
{
QMutexLocker lock(&m_Mutex);
int error;
if (m_AOTaskHandle) {
DAQmxStopTask(m_AOTaskHandle);
DAQmxClearTask(m_AOTaskHandle);
m_AOTaskHandle = 0;
}
if (chan >= 0) {
DAQmxErrChk(DAQmxCreateTask("qxrd-output", &m_AOTaskHandle));
DAQmxErrChk(DAQmxCreateAOVoltageChan (m_AOTaskHandle,
qPrintable(tr("Dev1/ao%1").arg(chan)), NULL, -10.0, 10.0, DAQmx_Val_Volts, NULL));
if (m_AOTaskHandle) {
DAQmxErrChk(DAQmxWriteAnalogScalarF64(m_AOTaskHandle, true, 10.0, value, NULL));
}
}
Error:
return;
}
double QxrdNIDAQPlugin::getAnalogInput(int chan)
{
QMutexLocker lock(&m_Mutex);
int error;
float64 res = 0;
if (m_AITaskHandle) {
DAQmxStopTask(m_AITaskHandle);
DAQmxClearTask(m_AITaskHandle);
m_AITaskHandle = 0;
}
if (chan >= 0) {
DAQmxErrChk(DAQmxCreateTask("qxrd-input", &m_AITaskHandle));
DAQmxErrChk(DAQmxCreateAIVoltageChan (m_AITaskHandle,
qPrintable(tr("Dev1/ai%1").arg(chan)), NULL, DAQmx_Val_Cfg_Default, -10.0, 10.0, DAQmx_Val_Volts, NULL));
if (m_AITaskHandle) {
DAQmxErrChk(DAQmxReadAnalogScalarF64(m_AITaskHandle, 10.0, &res, NULL));
}
}
Error:
return res;
}
double QxrdNIDAQPlugin::count(int /* chan */, double /* time */)
{
QMutexLocker lock(&m_Mutex);
static TaskHandle counterTask = 0;
int error;
float64 res = 0;
if (counterTask == 0) {
DAQmxErrChk(DAQmxCreateTask("counter", &counterTask));
DAQmxErrChk(DAQmxCreateCICountEdgesChan(counterTask,"Dev1/ctr2", "", DAQmx_Val_Rising, 0, DAQmx_Val_CountUp));
DAQmxErrChk(DAQmxSetCICountEdgesTerm(counterTask, "/Dev1/ctr2", "/Dev1/100MHzTimebase"));
DAQmxErrChk(DAQmxStartTask(counterTask));
}
if (counterTask) {
DAQmxErrChk(DAQmxReadCounterScalarF64(counterTask, 0, &res, NULL));
}
return res;
Error:
DAQmxClearTask(counterTask);
return res;
}
void QxrdNIDAQPlugin::setAnalogWaveform(QString chan, double rate, double wfm[], int size)
{
QMutexLocker lock(&m_Mutex);
// printf("setAnalogWaveform(%g,%g...,%d)\n", rate, wfm[0], size);
int error;
int32 nsampwrt;
if (m_AOTaskHandle) {
DAQmxStopTask(m_AOTaskHandle);
DAQmxClearTask(m_AOTaskHandle);
m_AOTaskHandle = 0;
}
if (chan >= 0) {
DAQmxErrChk(DAQmxCreateTask("qxrd-output", &m_AOTaskHandle));
DAQmxErrChk(DAQmxCreateAOVoltageChan (m_AOTaskHandle,
qPrintable(chan), NULL, -10.0, 10.0, DAQmx_Val_Volts, NULL));
if (m_AOTaskHandle) {
DAQmxErrChk(
DAQmxCfgSampClkTiming(m_AOTaskHandle, NULL, rate, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, size)
);
DAQmxErrChk(
DAQmxWriteAnalogF64(m_AOTaskHandle, size, false, -1, DAQmx_Val_GroupByChannel, wfm, &nsampwrt, NULL)
);
}
}
// printf("%d samples written\n", nsampwrt);
Error:
return;
}
int motorControl::motorWindUp()
{
char errBuff[2048]={'\0'};
int32 error=0;
float64 windingUpCmnd[3]={0.5,0.5,0};
if (isEnable){
DAQmxErrChk (DAQmxStartTask(motorTaskHandle));
DAQmxErrChk (DAQmxWriteAnalogF64(motorTaskHandle,1,FALSE,10,DAQmx_Val_GroupByChannel,windingUpCmnd,NULL,NULL));
Sleep(500);
isWindUp = TRUE;
DAQmxStopTask(motorTaskHandle);
printf("Windup Pass.\n");
}else printf("Motors must be first enabled prior to winding up.\n");
Error:
if( DAQmxFailed(error) ) {
DAQmxGetExtendedErrorInfo(errBuff,2048);
DAQmxStopTask(motorTaskHandle);
DAQmxClearTask(motorTaskHandle);
printf("DAQmx Error: %s\n",errBuff);
printf("winding up Error\n");
}
return 0;
}
ATIDAQHardwareInterface::~ATIDAQHardwareInterface()
{
/*stop and clear tasks, without regard to error*/
DAQmxClearTask( *m_thDAQTask );
/*delete unmanaged pointers*/
delete m_thDAQTask;
}
//************************************
// Method: setupCLK
// FullName: fetch::device::NationalInstrumentsDAQ::setupCLK
// Access: public
// Returns: void
// Qualifier:
//
// set up counter for sample clock
// - A finite pulse sequence is generated by a pair of on-board counters.
// In testing, it appears that after the device is reset, initializing
// the counter task doesn't work quite right. First, I have to start the
// task with the paired counter once. Then, I can set things up normally.
// After initializing with the paired counter once, things work fine until
// the device (or computer) is reset. My guess is this is a fault of the
// board or driver software.
// - below, we just cycle the counters when config gets called. This ensures
// everything configures correctly the first time, even after a device
// reset or cold start.
//************************************
void NationalInstrumentsDAQ::setupCLK(float64 nrecords, float64 record_frequency_Hz)
{
TaskHandle clk = 0;
int32 N = _config->ao_samples_per_waveform();
float64 hz = computeSampleFrequency(nrecords, record_frequency_Hz);
const char *dev =_config->name().c_str(),
*ctr =_config->ctr().c_str(),
*armstart_in =_config->armstart().c_str(),
*gate_out =_config->frame_trigger_out().c_str(),
*trig =_config->trigger().c_str();
float64 lvl =_config->level_volts();
char term_ctr[1024]={0},
term_gate[1024]={0},
term_arm_out[1024]={0};
make_terminal_name(term_ctr ,sizeof(term_ctr) ,dev,ctr);
make_terminal_name(term_gate ,sizeof(term_gate) ,dev,ctr);
strcat(term_gate,"Gate");
make_terminal_name(term_arm_out,sizeof(term_arm_out),dev,gate_out);
DAQERR( DAQmxClearTask(_clk.daqtask) ); // Once a DAQ task is started, it needs to be cleared before restarting
DAQERR( DAQmxCreateTask("fetch_CLK",&_clk.daqtask));
clk = _clk.daqtask;
DAQERR(DAQmxCreateCOPulseChanFreq (clk,term_ctr,NULL,DAQmx_Val_Hz,DAQmx_Val_Low,0.0,hz,0.5));
DAQERR(DAQmxCfgImplicitTiming (clk,DAQmx_Val_FiniteSamps,N));
DAQERR(DAQmxCfgDigEdgeStartTrig (clk,"AnalogComparisonEvent",DAQmx_Val_Rising));
DAQERR(DAQmxSetArmStartTrigType (clk,DAQmx_Val_DigEdge)); // Arm trigger has to be through clk
DAQERR(DAQmxSetDigEdgeArmStartTrigSrc (clk,armstart_in));
DAQERR(DAQmxSetDigEdgeArmStartTrigEdge(clk,DAQmx_Val_Rising));
DAQERR(DAQmxSetStartTrigRetriggerable (clk,1));
DAQERR(DAQmxConnectTerms(term_gate,term_arm_out,DAQmx_Val_DoNotInvertPolarity));
}
void NationalInstrumentsDAQ::setupAO( float64 nrecords, float64 record_frequency_Hz )
{
float64 freq = computeSampleFrequency(nrecords, record_frequency_Hz);
DAQERR( DAQmxClearTask(_ao.daqtask) );
DAQERR( DAQmxCreateTask( "fetch_AO", &_ao.daqtask));
registerDoneEvent();
}
/******************************************************************************
**
** Fonction d'arret et de suppresion de tache d'acquisition de la vitesse
**
******************************************************************************/
bool NI6211::stopSpeed()
{
bool error=0;
/*------ DAQmx Stop Code ------*/
error+=DAQmxStopTask(*taskFreq);
error+=DAQmxClearTask(*taskFreq);
delete taskFreq;
taskFreq = NULL;
return error;
}
int DllExport _nidaq_close (int id)
{
sTask *pTask;
pTask = tasks.item + id;
DAQmxClearTask (pTask->handle);
pTask->handle = 0;
return 1;
}
void QxrdNIDAQPlugin::closeTaskHandles()
{
QMutexLocker lock(&m_Mutex);
if (m_AOTaskHandle) {
DAQmxClearTask(m_AOTaskHandle);
m_AOTaskHandle = 0;
}
if (m_AITaskHandle) {
DAQmxClearTask(m_AITaskHandle);
m_AITaskHandle = 0;
}
if (m_TrigAOTask) {
DAQmxClearTask(m_TrigAOTask);
m_TrigAOTask = 0;
}
}
/******************************************************************************
**
** Fonction d'arret et de suppresion de tache d'acquisition de la vitesse
**
******************************************************************************/
bool NI6211::stopCapot()
{
bool error=0;
/*------ DAQmx Stop Code ------*/
error+=DAQmxStopTask(*taskCapot);
error+=DAQmxClearTask(*taskCapot);
delete taskCapot;
taskCapot = NULL;
return error;
}
/******************************************************************************
**
** Fonction d'arret et de suppresion de tache du compteur
**
******************************************************************************/
bool NI6211::stopCounter()
{
bool error=0;
/*------ DAQmx Stop Code ------*/
error+=DAQmxStopTask(*taskCounter);
error+=DAQmxClearTask(*taskCounter);
delete taskCounter;
taskCounter = NULL;
return error;
}
/******************************************************************************
**
** Fonction d'arret et de suppresion de tache d'acquisition
**
******************************************************************************/
bool NI6211::stopAcquisition()
{
bool error=0;
/*------ DAQmx Stop Code ------*/
error+=DAQmxStopTask(*taskRead);
error+=DAQmxClearTask(*taskRead);
delete taskRead;
taskRead=NULL;
return error;
}
void Cleanup(void)
{
if (taskHandle != 0)
{
/*********************************************/
// DAQmx Stop Code
/*********************************************/
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
taskHandle = 0;
}
}
void DaqMagControl::set_volts(double this_volts)
{
DAQmxCreateTask("",&taskHandle);
DAQmxCreateAOVoltageChan (taskHandle, chan_char, "", -10.0, 10.0, DAQmx_Val_Volts , NULL);
DAQmxStartTask(taskHandle);
double volts=this_volts;
DAQmxWriteAnalogF64(taskHandle,1,1,10.0,DAQmx_Val_GroupByChannel,&volts,NULL,NULL);
if( taskHandle!=0 )
{
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
}
}
void YON(int in)
{
TaskHandle YOn = 0;
uInt8 onSig[2] = { in, in };
DAQmxCreateTask("YON", &YOn);
DAQmxCreateDOChan(YOn, "Dev1/port0/line5", "YON", DAQmx_Val_ChanForAllLines); // Yon
DAQmxCfgSampClkTiming(YOn, NULL, 3000.0, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, 2); // Ext. Trig
DAQmxWriteDigitalLines(YOn, 2, 0, 1000.0, DAQmx_Val_GroupByChannel, onSig, NULL, NULL); // turn Off
DAQmxStartTask(YOn);
DAQmxWaitUntilTaskDone(YOn, 1.0); // Wait for action to be completed
DAQmxStopTask(YOn);
DAQmxClearTask(YOn);
}
void YDIR(int in)
{
TaskHandle YDir = 0;
uInt8 dirSig[2] = { in, in };
DAQmxCreateTask("YDir", &YDir);
DAQmxCreateDOChan(YDir, "Dev1/port0/line3", "YDir", DAQmx_Val_ChanForAllLines); // Ydirection
DAQmxCfgSampClkTiming(YDir, NULL, 3000.0, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, 2); // Int. Trig
DAQmxWriteDigitalLines(YDir, 2, 0, 1000.0, DAQmx_Val_GroupByChannel, dirSig, NULL, NULL); // turn Off
DAQmxStartTask(YDir);
DAQmxWaitUntilTaskDone(YDir, 1.0); // Wait for action to be completed
DAQmxStopTask(YDir);
DAQmxClearTask(YDir);
}
/******************************************************************************
**
** Fonction d'arret et de suppresion de tache d'alimentation du moteur
** La vitesse du moteur est préalablement fixé à 0% par sécurité
**
******************************************************************************/
bool NI6211::stopMotor()
{
int error=1;
if(!DAQmxWriteAnalogF64(*taskVOut,1,1,10.0,DAQmx_Val_GroupByChannel,0,NULL,NULL))
{
/*------ DAQmx Stop Code ------*/
DAQmxStopTask(*taskVOut);
DAQmxClearTask(*taskVOut);
delete taskVOut;
taskVOut = NULL;
error=0;
}
return error;
}
int
DoneStartle(void)
{
if( startleDaqHandle!=0 ) {
/*********************************************/
// DAQmx Stop Code
/*********************************************/
DAQmxStopTask(startleDaqHandle);
DAQmxClearTask(startleDaqHandle);
}
if( DAQmxFailed(error) )
printf("DAQmx Error: %s\n",errBuff);
Error:
return 0;
}
