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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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