Hi, Sorry for the late answer.
Jonghyun Kim wrote: > Thanks to the advise and 'gpct_encoder.c' in Comedi, > it seems that the counter is successfully configured for quadratic encoder. > > So, next step is to read the encoder. > > I tried to use a4l_sync_read() and a4l_snd_insn() to read the encoder, > but they did not work. The result always shows '0' value. > > Is it right to use a4l_sync_read() or a4l_snd_insn() for reading the value > of the encoder? > Or, could you give me a sample code about this reading? > What is the interest of reading a counter which is configured as a quadratic encoder? I thought reading was only useful when the counter is configured as an event counter. Anyway, which channel have you tried to read? According to the source code (tio_common.c), the counter can be read on 3 channels: 0, 1 and 2. On channel 0, you read SW_Save_Reg (I thought this one was used for event counting). On channel 1 and 2, you read LoadA_Reg and LoadB_Reg; that may be the ones you are looking for. > Using two functions above, I read 4 bytes at once. > ( nbyte =4 in a4l_sync_read() and data_size=4 in a4l_snd_insn() ). > I tried other X bytes reading, but I got error. > > Many thanks in advance. > > > Jonghyun > > > On Tue, Aug 10, 2010 at 5:30 PM, Alexis Berlemont < > alexis.berlem...@gmail.com> wrote: > > > Hi, > > > > Please, do not forget to CC the mailing-list. > > > > Jonghyun Kim wrote: > > > I'm so Sorry. 'config.idx_subd = 10' was erratum. > > > In my code, I used '11'. > > > > > > Anyway, thank you for your advise. > > > > > > Due to an another advise, I am going to try Xenomai 2.5.4. > > > But, I cannot find any changelog on this issue in Xenomai 2.5.3 and 2.5.4 > > > > > > So, my questions are... > > > > > > 1. Now, is ni_pcimio officially supporting the function of counter for > > > quadratic encoder? > > I know that the NI counters have been successfully used with > > instructions (not by myself). The issue, once more, is that you have > > to pass driver-dependent parameters to make them work. For example, > > the mode A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER cannot be used. > > > > So my answer is that counter configuration is not officially supported > > because of the lack of a generic API. > > > > > > > > 2. If ni_pcimio does not support the function of counter yet, when will > > this > > > function be implemented? (with a sample code, such as insn_read for > > > AI) > > I already tried to develop an insn_counter program as a > > demonstration. I faced the problem detailed above: the instruction > > parameters needed to configure a counter subdevice are not independant > > from the acquisition card. For example, with the NI boards, you need > > to pass NI_GPCT_COUNTING_MODE_NORMAL_BITS... and with the s526 board, > > you need to use A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER... > > > > > > > > 3. I also have s526 board. In the case of s526, is this function now > > worked > > > officially? > > The s526 driver is a port from the Comedi one (just like the NI PCI > > driver). We have tried to reuse as many features as possible: the > > original counter configuration method is present; so, you can have a > > look at the driver code in order to know which parameter to pass to > > configure it. > > * data[0]: Application Type => A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER > > * data[1]: Counter Mode Register Value =>... > > * data[2]: Pre-load Register Value > > * data[3]: Conter Control Register > > > > > > Unfortunately, the problem you are highlighting is not a new one. On > > the mailing-list, I already had the opportunity to explain the main > > issue with counters in the following mail: > > https://mail.gna.org/public/xenomai-help/2010-03/msg00076.html > > > > Here is an extracted part of it: > > > > ... > > The most striking examples were in the configuration of the counting > > stuff. At least four comedi drivers manage gpct: the NI ones, s526, > > me4000 and vmk80xx. Each one has defined its one configuration > > instruction, in other words, its one interface. That means for me that a > > user application must be specific to a driver to work properly (in some > > cases, you must even give the registers values). > > > > Such a situation is, for me, not acceptable. Any acquisition user > > application should work with any acquisition driver and especially > > because of the acquisition framework. > > > > Starting from here, it is really difficult for me to find out what > > interface I should implement so as to satisfy all of them. > > ... > > > > Tackling this problem is interesting. It needs time and as many > > counting cards as possible. If you are interested, do not hesitate :) > > You can also give us an access to your hardware... > > > > > > > > > > > Thanks, > > > > > > Jonghyun Kim > > > > > > > > > On Mon, Aug 9, 2010 at 6:13 PM, Alexis Berlemont < > > alexis.berlem...@gmail.com > > > > wrote: > > > > > > > Hi, > > > > > > > > Kim, Jonghyun (NIH/CC) [F] wrote: > > > > > OS : Debian 5.0.4 + Xenomai 2.5.2 > > > > > HW : NI PCI-6229 > > > > > > > > > > > > > > > Hi. > > > > > I have a question on the use of counter in NI PCI-6229 board. > > > > > > > > > > Thanks to analogy, I can use the functions of AI and AO using NI > > > > PCI-6229. > > > > > But, I failed to use its counter for quadratic encoder. > > > > > > > > > > I think it may work, but it is hard for me because I don't have any > > > > verified example. > > > > > > > > > > Recently, I tried the following code to set the counter up for > > quadratic > > > > encoder: > > > > > > > > > > > --------------------------------------------------------------------------------------------------- > > > > > a4l_desc_t dsc = {.sbdata = NULL }; > > > > > a4l_insn_t config; > > > > > unsigned int data[4]; > > > > > > > > > > a4l_open(&dsc, filename); > > > > > dsc.sbdata = malloc(dsc.sbsize); > > > > > a4l_fill_desc(&dsc); > > > > > > > > > > config.type = A4L_INSN_CONFIG; > > > > > config.idx_subd = 10; // this is correct. I checked it > > > > > data[0] = A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER; > > > > > data[1] = 0; // X1, X2, X4 > > > > > data[2] = 0; // indexphase HH, LH, ... > > > > > data[3] = 0; // indexreset > > > > > config.data = data; > > > > > config.data_size = 4*sizeof(unsigned int); > > > > > > > > > > a4l_snd_insn(&dsc, &config); > > > > > > > > > > > ---------------------------------------------------------------------------------------------------- > > > > > > > > > > However, the last a4l_snd_insn() returned error code, -22. > > > > > > > > > > > > > Are you still using the subdevice index 10 ? How did you check that it > > > > was correct? With my NI6221 board, the GCPT counter seems to be > > > > located at index 11 and the subdevice index are static (unless there > > > > is a bug). > > > > > > > > # cat /proc/analogy/00-analogy_ni_pcimio > > > > -- Subdevices -- > > > > > > > > | idx | type > > > > | 00 | Analog input subdevice > > > > | 01 | Analog output subdevice > > > > | 02 | Digital input/output subdevice > > > > | 03 | Unused subdevice > > > > | 04 | Unused subdevice > > > > | 05 | Calibration subdevice > > > > | 06 | Memory subdevice > > > > | 07 | Digital input/output subdevice > > > > | 08 | Unused subdevice > > > > | 09 | Serial subdevice > > > > | 10 | Unused subdevice > > > > | 11 | Counter subdevice > > > > | 12 | Counter subdevice > > > > | 13 | Counter subdevice > > > > > > > > > > > > > > Could you give me the verified sample code for quadratic encoder > > using NI > > > > PCI-6229 board? > > > > > Or plz help me to use my encoder :( > > > > > > > > > > Many thanks in advance. > > > > > > > > > > Jonghyun > > > > > _______________________________________________ > > > > > Xenomai-help mailing list > > > > > Xenomai-help@gna.org > > > > > https://mail.gna.org/listinfo/xenomai-help > > > > > > > > -- > > > > Alexis. > > > > > > > > -- > > Alexis. > > -- Alexis. _______________________________________________ Xenomai-help mailing list Xenomai-help@gna.org https://mail.gna.org/listinfo/xenomai-help
