National Instruments NI-Motion User Manual
Page 181
Chapter 12
Synchronization
© National Instruments Corporation
12-31
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]);
currentDataPoint++;
}
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*/);