National Instruments NI-Motion, User Manual

Page: 181 / 305

Chapter 12 Synchronization
© National Instruments Corporation 12-31 NI-Motion User Manual
if (backlog > 0)
{
readBuffer =
(i32*)malloc(sizeof(i32)*backlog);
// If captured position available in the
buffer, read the // captured position from
the buffer
err = flex_read_buffer_rtn (boardID,
1/*buffer number*/, backlog, readBuffer);
for (i=0;i<backlog;i++){
if (currentDataPoint > totalPoints)
break;
capturedPositions[currentDa
taPoint] = readBuffer[i];
printf("capture pos %d\n",
capturedPositions[currentDataPoin
t]);
currentDa+;
}
free(readBuffer);
readBuffer = NULL;
CheckError;
}
// Check for axis off status/following error or
any modal // errors; 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(60);// Check every 60 ms
} while (bufferState != NIMC_BUFFER_DONE);
// Free the buffer allocated on the motion controller
memory
err = flex_clear_buffer (boardID, 1/*buffer
number*/);