long eDAC(HANDLE Handle, ue9CalibrationInfo *caliInfo, long Channel, double Voltage, long Binary, long Reserved1, long Reserved2)
{
uint8 IOType, channel;
uint16 bytesVoltage;
if(isCalibrationInfoValid(caliInfo) == -1)
{
analogToUncalibratedBinaryVoltage(Voltage, &bytesVoltage);
}
else
{
if(analogToCalibratedBinaryVoltage(caliInfo, (uint8)Channel, Voltage, &bytesVoltage) < 0)
return -1;
}
return ehSingleIO(Handle, 5, (uint8)Channel, (uint8)( bytesVoltage & (0x00FF) ), (uint8)(( bytesVoltage /256 ) + 192), 0, &IOType, &channel, NULL, NULL, 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(int socketFD, ue9CalibrationInfo *caliInfo)
{
uint8 sendBuff[34], recBuff[64];
int sendChars, recChars;
int i, j;
uint16 checksumTotal, bytesVoltage;
int initialize; //boolean to init. DAC and digital IO settings
int numIterations;
long time;
uint8 numChannels; //Number of AIN channels, 0-16.
long ainResolution;
double valueAIN[16];
int valueDIPort;
uint8 settlingTime;
uint16 ainMask;
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(analogToCalibratedBinaryVoltage(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(analogToCalibratedBinaryVoltage(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 = send(socketFD, sendBuff, 34, 0);
if(sendChars < 34)
{
if(sendChars == 0)
printf("Feedback error (Iteration %d) : send failed\n", i);
else
printf("Feedback error (Iteration %d) : did not send all of the buffer\n", i);
return -1;
}
//Reading response from UE9
recChars = recv(socketFD, recBuff, 64, 0);
if(recChars < 64)
{
if(recChars == 0)
printf("Feedback error (Iteration %d) : rcv failed\n", i);
else
printf("Feedback error (Iteration %d) : did not rcv 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(LBS)\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++)
binaryToCalibratedAnalogVoltage(caliInfo, 0x00, 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("%.6f\n", valueAIN[j]);
return 0;
}
