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u6.c
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//Author: LabJack
//June 25, 2009
//Example U6 helper functions. Function descriptions are in the u6.h file.
#include "u6.h"
//#include <stdlib.h>
#include <errno.h>
u6CalibrationInfo U6_CALIBRATION_INFO_DEFAULT = {
6,
1,
//Nominal Values
{0.00031580578,
-10.5869565220,
0.000031580578,
-1.05869565220,
0.0000031580578,
-0.105869565220,
0.00000031580578,
-0.0105869565220,
-.000315805800,
33523.0,
-.0000315805800,
33523.0,
-.00000315805800,
33523.0,
-.000000315805800,
33523.0,
13200.0,
0.0,
13200.0,
0.0,
0.00001,
0.0002,
-92.379,
465.129,
0.00031580578,
-10.5869565220,
0.000031580578,
-1.05869565220,
0.0000031580578,
-0.105869565220,
0.00000031580578,
-0.0105869565220,
-.000315805800,
33523.0,
-.0000315805800,
33523.0,
-.00000315805800,
33523.0,
-.000000315805800,
33523.0}
};
void normalChecksum(uint8 *b, int n)
{
b[0] = normalChecksum8(b,n);
}
void extendedChecksum(uint8 *b, int n)
{
uint16 a;
a = extendedChecksum16(b,n);
b[4] = (uint8)(a & 0xff);
b[5] = (uint8)((a/256) & 0xff);
b[0] = extendedChecksum8(b);
}
uint8 normalChecksum8(uint8 *b, int n)
{
int i;
uint16 a, bb;
//Sums bytes 1 to n-1 unsigned to a 2 byte value. Sums quotient and
//remainder of 256 division. Again, sums quotient and remainder of
//256 division.
for(i = 1, a = 0; i < n; i++)
a+=(uint16)b[i];
bb = a/256;
a = (a-256*bb)+bb;
bb = a/256;
return (uint8)((a-256*bb)+bb);
}
uint16 extendedChecksum16(uint8 *b, int n)
{
int i, a = 0;
//Sums bytes 6 to n-1 to a unsigned 2 byte value
for(i = 6; i < n; i++)
a += (uint16)b[i];
return a;
}
uint8 extendedChecksum8(uint8 *b)
{
int i, a, bb;
//Sums bytes 1 to 5. Sums quotient and remainder of 256 division. Again, sums
//quotient and remainder of 256 division.
for(i = 1, a = 0; i < 6; i++)
a+=(uint16)b[i];
bb=a/256;
a=(a-256*bb)+bb;
bb=a/256;
return (uint8)((a-256*bb)+bb);
}
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;
}
void closeUSBConnection(HANDLE hDevice)
{
LJUSB_CloseDevice(hDevice);
}
long getTickCount()
{
struct timeval tv;
gettimeofday(&tv, NULL);
return (tv.tv_sec * 1000) + (tv.tv_usec / 1000);
}
long isCalibrationInfoValid(u6CalibrationInfo *caliInfo)
{
if(caliInfo == NULL)
goto invalid;
if(caliInfo->prodID != 6)
goto invalid;
return 1;
invalid:
printf("Error: Invalid calibration info.\n");
return -1;
}
long isTdacCalibrationInfoValid(u6TdacCalibrationInfo *caliInfo)
{
if(caliInfo == NULL)
goto invalid;
if(caliInfo->prodID != 6)
goto invalid;
return 1;
invalid:
printf("Error: Invalid LJTDAC calibration info.\n");
return -1;
}
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 getTdacCalibrationInfo(HANDLE hDevice, u6TdacCalibrationInfo *caliInfo, uint8 DIOAPinNum) {
int err;
uint8 options, speedAdjust, sdaPinNum, sclPinNum, address, numByteToSend, numBytesToReceive, errorcode;
uint8 bytesCommand[1];
uint8 bytesResponse[32];
uint8 ackArray[4];
err = 0;
//Setting up I2C command for LJTDAC
options = 0; //I2COptions : 0
speedAdjust = 0; //SpeedAdjust : 0 (for max communication speed of about 130 kHz)
sdaPinNum = DIOAPinNum+1; //SDAPinNum : FIO channel connected to pin DIOB
sclPinNum = DIOAPinNum; //SCLPinNum : FIO channel connected to pin DIOA
address = (uint8)(0xA0); //Address : h0xA0 is the address for EEPROM
numByteToSend = 1; //NumI2CByteToSend : 1 byte for the EEPROM address
numBytesToReceive = 32; //NumI2CBytesToReceive : getting 32 bytes starting at EEPROM address specified in I2CByte0
bytesCommand[0] = 64; //I2CByte0 : Memory Address (starting at address 64 (DACA Slope)
//Performing I2C low-level call
err = I2C(hDevice, options, speedAdjust, sdaPinNum, sclPinNum, address, numByteToSend, numBytesToReceive, bytesCommand, &errorcode, ackArray, bytesResponse);
if(errorcode != 0)
{
printf("Getting LJTDAC calibration info error : received errorcode %d in response\n", errorcode);
err = -1;
}
if(err == -1)
return err;
caliInfo->ccConstants[0] = FPuint8ArrayToFPDouble(bytesResponse, 0);
caliInfo->ccConstants[1] = FPuint8ArrayToFPDouble(bytesResponse, 8);
caliInfo->ccConstants[2] = FPuint8ArrayToFPDouble(bytesResponse, 16);
caliInfo->ccConstants[3] = FPuint8ArrayToFPDouble(bytesResponse, 24);
caliInfo->prodID = 6;
return err;
}
double FPuint8ArrayToFPDouble(uint8 *buffer, int startIndex)
{
uint32 resultDec = 0;
uint32 resultWh = 0;
int i;
for(i = 0; i < 4; i++)
{
resultDec += (uint32)buffer[startIndex + i] * pow(2, i*8);
resultWh += (uint32)buffer[startIndex + i + 4] * pow(2, i*8);
}
return ( (double)((int)resultWh) + (double)(resultDec)/4294967296.0 );
}
long getAinVoltCalibrated(u6CalibrationInfo *caliInfo, int resolutionIndex, int gainIndex, int bits24, uint32 bytesVolt, double *analogVolt)
{
double value = 0;
int indexAdjust = 0;
if(isCalibrationInfoValid(caliInfo) == -1)
return -1;
value = (double)bytesVolt;
if(bits24)
value = value/256.0;
if(gainIndex > 4)
{
printf("getAinVoltCalibrated error: invalid gain index.\n");
return -1;
}
if(resolutionIndex > 8)
indexAdjust = 24;
if(value < caliInfo->ccConstants[indexAdjust + gainIndex*2 + 9])
*analogVolt = (caliInfo->ccConstants[indexAdjust + gainIndex*2 + 9] - value) * caliInfo->ccConstants[indexAdjust + gainIndex*2 + 8];
else
*analogVolt = (value - caliInfo->ccConstants[indexAdjust + gainIndex*2 + 9]) * caliInfo->ccConstants[indexAdjust + gainIndex*2];
return 0;
}
long getDacBinVoltCalibrated8Bit(u6CalibrationInfo *caliInfo, int dacNumber, double analogVolt, uint8 *bytesVolt8)
{
uint16 u16BytesVolt = 0;
if(getDacBinVoltCalibrated16Bit(caliInfo, dacNumber, analogVolt, &u16BytesVolt) != -1)
{
*bytesVolt8 = (uint8)(u16BytesVolt/256);
return 0;
}
return -1;
}
long getDacBinVoltCalibrated16Bit(u6CalibrationInfo *caliInfo, int dacNumber, double analogVolt, uint16 *bytesVolt16)
{
uint32 dBytesVolt;
if(isCalibrationInfoValid(caliInfo) == -1)
return -1;
if(dacNumber < 0 || dacNumber > 2)
{
printf("getDacBinVoltCalibrated error: invalid channelNumber.\n");
return -1;
}
dBytesVolt = analogVolt*caliInfo->ccConstants[16 + dacNumber*2] + caliInfo->ccConstants[17 + dacNumber*2];
//Checking to make sure bytesVolt will be a value between 0 and 65535.
if(dBytesVolt < 0)
dBytesVolt = 0;
if(dBytesVolt > 65535)
dBytesVolt = 65535;
*bytesVolt16 = (uint16)dBytesVolt;
return 0;
}
long getTempKCalibrated(u6CalibrationInfo *caliInfo, int resolutionIndex, int gainIndex, int bits24, uint32 bytesTemp, double *kelvinTemp)
{
double value;
//convert to voltage first
if(getAinVoltCalibrated(caliInfo, resolutionIndex, gainIndex, bits24, bytesTemp, &value) == -1)
return -1;
*kelvinTemp = caliInfo->ccConstants[22]*value + caliInfo->ccConstants[23];
return 0;
}
long getTdacBinVoltCalibrated(u6TdacCalibrationInfo *caliInfo, int dacNumber, double analogVolt, uint16 *bytesVolt)
{
uint32 dBytesVolt;
if(isTdacCalibrationInfoValid(caliInfo) == -1)
return -1;
if(dacNumber < 0 || dacNumber > 2)
{
printf("getTdacBinVoltCalibrated error: invalid channelNumber.\n");
return -1;
}
dBytesVolt = analogVolt*caliInfo->ccConstants[dacNumber*2] + caliInfo->ccConstants[dacNumber*2 + 1];
//Checking to make sure bytesVolt will be a value between 0 and 65535.
if(dBytesVolt < 0)
dBytesVolt = 0;
if(dBytesVolt > 65535)
dBytesVolt = 65535;
*bytesVolt = (uint16)dBytesVolt;
return 0;
}
long getAinVoltUncalibrated(int resolutionIndex, int gainIndex, int bits24, uint32 bytesVolt, double *analogVolt)
{
return getAinVoltCalibrated(&U6_CALIBRATION_INFO_DEFAULT, resolutionIndex, gainIndex, bits24, bytesVolt, analogVolt);
}
long getDacBinVoltUncalibrated8Bit(int dacNumber, double analogVolt, uint8 *bytesVolt8)
{
return getDacBinVoltCalibrated8Bit(&U6_CALIBRATION_INFO_DEFAULT, dacNumber, analogVolt, bytesVolt8);
}
long getDacBinVoltUncalibrated16Bit(int dacNumber, double analogVolt, uint16 *bytesVolt16)
{
return getDacBinVoltCalibrated16Bit(&U6_CALIBRATION_INFO_DEFAULT, dacNumber, analogVolt, bytesVolt16);
}
long getTempKUncalibrated(int resolutionIndex, int gainIndex, int bits24, uint32 bytesTemp, double *kelvinTemp)
{
return getTempKCalibrated(&U6_CALIBRATION_INFO_DEFAULT, resolutionIndex, gainIndex, bits24, bytesTemp, kelvinTemp);
}
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 = (unsigned char *) malloc(sizeof(uint8)*sendSize);
recBuff = (unsigned char *) 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 eAIN(HANDLE Handle, u6CalibrationInfo *CalibrationInfo, long ChannelP, long ChannelN, double *Voltage, long Range, long Resolution, long Settling, long Binary, long Reserved1, long Reserved2)
{
uint8 sendDataBuff[4], recDataBuff[5];
uint8 diff, gain, Errorcode, ErrorFrame;
uint32 bytesV;
if(isCalibrationInfoValid(CalibrationInfo) != 1)
{
printf("eAIN error: Invalid calibration information.\n");
return -1;
}
//Checking if acceptable positive channel
if(ChannelP < 0 || ChannelP > 143)
{
printf("eAIN error: Invalid ChannelP value.\n");
return -1;
}
//Checking if single ended or differential readin
if(ChannelN == 0 || ChannelN == 15)
{
//single ended reading
diff = 0;
}
else if((ChannelN&1) == 1 && ChannelN == ChannelP + 1)
{
//differential reading
diff = 1;
}
else
{
printf("eAIN error: Invalid ChannelN value.\n");
return -1;
}
if(Range == LJ_rgAUTO)
gain = 15;
else if(Range == LJ_rgBIP10V)
gain = 0;
else if(Range == LJ_rgBIP1V)
gain = 1;
else if(Range == LJ_rgBIPP1V)
gain = 2;
else if(Range == LJ_rgBIPP01V)
gain = 3;
else
{
printf("eAIN error: Invalid Range value\n");
return -1;
}
if(Resolution < 0 || Resolution > 13)
{
printf("eAIN error: Invalid Resolution value\n");
return -1;
}
if(Settling < 0 && Settling > 4)
{
printf("eAIN error: Invalid Settling value\n");
return -1;
}
/* Setting up Feedback command to read analog input */
sendDataBuff[0] = 3; //IOType is AIN24AR
sendDataBuff[1] = (uint8)ChannelP; //Positive channel
sendDataBuff[2] = (uint8)Resolution + gain*16; //Res Index (0-3), Gain Index (4-7)
sendDataBuff[3] = (uint8)Settling + diff*128; //Settling factor (0-2), Differential (7)
if(ehFeedback(Handle, sendDataBuff, 4, &Errorcode, &ErrorFrame, recDataBuff, 5) < 0)
return -1;
if(Errorcode)
return (long)Errorcode;
bytesV = recDataBuff[0] + ((uint32)recDataBuff[1])*256 + ((uint32)recDataBuff[2])*65536;
gain = recDataBuff[3]/16;
if(Binary != 0)
{
*Voltage = (double)bytesV;
}
else
{
if(ChannelP == 14)
{
if(getTempKCalibrated(CalibrationInfo, Resolution, gain, 1, bytesV, Voltage) < 0)
return -1;
}
else
{
gain = recDataBuff[3]/16;
if(getAinVoltCalibrated(CalibrationInfo, Resolution, gain, 1, bytesV, Voltage) < 0)
return -1;
}
}
return 0;
}
long eDAC(HANDLE Handle, u6CalibrationInfo *CalibrationInfo, long Channel, double Voltage, long Binary, long Reserved1, long Reserved2)
{
uint8 sendDataBuff[3];
uint8 Errorcode, ErrorFrame;
uint16 bytesV;
long sendSize;
if(isCalibrationInfoValid(CalibrationInfo) != 1)
{
printf("eDAC error: Invalid calibration information.\n");
return -1;
}
if(Channel < 0 || Channel > 1)
{
printf("eDAC error: Invalid Channel.\n");
return -1;
}
sendSize = 3;
sendDataBuff[0] = 38 + Channel; //IOType is DAC0/1 (16 bit)
if(getDacBinVoltCalibrated16Bit(CalibrationInfo, (int)Channel, Voltage, &bytesV) < 0)
return -1;
sendDataBuff[1] = (uint8)(bytesV&255); //Value LSB
sendDataBuff[2] = (uint8)((bytesV&65280)/256); //Value MSB
if(ehFeedback(Handle, sendDataBuff, sendSize, &Errorcode, &ErrorFrame, NULL, 0) < 0)
return -1;
if(Errorcode)
return (long)Errorcode;
return 0;
}
long eDI(HANDLE Handle, long Channel, long *State)
{
uint8 sendDataBuff[4], recDataBuff[1];
uint8 Errorcode, ErrorFrame;
if(Channel < 0 || Channel > 19)
{
printf("eDI error: Invalid Channel.\n");
return -1;
}
/* Setting up Feedback command to set digital Channel to input and to read from it */
sendDataBuff[0] = 13; //IOType is BitDirWrite
sendDataBuff[1] = Channel; //IONumber(bits 0-4) + Direction (bit 7)
sendDataBuff[2] = 10; //IOType is BitStateRead
sendDataBuff[3] = Channel; //IONumber
if(ehFeedback(Handle, sendDataBuff, 4, &Errorcode, &ErrorFrame, recDataBuff, 1) < 0)
return -1;
if(Errorcode)
return (long)Errorcode;
*State = recDataBuff[0];
return 0;
}
long eDO(HANDLE Handle, long Channel, long State)
{
uint8 sendDataBuff[4];
uint8 Errorcode, ErrorFrame;
if(Channel < 0 || Channel > 19)
{
printf("eD0 error: Invalid Channel\n");
return -1;
}
/* Setting up Feedback command to set digital Channel to output and to set the state */
sendDataBuff[0] = 13; //IOType is BitDirWrite
sendDataBuff[1] = Channel + 128; //IONumber(bits 0-4) + Direction (bit 7)
sendDataBuff[2] = 11; //IOType is BitStateWrite
sendDataBuff[3] = Channel + 128*((State > 0) ? 1 : 0); //IONumber(bits 0-4) + State (bit 7)
if(ehFeedback(Handle, sendDataBuff, 4, &Errorcode, &ErrorFrame, NULL, 0) < 0)
return -1;
if(Errorcode)
return (long)Errorcode;
return 0;
}
long eTCConfig(HANDLE Handle, long *aEnableTimers, long *aEnableCounters, long TCPinOffset, long TimerClockBaseIndex, long TimerClockDivisor, long *aTimerModes, double *aTimerValues, long Reserved1, long Reserved2)
{
uint8 sendDataBuff[20];
uint8 numTimers, counters, cNumTimers, cCounters, cPinOffset, Errorcode, ErrorFrame;
int sendDataBuffSize, i;
long error;
if(TCPinOffset < 0 && TCPinOffset > 8)
{
printf("eTCConfig error: Invalid TCPinOffset.\n");
return -1;
}
/* ConfigTimerClock */
if(TimerClockBaseIndex == LJ_tc4MHZ || TimerClockBaseIndex == LJ_tc12MHZ || TimerClockBaseIndex == LJ_tc48MHZ ||
TimerClockBaseIndex == LJ_tc1MHZ_DIV || TimerClockBaseIndex == LJ_tc4MHZ_DIV || TimerClockBaseIndex == LJ_tc12MHZ_DIV ||
TimerClockBaseIndex == LJ_tc48MHZ_DIV)
TimerClockBaseIndex = TimerClockBaseIndex - 20;
error = ehConfigTimerClock(Handle, (uint8)(TimerClockBaseIndex + 128), (uint8)TimerClockDivisor, NULL, NULL);
if(error != 0)
return error;
numTimers = 0;
counters = 0;
for(i = 0; i < 4; i++)
{
if(aEnableTimers[i] != 0)
numTimers++;
else
i = 999;
}
for(i = 0; i < 2; i++)
{
if(aEnableCounters[i] != 0)
{
counters += pow(2, i);
}
}
error = ehConfigIO(Handle, 1, numTimers, counters, TCPinOffset, &cNumTimers, &cCounters, &cPinOffset);
if(error != 0)
return error;
if(numTimers > 0)
{
/* Feedback */
for(i = 0; i < 8; i++)
sendDataBuff[i] = 0;
for(i = 0; i < numTimers; i++)
{
sendDataBuff[i*4] = 43 + i*2; //TimerConfig
sendDataBuff[1 + i*4] = (uint8)aTimerModes[i]; //TimerMode
sendDataBuff[2 + i*4] = (uint8)(((long)aTimerValues[i])&0x00ff); //Value LSB
sendDataBuff[3 + i*4] = (uint8)((((long)aTimerValues[i])&0xff00)/256); //Value MSB
}
sendDataBuffSize = 4*numTimers;
if(ehFeedback(Handle, sendDataBuff, sendDataBuffSize, &Errorcode, &ErrorFrame, NULL, 0) < 0)
return -1;
if(Errorcode)
return (long)Errorcode;
}
return 0;
}
long eTCValues(HANDLE Handle, long *aReadTimers, long *aUpdateResetTimers, long *aReadCounters, long *aResetCounters, double *aTimerValues, double *aCounterValues, long Reserved1, long Reserved2)
{
uint8 sendDataBuff[20], recDataBuff[24];
uint8 Errorcode, ErrorFrame;
int sendDataBuffSize, recDataBuffSize, i, j;
int numTimers, dataCountCounter, dataCountTimer;
/* Feedback */
numTimers = 0;
dataCountCounter = 0;
dataCountTimer = 0;
sendDataBuffSize = 0;
recDataBuffSize = 0;
for(i = 0; i < 4; i++)
{
if(aReadTimers[i] != 0 || aUpdateResetTimers[i] != 0)
{
sendDataBuff[sendDataBuffSize] = 42 + i*2; //Timer
sendDataBuff[1 + sendDataBuffSize] = ((aUpdateResetTimers[i] != 0) ? 1 : 0); //UpdateReset
sendDataBuff[2 + sendDataBuffSize] = (uint8)(((long)aTimerValues[i])&0x00ff); //Value LSB
sendDataBuff[3 + sendDataBuffSize] = (uint8)((((long)aTimerValues[i])&0xff00)/256); //Value MSB
sendDataBuffSize += 4;
recDataBuffSize += 4;
numTimers++;
}
}
for(i = 0; i < 2; i++)
{
if(aReadCounters[i] != 0 || aResetCounters[i] != 0)
{
sendDataBuff[sendDataBuffSize] = 54 + i; //Counter
sendDataBuff[1 + sendDataBuffSize] = ((aResetCounters[i] != 0) ? 1 : 0); //Reset
sendDataBuffSize += 2;
recDataBuffSize += 4;
}
}
if(ehFeedback(Handle, sendDataBuff, sendDataBuffSize, &Errorcode, &ErrorFrame, recDataBuff, recDataBuffSize) < 0)
return -1;
if(Errorcode)
return (long)Errorcode;
for(i = 0; i < 4; i++)
{
aTimerValues[i] = 0;
if(aReadTimers[i] != 0)
{
for(j = 0; j < 4; j++)
aTimerValues[i] += (double)((long)recDataBuff[j + dataCountTimer*4]*pow(2, 8*j));
}
if(aReadTimers[i] != 0 || aUpdateResetTimers[i] != 0)
dataCountTimer++;
if(i < 2)
{
aCounterValues[i] = 0;
if(aReadCounters[i] != 0)
{
for(j = 0; j < 4; j++)
aCounterValues[i] += (double)((long)recDataBuff[j + numTimers*4 + dataCountCounter*4]*pow(2, 8*j));
}
if(aReadCounters[i] != 0 || aResetCounters[i] != 0)
dataCountCounter++;
}
}
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];