Modulo Breakpoints 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)
{

   u8   boardID;           // Board identification number
   u8   axis;              // Axis number
   u16 csr   = 0;          // Communication status register
   u16 axisStatus;         // Axis status

   // Variables for modal error handling
   u16 commandID;          // The commandID of the function
   u16 resourceID;         // The resource ID
   i32 errorCode;          // Error code
   
      
   ///////////////////////////////
   // Set the board ID
   boardID = 1;
   // Set the axis number
   axis = 1;
   ////////////////////////////////


   // Route breakpoint 1 to RTSI line 1
   err = flex_select_signal (boardID, NIMC_RTSI1 /*destination*/, NIMC_BREAKPOINT1/*source*/);
   CheckError;

   // Configure Breakpoint
   err = flex_configure_breakpoint(boardID, axis, NIMC_MODULO_BREAKPOINT, NIMC_SET_BREAKPOINT, 0);
   CheckError;
   
   // Load Breakpoint Modulus - repeat period
   err = flex_load_bp_modulus(boardID, axis, 500, 0xFF);
   CheckError;

   // Load Breakpoint Position - position at which breakpoint should occur
   // every modulo
   err = flex_load_pos_bp(boardID, axis, 0, 0xFF);
   CheckError;


   for(;;){
      // Enable the breakpoint on axis 1
      err = flex_enable_breakpoint(boardID, axis, NIMC_TRUE);
      CheckError;
      do
      {
         // Check the move complete status/following error/axis off status
         err = flex_read_axis_status_rtn(boardID, axis, &axisStatus);
         CheckError;
               
         // Read the communication status register and check the modal errors
         err = flex_read_csr_rtn(boardID, &csr);
         CheckError;
         
         // Check the modal errors
         if (csr & NIMC_MODAL_ERROR_MSG)
         {
            err = csr & NIMC_MODAL_ERROR_MSG;
            CheckError;
         }

         Sleep (10); //Check every 10 ms

      }while (!(axisStatus & NIMC_POS_BREAKPOINT_BIT)); // Wait for breakpoint to be triggered

   }
   return;      // Exit the Application

   
   /////////////////////////////////////////////////////////////////////////
   // 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
}