UEIPAC Software Development Kit User Manual 1.2
Contents
1. It waits 5 seconds to give the user a chance to alter its configuration if necessary After the count down ends U Boot loads the Linux kernel from flash uncompresses it and starts it Booting image at ffc10000 Image Name Linux 2 6 16 1 Created 2006 11 10 16 07 06 UTC Image Type PowerPC Linux Kernel Image gzip compressed Data Size 917636 Bytes 896 1 kB Load Address 00000000 Entry Point 00000000 Verifying Checksum OK Uncompressing Kernel Image OK id mach done MMU enter MMU hw init MMU mapin MMU setio MMU exit setup_arch enter setup_arch bootmem arch exit Linux version 2 6 16 1 frederic ubuntu gcc version 4 0 2 1 PREEMPT Fri Nov 10 11 07 01 EST 2006 Built 1 zonelists Kernel command line console ttyPSC0 57600 root 62 1 rw PID hash table entries 1024 order 10 16384 bytes Console colour dummy device 80x25 Dentry cache hash table entries 32768 order 5 131072 bytes Inode cache hash table entries 16384 order 4 65536 bytes Memory 127744k available 1476k kernel code 476k data 88k init highmem Mount cache hash table entries 512 NET Registered protocol family 16 DMA MPC52xx BestComm driver MPC52xx BestComm inited io scheduler noop registered io scheduler anticipatory registered default io scheduler deadlin io scheduler cfq registered Serial MPC52xx PSC driver ttyPSCO at MMIO 0xf0002000 RAMDISK driver initialize2. IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Get the size in bytes of the input map allocated for the specified device 24 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative DqRtDmapGetOutputMap Syntax int DqRtDmapGetOutputMap int handle int dev unsigned char mappedData Input int handle Handle to the IOM int dev ID of the device where the channels are located Output mappedData pointer to the beginning of the device s output DMAP buffer Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Get pointer to the beginning of the output data map allocated for the specified device DqRtDmapGetOutputMapSize Syntax int DqRtDmapGetOutputMapSize int handle int dev int mapSize Input int handle Handle to the IOM int dev ID of the device where the channels are located Output mappedSize size in bytes of the device s output data map Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Get the size in bytes of the output map allocated for the specified device 25 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative DqRtDmapRea
3. from the PowerDNA IO module use the commands ftpput and ftpget To retrieve a file from an FTP server ftpget u lt username gt p lt password gt lt FTP server IP address gt lt local file name gt lt remote file name gt To send a file to an FTP server ftpput u lt username gt p lt password gt lt FTP server IP address gt lt remote file name gt lt local file name gt 4 2 FTP Server The UEIPAC SDK comes with the vsftpd FTP server The server is not active by default You can start it using the following command usr sbin vsftpd amp Add this command to the file rc sh to start the server automatically when the PowerDNA IO module boots up 4 3 TFTP Client To retrieve a file from a TFTP server use the following command tftp g r lt remote file name gt lt TFTP server IP address gt 11 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 5 Testing the I O layers 5 1 Devtbl Run the command devtbl It will print a list of the I O layers that were detected on this module PowerDNA Driver version 1 0 0 Address Irq Model Option Phy Virt S N Pri LogicVer 0xc9080000 7 207 uF phys 0027887 0 02 0c 05 0xc9090000 7 403 1 phys 0030384 0 02 0c 05 Oxc90a0000 7 403 1 phys 0030385 0 02 0c 05 0xc90b0000 7 501 1 phys 0029693 0 02 0c 05 O0xc90c0000 7 601 1 phys 0030279 0 02 0c 05 ef 5 2 Run examples All the examples were com
4. must check the file system for errors with the following commands mount o remount ro e2fsck dev sdcardl e2fsck 1 38 30 Jun 2005 dev sdcard clean 702 124160 files 6632 247872 blocks reboot UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 3 3 Configuring the IP address Your PowerDNA cube is configured at the factory with the IP address 192 168 100 2 to be part of a private network You can change the IP address for the current session using the command ifconfig eth0 lt new IP address gt To make the change permanent edit the file etc rc sh and change the line that calls ifconfig 3 4 Connecting through Telnet Once the IP address is configured you shouldn t need the serial port anymore You can use telnet to access the exact same command line interface Type the following command on your host PC then login as root The password is root telnet lt Cube s IP address gt Type the command exit to logout 3 5 Changing the password Type the following command and enter your new password two times passwd You can now logout and login with your new password 10 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 4 Transferring files You can use either FTP or TFTP to transfer files between your host PC and the PowerDNA IO module 4 1 FTP Client To connect to an external FTP server
5. of the DAQBIOS protocol so that the PowerDNA IO module can be accessed from PowerDNA Explorer or the UeiDaq framework in immediate mode ACB and DMAP modes are not supported in the PowerDNA server To run the PowerDNA server type the command pdnaserver amp 13 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 6 Application development 6 1 Prerequisites Make sure that the directory lt UEIPAC SDK directory gt powerpc 604 linux gnu bin is added to your PATH environment variable This will allow you to invoke the GCC cross compiler without having to specify its full path It is required to run the different Makefiles that build the PowerDNA library and the examples Start the FTP server on your PowerDNA IO module if it is not already running see section 4 2 6 2 Compiling and running Hello World The UEIPAC SDK comes with the GNU toolchain compiled to run on your host PC and build binaries targeting the PowerPC processor that runs on your PowerDNA IO module The SDK comes with all the familiar GNU tools ar as gcc Id objdump To avoid confusion with a different version of those tools for example a version compiled to run and produce binaries for your host PC their names are prefixed with powerpc 604 linux gnu For example the GNU C compiler is named powerpc 604 linux gnu The following steps will guide you in writing your first program and running it
6. on your PowerDNA IO module 1 Create a file called hello c 2 Edit the file and enter the following text include lt stdio h gt int main int argc char argv printf Hello World from PowerDNA n return 0 3 Compile the file with the command powerpc 604 linux gnu gcec hello c o hello 4 Download the compiled program hello to the cube ftp lt PowerDNA IO module IP address gt bin 14 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative cd tmp put hello 5 Login on your PowerDNA IO module using either Telnet or the serial console and type the following commands cd tmp chmod x hello hello You should see the text Hello World from PowerDNA printed on the console 6 3 Debugging Hello World The UEIPAC SDK contains a version of the GNU debugger compiled to run on your host PC and debug binaries targeting the PowerPC processor Its name is powerpc 604 linux gnu gdb It allows you to debug a program remotely from your host PC The following steps will guide you in debugging the hello world program 1 Rebuild the hello program using the g option This will include debug symbols in the binary file powerpc 604 linux gnu gcc g hello c o hello 2 Upload the new binary to the PowerDNA IO module using FTP 3 On the PowerDNA console start the GDB server to debug the program remotely It will communicate with the host o
7. EVENT event Received event Return DQ ILLEGAL HANDLE invalid IOM handle DQ SUCCESS command processed successfully Description Wait for any configured event to occur If no event happens before the timeout expiration the function returns the event DqEmbEventTimeout 31 y N United Electronic Industries vY The High Performance Alternative DqEmbCancelEvent Syntax UEIPAC SDK User Manual int DqEmbCancelEvent int handle DQ EMBEDDED EVENT event Input int handle DQ EMBEDDED EVENT event Return DQ ILLEGAL HANDLE DQ SUCCESS Description Cancel specified event Handle to the IOM Event to cancel Invalid IOM handle Command processed successfully 32
8. Timer Refer to Appendix B for detailed documentation of each event API function 19 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 7 Firmware installation and upgrade 7 1 Installing or upgrading the Linux kernel Your PowerDNA IO module comes with the Linux kernel already installed into flash memory It is possible to update that Linux kernel if needed You first need to install a TFTP server on your host PC and copy the new kernel image received from UEI technical support in the TFTP server s directory Kernel image files are usually named ulmage 2 6 x x Connect to the IO module through the serial port and power up the cube Press a key before the 5 second countdown ends to enter U Boot s command line interface 1 Erase unprotected part of flash memory erase all 2 Configure U Boot to use your host PC as TFTP server setenv Server ip lt IP address of your host PC gt saveenv 3 Download the new kernel from the TFTP server tftp 200000 uImage 4 Write kernel into flash cp b 200000 FFC10000 S filesize 5 Boot the new kernel bootm ffc10000 7 2 Initializing an SD card Your PowerDNA IO module came pre installed with an SD card containing the root file system necessary to run Linux You might want to initialize a new SD card if the factory installed card becomes unusable or you decide to upgrade to a faster or bigger one Note You nee
9. UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative UEIPAC Software Development Kit User Manual 1 2 February 2007 Edition Copyright 2007 United Electronic Industries Inc All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form by any means electronic mechanical by photocopying recording or otherwise without prior written permission UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative Table of contents 1 EMEP ODUCOO I sicsisiiccsens lt aiveesiessseccccisyscsvaeniaessdeskasseackeessacssaestvansseshscaastassaies 3 2 Setting up a development system ssooesoossssesesoosssseossoosessoossooesssooseo 5 Ze E E OWS IOS A 5 22 Liux THOSE ses acisssicesasisacvanianchaiaiaccxeatasancuaw EE E E eaa OAE eaaa 5 Pee MOV TEE Oia E E E EE 6 24 SDK directory Layout scccaryaustcsmeesessausetreneani eae nee IE 6 3 Connecting to the PowerDNA IO module cccsssssesscecssceeeeee 7 3 1 Connecting through the serial B00 casssscccsluacecssdnniacesssesexeeaniensdenieeetumexaeennneians T 32 Rootfile system a auicecesashcenaasietcisesactinntancelsaneus ee paieraunvenunaaantencweeieaauaner mre neater 9 3 3 Configuring the IP AMAT CSS xs iczsevsenessa ss svetnapeduciinneaveneeeuted seni siselascennseontanotacese 10 3 4 Connecting through Telhet cccicisiaccsectssconsnsnecassn
10. asbaseaksneonensasausstanieesetinatsaatins 10 3 5 Changing the password viiccsscasscsasesssscspstsnacecunssasvaenscnissnnstacepeaseceaiansearenantiecasansses 10 4 Tra msfer rane MOS ssissesessesssenasecassevacsseneaseaspcesdasaanssaseiscesseaaenesiunsetansesvoes 11 Alk PRECI enee a nde srs ev abel N TEOR I EE ENS 11 BZ FIP Server asane EA EE EEA E EE ERE 11 Ee UE MNP TE o E E E E E E ee 11 5 Testing the T O lay fS sssssssisisssssssssisossesssrssssonesseessdootsessississssisastostasviss 12 el D o E E E A N A 12 5 2 Ru examples ore sarceryseccedaa sce casi ees 12 Sede PO WE TIDIN A SOLVE A E E EET 13 6 Application development e sssosessoesssoosssoossssoossooesssesesoosessocessoesssosseo 14 6l PrereguisiteSs scee serei ee ee aan eS re eee 14 6 2 Compiling and running Hello World ssgccasesessctsssdeaaivarledanamseenivenaistneatumnneae 14 6 3 Debugging Hello Weld scisocccecss sss ccviassceoiadiveavsabivntede Macenierseusoventede E ER 15 64 PowerDNA Librat accu seca sinnecsocoupssutctencevmmnnutsuernssdsncuioesbstetessesosniouasecdusueseases 16 6 4 1 Building and running the examples ns snnssnseeseessessesersseesseseesseeseesressee 17 6 4 2 PowerDNA AP cp iccenssteccindsssicanessucecsateacctninceccapes aiuwasbsdacantysndccasleedlccangetacdss 18 6 4 2 1 RIDMAP API oireen ne E E 18 6 4 2 2 Event APh eea E E E E E OERA 19 7 Firmware installation and upgrade soesssooessoesssosesooesssocessoessseseeo 20 7 1 Install
11. d fec_mii_ init Dummy function Bitrate set to 4125 irg registered 40 16 RAM disks of 6144K size 1024 blocksize is a MPC52xx PSC Ok UEIPAC SDK User Manual United Electronic Industries The High Performance Alternative ExecCmdInit r 0xc1 ExecCmdInit r 0x1 mice PS 2 mouse device common for all mice NET Registered protocol family 2 IP route cache hash table entries 2048 order 1 8192 bytes TCP established hash table entries 8192 order 3 32768 bytes TCP bind hash table entries 8192 order 3 32768 bytes TCP Hash tables configured established 8192 bind 8192 TCP reno registered TCP bic registered NET Registered protocol family 1 NET Registered protocol family 17 VFS Mounted root ext2 filesystem Freeing unused kernel memory 88k init BusyBox v1 2 2 2006 11 03 19 16 0000 Built in shell ash Enter help for a list of built in commands Ft You can now navigate the file system and enter standard Linux commands such as ls ps cd 3 2 Root file system The root file system is entirely located on the SD card It uses the EXT2 format It is recommended you type the command halt before powering down the IO module and the command reboot to restart the IO module If you power down the IO module abruptly the following message will appear at boot time EXT2 fs warning mounting unchecked fs running e2fsck is recommended You
12. d to run Linux on your host PC to initialize an SD card This is required because the SD card must be formatted with the ext2 file system To do this 1 Insert the SD card in a USB adapter connected to your host PC 20 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 2 Find out the name of the device node associated with the card Type the command dmesg and look for a message at the end of the log similar to SCSI device sda 1984000 512 byte hdwr sectors 1016 MB This message tells us that the device node we are looking for is dev sda 3 Erase all partitions from the SD card and create one primary partition using all the space available on the card fdisk dev sda Command m for help d Selected partition 1 Command m for help n Command action e extended p primary partition 1 4 P Partition number 1 4 1 First Cylinder 1 1016 default 1 1 Last Cylinder 1 1016 default 1016 1016 Command m for help w 4 The device node associated with the partition we just created is dev sda1 Let s format this new partition mke2fs dev sdal 5 Mount the new partition and copy the root file system from the SDK directory mount dev sdal mnt cp rd lt UEIPAC SDK directory gt root_fs mnt 6 Unmount the SD card and insert it in the PowerDNA I O module It is now ready to boot 7 3 Installing the standard DAQBios firmware You can replace
13. dScaledData Syntax int DqRtDmapReadScaledData int handle int dev double scaledBuffer int bufferSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int bufferSize Size of the scaledBuffer in bytes Output double scaledBuffer The buffer containing the scaled data Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Read and scale data stored in the input map for the specified device Note The data read is the data transferred by the last call to DgRtDmapRefresh This function should only be used with devices that acquire analog data such as the AI 2xx series DqRtDmapReadRawData16 Syntax int DqRtDmapReadRawDatal6 int handle int dev unsigned short rawBuffer int bufferSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int bufferSize Size of the scaledBuffer in bytes Output unsigned short rawBuffer The buffer containing the raw data Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Read raw data from the specified device as 16 bits integers Note The data read is the data transferred by the last call to DgRtDmapRefresh 26 UEIPAC SDK User Manual a United Flectronic Industries The High Perfor
14. e IO module or remote layers installed in another IO module Set the IP address to the loopback address 127 0 0 1 and the API will know that you want to access the local layers The UEIPAC SDK only supports the immediate also known as point by point and DMAP modes to control the local layers You can however use all the other modes ACB M3 to control remote layers installed in I O modules that run the DAQBios firmware over the network Firmware running on the IO module DAQBios Linux local layers Linux remote layers Immediate Yes Yes Yes ACB Yes No Yes DMAP Yes Yes Yes M3 Yes No Yes 6 4 1 Building and running the examples Change your current directory to lt UEIPAC SDK directory gt sdk DAQLib_ Samples and type make to make sure that your setup can build the samples correctly If you get any errors while building the examples check that the path to the cross compiler is in your PATH environment variable and that the environment variable PDNAROOT is set to the SDK directory You can now transfer any of the built examples to the IO module using FTP and run them Each example accepts command line options to specify the following parameters e d lt device id gt specify the device e c lt channel list gt specify the channel list e f lt frequency gt specify the rate e n lt number of Scans gt specify the number of samples per channels For examp
15. ernel is loaded in flash memory e An SD card containing the root file system is inserted If you have a PowerDNA module with the standard DAQBIOS firmware contact UEI to install Linux 3 1 Connecting through the serial port Connect the serial cable to the serial port on the PowerDNA cube and the serial port on your PC You will need a serial communication program e Windows ucon MTTTY or HyperTerminal e Linux minicom or cu part of the uucp package The PowerDNA I O module uses the serial port settings 57600 bits s 8 data bits 1 stop bit and no parity Run your serial terminal program and configure the serial communication settings accordingly Connect the DC output of the power supply 24VDC to the Power In connector on the PowerDNA cube and connect the AC input on the power supply to an AC power source You should see the following message on your screen U Boot 1 1 4 Jan 10 2006 19 20 03 CPU MPC5200 v1 2 at 396 MHz Bus 132 MHz IPB 66 MHz PCI 33 MHz Board UEI PowerDNA MPC5200 Layer T2C 85 kHz ready DRAM 128 MB Reserving 349k for U Boot at 07fa8000 FLASH 4 MB In serial Out serial Err serial Net FEC ETHERNET Type run flash nfs to mount root filesystem over NFS United Electronic Industries The High Performance Alternative Hit any key to stop autoboot UEIPAC SDK User Manual This message is coming from the cube s boot loader U Boot
16. ing or upgrading the Linux kernel 0 cece eeceeeceseeneeeeeeneeeeeeseenneeseeees 20 7 2 Initializing an SD card sncesvacuesassneaanavence doxeananeandaveatencestaniatsnantencanatatadeventaxeaseatiay 20 7 3 Installing the standard DAQBios firmware ccccecsecsteceseceeeeeescecsseceeeeees 21 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 1 Introduction The UEIPAC SDK extends the capability of the PowerDNA distributed data acquisition system With the UEIPAC SDK you can create programs that will execute directly on the PowerDNA IO module You can create standalone applications that don t require any host PC to control and monitor your PowerDNA hardware A Linux kernel replaces the standard DAQBIOS firmware in PowerDNA s flash memory and uses a SD Card as its local file system This file system contains the other components of the operating system such as libraries utilities init script and daemons After power up you have a ready to go Linux operating system with FTP and web servers as well as a command line shell accessible from either the serial port or telnet and SSH over the network You can also configure the PowerDNA IO module to execute your application after booting up Your application runs as a regular Linux process giving you access to the standard POSIX API provided by the GNU C runtime library glibc as well as any other library that can be compiled f
17. ives files such as zip bx2 and tar e Admin administration tools and disk utilities e Devel Development tools such as make and gcc e Net Network utilities such as ftp tftp and telnet Insert the UEIPAC SDK CDROM in your CD drive Then open a cygwin command line shell Go to the CD s root directory the example below assumes that the CD ROM is the D drive cd cygdrive d 2 2 Linux Host Insert the UEIPAC SDK CDROM in your CD drive You might need to mount it if your Linux distribution doesn t detect the CDROM automatically To mount it type mount dev cdrom mnt cdrom cd mnt cdrom UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 2 3 Installation Run the installation script install sh The script will ask where you want to install the SDK The default installation directory is lt HOME gt uei UEIPAC SDK lt version gt You can override this setting with any directory of your choice 2 4 SDK directory layout powerpc 604 linux gnu the GCC cross compiler doc the manuals in PDF and HTML format kernel the kernel source code and binary image root_fs the root file system installed on the SD card sdk the powerdna software development kit UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 3 Connecting to the PowerDNA IO module Your PowerDNA IO module must be pre configured to run Linux e A Linux k
18. le the following command runs the Sample201example to acquire channels 0 2 and 4 from device 1 Sample201 d 1 c 0 2 4 17 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 6 4 2 PowerDNA API The following sections detail the most commonly used APIs when running your program on PowerDNA hardware Refer to the PowerDNA API Reference Manual document to learn more about the other APIs dedicated to communicate with PowerDNA hardware over Ethernet 6 4 2 1 RTDMAP API DMAP is one of the operation modes of PowerDNA It continuously refreshes a set of channels that can span multiple layers at a specified rate paced by PowerDNA s hardware clock Values read from or written to each configured channel are stored in an area of memory called the DMAP At each clock tick the firmware synchronizes the DMAP values with their associated physical channels Here is a quick tutorial on using the RTDMAP API handling of error codes is omitted Initialize the DMAP to refresh at 1000 Hz DqRtDmapInit handle 1000 0 Add channel 0 from the first input subsystem of device 1 chentry 0 DqRtDmapAddChannel handle 1 DQ SSOIN amp chentry 1 Add channel 1 from the first output subsystem of device 3 chentry 1 DqRtDmapAddChannel handle 3 DQ SSOOUT amp chentry 1 Start all devices that have channels configured in the DMAP DqRtDmapStart handle Update the value s
19. mance Alternative This function should only be used with devices that acquire 1 6bits wide digital data such as the AI 4xx series DqRtDmapReadRawData32 Syntax int DgqRtDmapReadRawData32 int handle int dev unsigned int rawBuffer int bufferSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int bufferSize Size of the scaledBuffer in bytes Output unsigned int rawBuffer The buffer containing the raw data Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Read raw data from the specified device as 32 bits integers Note The data read is the data transferred by the last call to DgRtDmapRefresh This function should only be used with devices that acquire 32 bits wide digital data such as the AI 4xx serie DqRtDmapWriteScaledData Syntax int DqRtDmapWriteScaledData int handle int dev double scaledBuffer int bufferSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int bufferSize Size of the scaledBuffer in bytes double scaledBuffer The buffer containing the scaled data to send to the device Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD DEVN there is no device with the specified number DQ SUCCESS command processed successfully 27 UEIPAC SDK User Manual a United Flectronic Industries The High Perfo
20. mance Alternative unsigned int rawBuffer The buffer containing the raw data to write to the device Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Read raw data from the specified device as 32 bits integers Note The data written will be actually transferred to the device on the next call to DqRtDmapRfresh This function should only be used with devices that acquire 32 bits wide digital data such as the AI 4xx series DqRtDmapStart Syntax int DqRtDmapStart int handle Input int handle Handle to the IOM Return DQ ILLEGAL HANDLE invalid IOM handle DQ SUCCESS command processed successfully Description Start operations the cube will update its internal representation of the map at the rate specified in DqgRtDmapInit DqRtDmapStop Syntax int DgqRtDmapStop int handle Input int handle Handle to the IOM Return DQ ILLEGAL HANDLE invalid IOM handle DQ SUCCESS command processed successfully Description Stop operations the cube will stop updating its internal representation of the data map 29 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative DqRtDmapRefresh Syntax int DqRtDmapRefresh int handle Input int handle Handle to the IOM Return DQ ILLEGAL HANDLE invalid IOM handle DQ SUCCESS command processed successfully Description Refresh the host s version of
21. n port 1234 gdbserver 1234 hello 4 On the host start GDB and connect to the target powerpc 604 linux gnu gdb hello target remote lt PowerDNA IP address gt 1234 5 Set the shared library search path so that GDB will find the proper library used by your program set solib search path lt PowerDNA Driver Dir gt powerpc 604 linux gnu powerpc 604 linux gnu lib lt PowerDNA Driver Dir gt sdk DAQLib Note that this step is only necessary if you wish to step inside the code of the shared libraries If you don t set this variable GDB will print a few error messages about library mismatch but you can still go ahead and debug your program 15 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 6 The program is now in running state and GDB paused its execution Let s put a breakpoint at the beginning of the main function break main 7 We can now resume execution with the cont command and GDB will pause the execution again when entering the main function 8 You can step in your program using the n command to step over each line of execution and s to step inside any called functions To avoid typing the same commands over and over when starting a debugging session you can create a file named gdbinit in your home directory This file will contain commands that you want GDB to execute at the beginning of a session For example the follo
22. nt32 cl int clSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int subsystem The subsystem to use on the device ex DQ_SSOIN uint32 cl Array containing the channels to add to the DMAP int clSize Size of the channel array Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ BAD PARAMETER the subsystem is invalid for this device DQ SUCCESS command processed successfully Description Add one or more channels to the DMAP 23 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative DqRtDmapGetinputMap Syntax int DqRtDmapGetInputMap int handle int dev unsigned char mappedData Input int handle Handle to the IOM int dev ID of the device where the channels are located Output mappedData pointer to the beginning of the device s input DMAP buffer Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Get pointer to the beginning of the input data map allocated for the specified device DqRtDmapGetinputMapSize Syntax int DqRtDmapGetInputMapSize int handle int dev int mapSize Input int handle Handle to the IOM int dev ID of the device where the channels are located Output mappedSize size in bytes of the device s input data map Return DQ ILLEGAL HANDLE invalid
23. or Linux for example libxml libaudiofile The UEIPAC SDK comes with a library dedicated to communicate with the PowerDNA I O layers It provides the same API as the hosted PowerDNA library allowing you to reuse existing programs that were designed to run on a host PC and communicate with PowerDNA over the network You can port those programs to run directly on the PowerDNA IO module with few modifications UEIPAC SDK User Manual aa United Electronic Industries The High Performance Alternative User Application PowerDNA Drivers UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 2 Setting up a development system A development system is composed of the software tools necessary to create an embedded application targeting Linux on a PowerPC processor The development tools can run on a Linux PC or on a Windows PC using the Cygwin environment It contains the following e GCC cross compiler targeting the PowerDNA IO module PPC processor e GNU toolchain tools such as make e Standard Linux libraries such as glibc e PowerDNaA library to access the various PowerDNA data acquisition devices 2 1 Windows Host If you don t have Cygwin already installed download and run the installer setup exe from http www cygwin com Running setup exe will install or update Cygwin We need the packages from the following categories e Archive tools to create and read arch
24. piled during the install process and are ready to be transferred and executed There is one example for each supported I O layer named SampleX XX where XXX is the model ID of each layer Go to the directory lt UEIPAC SDK directory gt sdk DAQLib_ Samples and copy the chosen example to your module using one of the methods described in section 4 For example FTP ftp lt PowerDNA IO module IP address gt bin cd tmp put SamplexXxx The example by default uses the first I O layer device 0 You can change the device using command line options Here are a few of the options available h display help d n selects the device to use default 0 f n nn set the rate of the DAQ operation default 1000 Hz C x y Z select the channels to use default channel 0 For example the following command runs the AI 207 test program using device 2 and channels 3 5 and 7 tmp Sample207 d 2 c 3 5 7 There are 3 channels specified 3 5 7 0 ch3 bdata 310dfff6 fdata 15 781501V 0 ch5 bdata 310dfff7 fdata 15 781501V 0 ch7 bdata 310dfff6 fdata 15 781501V 12 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative 1 ch3 bdata 310dfff6 fdata 15 781501V 1 ch5 bdata 310dfff6 fdata 15 781501V 1 ch7 bdata 310dfff6 fdata 15 781501V 5 3 PowerDNA server PowerDNA server emulates the behavior of a PowerDNA IO module running the standard DAQBIOS firmware It emulates a subset
25. rmance Alternative Description Write scaled data to the output map of the specified device Note The data written will be actually transferred to the device on the next call to DqRtDmapRfresh This function should only be used with devices that generate analog data such as the AI 3xx series DqRtDmapWriteRawData16 Syntax int DgqRtDmapWriteRawDatal6 int unsigned short rawBuffer int handle int dev bufferSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int bufferSize Size of the scaledBuffer in bytes unsigned short rawBuffer The buffer containing the raw data to write to the device Return DQ ILLEGAL HANDLE invalid IOM handle DQ BAD _DEVN there is no device with the specified number DQ SUCCESS command processed successfully Description Write 16 bits wide raw data to the specified device Note The data written will be actually transferred to the device on the next call to DqRtDmapRfresh This function should only be used with devices that gnerate 1 6bits wide digital data such as the AI 4xx series DqRtDmapWriteRawData32 Syntax int DqRtDmapWriteRawData32 int handle int dev unsigned int rawBuffer int bufferSize Input int handle Handle to the IOM int dev ID of the device where the channels are located int bufferSize Size of the scaledBuffer in bytes 28 UEIPAC SDK User Manual a United Electronic Industries vY The High Perfor
26. the Linux kernel with the DAQBios firmware if you want to ontrol your PowerDNA IO module from a PC or another IO module running Linux Connect to the IO module through the serial port and power up the cube Press a key before the 5 second countdown ends to enter U Boot s command line interface 1 Erase unprotected part of flash memory erase all 21 UEIPAC SDK User Manual 7 N United Electronic Industries The High Performance Alternative 2 Upload the new firmware from the serial port using the following command loads 3 Start transferring the DAQBios firmware romimage X X X X mot as a text file from your serial terminal program 4 Set U Boot s boot command to start the firmware automatically setenv bootcmd fwjmp saveenv 5 Boot the new firmware fwjmp 22 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative Appendix A RTMAP API DqRtDmapIinit Syntax int DqRtDmapInit int handle double refreshRate Input int handle Handle to the IOM double refreshRate Rate at which the IOM will refresh its version of the DMAP Return DQ ILLEGAL HANDLE invalid IOM handle DQ NO MEMORY memory allocation error or exceeded maximum table size DQ SUCCESS command processed successfully Description Initialize the specified IOM to operate in DMAP mode at the specified refresh rate DqRtDmapAddChannel Syntax int DqRtDmapAddChannel int handle int dev int subsystem ui
27. the map by downloading the IOM s map Note The IOM automatically refresh its version of the data map at the rate specified in DqRtDmapInit This function needs to be called periodically a real time OS might be necessary to synchronize the host and IOM data maps DqRtDmapClose Syntax int DqRtDmapClose int handle Input int handle Handle to the IOM Return DQ ILLEGAL HANDLE invalid IOM handle DQ SUCCESS command processed successfully Description Free all resources allocated by the DMAP operation on the specified IOM 30 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative Appendix B Event API DqEmbConfigureEvent Syntax int DqEmbConfigureEvent int handle DQ EMBEDDED EVENT event unsigned int param Input int handle Handle to the IOM DQ EMBEDDED EVENT event Event to configure unsigned int param Event specific parameter Return DQ ILLEGAL HANDLE invalid IOM handle DQ SUCCESS command processed successfully Description Configure hardware to notify the specified event Possible events are DqEmbEventSynclIn Digital edge at the syncin connector set param to 0 for rising edge or 1 for falling edge DqEmbEventTimer Timer event set param to desired frequency DqEmbWaitForEvent Syntax int DgEmbWaitForEvent int handle int timeout DQ EMBEDDED EVENT event Input int handle Handle to the IOM int timeout Timeout in milliseconds DQ EMBEDDED
28. to output to device 3 outdata 0O 5 0 DgRtDmapWriteScaledData handle 3 outdata 1 Synchronize the DMAP with all devices DqRt DmapRefresh handle Retrieve the data acquired by device 1 DqgRtDmapReadScaledData handle 1 indata 1 18 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative Stop the devices and free all resources DqRtDmapStop handle DqRtDmapClose handle Refer to Appendix A for detailed documentation of each RTDMAP function 6 4 2 2 Event API The event API only works when running your program on PowerDNA hardware You can t call any event function when communicating with PowerDNA over Ethernet The event API allows you to be notified in your application when a hardware event occurs The hardware events are e SynclIn event a digital edge was sensed on the syncin pin of the Sync connector e Timer event occurs at each tick of a hardware timer located on the CPU layer Here is a quick tutorial on using the event API handling of error codes is omitted Configure hardware timer to generate an event every millisecond DqEmbConfigureEvent handle DgqEmbEventTimer 1000 Wait for the next event If no event occurs or after 2 seconds the function returns the event DqEmbEventTimeout DqEmbWaitForEvent handle 2000 amp event Cancel the timer event DgqEmbCancelEvent handle DqEmbEvent
29. wing gdbinit file automatically connects to the target and pauses execution in the main function each time you start gdb set solib search path lt PowerDNA Driver Dir gt powerpc 604 linux gnu powerpc 604 linux gnu lib lt PowerDNA Driver Dir gt sdk DAQLib target remote 192 168 100 2 1234 break main cont Read the GDB documentation at http sourceware org gdb documentation to learn how to fully use the GDB debugger 6 4 PowerDNaA Library The PowerDNA library implements the API used to program the PowerDNA IO layers The following layers are supported by the UEIPAC SDK Analog Input AI 201 AI 205 AI 207 AI 208 AI 225 Analog Output AO 302 AO 308 Digital Input Output DIO 401 DIO 402 DIO 403 DIO 404 DIO 405 DIO 406 Counter Timer CT 601 Messaging SL 501 CAN 503 The source code is installed in lt UEIPAC SDK directory gt sdk DAQLib Examples are located in lt UEIPAC SDK directory gt sdk DAQLib Samples The UEIPAC SDK uses the exact same API as the PowerDNA Software Suite It even allows you to control other IO modules that run the standard DAQBios firmware from the 16 UEIPAC SDK User Manual a United Flectronic Industries The High Performance Alternative IO module running Linux the same way you would from a host PC running Windows or Linux The PowerDNA API uses the IP address specified in the function DgqOpenIOM to determine whether you wish to access the layers local to th
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