diff options
Diffstat (limited to 'Kod/bilbana/IOFunctions/initialize_counters.m')
| -rw-r--r-- | Kod/bilbana/IOFunctions/initialize_counters.m | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/Kod/bilbana/IOFunctions/initialize_counters.m b/Kod/bilbana/IOFunctions/initialize_counters.m new file mode 100644 index 0000000..27e76ac --- /dev/null +++ b/Kod/bilbana/IOFunctions/initialize_counters.m @@ -0,0 +1,217 @@ +function [] = initialize_counters(track)
+%INITIALIZE_COUNTERS Creates counter tasks by calling the new driver NIDAQmx.
+%
+% There are one task associated with each counter. The handles of these
+% tasks are stored in global struct mytaskh. The tasks are not started
+% by this function, the user needs to call set_car_speed and/or
+% start_race to arm any counters.
+%
+% Track 1/track 2:
+% ctr_0/ctr_4 - Pulse train signal, representing car speed.
+% ctr_1/ctr_5 - Check point counter.
+% ctr_2/ctr_6 - Lap counter.
+% ctr_3/ctr_7 - Time counter, counts at 100kHz.
+%
+% Tobias Lindell - 2013-02-12
+
+global mytaskh
+global lib
+
+switch nargin
+ case 1
+ lib = 'myni'; % library alias
+ if ~libisloaded(lib)
+ disp('Matlab: Loading nicaiu.dll. Please wait!')
+ funclist = loadlibrary('c:\windows\system32\nicaiu.dll','C:\Program Files (x86)\National Instruments\Shared\ExternalCompilerSupport\C\include\nidaqmx.h','alias',lib); %#ok<NASGU>
+ %if you do NOT have nicaiu.dll and nidaqmx.h
+ %in your Matlab path,add full pathnames or copy the files.
+ %libfunctions(lib,'-full') % use this to show the...
+ %libfunctionsview(lib) % included function
+ disp('Matlab: Nicaiu.dll loaded!')
+ end
+
+ disp(['Initializing track ',num2str(track),' please wait!'])
+
+ %%% NIconstants
+ DAQmx_Val_Hz = 10373; % Hz
+
+ % DAQmx_Val_High = 10192; % High
+ DAQmx_Val_Low = 10214; % Low
+
+ % DAQmx_Val_FiniteSamps = 10178; % Finite Samples
+ DAQmx_Val_ContSamps = 10123; % Continuous Samples
+ % DAQmx_Val_HWTimedSinglePoint = 12522; % Hardware Timed Single Point
+
+ DAQmx_Val_Rising = 10280; % Rising
+ % DAQmx_Val_Falling = 10171; % Falling
+
+ DAQmx_Val_CountUp = 10128; % Count Up
+ % DAQmx_Val_CountDown = 10124; % Count Down
+ % DAQmx_Val_ExtControlled = 10326; % Externally Controlled
+
+
+
+ % Track 1
+ switch track
+ case 1
+ %%% Car speed counter
+ mytaskh.ctr_0 = DAQmxCreateCOPulseChanFreq(lib,'Dev1/ctr0',DAQmx_Val_Hz,DAQmx_Val_Low,2.5e-08,100,0.001);
+ calllib(lib,'DAQmxCfgImplicitTiming',mytaskh.ctr_0,DAQmx_Val_ContSamps,1000);
+
+ %%% Sensor counters
+
+ % Check points
+ % Starting count edges counter, detecting rising edges
+ mytaskh.ctr_1 = DAQmxCreateCICountEdgesChan(lib,'Dev1/ctr1',DAQmx_Val_Rising,DAQmx_Val_CountUp);
+ % Setting up terminal and filter
+ calllib(lib,'DAQmxSetCICountEdgesTerm',mytaskh.ctr_1,'Dev1/ctr1','PFI35');
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrEnable',mytaskh.ctr_1,'Dev1/ctr1',1);
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrMinPulseWidth',mytaskh.ctr_1,'Dev1/ctr1',5e-6);
+
+ % Lap counter
+ mytaskh.ctr_2 = DAQmxCreateCICountEdgesChan(lib,'Dev1/ctr2',DAQmx_Val_Rising,DAQmx_Val_CountUp);
+ calllib(lib,'DAQmxSetCICountEdgesTerm',mytaskh.ctr_2,'Dev1/ctr2','PFI31');
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrEnable',mytaskh.ctr_2,'Dev1/ctr2',1);
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrMinPulseWidth',mytaskh.ctr_2,'Dev1/ctr2',5e-6);
+
+ %%% Timer counter
+ mytaskh.ctr_3 = DAQmxCreateCICountEdgesChan(lib,'Dev1/ctr3',DAQmx_Val_Rising,DAQmx_Val_CountUp);
+ calllib(lib,'DAQmxSetCICountEdgesTerm',mytaskh.ctr_3,'Dev1/ctr3','/Dev1/100kHzTimebase');
+
+ case 2
+ %%% Car speed counter
+ mytaskh.ctr_4 = DAQmxCreateCOPulseChanFreq(lib,'Dev1/ctr4',DAQmx_Val_Hz,DAQmx_Val_Low,2.5e-08,100,0.001);
+ calllib(lib,'DAQmxCfgImplicitTiming',mytaskh.ctr_4,DAQmx_Val_ContSamps,1000);
+
+ %%% Sensor counters
+ % Check points
+ mytaskh.ctr_5 = DAQmxCreateCICountEdgesChan(lib,'Dev1/ctr5',DAQmx_Val_Rising,DAQmx_Val_CountUp);
+ calllib(lib,'DAQmxSetCICountEdgesTerm',mytaskh.ctr_5,'Dev1/ctr5','PFI19');
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrEnable',mytaskh.ctr_5,'Dev1/ctr5',1);
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrMinPulseWidth',mytaskh.ctr_5,'Dev1/ctr5',5e-6);
+
+ % Lap counter
+ mytaskh.ctr_6 = DAQmxCreateCICountEdgesChan(lib,'Dev1/ctr6',DAQmx_Val_Rising,DAQmx_Val_CountUp);
+ calllib(lib,'DAQmxSetCICountEdgesTerm',mytaskh.ctr_6,'Dev1/ctr6','PFI15');
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrEnable',mytaskh.ctr_6,'Dev1/ctr6',1);
+ calllib(lib,'DAQmxSetCICountEdgesDigFltrMinPulseWidth',mytaskh.ctr_6,'Dev1/ctr6',5e-6);
+
+ %%% Timer counter
+ mytaskh.ctr_7 = DAQmxCreateCICountEdgesChan(lib,'Dev1/ctr7',DAQmx_Val_Rising,DAQmx_Val_CountUp);
+ calllib(lib,'DAQmxSetCICountEdgesTerm',mytaskh.ctr_7,'Dev1/ctr7','/Dev1/100kHzTimebase');
+
+ otherwise
+ disp('Wrong track number sent to initialize_counters!')
+ return
+ end
+ disp(['Track ',num2str(track),' initialized!'])
+ otherwise
+ disp('Wrong number of input arguments sent to initialize_counters(track)! Should be 1!')
+end
+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
+
+function taskh = DAQmxCreateCICountEdgesChan(lib,ctrs,edge,direction)
+% function taskh = DAQmxCreateCICountEdgesChan(lib,ctrs,edge,direction)
+%
+% this function creates a task and adds counter input channel(s) to the task
+%
+% inputs:
+% lib - .dll or alias (ex. 'myni')
+% ctrs - channel(s) to add to task
+% 1 channel example: 'Dev1/ctr0'
+% 2 channels example: {'Dev1/ctr0','Dev1/ctr1'}
+% passing as .../ctr0-1 probably also works, but I didn't test
+% edge - which edge that is detected/counted ('rising' or 'falling')
+% direction - direction to count ('increment' or 'decrement')
+%
+%
+% written by Tobias Lindell
+% inspired by Nathan Tomlin (nathan.a.tomlin@gmail.com)
+% v0 - 1302
+
+taskh = [];
+name_task = ''; % recommended to avoid problems
+[err,~,taskh] = calllib(lib,'DAQmxCreateTask',name_task,uint32(taskh));
+DAQmxCheckError(lib,err);
+
+name_line = ''; % recommended to avoid problems
+[err,~,~,~] = calllib(lib,'DAQmxCreateCICountEdgesChan',taskh,ctrs,name_line,edge,0,direction);
+DAQmxCheckError(lib,err);
+
+% verify everything OK
+DAQmx_Val_Task_Verify = 2; % Verify
+[err,~] = calllib(lib,'DAQmxTaskControl',taskh,DAQmx_Val_Task_Verify);
+DAQmxCheckError(lib,err);
+
+end
+
+function taskh = DAQmxCreateCOPulseChanFreq(lib,ctrs,units,idleState,initialDelay,freq,dutyCycle)
+% function taskh = DAQmxCreateCOPulseChanFreq(lib,ctrs,units,idleState,initialDelay,freq,dutyCycle)
+%
+% this function creates a task and adds counter input channel(s) to the task
+%
+% inputs:
+% lib - .dll or alias (ex. 'myni')
+% ctrs - channel(s) to add to task
+% 1 channel example: 'Dev1/ctr0'
+% 2 channels example: {'Dev1/ctr0','Dev1/ctr1'}
+% passing as .../ctr0-1 probably also works, but I didn't test
+% units - The units in which to specify freq. (DAQmx_Val_Hz = hertz)
+% idleState - The resting state of the output terminal.
+% DAQmx_Val_High - High state.
+% DAQmx_Val_Low - Low state.
+% initialDelay - The amount of time in seconds to wait before generating the first pulse.
+% freq - The frequency at which to generate pulses.
+% dutyCycle - The width of the pulse divided by the pulse period.
+%
+%
+% written by Tobias Lindell
+% inspired by Nathan Tomlin (nathan.a.tomlin@gmail.com)
+% v0 - 1302
+
+
+taskh = [];
+name_task = ''; % recommended to avoid problems
+[err,~,taskh] = calllib(lib,'DAQmxCreateTask',name_task,uint32(taskh));
+DAQmxCheckError(lib,err);
+
+name_line = ''; % recommended to avoid problems
+[err,~,~,~] = calllib(lib,'DAQmxCreateCOPulseChanFreq',taskh,ctrs,name_line,units,idleState,initialDelay,freq,dutyCycle);
+DAQmxCheckError(lib,err);
+
+% verify everything OK
+DAQmx_Val_Task_Verify = 2; % Verify
+[err,~] = calllib(lib,'DAQmxTaskControl',taskh,DAQmx_Val_Task_Verify);
+DAQmxCheckError(lib,err);
+
+end
+
+
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