double get_adc_volts(int chan, int diff, int range)
{
lsampl_t data[OVER_SAMPLE]; // adc burst data buffer
int retval;
comedi_range *ad_range;
comedi_insn daq_insn;
ADC_ERROR = FALSE; // global fault flag
if (diff == TRUE) {
aref_ai = AREF_DIFF;
} else {
aref_ai = AREF_GROUND;
}
// configure the AI channel for reads
daq_insn.subdev = subdev_ai;
daq_insn.chanspec = CR_PACK(chan, range, aref_ai);
daq_insn.insn = INSN_READ;
daq_insn.n = OVER_SAMPLE;
daq_insn.data = data;
retval = comedi_do_insn(it, &daq_insn); // send one instruction to the driver
if (retval < 0) {
comedi_perror("comedi_do_insn in get_adc_volts");
ADC_ERROR = TRUE;
bmc.raw[chan] = 0;
return 0.0;
}
ad_range = comedi_get_range(it, subdev_ai, chan, range);
bmc.raw[chan] = data[0];
return comedi_to_phys(data[0], ad_range, maxdata_ai); // return the double result
}
int comedi_data_read(comedi_t * dev, unsigned int subdev, unsigned int chan,
unsigned int range, unsigned int aref, lsampl_t * data)
{
comedi_insn insn;
memset(&insn, 0, sizeof(insn));
insn.insn = INSN_READ;
insn.n = 1;
insn.data = data;
insn.subdev = subdev;
insn.chanspec = CR_PACK(chan, range, aref);
return comedi_do_insn(dev, &insn);
}
int comedi_dio_config(struct comedi_device *dev, unsigned int subdev,
unsigned int chan, unsigned int io)
{
struct comedi_insn insn;
memset(&insn, 0, sizeof(insn));
insn.insn = INSN_CONFIG;
insn.n = 1;
insn.data = &io;
insn.subdev = subdev;
insn.chanspec = CR_PACK(chan, 0, 0);
return comedi_do_insn(dev, &insn);
}
int comedi_data_write(void *dev, unsigned int subdev, unsigned int chan,
unsigned int range, unsigned int aref, unsigned int data)
{
struct comedi_insn insn;
memset(&insn, 0, sizeof(insn));
insn.insn = INSN_WRITE;
insn.n = 1;
insn.data = &data;
insn.subdev = subdev;
insn.chanspec = CR_PACK(chan, range, aref);
return comedi_do_insn(dev, &insn);
}
int comedi_data_read_hint(void *dev, unsigned int subdev,
unsigned int chan, unsigned int range, unsigned int aref)
{
struct comedi_insn insn;
unsigned int dummy_data;
memset(&insn, 0, sizeof(insn));
insn.insn = INSN_READ;
insn.n = 0;
insn.data = &dummy_data;
insn.subdev = subdev;
insn.chanspec = CR_PACK(chan, range, aref);
return comedi_do_insn(dev, &insn);
}
double get_adc_volts(int chan, int diff, int range)
{
lsampl_t data[OVER_SAMPLE]; // adc burst data buffer
int retval, intg, i;
comedi_range *ad_range;
comedi_insn daq_insn;
ADC_ERROR = FALSE; // global fault flag
if (diff == TRUE) {
aref_ai = AREF_DIFF;
} else {
aref_ai = AREF_GROUND;
}
intg = 0; // clear the integration counter
// configure the AI channel for burst reads of OVER_SAMPLE times with the passed params
daq_insn.subdev = subdev_ai;
daq_insn.chanspec = CR_PACK(chan, range, aref_ai);
daq_insn.insn = INSN_READ;
daq_insn.n = OVER_SAMPLE;
daq_insn.data = data;
retval = comedi_do_insn(it, &daq_insn); // send one instruction to the driver
if (retval < 0) {
comedi_perror("comedi_do_insn in get_adc_volts");
ADC_ERROR = TRUE;
bmc.raw[chan] = 0;
return 0.0;
}
for (i = 0; i < OVER_SAMPLE; i++) {
intg += data[i];
}
data[0] = intg >> OVER_SAMPLE_SHIFTS;
ad_range = comedi_get_range(it, subdev_ai, chan, range);
bmc.raw[chan] = data[0];
return comedi_to_phys(data[0], ad_range, ((1 << (OVER_SAMPLE_ADC + OVER_SAMPLE_BITS)) - 1)); // return the double result
}
int comedi_dio_bitfield(struct comedi_device *dev, unsigned int subdev,
unsigned int mask, unsigned int *bits)
{
struct comedi_insn insn;
unsigned int data[2];
int ret;
memset(&insn, 0, sizeof(insn));
insn.insn = INSN_BITS;
insn.n = 2;
insn.data = data;
insn.subdev = subdev;
data[0] = mask;
data[1] = *bits;
ret = comedi_do_insn(dev, &insn);
*bits = data[1];
return ret;
}
int main(int argc, char *argv[])
{
int ret;
comedi_insn insn;
lsampl_t d[5];
comedi_t *device;
int freq;
struct parsed_options options;
init_parsed_options(&options);
options.freq = -1;
// we hijack this option to switch it on or off
options.n_scan = -1;
options.value = -1;
parse_options(&options, argc, argv);
if ((options.value==-1)&&(options.n_scan==-1)&&(options.freq==-1)) {
fprintf(stderr,
"Usage: %s OPTIONS duty_cycle\n"
"options: \n"
" -N 0 switches PWM off\n"
" -N 1 switches PWM on\n"
" -N 2 enquires the max value for the duty cycle\n"
" -F FREQ sets the PWM frequency\n",
argv[0]);
}
device = comedi_open(options.filename);
if(!device){
comedi_perror(options.filename);
exit(-1);
}
options.subdevice = comedi_find_subdevice_by_type(device,COMEDI_SUBD_PWM,0);
if (options.verbose)
printf("PWM subdevice autodetection gave subdevice number %d\n",
options.subdevice);
if(options.n_scan==2) {
printf("%d\n",comedi_get_maxdata(device,options.subdevice,0));
comedi_close(device);
exit(0);
}
insn.insn=INSN_CONFIG;
insn.data=d;
insn.subdev=options.subdevice;
insn.chanspec=CR_PACK(0,0,0);
if(options.n_scan==1) {
d[0] = INSN_CONFIG_ARM;
d[1] = 0;
insn.n=2;
ret=comedi_do_insn(device,&insn);
if(ret < 0){
fprintf(stderr,"Could not switch on:%d\n",ret);
comedi_perror(options.filename);
exit(-1);
}
}
if(options.n_scan==0) {
d[0] = INSN_CONFIG_DISARM;
d[1] = 0;
insn.n=1;
ret=comedi_do_insn(device,&insn);
if(ret < 0){
fprintf(stderr,"Could not switch off:%d\n",ret);
comedi_perror(options.filename);
exit(-1);
}
}
if(options.freq>0) {
freq = options.freq;
d[0] = INSN_CONFIG_PWM_SET_PERIOD;
d[1] = 1E9/freq;
insn.n=2;
ret=comedi_do_insn(device,&insn);
if(ret < 0){
fprintf(stderr,"Could set frequ:%d\n",ret);
comedi_perror(options.filename);
exit(-1);
}
}
d[0] = INSN_CONFIG_GET_PWM_STATUS;
insn.n=2;
ret=comedi_do_insn(device,&insn);
if(ret < 0){
fprintf(stderr,"Could not get status:%d insn=%d\n",
ret,
d[0]);
comedi_perror(options.filename);
exit(-1);
}
if (options.verbose) {
if (d[1])
fprintf(stderr,
"PWM is on.\n");
else
fprintf(stderr,
"PWM is off.\n");
}
d[0] = INSN_CONFIG_PWM_GET_PERIOD;
insn.n=2;
ret=comedi_do_insn(device,&insn);
if(ret < 0){
fprintf(stderr,"Could get frequ:%d\n",ret);
comedi_perror(options.filename);
exit(-1);
}
freq = 1E9 / d[1];
if (options.verbose)
fprintf(stderr,"PWM frequency is %d\n", freq);
if (options.value>=0)
if(comedi_data_write(device,
options.subdevice,
options.channel,
0,
0,
options.value)<0)
{
fprintf(stderr,"error setting the pwm duty cycle on ");
comedi_perror(options.filename);
exit(1);
}
return 0;
}
int main(void)
{
RTIME until;
RT_TASK *task;
comedi_insn insn[NCHAN];
unsigned int read_chan[NICHAN] = { 0 };
unsigned int write_chan[NOCHAN] = { 0 };
#if !SINGLE_INSN
comedi_insnlist ilist = { NCHAN, insn };
#endif
#if SIN_FREQ
lsampl_t sinewave;
double omega = (2.0*M_PI*SIN_FREQ)/1.0E9;
double actualtime;
#endif
lsampl_t *hist;
lsampl_t data[NCHAN];
long i, k, n, retval;
int toggle;
FILE *fp;
double tms[2];
#if SINGLE_INSN
printf("single insn true\n");
#endif
#if SIN_FREQ
printf(" true\n");
#endif
signal(SIGKILL, endme);
signal(SIGTERM, endme);
hist = malloc(SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
memset(hist, 0, SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
printf("COMEDI INSN%s TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d.\n", SINGLE_INSN ? "" : "LIST", SAMP_FREQ, RUN_TIME);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
if (init_board()) {;
printf("Board initialization failed.\n");
return 1;
}
for (i = 0; i < NICHAN; i++) {
BUILD_AREAD_INSN(insn[i], subdevai, data[i], 1, read_chan[i], AI_RANGE, AREF_GROUND);
}
for (i = 0; i < NOCHAN; i++) {
BUILD_AWRITE_INSN(insn[NICHAN + i], subdevao, data[NICHAN + i], 1, write_chan[i], AO_RANGE, AREF_GROUND);
}
printf("done building.\n"); fflush (stdout);
until = rt_get_time();
for (toggle = n = k = 0; k < SAMP_FREQ*RUN_TIME && !end; k++) {
#if SIN_FREQ
actualtime = count2nano(rt_get_time());
if(k<2) tms[k] = actualtime;
sinewave = (int) (maxdatao/8*sin(omega*actualtime));
data[NICHAN] = sinewave+maxdatao/2;
//data[NICHAN + 1] = -sinewave+maxdatao/2;
#else
data[NICHAN] = toggle*maxdatao/2;
data[NICHAN + 1] = (1 - toggle)*maxdatao/2;
toggle = 1 - toggle;
#endif
#if SINGLE_INSN
for (i = 0; i < NCHAN; i++) {
if ((retval = comedi_do_insn(dev, insn + i)) > 0) {
hist[n++] = data[i];
} else {
printf("Comedi insn failed # %ld out of %d instructions, retval %ld.\n", i, NCHAN, retval);
break;
}
}
#else
if ((retval = rt_comedi_do_insnlist(dev, &ilist)) == NCHAN) {
for (i = 0; i < NCHAN; i++) {
hist[n++] = data[i];
}
} else {
printf("Comedi insnlist processed only %lu out of %d instructions.\n", retval, NCHAN);
break;
}
#endif
rt_sleep_until(until += nano2count(SAMP_TIME));
}
comedi_cancel(dev, subdevai);
comedi_cancel(dev, subdevao);
comedi_data_write(dev, subdevao, 0, 0, AREF_GROUND, 2048);
comedi_data_write(dev, subdevao, 1, 0, AREF_GROUND, 2048);
comedi_close(dev);
printf("COMEDI INSN%s ENDS.\n", SINGLE_INSN ? "" : "LIST");
printf("t1: %g\n", tms[0]);
printf("t2: %g\n", tms[1]);
printf("tdiff: %g\n", tms[1]-tms[0]);
fp = fopen("rec.dat", "w");
for (n = k = 0; k < SAMP_FREQ*RUN_TIME; k++) {
fprintf(fp, "# %ld: ", k);
for (i = 0; i < NCHAN; i++) {
fprintf(fp, "%d\t", hist[n++]);
}
fprintf(fp, "\n");
}
fclose(fp);
free(hist);
stop_rt_timer();
rt_make_soft_real_time();
rt_task_delete(task);
return 0;
}
static int configBoard( int board ) {
MY_BOARD_HARDWARE *pBoardHard = myBoard_getHardwareBoard( board );
MY_BOARD_SOFTWARE *pBoardSoft = myBoard_getSoftwareBoard( board );
if (pBoardHard == NULL || pBoardSoft == NULL) return -1;
comedi_insn insn;
lsampl_t p_insn_data[3];
int i;
int status;
insn.insn = INSN_CONFIG;
insn.data = p_insn_data;
insn.subdev = pBoardHard->subDeviceNumber;
insn.n = 2;
insn.data[0] = INSN_CONFIG_BLOCK_SIZE;
insn.data[1] = 256;
for(i=0; i < pBoardSoft->numberOfActiveAnalogInputs; i++){
int indexRange = pBoardHard->channelIndexRange[i];
insn.chanspec=CR_PACK(
i,
indexRange,
pBoardHard->analogReference
);
status = comedi_do_insn(
pBoardHard->p_comediFileHandle,
&insn
);
if (status<0) {
fprintf( stderr, "failed do inst for board[%d]\n", board );
return -1;
}
}
if (pBoardHard->maxDataIsChannelSpecific ||
pBoardHard->rangeIsChannelSpecific) {
for(i=0; i < pBoardSoft->numberOfActiveAnalogInputs; i++){
const comedi_range *pVoltageRange = comedi_get_range(
pBoardHard->p_comediFileHandle,
pBoardHard->subDeviceNumber,
i,
pBoardHard->channelIndexRange[i]
);
int rawMax = comedi_get_maxdata(
pBoardHard->p_comediFileHandle,
pBoardHard->subDeviceNumber,
i
);
pBoardHard->channelRawToVoltA[i] = (pVoltageRange->max - pVoltageRange->min) / rawMax;
pBoardHard->channelRawToVoltB[i] = pVoltageRange->min;
fprintf( stderr, "set convert CONST for board[%d] channel[%d] a=%lf b=%lf\n",
board, i,
pBoardHard->channelRawToVoltA[i],
pBoardHard->channelRawToVoltB[i]
);
}/* for channel */
} else {
const comedi_range *pVoltageRange = comedi_get_range(
pBoardHard->p_comediFileHandle,
pBoardHard->subDeviceNumber,
0,
pBoardHard->channelIndexRange[0]
);
int rawMax = comedi_get_maxdata(
pBoardHard->p_comediFileHandle,
pBoardHard->subDeviceNumber,
0
);
double rawToVoltA = (pVoltageRange->max - pVoltageRange->min) / rawMax;
double rawToVoltB = pVoltageRange->min;
fprintf( stderr, "set convert CONST for all channel on board[%d] a=%lf b=%lf\n", board,
rawToVoltA,
rawToVoltB
);
for(i=0; i < pBoardSoft->numberOfActiveAnalogInputs; i++){
pBoardHard->channelRawToVoltA[i] = rawToVoltA;
pBoardHard->channelRawToVoltB[i] = rawToVoltB;
}
}
return 0;
}