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cphidgetbridge.c
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cphidgetbridge.c
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/*
* This file is part of libphidget21
*
* Copyright 2006-2015 Phidgets Inc <patrick@phidgets.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, see
* <http://www.gnu.org/licenses/>
*/
#include <string.h>
#include <assert.h>
#include "stdafx.h"
#include "cphidgetbridge.h"
#include "cusb.h"
#include "csocket.h"
#include "cthread.h"
// === Internal Functions === //
//clearVars - sets all device variables to unknown state
CPHIDGETCLEARVARS(Bridge)
int i = 0;
for (i = 0; i<BRIDGE_MAXINPUTS; i++)
{
phid->bridgeMin[i] = PUNI_DBL;
phid->bridgeMax[i] = PUNI_DBL;
phid->enabledEcho[i] = PUNI_BOOL;
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_UNKNOWN;
phid->bridgeValue[i] = PUNI_DBL;
phid->enabled[i] = PUNK_BOOL;
phid->gain[i] = PHIDGET_BRIDGE_GAIN_UNKNOWN;
phid->chEnabledBugNotValid[i] = PFALSE;
}
phid->ch0EnableOverride = 0;
phid->dataRateEcho = PUNI_INT;
phid->dataRateMin = PUNI_INT;
phid->dataRateMax = PUNI_INT;
return EPHIDGET_OK;
}
//initAfterOpen - sets up the initial state of an object, reading in packets from the device if needed
// used during attach initialization - on every attach
CPHIDGETINIT(Bridge)
int i;
TESTPTR(phid);
//Make sure no old writes are still pending
phid->outputPacketLen = 0;
//Setup max/min values
switch(phid->phid.deviceIDSpec)
{
case PHIDID_BRIDGE_4INPUT:
switch(phid->phid.deviceUID)
{
case PHIDUID_BRIDGE_4INPUT_GAINBUG:
case PHIDUID_BRIDGE_4INPUT:
phid->dataRateMin = 1000;
phid->dataRateMax = 8;
break;
default:
return EPHIDGET_BADVERSION;
}
break;
default:
return EPHIDGET_UNEXPECTED;
}
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
phid->bridgeMin[i] = PUNK_DBL;
phid->bridgeMax[i] = PUNK_DBL;
phid->bridgeValue[i] = PUNK_DBL;
phid->enabledEcho[i] = PUNK_BOOL;
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_UNKNOWN;
phid->outOfRange[i] = PFALSE;
phid->lastOutOfRange[i] = PFALSE;
phid->chEnabledBugNotValid[i] = PFALSE;
}
phid->ch0EnableOverride = 0;
phid->dataRateEcho = PUNK_INT;
//read in initial state - read until it returns 0
while(CPhidget_read((CPhidgetHandle)phid)) SLEEP(8);
//recover what we can, set others to unknown
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
phid->enabled[i] = phid->enabledEcho[i];
phid->gain[i] = phid->gainEcho[i];
}
phid->dataRate = phid->dataRateEcho;
return EPHIDGET_OK;
}
//dataInput - parses device packets
CPHIDGETDATA(Bridge)
int i = 0;
int bridgeRawVal;
double bridgeVal;
int dataRateRaw;
double gain;
int roundingFactor = 0;
unsigned char err = PFALSE;
char error_buffer[200];
double bridgeval[BRIDGE_MAXINPUTS];
if (length < 0) return EPHIDGET_INVALIDARG;
TESTPTR(phid);
TESTPTR(buffer);
switch(phid->phid.deviceUID)
{
case PHIDUID_BRIDGE_4INPUT_GAINBUG:
case PHIDUID_BRIDGE_4INPUT:
{
//Output Data Rate (Hz) = dataRateRaw * 8
dataRateRaw = ((buffer[4] & 0x03) << 8) + buffer[5];
//in ms
phid->dataRateEcho = dataRateRaw * 8;
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
//gain
switch(buffer[(i/2)+2] >> (i%2?0:4) & 0x0F)
{
case 0x00:
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_1;
gain = 1;
roundingFactor = 5;
break;
case 0x03:
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_8;
gain = 8;
roundingFactor = 6;
break;
case 0x04:
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_16;
gain = 16;
roundingFactor = 7;
break;
case 0x05:
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_32;
gain = 32;
roundingFactor = 7;
break;
case 0x06:
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_64;
gain = 64;
roundingFactor = 7;
break;
case 0x07:
phid->gainEcho[i] = PHIDGET_BRIDGE_GAIN_128;
gain = 128;
roundingFactor = 8;
break;
}
if(gain == 1)
{
phid->bridgeMax[i] = 1000;
phid->bridgeMin[i] = -1000;
}
else
{
//with PGA, allow +-99.5%, because if doesn't clamp properly
phid->bridgeMax[i] = 995/gain;
phid->bridgeMin[i] = -995/gain;
}
phid->enabledEcho[i] = (buffer[0] & (0x01 << i)) ? PTRUE : PFALSE;
if(phid->enabledEcho[i] && (buffer[0] & (0x10 << i))) //enabled and have data
{
//Don't count data this time - wait for next event
if(phid->chEnabledBugNotValid[i] == PTRUE)
{
bridgeval[i] = PUNK_DBL;
phid->chEnabledBugNotValid[i] = PFALSE;
}
else
{
bridgeRawVal = (buffer[i*3 + 6] << 16) + (buffer[i*3 + 7] << 8) + buffer[i*3 + 8];
bridgeVal = round_double(((bridgeRawVal - 0x800000) / (double)0x800000) * 1000.0 / (double)gain, roundingFactor);
err = (buffer[1] & (0x01 << i)) ? PTRUE : PFALSE;
if(err || bridgeVal > phid->bridgeMax[i] || bridgeVal < phid->bridgeMin[i])
{
bridgeval[i] = PUNK_DBL;
if(!phid->lastOutOfRange[i])
{
if(bridgeVal > phid->bridgeMax[i])
{
FIRE_ERROR(EEPHIDGET_OUTOFRANGE, "Overrange condition detected on input %d, try lowering the gain.",i);
}
else if(bridgeVal < phid->bridgeMin[i])
{
FIRE_ERROR(EEPHIDGET_OUTOFRANGE, "Underrange condition detected on input %d, try lowering the gain.",i);
}
}
phid->lastOutOfRange[i] = PTRUE;
}
else
{
if(phid->lastOutOfRange[i])
{
FIRE_ERROR(EEPHIDGET_OUTOFRANGE, "Input %d out of range state ended.", i);
}
phid->lastOutOfRange[i] = PFALSE;
bridgeval[i] = bridgeVal;
}
}
}
else if(!phid->enabledEcho[i])
{
bridgeval[i] = PUNK_DBL;
}
else
bridgeval[i] = PUNI_DBL;
//decrement until 0 - this is related to a firmware bug
if(phid->ch0EnableOverride)
phid->ch0EnableOverride--;
}
}
break;
default:
return EPHIDGET_UNEXPECTED;
}
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
if (bridgeval[i] != PUNI_DBL)
{
phid->bridgeValue[i] = bridgeval[i];
}
}
//Send out events
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
if (bridgeval[i] != PUNI_DBL &&phid->bridgeValue[i] != PUNK_DBL)
{
FIRE(BridgeData, i, phid->bridgeValue[i]);
}
}
return EPHIDGET_OK;
}
//eventsAfterOpen - sends out an event for all valid data, used during attach initialization
CPHIDGETINITEVENTS(Bridge)
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
if (phid->bridgeValue[i] != PUNK_DBL)
{
FIRE(BridgeData, i, phid->bridgeValue[i]);
}
}
return EPHIDGET_OK;
}
//getPacket - used by write thread to get the next packet to send to device
CGETPACKET_BUF(Bridge)
//sendpacket - sends a packet to the device asynchronously, blocking if the 1-packet queue is full
CSENDPACKET_BUF(Bridge)
//makePacket - constructs a packet using current device state
CMAKEPACKET(Bridge)
TESTPTRS(phid, buffer);
switch(phid->phid.deviceUID)
{
case PHIDUID_BRIDGE_4INPUT_GAINBUG:
case PHIDUID_BRIDGE_4INPUT:
{
int i;
int dataRateRaw;
int gainRaw;
//ms->raw
dataRateRaw = phid->dataRate / 8;
buffer[0] = 0;
buffer[1] = 0;
buffer[2] = 0;
for (i = 0; i<phid->phid.attr.bridge.numBridgeInputs; i++)
{
//Deal with some firmware bugs
if(phid->phid.deviceUID == PHIDUID_BRIDGE_4INPUT_GAINBUG)
{
if(phid->gain[i] != phid->gainEcho[i])
{
//anytime we change gain on any channel, we have to enable channel 0, and leave it enabled for at least 250ms
phid->ch0EnableOverride = 256 / 8; //USB interval is 8ms, this is decremented by one each DATA packet until it gets back to 0.
}
if(phid->enabledEcho[i] == PFALSE && phid->enabled[i] == PTRUE)
{
//1st data after a channel is enabled can be bad, so we just ignore this.
phid->chEnabledBugNotValid[i] = PTRUE;
}
}
if(phid->enabled[i])
buffer[0] |= (0x01<<i);
switch(phid->gain[i])
{
case PHIDGET_BRIDGE_GAIN_1:
case PHIDGET_BRIDGE_GAIN_UNKNOWN:
gainRaw = 0x00;
break;
case PHIDGET_BRIDGE_GAIN_8:
gainRaw = 0x03;
break;
case PHIDGET_BRIDGE_GAIN_16:
gainRaw = 0x04;
break;
case PHIDGET_BRIDGE_GAIN_32:
gainRaw = 0x05;
break;
case PHIDGET_BRIDGE_GAIN_64:
gainRaw = 0x06;
break;
case PHIDGET_BRIDGE_GAIN_128:
gainRaw = 0x07;
break;
}
buffer[(i/2)+1] |= gainRaw << (i%2?0:4);
}
//Deal with some firmware bugs
if(phid->phid.deviceUID == PHIDUID_BRIDGE_4INPUT_GAINBUG && phid->ch0EnableOverride)
{
//override and enable ch0
buffer[0] |= 0x01;
}
buffer[3] = dataRateRaw & 0xFF;
buffer[4] = (dataRateRaw >> 8) & 0x03;
}
break;
default:
return EPHIDGET_UNEXPECTED;
}
return EPHIDGET_OK;
}
// === Exported Functions === //
//create and initialize a device structure
CCREATE(Bridge, PHIDCLASS_BRIDGE)
//event setup functions
CFHANDLE(Bridge, BridgeData, int, double)
CGET(Bridge,InputCount,int)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
MASGN(phid.attr.bridge.numBridgeInputs)
}
CGETINDEX(Bridge,BridgeValue,double)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTINDEX(phid.attr.bridge.numBridgeInputs)
TESTMASGN(bridgeValue[Index], PUNK_DBL)
MASGN(bridgeValue[Index])
}
CGETINDEX(Bridge,BridgeMax,double)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTINDEX(phid.attr.bridge.numBridgeInputs)
TESTMASGN(bridgeMax[Index], PUNK_DBL)
MASGN(bridgeMax[Index])
}
CGETINDEX(Bridge,BridgeMin,double)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTINDEX(phid.attr.bridge.numBridgeInputs)
TESTMASGN(bridgeMin[Index], PUNK_DBL)
MASGN(bridgeMin[Index])
}
CGETINDEX(Bridge,Enabled,int)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTINDEX(phid.attr.bridge.numBridgeInputs)
TESTMASGN(enabledEcho[Index], PUNK_BOOL)
MASGN(enabledEcho[Index])
}
CSETINDEX(Bridge,Enabled,int)
TESTPTR(phid)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTRANGE(PFALSE, PTRUE)
TESTINDEX(phid.attr.bridge.numBridgeInputs)
if(newVal == PFALSE) phid->bridgeValue[Index] = PUNK_DBL;
if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
ADDNETWORKKEYINDEXED(Enabled, "%d", enabled);
else
SENDPACKET(Bridge, enabled[Index]);
return EPHIDGET_OK;
}
CGETINDEX(Bridge,Gain,CPhidgetBridge_Gain)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTINDEX(phid.attr.bridge.numBridgeInputs)
TESTMASGN(gainEcho[Index], PHIDGET_BRIDGE_GAIN_UNKNOWN)
MASGN(gainEcho[Index])
}
CSETINDEX(Bridge,Gain,CPhidgetBridge_Gain)
TESTPTR(phid)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTRANGE(PHIDGET_BRIDGE_GAIN_1, PHIDGET_BRIDGE_GAIN_128)
TESTINDEX(phid.attr.bridge.numBridgeInputs)
if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
ADDNETWORKKEYINDEXED(Gain, "%d", gain);
else
SENDPACKET(Bridge, gain[Index]);
return EPHIDGET_OK;
}
CSET(Bridge,DataRate,int)
TESTPTR(phid)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTRANGE(phid->dataRateMax, phid->dataRateMin)
if(CPhidget_statusFlagIsSet(phid->phid.status, PHIDGET_REMOTE_FLAG))
ADDNETWORKKEY(DataRate, "%d", dataRate);
else
SENDPACKET(Bridge, dataRate);
return EPHIDGET_OK;
}
CGET(Bridge,DataRate,int)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTMASGN(dataRateEcho, PUNK_INT)
MASGN(dataRateEcho)
}
CGET(Bridge,DataRateMax,int)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTMASGN(dataRateMax, PUNK_INT)
MASGN(dataRateMax)
}
CGET(Bridge,DataRateMin,int)
TESTPTRS(phid,pVal)
TESTDEVICETYPE(PHIDCLASS_BRIDGE)
TESTATTACHED
TESTMASGN(dataRateMin, PUNK_INT)
MASGN(dataRateMin)
}