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;
}
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;
}
DAQManager::DAQManager()
{
stateCount = 8;
states = new uInt32[stateCount];
states[0] = 0x8;
states[1] = 0xC;
states[2] = 0x4;
states[3] = 0x6;
states[4] = 0x2;
states[5] = 0x3;
states[6] = 0x1;
states[7] = 0x9;
stateNum = 0;
dataAcquired = 0;
voltageData = new float64[SAMPLE_COUNT];
#ifdef _WIN32
DAQmxCreateTask("", &motorTaskHandle);
DAQmxCreateTask("", &adcTaskHandle);
DAQmxCreateTask("", &triggerTaskHandle);
DAQmxCreateDOChan(motorTaskHandle, "Dev1/port0", "", DAQmx_Val_ChanForAllLines);
DAQmxCreateDOChan(triggerTaskHandle, "Dev1/port1", "", DAQmx_Val_ChanForAllLines);
DAQmxCreateAIVoltageChan(adcTaskHandle, "Dev1/ai0", "", DAQmx_Val_Cfg_Default, -10.0, 10.0, DAQmx_Val_Volts, NULL);
DAQmxCfgSampClkTiming(adcTaskHandle, "", SAMPLE_FREQ, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, SAMPLE_COUNT);
DAQmxCfgDigEdgeStartTrig(adcTaskHandle, "/Dev1/PFI0", DAQmx_Val_Rising);
DAQmxRegisterEveryNSamplesEvent(adcTaskHandle, DAQmx_Val_Acquired_Into_Buffer, 1000, 0, EveryNCallbackWrapper, this);
DAQmxStartTask(motorTaskHandle);
DAQmxStartTask(triggerTaskHandle);
uInt32 data;
int32 written;
data = states[0];
DAQmxWriteDigitalU32(motorTaskHandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel, &data, &written, NULL);
data=0x0;
DAQmxWriteDigitalU32(triggerTaskHandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel, &data, &written, NULL);
#elif __APPLE__
DAQmxBaseCreateTask("motorTask", &motorTaskHandle);
DAQmxBaseCreateDOChan(motorTaskHandle, "Dev1/port0", "", DAQmx_Val_ChanForAllLines);
DAQmxBaseStartTask(motorTaskHandle);
DAQmxBaseCreateTask("adcTask", &adcTaskHandle);
DAQmxBaseCreateAIVoltageChan(adcTaskHandle, "Dev1/ai0", "", DAQmx_Val_Cfg_Default, -10.0, 10.0, DAQmx_Val_Volts, NULL);
DAQmxBaseCfgSampClkTiming(adcTaskHandle,"OnboardClock", SAMPLE_FREQ, DAQmx_Val_Rising, DAQmx_Val_ContSamps, SAMPLE_COUNT);
DAQmxBaseCfgInputBuffer(adcTaskHandle,0);
DAQmxBaseStartTask(adcTaskHandle);
uInt32 data;
int32 written;
data = states[0];
DAQmxBaseWriteDigitalU32(motorTaskHandle, 1, 1, 10.0, DAQmx_Val_GroupByChannel, &data, &written, NULL);
#endif
}
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;
}
int32 Tweezers::CurrentRun(float64* curr, float64* indata, void* lpParam)
{
threadinfo* t = (threadinfo*)lpParam;
// config and start analog tast
DAQmxErrRtn(DAQmxCfgSampClkTiming(AOtaskHandle,"",10*float64(1/(*t->delta*1E-3)),DAQmx_Val_Rising,DAQmx_Val_FiniteSamps,(*t->cycles*10*t->nofFrames)));
DAQmxErrRtn(DAQmxCfgOutputBuffer(AOtaskHandle, t->nofFrames*10));
DAQmxErrRtn(DAQmxCfgDigEdgeStartTrig(AOtaskHandle, "PFI0", DAQmx_Val_Rising));
DAQmxErrRtn(DAQmxWriteAnalogF64(AOtaskHandle,t->nofFrames*10,0,10.0,DAQmx_Val_GroupByChannel,curr,&written,NULL));
DAQmxErrRtn(DAQmxStartTask(AOtaskHandle));
cerr << "\nTrying to allocate buffer for " << (*t->cycles * t->nofFrames) << " frames\n";
// config and start pulse channel with parameters set by user
//DAQmxErrRtn(DAQmxCfgImplicitTiming(DOtaskHandle, DAQmx_Val_FiniteSamps,*t->cycles * t->nofFrames));
DAQmxErrRtn(DAQmxCfgImplicitTiming(DOtaskHandle, DAQmx_Val_ContSamps,1));
DAQmxErrRtn(DAQmxCfgDigEdgeStartTrig(DOtaskHandle, "PFI0", DAQmx_Val_Rising));
DAQmxErrRtn(DAQmxStartTask(DOtaskHandle));
// config analog in task
DAQmxErrRtn(DAQmxCfgSampClkTiming(AItaskHandle,"Ctr0Out",100,DAQmx_Val_Rising,DAQmx_Val_FiniteSamps,*t->cycles * t->nofFrames));
DAQmxErrRtn(DAQmxStartTask(AItaskHandle));
// set trigger line to 1 - GO!
DAQmxWriteDigitalLines(TRtaskHandle,1,1,10,DAQmx_Val_GroupByChannel,trigdata[1],&written,NULL);
// wait until cam trigger task is done
DAQmxWaitUntilTaskDone(AOtaskHandle,-1);
// reset trigger line
DAQmxWriteDigitalLines(TRtaskHandle,1,1,10,DAQmx_Val_GroupByChannel,trigdata[0],&written,NULL);
// read protocol samples
DAQmxReadAnalogF64(AItaskHandle,*t->cycles * t->nofFrames,5.0,DAQmx_Val_GroupByChannel,indata,*t->cycles * t->nofFrames*2,&read,NULL);
//read indeed current
ofstream strom;
strom.open("newcurrent.txt", ofstream::app);
for(int i=0;i<t->nofFrames;i++)
strom<<i*(*t->delta*1E-3)<<"\t"<<indata[i]<<endl;
strom.close();
// stop tasks, disable trigger
DAQmxStopTask(AOtaskHandle);
DAQmxStopTask(DOtaskHandle);
DAQmxStopTask(AItaskHandle);
DAQmxDisableStartTrig(AOtaskHandle);
DAQmxDisableStartTrig(DOtaskHandle);
}
TaskHandle EXPORT_API EOGSetCallback(UnityCallback uCallback)
{
int32 error = 0;
char errBuff[2048] = { '\0' };
//int32 read;
//float64 data[1];
if (uCallback)
{
DAQmxErrChk(DAQmxCfgSampClkTiming(taskHandle, "", 240.0, DAQmx_Val_Rising, DAQmx_Val_ContSamps, numSamples));
DAQmxErrChk(DAQmxRegisterEveryNSamplesEvent(taskHandle, DAQmx_Val_Acquired_Into_Buffer, 1, 0, uCallback, NULL));
// DAQmxErrChk(DAQmxRegisterEveryNSamplesEvent(taskHandle, DAQmx_Val_Acquired_Into_Buffer, 1000, 0, EveryNSamplesCallback, NULL));
DAQmxErrChk(DAQmxRegisterDoneEvent(taskHandle, 0, DoneCallback, NULL));
/*********************************************/
// DAQmx Start Code
/*********************************************/
DAQmxErrChk(DAQmxStartTask(taskHandle));
return taskHandle;
}
Error:
if (DAQmxFailed(error))
{
DAQmxGetExtendedErrorInfo(errBuff, 2048);
Cleanup();
printf("DAQmx Error: %s\n", errBuff);
}
return 0;
}
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;
}
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;
}
int32 Tweezers::TriggerFrames(unsigned int nr)
{
//DAQmxErrRtn(DAQmxStopTask(DOtaskHandle));
DAQmxErrRtn(DAQmxCfgImplicitTiming(DOtaskHandle, DAQmx_Val_FiniteSamps, 1));
DAQmxErrRtn(DAQmxStartTask(DOtaskHandle));
DAQmxErrRtn(DAQmxWaitUntilTaskDone(DOtaskHandle,-1));
DAQmxErrRtn(DAQmxStopTask(DOtaskHandle));
}
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);
}
}
int NI6211::startCapot()
{
int error;
taskCapot = new TaskHandle;
/*------ DAQmx Configure Code Reading Task ------*/
DAQmxErrChk (DAQmxCreateTask("",taskCapot));
DAQmxErrChk (DAQmxCreateDIChan(*taskCapot,"Equilibreuse/port0/line3","",DAQmx_Val_ChanPerLine));
DAQmxErrChk (DAQmxStartTask(*taskCapot));
Erreur:
checkError(error);
return error;
}
int32 ATIDAQHardwareInterface::ConfigSingleSampleTask( float64 sampleRate,
int averaging,
const std::string & deviceName,
int firstChannel,
int numChannels,
int minVoltage,
int maxVoltage )
{
int32 retVal; /*the return value*/
/*we have to use unmanaged c-style strings in here because that's what the NI-DAQmx
C Library uses*/
char channelString[WHOLE_LOTTA_CHARACTERS]; /*the channel string, of format "Dev1/ai0:5"*/
/*set up member data*/
m_f64SamplingFrequency = sampleRate;
m_uiAveragingSize = ( averaging > 0 )? averaging : 1; /*averaging must be at least 1*/
m_sDeviceName = deviceName;
m_uiFirstChannel = firstChannel;
m_uiNumChannels = numChannels;
m_iMinVoltage = minVoltage;
m_iMaxVoltage = maxVoltage;
unsigned int numSamplesPerChannel = m_uiAveragingSize; /*the number of samples per channel that
daqmx is configured with*/
/*in a perfect world, NI-DAQmx would allow us to set up single scan acquisitions, but they don't.
even if we were to make the single sample task a finite sample task, they still require you to use
at least 2 samples per channel. Therefore, we pass daqmx a number of samples per channel that it
will accept, and then set up our task to only read the most recent samples*/
if ( MIN_SAMPLES_PER_CHANNEL > numSamplesPerChannel ) numSamplesPerChannel = MIN_SAMPLES_PER_CHANNEL;
ati_Channel_Name_Format( channelString, m_sDeviceName ); /* Format the channel name for niDAQmx */
/*if the following confuses you, I suggest you read the NI-DAQmx C Reference Help, included
with NI-DAQmx*/
StopCollection(); /*stop currently running task*/
/*if any function fails (returns non-zero), don't execute any more daqmx functions*/
/*create the daqmx task*/
if( !( retVal = DAQmxCreateTask( "", m_thDAQTask ) ) )
/*add the analog input channels to the task - july.22.2005 - ss - now uses m_iConnectionMode*/
if( !( retVal = DAQmxCreateAIVoltageChan( *m_thDAQTask, channelString, "", m_iConnectionMode,
m_iMinVoltage, m_iMaxVoltage, DAQmx_Val_Volts, NULL ) ) )
/*set up timing for the task*/
if( !( retVal = DAQmxCfgSampClkTiming( *m_thDAQTask, NULL, m_f64SamplingFrequency,
DAQmx_Val_Rising, DAQmx_Val_ContSamps, numSamplesPerChannel ) ) )
/*set read position relative to next sample to be read*/
if( !( retVal = DAQmxSetReadRelativeTo( *m_thDAQTask, DAQmx_Val_MostRecentSamp ) ) )
/*offset of -1 from the next sample, meaning we read the most recent sample*/
if( !( retVal = DAQmxSetReadOffset( *m_thDAQTask, 0 ) ) )
/*start the task*/
retVal = DAQmxStartTask( *m_thDAQTask );
return retVal;
}
/******************************************************************************
**
** Démarage de la tache d'acquisition de la vitesse.
**
******************************************************************************/
int NI6211::startSpeed()
{
int error;
taskFreq = new TaskHandle;
/*------ DAQmx Configure Code Reading Task ------*/
DAQmxErrChk (DAQmxCreateTask("",taskFreq));
DAQmxErrChk (DAQmxCreateCIFreqChan(*taskFreq,"/Equilibreuse/ctr0","",1,200000,DAQmx_Val_Hz,DAQmx_Val_Rising,DAQmx_Val_LowFreq1Ctr,1,1,""));
DAQmxErrChk (DAQmxSetCIFreqTerm(*taskFreq,"","/Equilibreuse/PFI2"))
DAQmxErrChk (DAQmxStartTask(*taskFreq));
Erreur:
checkError(error);
return error;
}
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);
}
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);
}
int main(void)
{
int32 error=0;
TaskHandle taskHandle=0;
int32 read;
float64 data[1000];
char errBuff[2048]={'\0'};
int i;
/*********************************************/
// DAQmx Configure Code
/*********************************************/
DAQmxErrChk (DAQmxCreateTask("",&taskHandle));
DAQmxErrChk (DAQmxCreateAIVoltageChan(taskHandle,"Dev1/ai0","",DAQmx_Val_Cfg_Default,-10.0,10.0,DAQmx_Val_Volts,NULL));
DAQmxErrChk (DAQmxCfgSampClkTiming(taskHandle,"",10000.0,DAQmx_Val_Rising,DAQmx_Val_FiniteSamps,1000));
/*********************************************/
// DAQmx Start Code
/*********************************************/
DAQmxErrChk (DAQmxStartTask(taskHandle));
/*********************************************/
// DAQmx Read Code
/*********************************************/
DAQmxErrChk (DAQmxReadAnalogF64(taskHandle,1000,10.0,DAQmx_Val_GroupByChannel,data,1000,&read,NULL));
printf("Acquired %d points\n",read);
for (i = 0; i < 1000; i++) {
printf ("data[%d] = %f\n", i, data[i]);
}
Error:
if( DAQmxFailed(error) )
DAQmxGetExtendedErrorInfo(errBuff,2048);
if( taskHandle!=0 ) {
/*********************************************/
// DAQmx Stop Code
/*********************************************/
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
}
if( DAQmxFailed(error) )
printf("DAQmx Error: %s\n",errBuff);
printf("End of program, press Enter key to quit\n");
getchar();
return 0;
}
BOOL CForceChartDlg::DAQ(CString changeDeviceName, short changeFirstChannel)
{
TaskHandle taskHandle = 0;
int32 read;
CString cstrChannelList;
cstrChannelList.Format( _T("/ai%d"), changeFirstChannel );
DAQmxCreateTask("AAencoderTask", &taskHandle);
DAQmxCreateAIVoltageChan(taskHandle, changeDeviceName+cstrChannelList, "AAencoderChannel", DAQmx_Val_RSE, 0, 5, DAQmx_Val_Volts, NULL);
//UpdateData(TRUE);
DAQmxCfgSampClkTiming(taskHandle, "OnboardClock", 100, DAQmx_Val_Rising, DAQmx_Val_ContSamps, 20);
//UpdateData(TRUE);
DAQmxStartTask(taskHandle);
DAQmxReadAnalogF64(taskHandle, 10, 0.2, DAQmx_Val_GroupByChannel, G0, 10, &read, NULL);
DAQmxStopTask(taskHandle);
DAQmxClearTask(taskHandle);
return TRUE;
}
bool create_DO_channel(uInt32 port)
{
#ifdef _USE_REAL_KIT_
char taskName[100];
char portName[100];
TaskHandle task_handle;
sprintf(taskName,"task_di__%d",port);
sprintf(portName,"Dev3/port%d",port);
DAQmxCreateTask(taskName,&task_handle);
DAQmxCreateDOChan(task_handle,portName,"",DAQmx_Val_ChanForAllLines);
DAQmxStartTask(task_handle);
tasks[port]=task_handle;
#else
return sim_create_DO_channel(port);
#endif
return(true);
}
/******************************************************************************
**
** Fonction de démarage du comptage de la voie A du compteur incrémentale.
**
******************************************************************************/
bool NI6211::startCounter()
{
int32 error=0;
taskCounter = new TaskHandle;
/*------ DAQmx Configure Code Reading Task ------*/
DAQmxErrChk (DAQmxCreateTask("",taskCounter));
DAQmxErrChk (DAQmxCreateCIAngEncoderChan(*taskCounter,"Equilibreuse/ctr0","",DAQmx_Val_X1,TRUE,999,DAQmx_Val_AHighBLow,DAQmx_Val_Ticks,1000,0,NULL));
DAQmxErrChk (DAQmxSetArmStartTrigType(*taskCounter,DAQmx_Val_DigEdge));
DAQmxErrChk (DAQmxSetDigEdgeArmStartTrigSrc(*taskCounter,"/Equilibreuse/PFI2"));
/*------ DAQmx Start Code ------*/
DAQmxErrChk (DAQmxStartTask(*taskCounter));
Erreur:
checkError(error);
return 0;
}
/******************************************************************************
**
** Démarage de la tache d'acquisition sur la voie passé en paramètre.
**
******************************************************************************/
int NI6211::startAquisition(char* _Voie)
{
int32 error=0;
taskRead = new TaskHandle;
/*------ DAQmx Configure Code Reading Task ------*/
DAQmxErrChk (DAQmxCreateTask("",taskRead));
DAQmxErrChk (DAQmxCreateAIVoltageChan(*taskRead,_Voie,"",DAQmx_Val_Diff,-0.2,0.2,DAQmx_Val_Volts,NULL));
//DAQmxErrChk (DAQmxCreateAIVoltageChan(*taskRead,_VoieO,"",DAQmx_Val_Diff,-0.2,0.2,DAQmx_Val_Volts,NULL));
DAQmxErrChk (DAQmxCfgSampClkTiming(*taskRead,"/Equilibreuse/PFI0",1000,DAQmx_Val_Rising,DAQmx_Val_ContSamps,1000));
DAQmxErrChk (DAQmxCfgDigEdgeStartTrig(*taskRead,"/Equilibreuse/PFI2",DAQmx_Val_Rising));
/*------ DAQmx Start Code ------*/
DAQmxErrChk (DAQmxStartTask(*taskRead));
Erreur:
checkError(error);
return error;
}
int32 Tweezers::Degauss(float U, float duration)
{
clock_t startTime;
float freq = 100;
int bufferSize = (int)(5000 * duration);
float64 *data = new float64[bufferSize];
// fill buffer with data
for(int i=0;i<bufferSize;i++)
{
float64 amp = U * (1 - (double)i/(double)(bufferSize-1));
data[i] = amp * cos( 2.0 * PI * freq * (double)i/5000.0); // degauss Srate must be independent of run!!
}
DAQmxErrRtn(DAQmxClearTask(AOtaskHandle));
// create and setup analog task
DAQmxErrRtn(DAQmxCreateTask("AO",&AOtaskHandle));
DAQmxErrRtn(DAQmxCreateAOVoltageChan(AOtaskHandle,"Dev1/ao0","",-10.0,10.0,DAQmx_Val_Volts,NULL));
// configure sample clock for buffered write
DAQmxErrRtn(DAQmxCfgSampClkTiming(AOtaskHandle,"",5000,DAQmx_Val_Rising,DAQmx_Val_FiniteSamps,(int)(duration*5000)));
// write data and start task
DAQmxErrRtn(DAQmxWriteAnalogF64(AOtaskHandle,bufferSize,0,10.0,DAQmx_Val_GroupByChannel,data,&written,NULL));
startTime = clock();
DAQmxErrRtn(DAQmxStartTask(AOtaskHandle));
while(!done) {
DAQmxErrRtn(DAQmxIsTaskDone(AOtaskHandle,&done));
if (!done) Sleep(100);
}
done = false;
DAQmxErrRtn(DAQmxStopTask(AOtaskHandle));
residual = 0.0;
delete data;
}
int32 Tweezers::SetCurrent(float current)
{
// init output data array
float64 out_data[1];
out_data[0] = current;
// setup HTSP timing and deactivate onboard memory
DAQmxErrRtn(DAQmxCfgSampClkTiming(AOtaskHandle,"",Srate_HTSP,DAQmx_Val_Rising,DAQmx_Val_HWTimedSinglePoint,1));
// start task
DAQmxErrRtn(DAQmxStartTask(AOtaskHandle));
// write single sample
DAQmxErrRtn(DAQmxWriteAnalogF64(AOtaskHandle,1,true,-1,DAQmx_Val_GroupByChannel,out_data,&written,NULL));
// stop task
DAQmxErrRtn(DAQmxStopTask(AOtaskHandle));
residual = (abs(current) > abs(residual) ? current : residual);
}
void TriggerFrames(unsigned int nr, double extime)
{
char errBuff[2048];
// int32 error;
TaskHandle DOtaskHandle;
DAQmxCreateTask("DO",&DOtaskHandle);
//cerr<<"sending trigger pulse: "<<extime*1E-3<<" secs!\n";
DAQmxCreateCOPulseChanTime(DOtaskHandle,"Dev1/Ctr0","",DAQmx_Val_Seconds,DAQmx_Val_Low,0.0,extime*1E-3,extime*1E-3);
//DAQmxCfgImplicitTiming(DOtaskHandle, DAQmx_Val_ContSamps, 1);
DAQmxCfgImplicitTiming(DOtaskHandle, DAQmx_Val_FiniteSamps, 1);
DAQmxStartTask(DOtaskHandle);
DAQmxWaitUntilTaskDone(DOtaskHandle,-1);
DAQmxStopTask(DOtaskHandle);
DAQmxClearTask(DOtaskHandle);
DAQmxGetExtendedErrorInfo(errBuff,2048);
cerr<<errBuff;
}
/******************************************************************************
**
** Fonction de démarage de la tache d'alimentation du moteur
** La vitesse du moteur est défini à 50%
**
******************************************************************************/
int NI6211::startMotor()
{
int error=0;
taskVOut = new TaskHandle;
float64 data[1] = {0};
/*------ DAQmx Configure Code ------*/
DAQmxErrChk (DAQmxCreateTask("",taskVOut));
DAQmxErrChk (DAQmxCreateAOVoltageChan(*taskVOut,"/Equilibreuse/ao0","",-10.0,10.0,DAQmx_Val_Volts,""));
/*------ DAQmx Start Code ------*/
DAQmxErrChk (DAQmxStartTask(*taskVOut));
/*------ DAQmx Write Code ------*/
DAQmxErrChk (DAQmxWriteAnalogF64(*taskVOut,1,1,-1,DAQmx_Val_GroupByChannel,data,NULL,NULL));
Erreur:
checkError(error);
return 0;
}
int32 ATIDAQHardwareInterface::ConfigBufferTask( float64 sampleRate, int averaging,const std::string &deviceName, int firstChannel,
int numChannels, int minVoltage, int maxVoltage, int bufferSize )
{
int32 retVal; /*the return value*/
/*we have to use unmanaged c-style strings in here because that's what the NI-DAQmx
C Library uses*/
char channelString[1024]; /*the channel string, of format "Dev1/ai0:5"*/
/*set up member data*/
m_f64SamplingFrequency = sampleRate;
m_uiAveragingSize = ( averaging > 0 )? averaging : 1; /*averaging must be at least 1*/
m_sDeviceName = deviceName;
m_uiFirstChannel = firstChannel;
m_uiNumChannels = numChannels;
m_iMinVoltage = minVoltage;
m_iMaxVoltage = maxVoltage;
m_ulBufferedSize = bufferSize;
unsigned int numSamplesPerChannel = m_uiAveragingSize * m_ulBufferedSize; /*the number of samples per channel that
daqmx is configured with*/
/*NI-DAQmx requires a minimum number of samples per channel*/
if ( MIN_SAMPLES_PER_CHANNEL > numSamplesPerChannel ) numSamplesPerChannel = MIN_SAMPLES_PER_CHANNEL;
ati_Channel_Name_Format( channelString, m_sDeviceName ); /* Format the channel name for niDAQmx */
/*if the following confuses you, I suggest you read the NI-DAQmx C Reference Help, included
with NI-DAQmx*/
StopCollection(); /*stop any currently running task*/
/*if any function fails (returns non-zero), don't execute any more daqmx functions*/
/*create the daqmx task*/
if( !( retVal = DAQmxCreateTask( "", m_thDAQTask ) ) )
/*add the analog input channels to the task - july.22.2005 - ss - now uses m_iConnectionMode*/
if( !( retVal = DAQmxCreateAIVoltageChan( *m_thDAQTask, channelString, "", m_iConnectionMode,
m_iMinVoltage, m_iMaxVoltage, DAQmx_Val_Volts, NULL ) ) )
/*set up timing for the task*/
if( !( retVal = DAQmxCfgSampClkTiming( *m_thDAQTask, NULL, m_f64SamplingFrequency,
DAQmx_Val_Rising, DAQmx_Val_ContSamps, numSamplesPerChannel ) ) )
/*start the task*/
retVal = DAQmxStartTask( *m_thDAQTask );
return retVal;
}
void moveXStage(int steps, uInt8 clockSig[])
{
int bits = steps * 2;
TaskHandle XClockOut = 0;
uInt8 *signal = new uInt8[bits];
for (int i = 0; i < bits; i += 2) {
signal[i] = clockSig[0];
signal[i + 1] = clockSig[1];
}
DAQmxCreateTask("X", &XClockOut);
DAQmxCreateDOChan(XClockOut, "Dev1/port0/line0", "X", DAQmx_Val_ChanForAllLines); // Xmotor
DAQmxCfgSampClkTiming(XClockOut, NULL, motorSpeed, DAQmx_Val_Rising, DAQmx_Val_FiniteSamps, bits); // Ext. Trig
DAQmxWriteDigitalLines(XClockOut, bits, 0, 1000.0, DAQmx_Val_GroupByChannel, signal, NULL, NULL); // X Motor signal
DAQmxStartTask(XClockOut); // Pulse motor
DAQmxWaitUntilTaskDone(XClockOut, 1000.0); // Wait for action to be completed
DAQmxStopTask(XClockOut);
DAQmxClearTask(XClockOut);
delete signal;
}
int
StartStartle(void)
{
int i=0;
int32 written;
/*********************************************/
// DAQmx Write Code
/*********************************************/
DAQmxWriteAnalogF64(startleDaqHandle,400,0,10.0,DAQmx_Val_GroupByChannel,gStartleData,&written,NULL);
/*********************************************/
// DAQmx Start Code
/*********************************************/
DAQmxStartTask(startleDaqHandle);
/*********************************************/
// DAQmx Wait Code
/*********************************************/
//DAQmxWaitUntilTaskDone(startleDaqHandle,10.0);
return 0;
}
double DAQManager::getVoltage(){
float64 sum;
int32 read;
#ifdef _WIN32
DAQmxStartTask(adcTaskHandle);
trigger();
while(!dataAcquired);
dataAcquired=0;
DAQmxStopTask(adcTaskHandle);
#elif __APPLE__
/*bool32 isDone;
DAQmxBaseIsTaskDone(adcTaskHandle,&isDone);*/
DAQmxBaseReadAnalogF64(adcTaskHandle, SAMPLE_COUNT, 10.0, DAQmx_Val_GroupByScanNumber, data, SAMPLE_COUNT, &read, NULL);
/*while(!isDone);
DAQmxBaseStopTask(adcTaskHandle);
DAQmxBaseClearTask(adcTaskHandle);*/
#endif
sum = 0;
for (int i = 0; i < SAMPLE_COUNT; ++i){
sum += voltageData[i];
}
return sum / SAMPLE_COUNT;
}
int SetDaqStart()
{
int32 error = 0;
char errBuff[2048];
int32 read;
epicsPrintf("**** DAQmxStartTask ****\n");
DAQmxErrChk(DAQmxStartTask(daq6220pvt.taskHandle));
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;
}
void QxrdNIDAQPlugin::triggerAnalogWaveform()
{
QMutexLocker lock(&m_Mutex);
// printf("triggerAnalogWaveform()\n");
int error;
if (m_AOTaskHandle) {
// DAQmxErrChk(
// DAQmxWaitUntilTaskDone(m_AOTaskHandle, -1)
// )
DAQmxErrChk(
DAQmxStopTask(m_AOTaskHandle)
);
DAQmxErrChk(
DAQmxStartTask(m_AOTaskHandle)
);
}
Error:
return;
}