diff options
Diffstat (limited to 'Kod/bilbana/IOFunctions/get_manual_speed.m')
| -rw-r--r-- | Kod/bilbana/IOFunctions/get_manual_speed.m | 279 |
1 files changed, 279 insertions, 0 deletions
diff --git a/Kod/bilbana/IOFunctions/get_manual_speed.m b/Kod/bilbana/IOFunctions/get_manual_speed.m new file mode 100644 index 0000000..04af0ae --- /dev/null +++ b/Kod/bilbana/IOFunctions/get_manual_speed.m @@ -0,0 +1,279 @@ +function [manual_speed] = get_manual_speed(track)
+%GET_MANUAL_SPEED Reads input from gas handle and returns converted value.
+% Uses digital in/out functions to get and set values on the channels set
+% up by the function config_IOs.
+%
+% Output channels:
+% SCLK - Serial Clock Input.
+% CS_INV - Active-Low Chip Select. Data will not be clocked into DIN
+% unless CS is low. When CS is high, DOUT is high impedance.
+% DIN - Digital Serial Input. Data is clocked in at the rising edge of
+% SCLK.
+%
+% Input channels:
+% SSTRB - Serial Strobe Output. In internal clock mode, SSTRB goes low
+% when the MAX186/MAX188 begin the A/D conversion and goes high
+% when the conversion is done. In external clock mode, SSTRB
+% pulses high for one clock period before the MSB decision. High
+% impedance when CS is high (external mode).
+% DOUT - Serial Data Output. Data is clocked out at the falling edge of
+% SCLK. High impedance when CS is high.
+%
+% User needs to manually clock the serial clock of the analog/digital
+% converter to read or write data.
+%
+% Tobias Lindell - 2013-02-12
+
+global mytaskh
+global lib
+
+switch nargin
+ case 1
+ manual_speed = [];
+
+ if isempty(mytaskh)
+ disp('User needs to initialize IO before getting manual car speed!')
+ clearvars -global mytaskh lib
+ return
+ else
+ if ~isfield(mytaskh,'DO_SCLK')
+ disp('User needs to initialize IO before getting manual car speed!')
+ return
+ end
+ end
+
+ switch track
+ case 1
+ control_bit = 0;
+ case 2
+ control_bit = 1;
+ otherwise
+ disp('Wrong track number sent to get_manual_speed!')
+ return
+ end
+
+ % Channels:
+ % mytaskh.DO_SCLK
+ % mytaskh.DO_CS_INV
+ % mytaskh.DO_DIN
+ % mytaskh.DI_SSTRB
+ % mytaskh.DI_DOUT
+
+ DAQmx_Val_ChanPerLine =0; %#ok<*NASGU> % One Channel For Each Line
+ DAQmx_Val_ChanForAllLines =1; % One Channel For All Lines
+ DAQmx_Val_GroupByChannel = 0; % Group by Channel
+ DAQmx_Val_GroupByScanNumber =1; % Group by Scan Number
+
+ numSampsPerChan = 1;
+ timeout = 1;
+ fillMode = DAQmx_Val_GroupByChannel; % Group by Channel
+ % fillMode = DAQmx_Val_GroupByScanNumber; % Group by Scan Number
+ dataLayout = DAQmx_Val_GroupByChannel; % Group by Channel
+ % dataLayout = DAQmx_Val_GroupByScanNumber; % Group by Scan Number
+ numchanDI = 1; % DI lines
+ numsample = 1;
+
+
+
+ % Setup outports
+ DAQmxWriteDigitalLines(lib,mytaskh.DO_CS_INV,...
+ numSampsPerChan,timeout,dataLayout,1);
+ DAQmxWriteDigitalLines(lib,mytaskh.DO_SCLK,...
+ numSampsPerChan,timeout,dataLayout,0);
+ DAQmxWriteDigitalLines(lib,mytaskh.DO_DIN,...
+ numSampsPerChan,timeout,dataLayout,0);
+ DAQmxWriteDigitalLines(lib,mytaskh.DO_CS_INV,...
+ numSampsPerChan,timeout,dataLayout,0);
+
+ % Send controll byte : "100x1110", där x är kontrollbiten.
+ set_ADC_bit(1);
+ set_ADC_bit(0);
+ set_ADC_bit(0);
+ set_ADC_bit(control_bit);
+ set_ADC_bit(1);
+ set_ADC_bit(1);
+ set_ADC_bit(1);
+ set_ADC_bit(0);
+
+ pause(0.005)
+
+ DAQmxWriteDigitalLines(lib,mytaskh.DO_SCLK,...
+ numSampsPerChan,timeout,dataLayout,1);
+
+ ADC = zeros(1,12);
+ for i=1:12
+ ADC(13-i) = get_ADC_bit();
+ end
+ get_ADC_bit();
+ get_ADC_bit();
+ get_ADC_bit();
+ get_ADC_bit();
+ DAQmxWriteDigitalLines(lib,mytaskh.DO_CS_INV,...
+ numSampsPerChan,timeout,dataLayout,1);
+
+ x1=ADC(12)*128+ADC(11)*64+ADC(10)*32+ADC(9)*16+ADC(8)*8+ADC(7)*4+ADC(6)*2+ADC(5)*1-128;
+ manual_speed = min(max(x1,0),127);
+ otherwise
+ disp('Wrong number of arguments sent to get_manual_speed(track)! Should be 1!');
+end
+end
+
+function [] = set_ADC_bit(valueDO)
+global mytaskh
+global lib
+
+DAQmx_Val_ChanPerLine =0; % One Channel For Each Line
+DAQmx_Val_ChanForAllLines =1; % One Channel For All Lines
+DAQmx_Val_GroupByChannel = 0; % Group by Channel
+DAQmx_Val_GroupByScanNumber =1; % Group by Scan Number
+
+numSampsPerChan = 1;
+timeout = 1;
+dataLayout = DAQmx_Val_GroupByChannel; % Group by Channel
+% dataLayout = DAQmx_Val_GroupByScanNumber; % Group by Scan Number
+
+DAQmxWriteDigitalLines(lib,mytaskh.DO_DIN,...
+ numSampsPerChan,timeout,dataLayout,valueDO);
+
+DAQmxWriteDigitalLines(lib,mytaskh.DO_SCLK,...
+ numSampsPerChan,timeout,dataLayout,1);
+DAQmxWriteDigitalLines(lib,mytaskh.DO_SCLK,...
+ numSampsPerChan,timeout,dataLayout,0);
+end
+
+function [valueDI] = get_ADC_bit()
+global mytaskh
+global lib
+
+DAQmx_Val_ChanPerLine =0; % One Channel For Each Line
+DAQmx_Val_ChanForAllLines =1; % One Channel For All Lines
+DAQmx_Val_GroupByChannel = 0; % Group by Channel
+DAQmx_Val_GroupByScanNumber =1; % Group by Scan Number
+
+numSampsPerChan = 1;
+timeout = 1;
+fillMode = DAQmx_Val_GroupByChannel; % Group by Channel
+% fillMode = DAQmx_Val_GroupByScanNumber; % Group by Scan Number
+dataLayout = DAQmx_Val_GroupByChannel; % Group by Channel
+% dataLayout = DAQmx_Val_GroupByScanNumber; % Group by Scan Number
+numchanDI = 1; % DI lines
+numsample = 1;
+
+DAQmxWriteDigitalLines(lib,mytaskh.DO_SCLK,...
+ numSampsPerChan,timeout,dataLayout,0);
+DAQmxWriteDigitalLines(lib,mytaskh.DO_SCLK,...
+ numSampsPerChan,timeout,dataLayout,1);
+valueDI = DAQmxReadDigitalLines(lib,mytaskh.DI_DOUT,numSampsPerChan,timeout,fillMode,numchanDI,numsample);
+end
+
+function sampsPerChanWritten = DAQmxWriteDigitalLines(lib,taskh,numSampsPerChan,timeout,dataLayout,DOvalue)
+% function sampsPerChanWritten = DAQmxWriteDigitalLines(lib,taskh,numSampsPerChan,timeout,dataLayout,DOvalue)
+%
+% this function writes digital outputs from previously setup task
+%
+% inputs:
+% lib - .dll or alias (ex. 'myni')
+% taskh - taskhandle of analog inputs
+% numSampsPerChan = ?
+% timeout - in seconds
+% dataLayout - DAQmx_Val_GroupByChannel or DAQmx_Val_GroupByScanNumber
+% DOvalue - value to write (0 or 1)
+% 1 channel example: 0
+% 2 channel example: [0,0]
+%
+% C functions:
+% int32 DAQmxReadDigitalLines (
+% TaskHandle taskHandle,int32 numSampsPerChan,float64 timeout,bool32 fillMode,
+% uInt8 readArray[],uInt32 arraySizeInBytes,int32 *sampsPerChanRead,int32 *numBytesPerSamp,bool32 *reserved);
+% int32 DAQmxStopTask (TaskHandle taskHandle);
+% int32 DAQmxWriteDigitalLines (
+% TaskHandle taskHandle,int32 numSampsPerChan,bool32 autoStart,float64 timeout,bool32 dataLayout,
+% uInt8 writeArray[],int32 *sampsPerChanWritten,bool32 *reserved);
+% int32 DAQmxStopTask (TaskHandle taskHandle);
+%
+%
+% written by Tobias Lindell
+% inspired by Nathan Tomlin (nathan.a.tomlin@gmail.com)
+% v0 - 1302
+
+autoStart = 1;
+
+
+[err,sampsPerChanWritten,empty] = calllib(lib,'DAQmxWriteDigitalLines',...
+ taskh,numSampsPerChan,autoStart,timeout,dataLayout,...
+ DOvalue,0,[]);
+DAQmxCheckError(lib,err);
+end
+
+function data = DAQmxReadDigitalLines(lib,taskh,numSampsPerChan,timeout,fillMode,numchan,numsample)
+% function data = DAQmxReadDigitalLines(lib,taskh,numSampsPerChan,timeout,fillMode,numchan,numsample)
+%
+% this function reads digital inputs from previously setup task
+%
+% inputs:
+% lib - .dll or alias (ex. 'myni')
+% taskh - taskhandle of analog inputs
+% numSampsPerChan = ?
+% timeout - in seconds
+% fillMode - DAQmx_Val_GroupByChannel or DAQmx_Val_GroupByScanNumber
+% numchan - number of digital channels to read
+% numsample - number of samples to read
+%
+% C functions:
+% int32 DAQmxReadDigitalLines (
+% TaskHandle taskHandle,int32 numSampsPerChan,float64 timeout,bool32 fillMode,
+% uInt8 readArray[],uInt32 arraySizeInBytes,int32 *sampsPerChanRead,int32 *numBytesPerSamp,bool32 *reserved);
+% int32 DAQmxStopTask (TaskHandle taskHandle);
+%
+% written by Tobias Lindell
+% inspired by Nathan Tomlin (nathan.a.tomlin@gmail.com)
+% v0 - 1302
+
+
+% make some pointers
+% readarray1=ones(numchan,numsample); readarray1_ptr=libpointer('doublePtr',readarray1);
+readarray1=ones(numchan,numsample); readarray1_ptr=libpointer('uint8Ptr',readarray1);
+sampread=1; sampread_ptr=libpointer('int32Ptr',sampread);
+bytespersamp=1; bytespersamp_ptr=libpointer('int32Ptr',bytespersamp);
+empty=[]; empty_ptr=libpointer('uint32Ptr',empty);
+
+arraylength=numsample*numchan; % more like 'buffersize'
+
+[err,~,sampread,~,empty]=calllib(lib,'DAQmxReadDigitalLines',...
+ taskh,numSampsPerChan,timeout,fillMode,...
+ readarray1_ptr,arraylength,sampread_ptr,bytespersamp_ptr,empty_ptr);
+DAQmxCheckError(lib,err);
+
+% err = calllib(lib,'DAQmxStopTask',taskh);
+% DAQmxCheckError(lib,err);
+
+data = sampread;
+end
+
+function DAQmxCheckError(lib,err)
+% function DAQmxCheckError(lib,err)
+%
+% read error code
+% zero means no error - does nothing
+% nonzero - find out error string and generate error
+%
+% inputs:
+% lib = .dll or alias (ex. 'myni')
+% err = DAQmx error
+%
+% written by Tobias Lindell
+% inspired by Nathan Tomlin (nathan.a.tomlin@gmail.com)
+% v0 - 1302
+
+if err ~= 0
+ % find out how long the error string is
+ [numerr,~] = calllib(lib,'DAQmxGetErrorString',err,'',0);
+
+ % get error string
+ errstr = char(1:numerr); % have to pass dummy string of correct length
+ [~,errstr] = calllib(lib,'DAQmxGetErrorString',err,errstr,numerr);
+
+ % matlab error
+ error(['DAQmx error - ',errstr])
+end
+end
\ No newline at end of file |