read_hardware.c

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <sys/time.h>
#include "simulated_temp.h"
#include "read_temp.h"

#include <sys/types.h>
#include <asm/types.h>
#include "pmd.h"
#include "usb-1608FS.h"
#define TEMP_CHANNEL 0
#define MAX_DEVICES 7

Calibration_AIN table_AIN[NGAINS_1608FS][NCHAN_1608FS];
int fd[MAX_DEVICES], fp;

// ADD THIS FOR THE SERVO
#include "servo.h"
#include "servo_struct.h"

void read_temp_init()
{
    printf("initializing read thread\n");

    int i, j;
    int nInterfaces = 0;

    nInterfaces = PMD_Find(MCC_VID, USB1608FS_PID, fd);
    if (nInterfaces <= 0) {
        fprintf(stderr, "USB 1608FS not found. (did you use sudo?)\n");
        exit(1);
    } else {
        printf("USB 1608FS Device is found! Number of Interfaces = %d\n",
               nInterfaces);
    }

    usbDConfigPort_USB1608FS(fd[0], DIO_DIR_OUT);
    usbDOut_USB1608FS(fd[0], 0);

    usbBuildCalTable_USB1608FS(fd[0], table_AIN);
    for (i = 0; i < 4; i++) {
        for (j = 0; j < NCHAN_1608FS; j++) {
            printf
                ("cal[%d][%d].slope = %f    table_AIN[%d][%d].offset = %f\n",
                 i, j, table_AIN[i][j].slope, i, j,
                 table_AIN[i][j].offset);
        }
    }

}

void *read_temp_thread(void *arg)
{
    FILE *outfile;
    outfile = fopen(READTHREAD_OUTPUT, "w");
    struct timeval tv_now, tv_start;
    double time_now;
    double temp_value = 0.;
    signed short svalue;

    gettimeofday(&tv_start, NULL);

    while (1) {
        gettimeofday(&tv_now, NULL);
        time_now = (double) (tv_now.tv_sec - tv_start.tv_sec);
        time_now += ((double) (tv_now.tv_usec - tv_start.tv_usec)) / 1.e6;

        svalue =
            usbAIn_USB1608FS(fd[0], (__u8) TEMP_CHANNEL, BP_10_00V,
                             table_AIN);
        temp_value = (double) volts_USB1608FS(BP_10_00V, svalue);

        // ADD THIS FOR THE SERVO
        PUSH_SERVO_TEMP(srv_detector1_idx, temp_value);

        fprintf(outfile, "%10.15f %10.5f\n", time_now, temp_value);

        fflush(outfile);
    }
    fclose(outfile);
}