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| | SMP_CAPTURE_BUF_LENGHT - montako samplea kaapataan 1-2048 | | SMP_CAPTURE_BUF_LENGHT - montako samplea kaapataan 1-2048 |
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| | SMP_CAPTURE_SAMPLERATE - näytteistystaajuus (tai sen jakaja). Taajuus on 20kHz/(arvo+1), eli 0=20kHz, 1=10kHz, 2=6.66kHz jne | | SMP_CAPTURE_SAMPLERATE - näytteistystaajuus (tai sen jakaja). Taajuus on 20kHz/(arvo+1), eli 0=20kHz, 1=10kHz, 2=6.66kHz jne |
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| | SMP_CAPTURE_SOURCE - päälläolevat bitit tässä parametrissa määräävät mitä signaaleja bufferiin kaapataan, seuraavat on saavatilla kaikissa firmisversioissa (samat mitä granityssä valittavissa): | | SMP_CAPTURE_SOURCE - päälläolevat bitit tässä parametrissa määräävät mitä signaaleja bufferiin kaapataan, seuraavat on saavatilla kaikissa firmisversioissa (samat mitä granityssä valittavissa): |
| | #define CAPTURE_TORQUE_TARGET 1 | | #define CAPTURE_TORQUE_TARGET 1 |
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| | luetaan parametria SMP_CAPTURE_BUFFER_GET_VALUE yhtä monta kertaa kuin alustuksessa asetettu parametrin arvo SMP_CAPTURE_BUF_LENGHT on | | luetaan parametria SMP_CAPTURE_BUFFER_GET_VALUE yhtä monta kertaa kuin alustuksessa asetettu parametrin arvo SMP_CAPTURE_BUF_LENGHT on |
| | tämän luku palauttaa kaapatut samplet. jos asetettiin kaapattavaksi kanavat a, b ja c, niin luetut arvot tulevat järjestyksesä a0,b0,c0,a1,b1,c1,a2,b2,c2,a3,b3,c3. | | tämän luku palauttaa kaapatut samplet. jos asetettiin kaapattavaksi kanavat a, b ja c, niin luetut arvot tulevat järjestyksesä a0,b0,c0,a1,b1,c1,a2,b2,c2,a3,b3,c3. |
| − |
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| − | ==Example==
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| − | <syntaxhighlight lang="c">
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| − | /* Thanks to Oskari Timperi for making part of the code */
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| − | #include <stdio.h>
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| − | #include <unistd.h> //for usleep
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| − | #include "simplemotion.h"
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| − |
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| − | smbus handle;
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| − | int nodeAddress;
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| − |
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| − | bool setupScope()
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| − | {
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| − | SM_STATUS status = 0;
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| − |
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| − | status |= smSetParameter(handle, nodeAddress, SMP_CAPTURE_BUF_LENGHT, 2048);
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| − | status |= smSetParameter(handle, nodeAddress, SMP_CAPTURE_BEFORE_TRIGGER_PERCENTS, 0); //note, requires on IONI FW 1.6.0 or later
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| − | status |= smSetParameter(handle, nodeAddress, SMP_CAPTURE_SAMPLERATE, 7); //with IONI sample rate is 20000/(SMP_CAPTURE_SAMPLERATE+1) Hz, so here it is 2500 Hz
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| − | status |= smSetParameter(handle, nodeAddress, SMP_CAPTURE_SOURCE, BV(CAPTURE_POSITION_ACTUAL)|BV(CAPTURE_BUS_VOLTAGE));
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| − | status |= smSetParameter(handle, nodeAddress, SMP_CAPTURE_TRIGGER, TRIG_INSTANT);
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| − | status |= smSetParameter(handle, nodeAddress, SMP_CAPTURE_STATE, 1); //start capture
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| − |
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| − | if(status!=SM_OK)
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| − | {
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| − | //error
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| − | return false;
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| − | }
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| − | return true;
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| − | }
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| − |
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| − | //parameters: nsamples=number of samples to read 1-2048, samples=pointer to buffer with at least nsamples length
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| − | bool downloadScope( int nsamples, int *samples )
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| − | {
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| − | smint32 retval;
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| − | int samplesread=0, storepos=0;
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| − | SM_STATUS smStat=0;
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| − |
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| − | //setup for scope reading
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| − | smStat|=smAppendSMCommandToQueue( handle, SMPCMD_SET_PARAM_ADDR, SMP_RETURN_PARAM_LEN );
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| − | smStat|=smAppendSMCommandToQueue( handle, SMPCMD_24B, SMPRET_32B );//read 32 bit (values capped to 30 bits) samples
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| − | smStat|=smAppendSMCommandToQueue( handle, SMPCMD_SET_PARAM_ADDR, SMP_RETURN_PARAM_ADDR );
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| − | smStat|=smAppendSMCommandToQueue( handle, SMPCMD_24B, SMP_CAPTURE_BUFFER_GET_VALUE ); //read at get_value param
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| − | smStat|=smAppendSMCommandToQueue( handle, SMPCMD_SET_PARAM_ADDR, SMP_CAPTURE_BUFFER_GET_ADDR ); //set store address to get_addr
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| − | smStat|=smExecuteCommandQueue(handle,nodeAddress);
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| − | smStat|=smGetQueuedSMCommandReturnValue( handle, &retval );
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| − | smStat|=smGetQueuedSMCommandReturnValue( handle, &retval );
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| − | smStat|=smGetQueuedSMCommandReturnValue( handle, &retval );
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| − | smStat|=smGetQueuedSMCommandReturnValue( handle, &retval );
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| − | smStat|=smGetQueuedSMCommandReturnValue( handle, &retval );
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| − |
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| − | //loop to read samples
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| − | while(samplesread<nsamples)
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| − | {
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| − | int i;
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| − | int samplestofetch=nsamples-samplesread;
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| − | if(samplestofetch>30)samplestofetch=30;//maximum per one SM cycle (4*30=120 bytes=max payload)
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| − |
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| − | //add read param commands to queue
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| − | for(i=0;i<samplestofetch;i++)
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| − | {
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| − | smStat|=smAppendSMCommandToQueue( handle, SMPCMD_24B, samplesread );
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| − | samplesread++;
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| − | }
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| − |
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| − | //transmit & redeive over SM bus
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| − | smStat|=smExecuteCommandQueue(handle,nodeAddress);
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| − |
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| − | //read values from return data queue
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| − | for(i=0;i<samplestofetch;i++)
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| − | {
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| − | smStat|=smGetQueuedSMCommandReturnValue( handle, &retval );
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| − | samples[storepos++]=retval;
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| − | }
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| − | }
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| − |
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| − | //read one dummy variable just to cause SMP_RETURN_PARAM_ADDR to change to non-SMP_CAPTURE_BUFFER_GET_VALUE so next time we read data, we get it all from beginning
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| − | smStat |= smRead1Parameter(handle, nodeAddress, SMP_NULL, &retval );
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| − |
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| − | if(smStat!=SM_OK)
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| − | return false;
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| − |
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| − | return true;
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| − | }
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| − |
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| − | SM_STATUS scopeWait()
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| − | {
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| − | smint32 state;
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| − |
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| − | //loop until SMP_CAPTURE_STATE is 0 (scope idle)
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| − | while (true)
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| − | {
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| − | SM_STATUS status = smRead1Parameter(handle, nodeAddress, SMP_CAPTURE_STATE, &state);
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| − |
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| − | if (status != SM_OK)
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| − | return status;
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| − |
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| − | fprintf(stderr, "scope state: %d\n", state);
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| − |
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| − | if (state == 0)
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| − | {
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| − | break;
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| − | }
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| − |
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| − | usleep(100000);
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| − | }
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| − |
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| − | return SM_OK;
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| − | }
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| − |
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| − |
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| − | int main( void )
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| − | {
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| − | const char *portName="COM3"; //bus device name
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| − | nodeAddress = 4; //SM device address
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| − | int samples[2048];
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| − |
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| − | fprintf(stderr, "opening bus %s\n", portName);
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| − | handle = smOpenBus(portName);
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| − |
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| − | if (handle < 0)
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| − | {
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| − | fprintf(stderr, "could not open bus: %s\n", portName);
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| − | return -4;
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| − | }
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| − |
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| − | if(setupScope()==false)
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| − | return -1;
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| − |
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| − | if(scopeWait()!=SM_OK)
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| − | return -2;
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| − |
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| − | if(downloadScope( 2048, samples )==false)
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| − | return -3;
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| − |
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| − | //sample list will be repeating list of samples defined to SMP_CAPTURE_SOURCE.
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| − | //I.e if we capture 3 channels A, B and C, then samples will contain A0,B0,C0,A1,B1,C1,A2,B3,C3 etc
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| − | for( int i=0; i<2048; i++)
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| − | {
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| − | fprintf(stderr, "samples[%d]=%d\n", i, samples[i]);
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| − | }
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| − |
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| − | fprintf(stderr, "All done\n");
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| − | return 0;
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| − | }
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| − | </syntaxhighlight>
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| − |
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| − | [[Category:SimpleMotion]]
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