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;
}
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;
}
//Sends 1000 Feedback low-level commands to read digital IO and analog inputs.
//On the first send, the following are set: DAC0 to 2.5 volts, DAC1 to 3.5
//volts, and digital IOs to inputs.
int allIO(HANDLE hDevice, ue9CalibrationInfo *caliInfo)
{
uint8 sendBuff[34], recBuff[64], settlingTime;
uint8 numChannels; //Number of AIN channels, 0-16.
uint16 checksumTotal, bytesVoltage, ainMask;
int sendChars, recChars, i, j;
int initialize; //boolean to init. DAC and digital IO settings
int numIterations, valueDIPort;
long time, ainResolution;
double valueAIN[16];
numIterations = 1000;
initialize = 1;
time = 0;
numChannels = 8;
ainResolution = 12;
for( i = 0; i < 16; i++ )
valueAIN[i] = 9999.0;
settlingTime = 0;
ainMask = pow(2.0, numChannels) - 1;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (uint8)(0x0E); //Number of data words
sendBuff[3] = (uint8)(0x00); //Extended command number
sendBuff[6] = 255; //FIOMask : setting the mask of all FIOs
sendBuff[7] = 0; //FIODir : setting all FIO directions to input
sendBuff[8] = 0; //FIOState : all FIO directions are input, so
// state writes do not apply
sendBuff[9] = 255; //EIOMask : setting the mask of all EIOs
sendBuff[10] = 0; //EIODir : setting all EIO directions to input
sendBuff[11] = 0; //EIOState : all EIO directions are input, so
// state writes do not apply
sendBuff[12] = 15; //CIOMask : setting the mask of all CIOs
sendBuff[13] = 0; //CIODirState : setting all CIO directions to input,
// state writes do not apply
sendBuff[14] = 7; //MIOMask : setting the mask of all MIOs
sendBuff[15] = 0; //MIODirState : setting all MIO directions to input,
// state writes do not apply
//Getting binary DAC0 value of 2.5 volts
if( getDacBinVoltCalibrated(caliInfo, 0, 2.500, &bytesVoltage) < 0 )
return -1;
//Setting the voltage of DAC0 to 2.5
sendBuff[16] = (uint8)(bytesVoltage & 255); //low bits of DAC0
sendBuff[17] = (uint8)(bytesVoltage/256) + 192; //high bits of DAC0
//(bit 7 : Enable,
// bit 6: Update)
//Getting binary DAC1 value of 3.5 volts
if( getDacBinVoltCalibrated(caliInfo, 1, 3.500, &bytesVoltage) < 0 )
return -1;
//Setting the voltage of DAC1 to 3.5 volts
sendBuff[18] = (uint8)(bytesVoltage & 255); //low bits of DAC1
sendBuff[19] = (uint8)(bytesVoltage/256) + 192; //high bits of DAC1
//(bit 7 : Enable,
// bit 6: Update)
//AINMask - reading the number of AINs specified by numChannels
sendBuff[20] = ainMask & 255; //AINMask (low byte)
sendBuff[21] = ainMask/256; //AINMask (high byte)
sendBuff[22] = 14; //AIN14ChannelNumber : setting to channel 14
sendBuff[23] = 15; //AIN15ChannelNumber : setting to channel 15
sendBuff[24] = ainResolution; //Resolution : Resolution specified by
// ainResolution
sendBuff[25] = settlingTime; //SettlingTime
//Setting all BipGains (Gain = 1, Bipolar = 1)
for( i = 26; i < 34; i++ )
sendBuff[i] = (uint8)(0x00);
extendedChecksum(sendBuff, 34);
time = getTickCount();
for( i = 0; i < numIterations; i++ )
{
//Sending command to UE9
sendChars = LJUSB_Write(hDevice, sendBuff, 34);
if( sendChars < 34 )
{
if( sendChars == 0 )
printf("Feedback error (Iteration %d) : write failed\n", i);
else
printf("Feedback error (Iteration %d) : did not write all of the buffer\n", i);
return -1;
}
//Reading response from UE9
recChars = LJUSB_Read(hDevice, recBuff, 64);
if( recChars < 64 )
{
if( recChars == 0 )
printf("Feedback error (Iteration %d) : read failed\n", i);
else
printf("Feedback error (Iteration %d) : did not read all of the buffer\n", i);
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 64);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5] )
{
printf("Feedback error (Iteration %d) : read buffer has bad checksum16(MSB)\n", i);
return -1;
}
if( (uint8)(checksumTotal & 255) != recBuff[4] )
{
printf("Feedback error (Iteration %d) : read buffer has bad checksum16(LSB)\n", i);
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("Feedback error (Iteration %d) : read buffer has bad checksum8\n", i);
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x1D) || recBuff[3] != (uint8)(0x00) )
{
printf("Feedback error (Iteration %d) : read buffer has wrong command bytes\n", i);
return -1;
}
for( j = 0; j < numChannels && j < 16; j++ )
getAinVoltCalibrated(caliInfo, 0x00, (uint8)ainResolution, recBuff[12 + j*2] + recBuff[13 + j*2]*256, &valueAIN[j]);
valueDIPort = recBuff[7] + recBuff[9]*256 + (recBuff[10] & 15)*65536 + (recBuff[11] & 7)*1048576;
if( initialize == 1 )
{
//Unsetting digital IO bit masks since we only want to read states now
sendBuff[6] = 0; //FIOMask
sendBuff[9] = 0; //EIOMask
sendBuff[12] = 0; //CIOMask
sendBuff[14] = 0; //MIOMask
//Turning off Update bit of DACs
sendBuff[17] = sendBuff[17] - 64; //high bits of DAC0
sendBuff[19] = sendBuff[19] - 64; //high bits of DAC1
extendedChecksum(sendBuff, 34);
initialize = 0;
}
}
time = getTickCount() - time;
printf("Milleseconds per iteration = %.3f\n", (double)time / (double)numIterations);
printf("\nDigital Input (FIO0-7, EIO0-7, CIO0-3, MIO0-2) = %d\n",valueDIPort);
printf("\nAIN readings from last iteration:\n");
for( j = 0; j < numChannels; j++ )
printf("%.3f\n", valueAIN[j]);
return 0;
}
//Sends a CommConfig low-level command to read the configuration settings
//associated with the Comm chip.
int commConfig_example(int socketFD)
{
uint8 sendBuff[38];
uint8 recBuff[38];
int sendChars, recChars;
int i, j;
uint16 checksumTotal;
char str[3];
sendBuff[1] = (uint8)(0x78); //command bytes
sendBuff[2] = (uint8)(0x10); //number of data words
sendBuff[3] = (uint8)(0x01); //extended command number
//WriteMask, LocalID, PowerLevel, etc. are all passed a value of
//zero since we only want to read Comm configuration settings,
//not change them
for(i = 6; i < 38; i++)
sendBuff[i] = (uint8)(0x00);
extendedChecksum(sendBuff, 38);
//Sending command to UE9
sendChars = send(socketFD, sendBuff, 38, 0);
if(sendChars < 38)
{
if(sendChars == -1)
printf("Error : send failed\n");
else
printf("Error : did not send all of the buffer\n");
return -1;
}
//Receiving response from UE9
recChars = recv(socketFD, recBuff, 38, 0);
if(recChars < 38)
{
if(recChars == -1)
printf("Error : receive failed\n");
else
printf("Error : did not receive all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 38);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
{
printf("Error : received buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("Error : received buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("Error : received buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0x78) || recBuff[2] != (uint8)(0x10) || recBuff[3] != (uint8)(0x01) )
{
printf("Error : received buffer has wrong command bytes \n");
return -1;
}
printf("LocalID (byte 8): %d\n", recBuff[8]);
printf("PowerLevel (byte 9): %d\n", recBuff[9]);
printf("ipAddress (bytes 10-13): %d.%d.%d.%d\n", recBuff[13], recBuff[12], recBuff[11], recBuff[10]);
printf("Gateway (bytes 14 - 17): %d.%d.%d.%d\n", recBuff[17], recBuff[16], recBuff[15], recBuff[14]);
printf("Subnet (bytes 18 - 21): %d.%d.%d.%d\n", recBuff[21], recBuff[20], recBuff[19], recBuff[18]);
printf("PortA (bytes 22 - 23): %d\n", recBuff[22] + (recBuff[23] * 256 ));
printf("PortA (bytes 24 - 25): %d\n", recBuff[24] + (recBuff[25] * 256 ));
printf("DHCPEnabled (byte 26): %d\n", recBuff[26]);
printf("ProductID (byte 27): %d\n", recBuff[27]);
printf("MACAddress (bytes 28 - 33): ");
for(i = 5; i >= 0 ; i--)
{
sprintf(str, "%x", (int)(recBuff[i+28]));
for(j = 0; j < 3; j++)
{
if(str[j] == '\0')
break;
}
if(j < 2)
{
str[1] = str[0];
str[2] = '\0';
str[0] = '0';
}
printf("%s", str);
if(i > 2)
printf(".");
if(i == 2)
printf(" ");
}
printf("\nHWVersion (bytes 34-35): %.3f\n", (unsigned int)recBuff[35] + (double)recBuff[34]/100.0);
printf("CommFWVersion (bytes 36-37): %.3f\n\n", (unsigned int)recBuff[37] + (double)recBuff[36]/100.0);
return 0;
}
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 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, 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 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;
}
//Sends a StreamConfig low-level command to configure the stream to read only 4
//analog inputs (AI0 - AI3).
int StreamConfig_example(HANDLE hDevice)
{
int sendBuffSize;
sendBuffSize = 12 + 2*NumChannels;
uint8 sendBuff[sendBuffSize], recBuff[8];
uint16 checksumTotal, scanInterval;
int sendChars, recChars, i;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = NumChannels + 3; //Number of data words : NumChannels + 3
sendBuff[3] = (uint8)(0x11); //Extended command number
sendBuff[6] = (uint8)NumChannels; //NumChannels
sendBuff[7] = ainResolution; //Resolution
sendBuff[8] = 0; //SettlingTime = 0
sendBuff[9] = 0; //ScanConfig: scan pulse and external scan
//trigger disabled stream clock
//frequency = 4 MHz
scanInterval = 4000;
sendBuff[10] = (uint8)(scanInterval&0x00FF); //Scan interval (low byte)
sendBuff[11] = (uint8)(scanInterval/256); //Scan interval (high byte)
for( i = 0; i < NumChannels; i++ )
{
sendBuff[12 + i*2] = i; //channel # = i
sendBuff[13 + i*2] = 0; //BipGain (Bip = unipolar, Gain = 1)
}
extendedChecksum(sendBuff, sendBuffSize);
//Sending command to UE9
sendChars = LJUSB_Write(hDevice, sendBuff, sendBuffSize);
if( sendChars < sendBuffSize )
{
if( sendChars == 0 )
printf("Error : write failed (StreamConfig).\n");
else
printf("Error : did not write all of the buffer (StreamConfig).\n");
return -1;
}
//Reading response from UE9
recChars = LJUSB_Read(hDevice, recBuff, 8);
if( recChars < 8 )
{
if( recChars == 0 )
printf("Error : read failed (StreamConfig).\n");
else
printf("Error : did not read all of the buffer (StreamConfig).\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 8);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5] )
{
printf("Error : read buffer has bad checksum16(MSB) (StreamConfig).\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4] )
{
printf("Error : read buffer has bad checksum16(LSB) (StreamConfig).\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("Error : read buffer has bad checksum8 (StreamConfig).\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x01) || recBuff[3] != (uint8)(0x11) )
{
printf("Error : read buffer has wrong command bytes (StreamConfig).\n");
return -1;
}
if( recBuff[6] != 0 )
{
printf("Errorcode # %d from StreamConfig read.\n", (unsigned int)recBuff[6]);
return -1;
}
return 0;
}
//Sends a Feedback low-level command to set DAC0, DAC1, read FIO0-FIO3 and
//AI0-AI3.
int feedback_example(HANDLE hDevice, ue9CalibrationInfo *caliInfo)
{
uint8 sendBuff[34], recBuff[64], ainResolution, gainBip;
uint16 checksumTotal, bytesVoltage;
uint32 tempDir, tempState;
int sendChars, recChars, i;
double voltage;
ainResolution = 12;
//ainResolution = 18; //high-res mode for UE9 Pro only
gainBip = 0; //(Gain = 1, Bipolar = 0)
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (uint8)(0x0E); //Number of data words
sendBuff[3] = (uint8)(0x00); //Extended command number
//All these bytes are set to zero since we are not changing the FIO, EIO, CIO
//and MIO directions and states
for( i = 6; i <= 15; i++ )
sendBuff[i] = (uint8)(0x00);
if( getDacBinVoltCalibrated(caliInfo, 0, 2.500, &bytesVoltage) < 0 )
return -1;
//setting the voltage of DAC0
sendBuff[16] = (uint8)( bytesVoltage & (0x00FF) ); //low bits of DAC0
sendBuff[17] = (uint8)( bytesVoltage / 256 ) + 192; //high bits of DAC0
//(bit 7 : Enable,
// bit 6: Update)
if( getDacBinVoltCalibrated(caliInfo, 1, 3.500, &bytesVoltage) < 0 )
return -1;
//setting the voltage of DAC1
sendBuff[18] = (uint8)( bytesVoltage & (0x00FF) ); //low bits of DAC1
sendBuff[19] = (uint8)( bytesVoltage / 256 ) + 192; //high bits of DAC1
//(bit 7 : Enable,
// bit 6: Update)
sendBuff[20] = (uint8)(0x0f); //AINMask - reading AIN0-AIN3, not AIN4-AIN7
sendBuff[21] = (uint8)(0x00); //AINMask - not reading AIN8-AIN15
sendBuff[22] = (uint8)(0x00); //AIN14ChannelNumber - not using
sendBuff[23] = (uint8)(0x00); //AIN15ChannelNumber - not using
sendBuff[24] = ainResolution; //Resolution = 12
//Setting BipGains
for( i = 25; i < 34; i++ )
sendBuff[i] = gainBip;
extendedChecksum(sendBuff, 34);
//Sending command to UE9
sendChars = LJUSB_Write(hDevice, sendBuff, 34);
if( sendChars < 34 )
{
if( sendChars == 0 )
printf("Error : write failed\n");
else
printf("Error : did not write all of the buffer\n");
return -1;
}
//Reading response from UE9
recChars = LJUSB_Read(hDevice, recBuff, 64);
if( recChars < 64 )
{
if( recChars == 0 )
printf("Error : read failed\n");
else
printf("Error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 64);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5] )
{
printf("Error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("Error : read buffer has bad checksum16(LSB)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("Error : read buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x1D) || recBuff[3] != (uint8)(0x00) )
{
printf("Error : read buffer has wrong command bytes \n");
return -1;
}
printf("Set DAC0 to 2.500 volts and DAC1 to 3.500 volts.\n\n");
printf("Flexible digital I/O directions and states (FIO0 - FIO3):\n");
for( i = 0; i < 4; i++ )
{
tempDir = ( (uint32)(recBuff[6] / pow(2, i)) & (0x01) );
tempState = ( (uint32)(recBuff[7] / pow(2, i)) & (0x01) );
printf(" FI%d: %u and %u\n", i, tempDir, tempState);
}
printf("\nAnalog Inputs (AI0 - AI3):\n");
for( i = 0; i < 4; i++ )
{
bytesVoltage = recBuff[12 + 2*i] + recBuff[13 + 2*i]*256;
//getting analog voltage
if( getAinVoltCalibrated(caliInfo, gainBip, ainResolution, bytesVoltage, &voltage) < 0 )
return -1;
printf(" AI%d: %.4f V\n", i, voltage);
}
printf("\n");
return 0;
}
//Sends a ControlConfig low-level command to read the configuration settings
//associated with the Control chip.
int controlConfig_example(int socketFD, ue9CalibrationInfo *caliInfo)
{
uint8 sendBuff[18], recBuff[24];
int sendChars, recChars;
int i;
uint16 checksumTotal;
double dac;
sendBuff[1] = (uint8)(0xF8); //command byte
sendBuff[2] = (uint8)(0x06); //number of data words
sendBuff[3] = (uint8)(0x08); //extended command number
//WriteMask, PowerLevel, FIODir, etc. are all passed a value of
//zero since we only want to read Control configuration settings,
//not change them
for(i = 6; i < 18; i++)
sendBuff[i] = (uint8)(0x00);
extendedChecksum(sendBuff,18);
//Sending command to UE9
sendChars = send(socketFD, sendBuff, 18, 0);
if(sendChars < 18)
{
if(sendChars == -1)
printf("Error : send failed\n");
else
printf("Error : did not send all of the buffer\n");
return -1;
}
//Receiving response from UE9
recChars = recv(socketFD, recBuff, 24, 0);
if(recChars < 24)
{
if(recChars == -1)
printf("Error : receive failed\n");
else
printf("Error : did not receive all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 24);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
{
printf("Error : received buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("Error : received buffer has bad checksum16(LBS)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("Error : received buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x09) || recBuff[3] != (uint8)(0x08) )
{
printf("Error : received buffer has wrong command bytes \n");
return -1;
}
if( recBuff[6] != 0)
{
printf("Errorcode (byte 6): %d\n", (uint32)recBuff[6]);
return -1;
}
printf("PowerLevel default (byte 7): %d\n", (uint32)recBuff[7]);
printf("ResetSource (byte 8): %d\n", (uint32)recBuff[8]);
printf("ControlFW Version (bytes 9 and 10): %.3f\n", (uint32)recBuff[10] + (double)recBuff[9]/100.0);
printf("ControlBL Version (bytes 11 and 12): %.3f\n", (uint32)recBuff[12] + (double)recBuff[11]/100.0);
printf("HiRes Flag (byte 13): %d\n", (uint32)(recBuff[13]) & (0x01));
printf("FIO default directions and states (bytes 14 and 15):\n");
for(i = 0; i < 8; i++)
printf(" FIO%d: %d and %d\n", i, ((recBuff[14]/(uint32)pow(2, i)) & 0x01), ((recBuff[15]/(uint32)pow(2, i)) & 0x01) );
printf("EIO default directions and states (bytes 16 and 17):\n");
for(i = 0; i < 8; i++)
printf(" EIO%d: %d and %d\n", i, ((recBuff[16]/(uint32)pow(2, i)) & 0x01), ((recBuff[17]/(uint32)pow(2, i)) & 0x01) );
printf("CIO default directions and states (byte 18):\n");
for(i = 0; i <= 3; i++)
printf(" CIO%d: %d and %d\n", i, ((recBuff[18]/(uint32)pow(2, 4 + i)) & 0x01), ((recBuff[18]/(uint32)pow(2, i)) & 0x01) );
printf("MIO default directions and states (byte 19):\n");
for(i = 0; i <= 2; i++)
printf(" MIO%d: %d and %d\n", i, ((recBuff[19]/(uint32)pow(2, 4 + i)) & 0x01), ((recBuff[19]/(uint32)pow(2, i)) & 0x01) );
printf("DAC0 default (bytes 20 and 21):\n Enabled: %d\n", ((recBuff[21]/128) & 0x01) );
//getting DAC0 binary value
dac = (double)( (unsigned int)recBuff[20] + (((unsigned int)recBuff[21] & 15)*256) );
//getting DAC0 analog value (Volts = (Bits - Offset)/Slope )
dac = (dac - caliInfo->DACOffset[0])/caliInfo->DACSlope[0];
printf(" Voltage: %.3f V\n", dac);
printf("DAC1 default (bytes 22 and 23):\n Enabled: %d\n", ((recBuff[23]/128) & 0x01) );
//getting DAC1 binary value
dac = (double)( (uint32)recBuff[22] + ((recBuff[23] & 15)*256) );
//getting DAC1 analog value ( Volts = (Bits - Offset)/Slope )
dac = (dac - caliInfo->DACOffset[1])/caliInfo->DACSlope[1];
printf(" Voltage: %.3f V\n\n", dac);
return 0;
}
//Calls the Feedback low-level command numIterations times and calculates the
//time per iteration.
int allIO(HANDLE hDevice, u6CalibrationInfo *caliInfo)
{
uint8 *sendBuff, *recBuff;
uint16 checksumTotal, bits16;
uint32 bits32;
int sendChars, recChars, i, j, sendSize, recSize;
double valueAIN[14];
long time;
int ret = 0;
for( i = 0; i < 14; i++ )
valueAIN[i] = 9999;
//Setting up a Feedback command that will set CIO0-3 as input, and setting
//DAC0 voltage
sendBuff = (uint8 *)malloc(18*sizeof(uint8)); //Creating an array of size 18
recBuff = (uint8 *)malloc(10*sizeof(uint8)); //Creating an array of size 10
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = 6; //Number of data words (.5 word for echo, 5.5
//words for IOTypes and data)
sendBuff[3] = (uint8)(0x00); //Extended command number
sendBuff[6] = 0; //Echo
sendBuff[7] = 29; //IOType is PortDirWrite
sendBuff[8] = 0; //FIO Writemask
sendBuff[9] = 0; //EIO Writemask
sendBuff[10] = 15; //CIO Writemask
sendBuff[11] = 0; //FIO Direction
sendBuff[12] = 0; //EIO Direction
sendBuff[13] = 0; //CIO Direction
//Setting DAC0 with 2.5 volt output
sendBuff[14] = 38; //IOType is DAC0(16-bit)
//Value is 2.5 volts (in binary)
getDacBinVoltCalibrated16Bit(caliInfo, 0, 2.5, &bits16);
sendBuff[15] = (uint8)(bits16&255);
sendBuff[16] = (uint8)(bits16/256);
sendBuff[17] = 0; //extra padding byte
extendedChecksum(sendBuff, 18);
//Sending command to U6
if( (sendChars = LJUSB_Write(hDevice, sendBuff, 18)) < 18 )
{
if(sendChars == 0)
printf("Feedback (CIO input) error : write failed\n");
else
printf("Feedback (CIO input) error : did not write all of the buffer\n");
ret = -1;
goto cleanmem;
}
//Reading response from U6
if( (recChars = LJUSB_Read(hDevice, recBuff, 10)) < 10 )
{
if( recChars == 0 )
{
printf("Feedback (CIO input) error : read failed\n");
ret = -1;
goto cleanmem;
}
else
printf("Feedback (CIO input) error : did not read all of the buffer\n");
}
checksumTotal = extendedChecksum16(recBuff, 10);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5] )
{
printf("Feedback (CIO input) error : read buffer has bad checksum16(MSB)\n");
ret = -1;
goto cleanmem;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4] )
{
printf("Feedback (CIO input) error : read buffer has bad checksum16(LBS)\n");
ret = -1;
goto cleanmem;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("Feedback (CIO input) error : read buffer has bad checksum8\n");
ret = -1;
goto cleanmem;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[3] != (uint8)(0x00) )
{
printf("Feedback (CIO input) error : read buffer has wrong command bytes \n");
ret = -1;
goto cleanmem;
}
if( recBuff[6] != 0 )
{
printf("Feedback (CIO input) error : received errorcode %d for frame %d in Feedback response. \n", recBuff[6], recBuff[7]);
ret = -1;
goto cleanmem;
}
free(sendBuff);
free(recBuff);
//Setting up Feedback command that will run numIterations times
if( ((sendSize = 7+numChannels*4) % 2) != 0 )
sendSize++; //Need an extra byte
sendBuff = (uint8 *)malloc(sendSize*sizeof(uint8)); //Creating an array of size sendSize
if( ((recSize = 9+numChannels*3) % 2) != 0 )
recSize++; //Need an extra byte
recBuff = (uint8 *)malloc(recSize*sizeof(uint8)); //Creating an array of size recSize
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (sendSize - 6)/2; //Number of data words
sendBuff[3] = (uint8)(0x00); //Extended command number
sendBuff[6] = 0; //Echo
sendBuff[sendSize - 1] = 0; //Setting last byte to zero in case it is the extra padding byte
//Setting AIN read commands
for( j = 0; j < numChannels; j++ )
{
sendBuff[7 + j*4] = 2; //IOType is AIN24
//Positive Channel (bits 0 - 4), LongSettling (bit 6) and QuickSample (bit 7)
sendBuff[8 + j*4] = j; //Positive Channel
sendBuff[9 + j*4] = (uint8)(resolution&15) + (uint8)((gainIndex&15)*16); //ResolutionIndex (Bits 0-3), GainIndex (Bits 4-7)
sendBuff[10 + j*4] = (uint8)(settlingFactor&7); //SettlingFactor (Bits 0-2)
if( j%2 == 0 )
sendBuff[10 + j*4] += (uint8)((differential&1)*128); //Differential (Bits 7)
}
extendedChecksum(sendBuff, sendSize);
time = getTickCount();
for( i = 0; i < numIterations; i++ )
{
//Sending command to U6
if( (sendChars = LJUSB_Write(hDevice, sendBuff, sendSize)) < sendSize )
{
if(sendChars == 0)
printf("Feedback error (Iteration %d): write failed\n", i);
else
printf("Feedback error (Iteration %d): did not write all of the buffer\n", i);
ret = -1;
goto cleanmem;
}
//Reading response from U6
if( (recChars = LJUSB_Read(hDevice, recBuff, recSize)) < recSize )
{
if( recChars == 0 )
{
printf("Feedback error (Iteration %d): read failed\n", i);
ret = -1;
goto cleanmem;
}
}
checksumTotal = extendedChecksum16(recBuff, recChars);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5] )
{
printf("Feedback error (Iteration %d): read buffer has bad checksum16(MSB)\n", i);
ret = -1;
goto cleanmem;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4] )
{
printf("Feedback error (Iteration %d): read buffer has bad checksum16(LBS)\n", i);
ret = -1;
goto cleanmem;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("Feedback error (Iteration %d): read buffer has bad checksum8\n", i);
ret = -1;
goto cleanmem;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[3] != (uint8)(0x00) )
{
printf("Feedback error (Iteration %d): read buffer has wrong command bytes \n", i);
ret = -1;
goto cleanmem;
}
if( recBuff[6] != 0 )
{
printf("Feedback error (Iteration %d): received errorcode %d for frame %d in Feedback response. \n", i, recBuff[6], recBuff[7]);
ret = -1;
goto cleanmem;
}
if( recChars != recSize )
{
printf("Feedback error (Iteration %d): received packet if %d size when expecting %d\n", i, recChars, recSize);
ret = -1;
goto cleanmem;
}
//Getting AIN voltages
for(j = 0; j < numChannels; j++)
{
bits32 = recBuff[9+j*3] + recBuff[10+j*3]*256 + recBuff[11+j*3]*65536;
getAinVoltCalibrated(caliInfo, resolution, gainIndex, 1, bits32, &valueAIN[j]);
}
}
time = getTickCount() - time;
printf("Milliseconds per iteration = %.3f\n", (double)time / (double)numIterations);
printf("\nAIN readings from last iteration:\n");
for( j = 0; j < numChannels; j++ )
printf("%.3f\n", valueAIN[j]);
cleanmem:
free(sendBuff);
free(recBuff);
sendBuff = NULL;
recBuff = NULL;
return ret;
}
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 StreamConfig low-level command to configure the stream.
int StreamConfig_example(HANDLE hDevice)
{
int sendBuffSize;
sendBuffSize = 14+NumChannels*2;
uint8 sendBuff[sendBuffSize], recBuff[8];
int sendChars, recChars;
uint16 checksumTotal;
uint16 scanInterval;
int i;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = 4 + NumChannels; //Number of data words = NumChannels + 4
sendBuff[3] = (uint8)(0x11); //Extended command number
sendBuff[6] = NumChannels; //NumChannels
sendBuff[7] = 1; //ResolutionIndex
sendBuff[8] = SamplesPerPacket; //SamplesPerPacket
sendBuff[9] = 0; //Reserved
sendBuff[10] = 0; //SettlingFactor: 0
sendBuff[11] = 0; //ScanConfig:
// Bit 3: Internal stream clock frequency = b0: 4 MHz
// Bit 1: Divide Clock by 256 = b0
scanInterval = 4000;
sendBuff[12] = (uint8)(scanInterval&(0x00FF)); //scan interval (low byte)
sendBuff[13] = (uint8)(scanInterval/256); //scan interval (high byte)
for( i = 0; i < NumChannels; i++ )
{
sendBuff[14 + i*2] = i; //ChannelNumber (Positive) = i
sendBuff[15 + i*2] = 0; //ChannelOptions:
// Bit 7: Differential = 0
// Bit 5-4: GainIndex = 0 (+-10V)
}
extendedChecksum(sendBuff, sendBuffSize);
//Sending command to U6
sendChars = LJUSB_Write(hDevice, sendBuff, sendBuffSize);
if( sendChars < sendBuffSize )
{
if( sendChars == 0 )
printf("Error : write failed (StreamConfig).\n");
else
printf("Error : did not write all of the buffer (StreamConfig).\n");
return -1;
}
for( i = 0; i < 8; i++ )
recBuff[i] = 0;
//Reading response from U6
recChars = LJUSB_Read(hDevice, recBuff, 8);
if( recChars < 8 )
{
if( recChars == 0 )
printf("Error : read failed (StreamConfig).\n");
else
printf("Error : did not read all of the buffer, %d (StreamConfig).\n", recChars);
for( i = 0; i < 8; i++)
printf("%d ", recBuff[i]);
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 8);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
{
printf("Error : read buffer has bad checksum16(MSB) (StreamConfig).\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4] )
{
printf("Error : read buffer has bad checksum16(LSB) (StreamConfig).\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("Error : read buffer has bad checksum8 (StreamConfig).\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x01) || recBuff[3] != (uint8)(0x11) || recBuff[7] != (uint8)(0x00) )
{
printf("Error : read buffer has wrong command bytes (StreamConfig).\n");
return -1;
}
if( recBuff[6] != 0 )
{
printf("Errorcode # %d from StreamConfig read.\n", (unsigned int)recBuff[6]);
return -1;
}
return 0;
}
HANDLE openUSBConnection(int localID)
{
BYTE buffer[38];
uint16 checksumTotal = 0;
uint32 numDevices = 0;
uint32 dev;
int i, serial;
HANDLE hDevice = 0;
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_Write(hDevice, buffer, 38) != 38 )
goto locid_error;
for( i = 0; i < 38; i++ )
buffer[i] = 0;
if( LJUSB_Read(hDevice, 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;
//Check local ID
if( (int)buffer[8] == localID )
return hDevice;
//Check serial number
serial = buffer[28] + buffer[29]*256 + buffer[30]*65536 + 0x10000000;
if( serial == localID )
return hDevice;
//No matches. Not our device.
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 or serial number of %d\n", localID);
return NULL;
locid_error:
printf("Open error: problem when checking local ID and serial number\n");
return NULL;
}
//Sends a ConfigIO low-level command to turn off timers/counters
int ConfigIO_example(HANDLE hDevice)
{
uint8 sendBuff[16], recBuff[16];
uint16 checksumTotal;
int sendChars, recChars, i;
sendBuff[1] = (uint8)(0xF8); //Command byte
sendBuff[2] = (uint8)(0x03); //Number of data words
sendBuff[3] = (uint8)(0x0B); //Extended command number
sendBuff[6] = 1; //Writemask : Setting writemask for TimerCounterConfig (bit 0)
sendBuff[7] = 0; //NumberTimersEnabled : Setting to zero to disable all timers.
sendBuff[8] = 0; //CounterEnable: Setting bit 0 and bit 1 to zero to disable both counters
sendBuff[9] = 0; //TimerCounterPinOffset
for( i = 10; i < 16; i++ )
sendBuff[i] = 0; //Reserved
extendedChecksum(sendBuff, 16);
//Sending command to U6
if( (sendChars = LJUSB_Write(hDevice, sendBuff, 16)) < 16 )
{
if( sendChars == 0 )
printf("ConfigIO error : write failed\n");
else
printf("ConfigIO error : did not write all of the buffer\n");
return -1;
}
//Reading response from U6
if( (recChars = LJUSB_Read(hDevice, recBuff, 16)) < 16 )
{
if( recChars == 0 )
printf("ConfigIO error : read failed\n");
else
printf("ConfigIO error : did not read all of the buffer\n");
return -1;
}
checksumTotal = extendedChecksum16(recBuff, 15);
if( (uint8)((checksumTotal / 256 ) & 0xff) != recBuff[5] )
{
printf("ConfigIO error : read buffer has bad checksum16(MSB)\n");
return -1;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4] )
{
printf("ConfigIO error : read buffer has bad checksum16(LSB)\n");
return -1;
}
if( extendedChecksum8(recBuff) != recBuff[0] )
{
printf("ConfigIO error : read buffer has bad checksum8\n");
return -1;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x05) || recBuff[3] != (uint8)(0x0B) )
{
printf("ConfigIO error : read buffer has wrong command bytes\n");
return -1;
}
if( recBuff[6] != 0 )
{
printf("ConfigIO error : read buffer received errorcode %d\n", recBuff[6]);
return -1;
}
if( recBuff[8] != 0 )
{
printf("ConfigIO error : NumberTimersEnabled was not set to 0\n");
return -1;
}
if( recBuff[9] != 0 )
{
printf("ConfigIO error : CounterEnable was not set to 0\n");
return -1;
}
return 0;
}
long getCalibrationInfo(HANDLE hDevice, ue9CalibrationInfo *caliInfo)
{
BYTE sendBuffer[8], recBuffer[136];
int sentRec = 0, i = 0, j = 0, ccTotal = 0, count = 0;
/* Setting up command */
sendBuffer[1] = (BYTE)(0xF8); //command byte
sendBuffer[2] = (BYTE)(0x01); //number of data words
sendBuffer[3] = (BYTE)(0x2A); //extended command number
sendBuffer[6] = (BYTE)(0x00);
for( i = 0; i < 5; i++ )
{
/* Reading block 1 from memory */
sendBuffer[7] = (BYTE)i; //Blocknum = i
extendedChecksum(sendBuffer, 8);
sentRec = LJUSB_Write(hDevice, sendBuffer, 8);
if( sentRec < 8 )
{
if( sentRec == 0 )
printf("getCalibrationInfo error : write failed\n");
else
printf("getCalibrationInfo error : did not write all of the buffer\n");
return -1;
}
sentRec = LJUSB_Read(hDevice, recBuffer, 136);
if( sentRec < 136 )
{
if( sentRec == 0 )
printf("getCalibrationInfo Error : read failed\n");
else
printf("getCalibrationInfo Error : did not read all of the buffer\n");
}
if( recBuffer[1] != (BYTE)(0xF8) || recBuffer[2] != (BYTE)(0x41) || recBuffer[3] != (BYTE)(0x2A) )
{
printf("getCalibrationInfo error: incorrect command bytes for ReadMem response");
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;
}
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 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, 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;
}
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 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 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];
}
//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;
}
//Sends a StreamConfig low-level command to configure the stream to read
//NumChannels analog inputs.
int StreamConfig_example(int socketFD)
{
int sendBuffSize;
uint8 *sendBuff;
uint8 recBuff[8];
int sendChars, recChars, i, ret;
uint16 checksumTotal, scanInterval;
sendBuffSize = 12 + 2*NumChannels;
sendBuff = malloc(sizeof(uint8)*sendBuffSize);
ret = 0;
sendBuff[1] = (uint8)(0xF8); //command byte
sendBuff[2] = NumChannels + 3; //number of data words : NumChannels + 3
sendBuff[3] = (uint8)(0x11); //extended command number
sendBuff[6] = (uint8)NumChannels; //NumChannels
sendBuff[7] = ainResolution; //resolution
sendBuff[8] = 0; //SettlingTime = 0
sendBuff[9] = 0; //ScanConfig: scan pulse and external scan
//trigger disabled, stream clock
//frequency = 4 MHz
scanInterval = 4000;
sendBuff[10] = (uint8)(scanInterval & 0x00FF); //scan interval (low byte)
sendBuff[11] = (uint8)(scanInterval / 256); //scan interval (high byte)
for(i = 0; i < NumChannels; i++)
{
sendBuff[12 + i*2] = i; //channel # = i
sendBuff[13 + i*2] = 0; //BipGain (Bip = unipolar, Gain = 1)
}
extendedChecksum(sendBuff, sendBuffSize);
//Sending command to UE9
sendChars = send(socketFD, sendBuff, sendBuffSize, 0);
if(sendChars < 20)
{
if(sendChars == -1)
printf("Error : send failed (StreamConfig)\n");
else
printf("Error : did not send all of the buffer (StreamConfig)\n");
ret = -1;
goto cleanmem;
}
//Receiving response from UE9
recChars = recv(socketFD, recBuff, 8, 0);
if(recChars < 8)
{
if(recChars == -1)
printf("Error : receive failed (StreamConfig)\n");
else
printf("Error : did not receive all of the buffer (StreamConfig)\n");
goto cleanmem;
}
checksumTotal = extendedChecksum16(recBuff, 8);
if( (uint8)((checksumTotal / 256) & 0xff) != recBuff[5])
{
printf("Error : received buffer has bad checksum16(MSB) (StreamConfig)\n");
ret = -1;
goto cleanmem;
}
if( (uint8)(checksumTotal & 0xff) != recBuff[4])
{
printf("Error : received buffer has bad checksum16(LBS) (StreamConfig)\n");
ret = -1;
goto cleanmem;
}
if( extendedChecksum8(recBuff) != recBuff[0])
{
printf("Error : received buffer has bad checksum8 (StreamConfig)\n");
ret = -1;
goto cleanmem;
}
if( recBuff[1] != (uint8)(0xF8) || recBuff[2] != (uint8)(0x01) || recBuff[3] != (uint8)(0x11) || recBuff[7] != (uint8)(0x00))
{
printf("Error : received buffer has wrong command bytes (StreamConfig)\n");
ret = -1;
goto cleanmem;
}
if(recBuff[6] != 0)
{
printf("Errorcode # %d from StreamConfig received.\n", (unsigned int)recBuff[6]);
ret = -1;
goto cleanmem;
}
cleanmem:
free(sendBuff);
sendBuff = NULL;
return ret;
}
