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| /#include <stdio.h> /* printf() */ | |
| #include "VMXPi.h" | |
| #define ARRAY_SIZE(a) (sizeof(a)/sizeof(a[0])) | |
| int main(int argc, char *argv[]) | |
| { | |
| bool realtime = false; | |
| uint8_t update_rate_hz = 50; | |
| VMXPi vmx(realtime, update_rate_hz); | |
| if(vmx.IsOpen()) { | |
| VMXChannelIndex first_flexio_channel_index; | |
| uint8_t num_flexio_channels = vmx.io.GetNumChannelsByType(VMXChannelType::FlexDIO, first_flexio_channel_index); | |
| printf("FlexDIO Channel Indexes: %d - %d\n", first_flexio_channel_index, first_flexio_channel_index + num_flexio_channels - 1); | |
| /* | |
| * CONFIGURE ENCODER RESOURCES | |
| */ | |
| const uint8_t num_encoder_resources = vmx.io.GetNumResourcesByType(VMXResourceType::Encoder); | |
| VMXErrorCode vmxerr; | |
| /* Configure Quad Encoder Resources */ | |
| /* Two VMXChannels must be routed to each Quad Encoder */ | |
| const VMXResourceIndex first_encoder_index = 0; | |
| for ( VMXResourceIndex encoder_index = first_encoder_index; | |
| encoder_index < (first_encoder_index + num_encoder_resources); | |
| encoder_index++) { | |
| VMXChannelIndex enc_channels[2]; | |
| enc_channels[0] = first_flexio_channel_index + (encoder_index * 2) + 0; | |
| enc_channels[1] = first_flexio_channel_index + (encoder_index * 2) + 1; | |
| VMXChannelCapability encoder_channel_capabilities[2]; | |
| encoder_channel_capabilities[0] = VMXChannelCapability::EncoderAInput; | |
| encoder_channel_capabilities[1] = VMXChannelCapability::EncoderBInput; | |
| VMXResourceHandle encoder_res_handle; | |
| EncoderConfig encoder_cfg(EncoderConfig::EncoderEdge::x4); | |
| if (!vmx.io.ActivateMultichannelResource(ARRAY_SIZE(enc_channels), enc_channels, encoder_channel_capabilities, encoder_res_handle, &encoder_cfg, &vmxerr)) { | |
| printf("Failed to Activate Encoder Resource %d.\n", encoder_index); | |
| vmx.io.DeallocateResource(encoder_res_handle); | |
| continue; | |
| } else { | |
| printf("Successfully Activated Encoder Resource %d with VMXChannels %d and %d\n", encoder_index, enc_channels[0], enc_channels[1]); | |
| } | |
| } | |
| for ( int i = 0; i < 10; i++) { | |
| /* Display Quad Encoder Input Counts */ | |
| for ( int encoder_index = first_encoder_index; encoder_index < first_encoder_index + num_encoder_resources; encoder_index++) { | |
| int32_t counter; | |
| VMXResourceHandle encoder_res_handle; | |
| if (!vmx.io.GetResourceHandle(VMXResourceType::Encoder, encoder_index, encoder_res_handle, &vmxerr)) { | |
| continue; | |
| } | |
| if (vmx.io.Encoder_GetCount(encoder_res_handle, counter, &vmxerr)) { | |
| printf("Encoder %d count : %d.\n", encoder_index, counter); | |
| VMXIO::EncoderDirection encoder_direction; | |
| if(vmx.io.Encoder_GetDirection(encoder_res_handle, encoder_direction, &vmxerr)) { | |
| printf("Encoder %d direction: %s.\n", encoder_index, (encoder_direction == VMXIO::EncoderForward) ? "Forward" : "Reverse"); | |
| } else { | |
| printf("Error retrieving Encoder %d direction.\n", encoder_index); | |
| } | |
| } else { | |
| printf("Error retrieving Encoder %d count.\n", encoder_index); | |
| } | |
| } | |
| vmx.time.DelayMilliseconds(10); | |
| } | |
| } | |
| } |