daqcard.c

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/************************************************************************************************/
/*! \file daqcard.c
*  \brief Low-level c-code containing the "dscud.h"-related functions used with the DAQ card.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.7 $
*  \date    $Date: 2007/08/02 23:18:28 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#include <sys/time.h>
#include "daqcard.h"
#include "dscud.h"

/*
static int kbhit()
{
        struct timeval timeout;
        fd_set rfds;

        timeout.tv_sec = 0;
        timeout.tv_usec = 0;

        FD_ZERO(&rfds);
        FD_SET(0, &rfds);

        return select(0+1, &rfds, NULL, NULL, &timeout);
}
*/

void DAConvert(card_t *mycard, int _channel, int _code)
{
        switch (_channel)
        {
                case 1:
                        if((mycard->result = dscDAConvert( mycard->dscb, mycard->chan38, _code)) != DE_NONE)
                        {
                                dscGetLastError(&mycard->errorParams);
                                fprintf(stderr, "%s %s\n", ERROR_PREFIX, mycard->errorParams.errstring);        
                        }
                        break;
                case 2:
                        if((mycard->result = dscDAConvert( mycard->dscb, mycard->chan37, _code)) != DE_NONE)
                        {
                                dscGetLastError(&mycard->errorParams);
                                fprintf(stderr, "%s %s\n", ERROR_PREFIX, mycard->errorParams.errstring);        
                        }
                        break;
                default:
                        printf(" bad channel vale: %d \n", _channel);
                        break;
        }
}

double ADscan(card_t *mycard, int _channel)
{
        double out_voltage;
        if( (mycard->result = dscADScan( mycard->dscb, &(mycard->dscadscan), mycard->samples) ) != DE_NONE )
        {
                fprintf(stderr, "%s%s\n", ERROR_PREFIX, dscGetErrorString( mycard->result) );
                free( mycard->samples ); /* remember to free memory */
                return 0;
        }
        /* NOTE: re-evaluate the following line for hardcoding issues. */
        mycard->voltage = (short)(mycard->dscadscan.sample_values[_channel]) / 32768.0 * 5.0; /* for 5V range */
        /* added the power thing in denominator (why?) */
        out_voltage = ((double)mycard->voltage)/pow(2,mycard->dscadsettings.gain); /* NOTE: this casting from a float to a double might not be good.*/
        return out_voltage;
}


int InitDAQCard(card_t *mycard)
{
        /* Initialize the dscud library*/
        if( dscInit( DSC_VERSION ) != DE_NONE )
        {
                dscGetLastError(&(mycard->errorParams));
                fprintf( stderr, "%s %s\n", ERROR_PREFIX, (mycard->errorParams).errstring );
                return 0;
        }

        /* Initialize the DMM-32-AT board */
        mycard->dsccb.boardtype = DSC_DMM32;
        mycard->dsccb.base_address = 0x300;
        mycard->dsccb.int_level = 3;
        mycard->dsccb.dma_level = 3;
        mycard->dsccb.clock_freq = 10000000l;
        if(dscInitBoard(DSC_DMM32, &(mycard->dsccb), &(mycard->dscb))!= DE_NONE)
        {
                dscGetLastError(&(mycard->errorParams));
                fprintf(stderr, "%s %s\n", ERROR_PREFIX, (mycard->errorParams).errstring);
                return 1;
        }

        /* settings for AD scanning
         NOTE: These DAQ card settings will affect the calibration values needed for things
         like the MotionPak.  That is, the scale factor and bias given in the MoPak manual 
         would be correct if the DAQ card didn't have to perform conversions on the input signal.
         But since the DAQ card needs to shift and scale the input range to match its full scale
         voltage range, we must calculate our own calibration values.  That calibration is done 
         in a stand-alone executable, but we leave this reminder here so that the user remembers that
         fact in case the following settings are modified.
         Current Settings as of 5/24/04: Range = 10, Polarity = Bi, Gain = 1.
         As of 6/27/06, Range setting changed to 5
        */

        /* mycard->dscadsettings.range = RANGE_10; // 10 V range */
        mycard->dscadsettings.range = RANGE_5; /* 5 V range */
        /*mycard->dscadsettings.polarity = UNIPOLAR;  unipolar */
        mycard->dscadsettings.polarity = BIPOLAR; /* bipolar */
        mycard->dscadsettings.gain = GAIN_1;
        mycard->dscadsettings.load_cal = (BYTE)TRUE; /* calibration (???????????) */
        mycard->dscadsettings.current_channel = 0; /* from example (???) */
        mycard->dscadsettings.scan_interval = 2; /* from example (???) */
        
        mycard->result = dscADSetSettings( mycard->dscb, &(mycard->dscadsettings) );
        /*printf(" result is %d\n",mycard->result);*/
        /*if ( (mycard->result = dscADSetSettings( mycard->dscb, &(mycard->dscadsettings) ) ) != DE_NONE );
        {
                printf("its in here stupid!\n");
                fprintf(stderr, "%s%s\n", ERROR_PREFIX, dscGetErrorString( mycard->result ) );
                return 0;
        
        }*/
        mycard->dscadscan.low_channel = (BYTE) 0;
        mycard->dscadscan.high_channel = (BYTE) 15;
        mycard->dscadscan.gain = GAIN_1;

        /* NOTE changed WORD to SWORD in this line to make compiler happy */
        mycard->samples = (SWORD*)malloc( sizeof(SWORD) * ( mycard->dscadscan.high_channel - mycard->dscadscan.low_channel + 1) );

        /* for analog thusters:*/
        mycard->chan38 = 0;
        mycard->chan37 = 1;
        /* for digital thrusters:*/
        BYTE config_bytes = 0x80;
        dscDIOSetConfig(mycard->dscb, &config_bytes);


        return 0;
}
/*Funtion to send a digital signal to daqcard */
void DIOOutputByte(card_t *mycard,int port,BYTE output_b)
{
        
        /*Sends digital signal to daqcard and prints an error message if operation fails */
        if( ( mycard->result = dscDIOOutputByte(mycard ->dscb, port, (BYTE)( output_b ) ) ) != DE_NONE ) {
                dscGetLastError(&mycard->errorParams);
                fprintf( stderr, "%s %s\n", ERROR_PREFIX, (mycard->errorParams).errstring );
        }
}

void ShutDownDAQCard(card_t *mycard)
{
        /* free memory used by sample values */
        free(mycard->samples);
        
        /* free driver resources */
        dscFree();
}

/* Do not change the comments below - they will be added automatically by CVS*/
/*****************************************************************************
*       $Log: daqcard.c,v $
*       Revision 1.7  2007/08/02 23:18:28  jayhawk_hokie
*       Fixed Warnings.
*       
*       Revision 1.6  2006/06/27 20:15:10  bwilliam
*       Changed to 5V range in initialization. Altered voltage formula
*       in ADScan to match.
*       
*       Revision 1.5  2005/02/25 19:42:45  cakinli
*       Attempt 5:
*       Created Makefiles and organized include directives to reduce the number of
*       include paths.  Reorganized libraries so that there is now one per source
*       directory.  Each directory is self-contained in terms of its Makefile.
*       The local Makefile in each directory includes src/config.mk, which has all
*       the definitions and general and pattern rules.  So at most, to see what
*       goes into building a target, a person needs to examine the Makefile in
*       that directory, and ../config.mk.
*       
*       Revision 1.4  2004/06/15 15:00:23  shaigunjoe
*       Added changes for digital signal
*       
*       Revision 1.3  2004/05/27 19:08:26  shoemaker
*       Made changes corresponding to new daq card settings and calibration methods
*       
*       Revision 1.2  2004/04/11 19:35:50  shoemaker
*       Fixed bugs in analog code and cleaned up random messages
*       
*       Revision 1.1  2004/03/29 17:42:36  shoemaker
*       Initial submission of lowlevel c-code related to DAQ card
*       
*       
******************************************************************************/

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