Buffered Breakpoint C/C++ Code

The following example code is not necessarily complete, and may not compile if copied exactly. Refer to the examples folder on the NI-Motion CD for files that are complete and compile as is.

// Main function
void main (void)
{
   // Resource variables
   u8 boardID = 1;           // Board identification number
   u8 axis = NIMC_AXIS1;     // Axis number
   u8 buffer = 1;            // Buffer number

   // Modal error handling variables
   u16 commandID;            // The commandID of the function
   u16 resourceID;           // The resource ID
   i32 errorCode;            // Error code
   u16 csr = 0;              // Communication status

   // Buffer resources
   i32 breakpointPositions[] = {1000, 1100, 1200, 1300, 1400, 1500, 1600};   
   u16 numberOfPoints = 7;            // Number of breakpoints
   f64 actualInterval;                // Required in the function call but not being used
   f64 requestedInterval = 10.0;      // Required in the function call but not being used   
   u32 backLog;                       // Number of space available in buffer
   u16 bufferState;                   // Buffer state
   u32 pointsDone;                    // Number of breakpoints done or consumed

   // Configure the buffer for buffered breakpoint
   err = flex_configure_buffer(boardID, buffer,   axis, NIMC_BREAKPOINT_DATA,
                               numberOfPoints, numberOfPoints,   NIMC_TRUE,
                               requestedInterval, &actualInterval);         
   CheckError;

   // Write the breakpoint position to the buffer
   err = flex_write_buffer(boardID, buffer, numberOfPoints,
                           NIMC_REGENERATION_NO_CHANGE, breakpointPositions, 0xFF);
   CheckError;

   // Configure the breakpoint to be buffered breakpoint
   err = flex_configure_breakpoint(boardID, axis, NIMC_ABSOLUTE_BREAKPOINT, 
                                   NIMC_PULSE_BREAKPOINT, NIMC_OPERATION_BUFFERED);
   CheckError;         

   // Enable the breakpoint
   err = flex_enable_breakpoint(boardID, axis, NIMC_TRUE);
   CheckError;

   // Poll the status of the buffer, if you more breakpoint positions 
   // to write, insert flex_write_buffer call here.
   do 
   {
      // Check the buffer status
      err = flex_check_buffer_rtn(boardID, buffer, 
                                  &backLog, &bufferState, &pointsDone);
      CheckError;
   
      Sleep(50);
   } while ((pointsDone != numberOfPoints) ||
            (bufferState != NIMC_BUFFER_DONE));

   // Clear the buffer
   err = flex_clear_buffer(boardID, buffer);
   CheckError;

   return;

   /////////////////////////////////////////////////////////////////////////
   // Error Handling
   //
   nimcHandleError; //NIMCCATCHTHIS:
   
   // Check to see if there were any Modal Errors
   if (csr & NIMC_MODAL_ERROR_MSG){
      do{
         // Get the command ID, resource and the error code of the modal
         // error from the error stack on the board
         flex_read_error_msg_rtn(boardID,&commandID,&resourceID,&errorCode);
         nimcDisplayError(errorCode,commandID,resourceID);

         // Read the Communication Status Register
         flex_read_csr_rtn(boardID,&csr);

      }while(csr & NIMC_MODAL_ERROR_MSG);
   }
   else       // Display regular error
      nimcDisplayError(err,0,0);
   return;    // Exit the Application
}