///================================================= FUNCTION HEADER==================================================
/// Name : Q8TimerStart
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// Output : None
/// Return : None
/// Description : Deacctivates the timer to stop counting
///===================================================================================================================
void Q8TimerStop(int cardNum) {
struct_Q8_Config q8Str;
q8Str.uiFuncIndex=41;
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
///============================================FUNCTION HEADER=========================================================
/// Name : Q8WatchdogTimer
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// fInterval - Timeout interval needed analog output channnels to be set
/// Output : None
/// Return : None
/// Description : Configures and enables Watchdog timer
///
///=====================================================================================================================
void Q8WatchdogTimer(int iCardNum,float fInterval) {
struct_Q8_Config q8Str;
q8Str.uiFuncIndex=28;
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
q8Str.udwPeriod=(uint32_t)(fInterval/ 60e-9)-1;
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
///================================================= FUNCTION HEADER====================================================
/// Name : Q8TimerSet
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// fPeriod - Timer set period in seconds
/// Output : None
/// Return : None
/// Description : Configures 32 bit counter as timer interrupt source
///
///=====================================================================================================================
void Q8TimerSet(int cardNum,float fPeriod) {
struct_Q8_Config q8Str;
q8Str.udwPeriod=(uint32_t)(fPeriod / 60e-9)-1;
q8Str.uiFuncIndex=39;
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
void Q8EncoderReset(int iCardNum,int iChannelNum) {
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
struct_Q8_Config q8Str;
q8Str.iCardNum=iCardNum;
q8Str.uiFuncIndex=iChannelNum+31;
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
///============================================ FUNCTION HEADER=========================================================
/// Name : Q8AnalogOutput
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// iChannelNum - D/A Output channel number
/// fValue - User defined voltage which is wanted to see at output of the specified channel
/// Output : None
/// Return : None
/// Description : Writes user defined voltage value to the specified channel.
///
///=====================================================================================================================
void Q8AnalogOutput(int iCardNum,int iChannelNum,real_T dacValue) {
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
struct_Q8_Config q8Str;
q8Str.iCardNum=iCardNum;
q8Str.uiFuncIndex=iChannelNum;
if (dacValue <=0) {
if(dacCon[iChannelNum]==BIPOLAR_10V) {
q8Str.uwValueUnsigned=(DAC_BIPOLAR_ZERO-(uint16_t)((-dacValue)*4096/20));
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
return;
}
else if(dacCon[iChannelNum]==BIPOLAR_5V) {
q8Str.uwValueUnsigned=(DAC_BIPOLAR_ZERO-(uint16_t)((-dacValue)*4096/10));
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
return;
}
else
return;
}//if
if(dacCon[iChannelNum]==BIPOLAR_10V) {
q8Str.uwValueUnsigned=(DAC_BIPOLAR_ZERO+(uint16_t)(dacValue*4096/20));
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
return;
}
else if(dacCon[iChannelNum]==BIPOLAR_5V) {
q8Str.uwValueUnsigned=(DAC_BIPOLAR_ZERO+(uint16_t)(dacValue*4096/10));
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
return;
}
else if(dacCon[iChannelNum]==UNIPOLAR_10V) {
q8Str.uwValueUnsigned=(uint16_t)(dacValue*4096/10);
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
return;
}
} // end of function
///=============================================== FUNCTION HEADER =====================================================
/// Name : Q8PwmOutput
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// iClockSource - ClockSource selection,WATCHDOG or COUNTER
/// fPeriod - PWM period
/// iCntrlEn - Not used
/// fPulseWidth - PWM pulse width,0...100
/// Output : None
/// Return : None
/// Description : Configures counter output and generates PWM based periodic wave.
///
///=====================================================================================================================
void Q8PwmOutput(int iCardNum,int iClockSource, float fPeriod,float fPulseWidth,int iCntrlEn) {
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
struct_Q8_Config q8Str;
q8Str.uiFuncIndex=27;
q8Str.iClockSource=iClockSource;
q8Str.udwLow=(uint32_t)( ((100-fPulseWidth)*fPeriod/100) / 30e-9) -1;
q8Str.udwHigh=(uint32_t)( ((fPulseWidth)*fPeriod/100) / 30e-9)-1;
q8Str.iCntrlEn=iCntrlEn;
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
///=============================================== FUNCTION HEADER =====================================================
/// Name : Q8CounterOutput
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// iClockSource - ClockSource selection,WATCHDOG or COUNTER
/// fPeriod - Square wave period
/// iCntrlEn - Not used
/// Output : None
/// Return : None
/// Description : Configures counter output and generates periodic square wave
///
///=====================================================================================================================
void Q8CounterOutput(int iCardNum,int iClockSource, float fPeriod,int iCntrlEn )
{
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
struct_Q8_Config q8Str;
q8Str.uiFuncIndex=26;
q8Str.iClockSource=iClockSource;
q8Str.udwPeriod=(uint32_t)(fPeriod / 60e-9)-1;
q8Str.iCntrlEn=iCntrlEn;
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
///================================================= FUNCTION HEADER====================================================
/// Name : Q8AnalogConfig
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// iChannelNum - D/A Output channel number
/// iMode - Output voltage range selection
/// Output : None
/// Return : None
/// Description : Configures the specified analog output channel
///
///=====================================================================================================================
void Q8AnalogConfig(int iCardNum,int iChannelNum,int iMode) {
//update process of configuration of analogoutput mode
dacCon[iChannelNum]=iMode;
struct_Q8_Config q8Str;
q8Str.iCardNum=iCardNum;
q8Str.uiFuncIndex=iChannelNum;
q8Str.ubDacMode=iMode;
q8Str.iChannelNum=iChannelNum;
q8Str.uiFuncIndex=30;
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
///============================================== FUNCTION HEADER=======================================================
/// Name : Q8DigitalOutput
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory.
/// iPtrChannelNums - Array address.In this array numbers of channels written are defined and stored.
/// iArraySİze - Array size.
/// Output : None
/// Return : None
/// Description : Configures the specified channel(s) as output(s) and writes the specified channel(s)
///=====================================================================================================================
void Q8DigitalOutput(int iCardNum,uint32_t channel,uint32_t data,int writeOnly) {
if(fd==-1) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
struct_Q8_Config q8Str;
q8Str.uiFuncIndex=24;
q8Str.onlyDigitalData=writeOnly;
q8Str.udwDataDirection=0;
q8Str.udwDataDirection|=channel;
q8Str.udwDataRegister=data;
q8Str.iCardNum=iCardNum;
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
}
int main(int argc, char *argv[])
{
char buf[1024];
ssize_t size;
int device;
int ret;
/* open the device */
device = rt_dev_open(DEVICE_NAME, 0);
if (device < 0) {
printf("ERROR : can't open device %s (%s)\n",
DEVICE_NAME, strerror(-device));
fflush(stdout);
exit(1);
}
/* first read */
size = rt_dev_read (device, (void *)buf, 1024);
printf("Read in device %s\t: %d bytes\n", DEVICE_NAME, size);
/* first write */
sprintf(buf, "HelloWorld!");
size = rt_dev_write (device, (const void *)buf, strlen(buf) + 1);
printf("Write from device %s\t: %d bytes\n", DEVICE_NAME, size);
/* second read */
size = rt_dev_read (device, (void *)buf, 1024);
printf("Read in device %s\t: %s\n", DEVICE_NAME, buf);
/* third read */
size = rt_dev_read (device, (void *)buf, 1024);
printf("Read in device %s\t: %d bytes\n", DEVICE_NAME, size);
/* close the device */
ret = rt_dev_close(device);
if (ret < 0) {
printf("ERROR : can't close device %s (%s)\n",
DEVICE_NAME, strerror(-ret));
fflush(stdout);
exit(1);
}
return 0;
}
///================================================FUNCTION HEADER=====================================================
/// Name : Q8EncoderConfig
/// Input : iCardNum - PCI memory region that is mapped to Q8 card memory
/// iChannelNum - Encoder channel number
/// iCountMode - Count mode to use
/// iBcd - Bcd or binary counting
/// iQuadrature - Quadrature type selection
/// iIndexEn - Enable or disable index feature
/// iIndexPol - Select index polarity
/// Output : None
/// Return : None
/// Description : Configures the encoder channel
///
///=====================================================================================================================
int Q8EncoderConfig(int iCardNum, int iChannelNum,int iCountMode,
int iBcd, int iQuadrature, int iIndexEn, int iIndexPol)
{
struct_Q8_Config q8Str;
q8Str.uiFuncIndex=29;
q8Str.iCardNum=iCardNum;
q8Str.iChannelNum=iChannelNum;
q8Str.ubEcountMode=iCountMode;
q8Str.ubEbcdMode=iBcd;
q8Str.ubEquadratureMode=iQuadrature;
q8Str.ubIndexEnable=iIndexEn;
q8Str.ubIndexPolarity=iIndexPol;
if(fd < 0) {
fd = rt_dev_open(DEV_NAME, O_RDWR);
}
rt_dev_write(fd,&q8Str,sizeof(struct_Q8_Config));
return fd;
}
int main (int argc, char * argv[])
{
int fd;
int i;
if (argc < 2) {
fprintf(stderr, "usage: %s rtdm_device\n", argv[0]);
exit(EXIT_FAILURE);
}
fd = rt_dev_open(argv[1], O_WRONLY);
if (fd < 0) {
fprintf(stderr, "%s: %s\n", argv[1], strerror(-fd));
exit(EXIT_FAILURE);
}
for (i = 2; i < argc; i ++)
rt_dev_write(fd, argv[i], strlen(argv[i]));
rt_dev_close(fd);
exit(EXIT_SUCCESS);
}
/*!*****************************************************************************
*******************************************************************************
\note write_serial
\date Oct 2000
\remarks
write to the serial port
*******************************************************************************
Function Parameters: [in]=input,[out]=output
\param[in] fd : file descriptor
\param[in] n_bytes: number of bytes to write
\param[in] buffer: buffer with bytes to write
returns the number of bytes actually written
******************************************************************************/
int
write_serial(int fd,int n_bytes, char *buffer)
{
return rt_dev_write(fd, buffer, (size_t) n_bytes);
}
