' *************************************************
' *                   <g_h.bas>                   *
' *     source code module for dll with support   *
' *     functions for hardware access  with and   *
' *     without NiDAQ devices.                    *
' *     Also supports USB UART devices under NT   *
' *                     by                        *
' *          Prof.Dr.Godfried-Willem Raes         *
' *************************************************
' *  This module contains all low level code for  *
' *    the music automats at Logos Foundation     *
' *   as well as for the invisible instruments    *
' *              GMT version 10.05                *
' *************************************************
' metacompilation constant for debugging of pp code:
'%pp_debug = %True       ' if compiled with this constant, messages are generated on 'out of timers' from
'                        ' winApi in robot control procedures.
'%g_nidaq = %True        ' this includes extra nidaq functions for NiDAQ7.4 - legacy

' Hardware and NiDAQ/NiDAQmx support library for GMT
' 23.11.2000: Kernel32 crash in g_nih.dll
'             bug found: NiDAQ cannot configure callback procedures without window handles correctly...
'             so we disabled the double buffer copy mechanism.
' 06.11.2001: 16 bit ports implemented for Vibi on NiDAQ 6533 DaqCard devices.
' 15.05.2002: support for Activewire usb devices added.
' 19.05.2002: proc. added for serial IO devices.
' 28.05.2002: Klung support for AW-USB added.
' 03.06.2002: AW-USB buffer out procedures tested in Belly and Autosax code sections.
' 04.06.2002: AW-USB buffer out added for Klung, Troms, Harma, ThunderWood
'             Springers code modified for multiport use.
'             Rotomoton cannot work with AW-USB since it has only 4 input bits available...
' 06.06.2002: IO port selector implemented for <Vibi>.
' 01.07.2002: AW-USB tested on Troms and Belly: O.K.
' 04.08.2002: Debug Thunderwood: new lightning relais and storm component.
' 09.08.2002: Autosax feedback procedure added.
' 12.08.2002: Playseq code added by Kristof Lauwers (Klung)
' 14.08.2002: start implementation of play seq for autosax
' 29.08.2002: start support for <Flex>
' 09.09.2002: first tests flex motors code.
' 17.09.2002: Flex motors usb port support added.
' 16.10.2002: <Harma> runs o.k. with AW-USB support.
' 20.10.2002: <Dripper> up and running...
' 26.10.2002: dripper listentask added.
' 20.11.2002: Thunderwood all off code improved.
' 24.11.2002: Harma support for network UDP/IP listening added. - crashes!
' 06.12.2002: Belly support for network UDP/IP listening added.
'             double belly tasks removed. Now we use a controller for the mapping switch.
' 08.12.2002: Harma coding changed. Motor task eliminated. Now uses a periodic timer for PWM.
' 12.12.2002: Dripper UDP listen added.
' 15.12.2002: Belly-listen debugged.
' 17.12.2002: listen task messaging for belly implemented.
' 20.12.2002: selective channel listening implemented for all automats.
' 04.01.2003: Flex_beat inline usb coding added.
' 19.01.2003: Flex coding midi-input
' 30.01.2003: Support for ADXL202 using serial port added.
' 31.01.2003: Code for ADXL202 finalized.
' 08.02.2003: Code support for quad radar interface added.(Requires NiDAQ)
' 10.02.2003: DFT's for quadradar added.
' 24.02.2003: unused callback window code for NiDAQ removed.
' 02.03.2003: Absolute coordinates and velocity derivation added in Quadrada section.
' 03.03.2003: acceleration derivation added in quadrada.
' 11.03.2003: integration vars. added in quadrada
' 31.03.2003: Quadradar code finalized.
' 14.04.2003: New sonar code added.
' 19.04.2003: Tubi support added.
' 25.04.2003: Tubi USB support added.
' 06.05.2003: Tubi up and working. Midi listen o.k.
' 29.05.2003: Code for softshift solenoids in Flex added.
' 01.06.2003: Coding for Flex changed and improved.
' 07.03.2003: Development of code works on <Flex>
' 08.03.2003: <Flex> testing.
' 10.03.2003: Flex now also listens to meta commands.
' 20.09.2003: display procs. for Quadrada added to library.  - note: the radar-control task is in g_main.inc (g_lib.dll)
' 21.09.2003: id. for sonar (sonar control task in g_main.inc)
' 23.09.2003: research in equivalence parametering for sonar/radar
' 30.10.2003: sonar coding changed. Now with data dependent integration.
' 04.11.2003: sonar statistics coding added.
' 11.04.2004: Troms support removed.
' 14.04.2004: SonarRanger support added.(Polaroid 50kHz system) - needs printerport.
' 19.07.2004: integration changed to float in quadradar callback procedure qt().amp
' 24.07.2004: autosax listen improved. - start/stop procs added to all robot code.
'             debug on harma implementation.
' 25.07.2004: Harma listentask rewritten. We still have problems with it!
' 26.07.2004: further work un usb buffered output for Harma.
'             this dll now runs in realtime priority.
'             Seems to work again in  tests on Harma. Other robots to be checked again. (Klung and ThunderWood)
' 27.07.2004: all robotlistentasks upgraded.
' 21.11.2004: new code module g_mm added.
' 09.12.2004: red light support added to Harma.
' 10.12.2004: dito debugging.
' 23.01.2005: tubi procs. become unneeded now.
' 25.01.2005: old tubi code moved to g_h_tubi.inc (in tubi directory)
' 30.01.2005: vibi and dripper support is now conditional: these robots become midi controlled.
' 07.02.2005: vibi code moved to \robots\vibi\vibi_dllprocs.inc
' 05.03.2005: adapted to PBWIN 8.00 compiler
' 14.03.2005: dripper support removed.
' 28.03.2005: belly code adapted to bell-swap.
' 12.07.2005: harma coding now conditional: will become midi robot
' 16.05.2005: original coding for harma moved to :C:\b\pb\gmt\robots\harma\g_harma.inc
' 28.11.2005: start added code for new sonar devices on USB/COM ports.
' 18.12.2005: all harma code removed here.
' 06.01.2006: kl - working on UsbSonar implementation
'             basics are working but still some todo's - see comment in the usbsonar section..
' 10.01.2006: support for Krum added.
' 02.05.2006: autosax V2 removed. - resource adapted.
' 26.06.2006: crashes after installing <GMT> on Xi, being forced to upgrade the NiDAQ drivers to version 7.4.1
'             could only be solved by avoiding to link g_nih.dll statically.
' 26.07.2006: problem seems to be solved...
' 19.08.2006: Klung I/O select removed.
' 31.08.2006: Springers I/O select removed.
' 18.10.2006: Klung removed, rotomoton removed, thunderwood removed.
' 29.11.2006: recompiled under PBWIN8.03
' 08.01.2007: recompile
' 24.02.2007: new resource file
' 23.05.2007: NiDaq upgrade 7.44
' 31.08.2008: adapted to PB compiler 9.0 - gwr changed varnames 'point', com$ , display  (proc.name)
' 12.05.2009: Problems with Nidaq 7.44 running under Windows 7.
' 31.05.2009: temporary attempt to start making 3 different compilations...
             ' using $dll string constant in the bi file
             ' Works on \\No with g_noh.dll and g_nxh.dll. g_nih.dll fails to load.
' 02.06.2009: all flex code removed from module.
'             support for giant_display removed from code.
' 03.06.2009: Checktimerresolution procedure moved to g_indep.dll
'             Call to this proc removed from initdll here, since it was doubled with the exe.
' 06.06.2009: coding to get menu's right in GMT with NIDAmx. Sonar_Daq code adapted.
' 07.06.2009: should now work with NiDAQmx and the g_nxh.dll compilation.
' 08.06.2009: cleanup of no longer used code.
'             debug session
' 10.06.2009: Start implementing a 3 channel 1024S/s task for Nidaqmx
' 13.06.2009: Implementation of timescaled buffers in 2 octave intervals for NiDAQmx
' 14.06.2009: Data acquisition under NiDAQmx works pretty well now. Debug o.k.
'             code can still be improved for speed and intelligence.
' 19.06.2009: batch file compilation implemented
' 04.07.2009: debug and test session under Nidaqmx
' 05.07.2009: debug and research on fast doppler
' 12.07.2009: works perfectly under Win7, XP gives problems at times.
' 13.07.2009: persistent problems on \\Xi...
' 22.07.2009: First concert using NiDAQmx: GWR's butoh production
' 03.09.2009: Start implementation of 24GHz devices.
' 08.09.2009: further work on 24GHz radar implementation, but by far nor ready yet!!!
' 19.09.2009: further work on 24GHz implementation
' 09.03.2010: problems after NidaqMx upgrade to 9.1. it apppears that our EveryN callback functions need to be CDECL.
'            sonar and doppler work again.. with the 24Ghz radar we don't get crashes, but we get errors..
'             Channel assignment adapted to new wiring of the hardware.
' 11.04.2010: Doppler DAQ code appears to be stable now on all platforms.
' 30.03.2011: Compiler upgrade to version 10 - problem with the Thread Create function!

' *********************** METACOMMANDS ***************************************************************************
#COMPILER PBWIN 10
#DEBUG ERROR OFF      ' if ON should trap array boundary errors...
#DEBUG DISPLAY OFF 'ON  ' this slows down the code and should be only set during development!!!
#TOOLS OFF 'ON ' OFF


 ' temporary: 3 different compilations
        '%NiDAQ      = 1   ' always compile 2 times: once with this constant, once without it!!!
        '%g_NiDAQmx  = 1   ' third compilation

'#INCLUDE ONCE "_meta.inc"                ' use only this one for batch file compilation of the 3 versions
'#include ONCE "_g_noh.inc"               ' no NiDaq support defined
'#include ONCE "_g_nih.inc"               ' NiDaq 7.4 support   - defines %NiDAQ
#INCLUDE ONCE "_g_nxh.inc"                ' Nidaqmx 8.8 support - defines %g_NiDAQmx

#OPTION VERSION5                    ' compile for Windows2000 and/or NT5
#IF %DEF(%NIDAQ)
    #COMPILE DLL "g_nih.dll"        ' public declarations in g_h.bi  - $dll in .bi file defined.
#ELSEIF %DEF(%g_NiDAQmx)
    #COMPILE DLL "g_nxh.dll"        ' public declarations in g_h.bi
#ELSE
    #COMPILE DLL "g_noh.dll"        ' public declarations in g_h.bi
#ENDIF

#REGISTER ALL        ' This metastatement should appear only once.
#DIM ALL
#INCLUDE ONCE "..\winapi\g_win.inc"  ' Win32API  - version for pb 9.00
'#INCLUDE "..\winapi\Win32api.inc"    ' include too large, does not compile
%Winapi = 1
                          ' g_win.inc should contain the timer functions...
#INCLUDE ONCE "g_kons.bi"      ' only integer constants and strings can be declared in PB
#INCLUDE ONCE "g_type.bi"      ' This declares all our own structures, user defined types

#IF %DEF(%NiDAQ)
    #INCLUDE ONCE "..\winapi\Nidaq32-pb.inc"     'proc.declarations      V7.44
    #INCLUDE ONCE "..\winapi\Nidaqcns-pb.inc"    'constants declaration  V7.44
    #INCLUDE ONCE "..\winapi\Nidaqerr-pb.inc"    'error handling procs. and msg's.
    '#INCLUDE "..\winapi\Nidex32-pb.inc"     'examples & error library  - enable this if you want to debug
                                             ' any nidaq function with retval = NiDaqError .... (remmed in the source here)
    #INCLUDE ONCE "g_glib.bi"                    'required for radar displays etc...

#ELSEIF %DEF(%g_NiDAQmx)
    #INCLUDE ONCE "..\winapi\NIDAQmx_const.inc"  ' constants for NiDAQmx    V8.8 , V9.9
    #INCLUDE ONCE "..\winapi\NIDAQmx_err.inc"    ' error codes for NiDAQmx  V8.8 , V9.9
    #INCLUDE ONCE "..\winapi\NIDAQmx_pb.inc"     ' function declarations    V9.9
    #INCLUDE ONCE "g_glib.bi"
#ENDIF


#INCLUDE ONCE "g_lib.bi"    ' essential
#INCLUDE ONCE "g_mus.bi"
#INCLUDE ONCE "g_indep.bi"  ' essential
#INCLUDE ONCE "g_file.bi"
'#INCLUDE "g_net.bi"   ' seems not required.
'#INCLUDE "g_robo.bi"  ' removed 02.06.2009


#IF %DEF(%ACTIVEWIRE)
    #INCLUDE ONCE "..\USB_ActiveWire\AwUSBapi.inc"
#ENDIF
%g_h_inc = %True
#INCLUDE ONCE "g_h.bi"      ' declares for exported functions and procedures only
#RESOURCE "resource\g_h.pbr"
'#resource "resource\g_h.res"   does not work...
' ****************************************************************************

' globals: pointers to structures used in GMT:********************************
GLOBAL pDAQparams  AS DataAcquisitionParameters PTR
GLOBAL pDIOparams  AS DigitalIOparameters PTR
' pointers to the world created in the GMT application:
GLOBAL pT()        AS Taak PTR              ' pointers to the global Task() structures in GMT.
GLOBAL pTeX()      AS ExtraInfo PTR         ' added 20.09.2003
GLOBAL pApp        AS ApplicationType PTR   ' pointer to App structure in GMT
GLOBAL pgh         AS GMT_HANDLES PTR       ' handles to gmt windows created in GMT
    GLOBAL pUDCtrl()      AS UpDownController PTR  ' 20.09.2003
    'GLOBAL pButnSW()      AS SwitchController PTR  ' 24.04.2000
    'GLOBAL pButnOS()      AS OneShotController PTR ' 24.04.2000
    GLOBAL pSlider()      AS SliderController PTR  ' 20.09.2003
' data acquisition buffers:
GLOBAL ADCbuffer() AS INTEGER
GLOBAL DAQbuffer() AS INTEGER
GLOBAL ADXL202     AS AccelSensDevice ' 30.01.2003 - serial version (Axe2)
GLOBAL UsbSonar    AS USBSonarDevice  ' 23.12.2005    - we use the same type as for adxl for now, but probably will need a separate one later on..
GLOBAL qr()        AS RadarType       ' 08.02.2003  QuadRadar
GLOBAL sr          AS SonarType       ' 14.04.2003  ii- sonar
GLOBAL tetrad      AS RadarTetrahedronType ' placed here 13.07.2009
GLOBAL R24GT       AS Radar24GHzTetrahedronType   ' 07.09.2009
GLOBAL db0()       AS INTEGER
GLOBAL db1()       AS INTEGER
GLOBAL db2()       AS INTEGER
GLOBAL db3()       AS INTEGER
GLOBAL db4()       AS INTEGER
GLOBAL db5()       AS INTEGER
GLOBAL db6()       AS INTEGER
GLOBAL db7()       AS INTEGER
GLOBAL db8()       AS INTEGER      ' for compatibility with legacy hardware for <BOM>
GLOBAL db9()       AS INTEGER
GLOBAL dbA()       AS INTEGER
GLOBAL dbB()       AS INTEGER
GLOBAL dbC()       AS INTEGER
GLOBAL dbD()       AS INTEGER
GLOBAL dbE()       AS INTEGER
GLOBAL dbF()       AS INTEGER
GLOBAL xfbuf()     AS SINGLE       ' for ii_doppler and 24GHz radar
GLOBAL yfBuf()     AS SINGLE       ' frequency buffers. 64 measurements deep.
GLOBAL zfBuf()     AS SINGLE
GLOBAL cfBuf()     AS SINGLE
GLOBAL dbx()       AS DOUBLE  ' 0.25 second buffers, fast data - Sampling rate 1024 S/s
GLOBAL dby()       AS DOUBLE
GLOBAL dbz()       AS DOUBLE
'GLOBAL dbce()       AS DOUBLE '   double def. rename required!!!
GLOBAL dbxm()      AS DOUBLE  ' 1 second buffers, medium data - Sampling rate 256 S/s
GLOBAL dbym()      AS DOUBLE
GLOBAL dbzm()      AS DOUBLE
'GLOBAL dbcm()      AS DOUBLE
GLOBAL dbxs()      AS DOUBLE  ' 4 second buffers, slow data - Sampling rate 64 S/s
GLOBAL dbys()      AS DOUBLE
GLOBAL dbzs()      AS DOUBLE
'GLOBAL dbcs()      AS DOUBLE
GLOBAL dbx24Gf() AS DOUBLE
GLOBAL dby24Gf() AS DOUBLE
GLOBAL dbz24Gf() AS DOUBLE
GLOBAL dbc24Gf() AS DOUBLE
GLOBAL dbx24Gm() AS DOUBLE
GLOBAL dby24Gm() AS DOUBLE
GLOBAL dbz24Gm() AS DOUBLE
GLOBAL dbc24Gm() AS DOUBLE
GLOBAL dbx24Gs() AS DOUBLE
GLOBAL dby24Gs() AS DOUBLE
GLOBAL dbz24Gs() AS DOUBLE
GLOBAL dbc24Gs() AS DOUBLE

GLOBAL hInst       AS LONG                ' instance handle of this dll  - saved in gh.gnh
GLOBAL CritSecWait AS Critical_Section    ' used in the Wait procedure
GLOBAL board       AS DWORD           ' holds the connected board. (constant %II_2000, %ANACOMP etc...)
                                      ' read from ini file
GLOBAL SonarRanger AS SonarRangerType      ' only for Sonar Ranging device (Polaroid 50kHz)
GLOBAL Doppler     AS DopplerType          ' for ii_2000 under NiDAQmx

' for USB_UART support:
GLOBAL USB_DIO()   AS USB_DIO_TYPE         ' 10.01.2002 - USB UART's Elektor
GLOBAL DisplayPanel AS DisplayType         ' 07.02.2002
GLOBAL IOports     AS IOportsType          ' 08.02.2002
GLOBAL NiMxDevs()  AS ASCIIZ * 20          ' 06.06.2009


' non-exported functions and procedures:
DECLARE FUNCTION DLLMAIN (BYVAL h AS LONG, BYVAL fwdReason AS LONG, BYVAL lpvReserved AS LONG) AS LONG

DECLARE FUNCTION Ni_16bitHandshake(BYVAL prt AS BYTE) AS LONG       ' 05.11.2001
'DECLARE FUNCTION Aw_Usb_CentroPort (BYVAL devnr AS DWORD) AS DWORD  ' 15.05.2002
DECLARE FUNCTION IOportselector (BYVAL device AS DWORD) AS DWORD
DECLARE CALLBACK FUNCTION IoDlgCallback() AS LONG

' for acceleration sensor device:  [30.01.2003]  - 24.10.2007 replaced with Axe3 sensor.
DECLARE SUB ADXL202_CB (BYVAL wTimerID AS LONG, BYVAL msg AS LONG, BYVAL EventNr AS LONG, BYVAL dw1 AS LONG, BYVAL dw2 AS LONG)
' for QuadRadar: [08.02.2003] - 2.8GHz devices
DECLARE SUB RadarDAQTask_CB (BYVAL wTimerID AS LONG, BYVAL msg AS LONG, BYVAL eventnr AS LONG, BYVAL dw1 AS LONG, BYVAL dw2 AS LONG)
DECLARE FUNCTION Quadradar_PosAmp (BYVAL i AS DWORD) AS DWORD       ' 30.03.2003 - uses integrated amplitude input.
DECLARE FUNCTION Quadradar_TetraMath (BYVAL i AS DWORD) AS DWORD    ' 11.03.2003
' for Sonar - ii [14.04.2003]   - 40kHz devices  - NiDAQ version
DECLARE SUB SonarDAQTask_CB (BYVAL wTimerID AS LONG, BYVAL msg AS LONG, BYVAL eventnr AS LONG, BYVAL dw1 AS LONG, BYVAL dw2 AS LONG)
' for NIDAQmx:  [06.06.2009]
'ímportant note: since NidaqMx version 9.1., it is crucial to use CDECL
DECLARE FUNCTION ii2000_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
DECLARE FUNCTION  Quadrada_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
DECLARE FUNCTION NiDAQmx_DoneCallback CDECL (BYVAL taskHandle AS LONG,BYVAL stat AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
DECLARE FUNCTION Doppler_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
' for 24GHz radar devices in tetrahedron setup:
DECLARE FUNCTION R24GT_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
' common for sonar and radar, NiDAQ and NiDAQmx:
DECLARE SUB Sonar_ii_Math ()        ' 07.06.2009
DECLARE SUB Quadrada_ii_Math ()     ' 07.06.2009
' only for NiDAQmx:
DECLARE SUB Doppler_ii_Math ()      ' to be written

' **************************************************************************************
FUNCTION DLLMAIN(BYVAL H          AS LONG, _
                 BYVAL fwdReason   AS LONG, _
                 BYVAL lpvReserved AS LONG) EXPORT AS LONG
                 'here we reserve buffers for all devices we might possibly use.. is this a good idea?
  LOCAL retval AS LONG
  LOCAL i AS DWORD
  FUNCTION = %True
  SELECT CASE fwdReason
    CASE %DLL_PROCESS_ATTACH
         IF ISFALSE hInst THEN
            hInst = H
           ' done only in StartDataAcquisitionTask !!!
            DIM ADCbuffer(7) AS GLOBAL INTEGER  ' primary buffer twice the size of DAQbuffer in DB mode.
            DIM DAQbuffer(7) AS GLOBAL INTEGER  ' for memory allocation only.
            DIM pT(%NumberOfTasks -1) AS GLOBAL TAAK PTR
            'DIM pTeX(%NumberOfTasks -1) as global ExtraInfo PTR  ' 29.05.2002 - removed again
            DIM USB_DIO(7) AS GLOBAL USB_DIO_TYPE        ' 10.01.2002
            DIM qr(4)    AS GLOBAL RadarType             ' 08.02.2003 -0,1,2,3= raw data, 4= integrated results
            DIM db0(255) AS GLOBAL INTEGER               ' for ii-devices.
            DIM db1(255) AS GLOBAL INTEGER
            DIM db2(255) AS GLOBAL INTEGER
            DIM db3(255) AS GLOBAL INTEGER
            DIM db4(255) AS GLOBAL INTEGER
            DIM db5(255) AS GLOBAL INTEGER
            DIM db6(255) AS GLOBAL INTEGER
            DIM db7(255) AS GLOBAL INTEGER
            DIM db8(255) AS GLOBAL INTEGER               ' for sonar ii-devices.
            DIM db9(255) AS GLOBAL INTEGER
            DIM dbA(255) AS GLOBAL INTEGER
            DIM dbB(255) AS GLOBAL INTEGER
            DIM dbC(255) AS GLOBAL INTEGER
            DIM dbD(255) AS GLOBAL INTEGER
            DIM dbE(255) AS GLOBAL INTEGER
            DIM dbF(255) AS GLOBAL INTEGER
            ' following are for the radar invisible instrument.
            qr(0).pXbuf = VARPTR(db0(0))          ' same buffers also used for sonar!
            qr(0).pYbuf = VARPTR(db1(0))
            qr(1).pXbuf = VARPTR(db2(0))
            qr(1).pYbuf = VARPTR(db3(0))
            qr(2).pXbuf = VARPTR(db4(0))
            qr(2).pYbuf = VARPTR(db5(0))
            qr(3).pXbuf = VARPTR(db6(0))
            qr(3).pYbuf = VARPTR(db7(0))
            ' following for doppler sonar under NiDAQmx:
            ' 13.06.2009, changed to:
            DIM dbx(0 TO 255) AS GLOBAL DOUBLE  ' 0.25 second buffers, fast data - Sampling rate 1024 S/s
            DIM dby(0 TO 255) AS GLOBAL DOUBLE
            DIM dbz(0 TO 255) AS GLOBAL DOUBLE
           ' DIM dbce(0 TO 255) AS GLOBAL DOUBLE  ' R24GT
            DIM dbxm(0 TO 255) AS GLOBAL DOUBLE  ' 1 second buffers, medium data - Sampling rate 256 S/s
            DIM dbym(0 TO 255) AS GLOBAL DOUBLE
            DIM dbzm(0 TO 255) AS GLOBAL DOUBLE
          '  DIM dbcm(0 TO 255) AS GLOBAL DOUBLE
            DIM dbxs(0 TO 255) AS GLOBAL DOUBLE  ' 4 second buffers, slow data - Sampling rate 64 S/s
            DIM dbys(0 TO 255) AS GLOBAL DOUBLE
            DIM dbzs(0 TO 255) AS GLOBAL DOUBLE
          '  DIM dbcs(0 TO 255) AS GLOBAL DOUBLE
            DIM xfbuf(0 TO 63) AS GLOBAL SINGLE    ' frequency buffers. 64 measurements deep.
            DIM yfbuf(0 TO 63) AS GLOBAL SINGLE
            DIM zfbuf(0 TO 63) AS GLOBAL SINGLE
            DIM cfbuf(0 TO 63) AS GLOBAL SINGLE    ' only used for 24GHz system R24GT
       '     dim doppler as global dopplerType    ' 14.06.2009 - done outside proc.
            doppler.pxfast = VARPTR(dbx(0))
            doppler.pyfast = VARPTR(dby(0))
            doppler.pzfast = VARPTR(dbz(0))
            doppler.pxm    = VARPTR(dbxm(0))
            doppler.pym    = VARPTR(dbym(0))
            doppler.pzm    = VARPTR(dbzm(0))
            doppler.pxslow = VARPTR(dbxs(0))
            doppler.pyslow = VARPTR(dbys(0))
            doppler.pzslow = VARPTR(dbzs(0))
            doppler.pxfbuf = VARPTR(xfbuf(0))
            doppler.pyfbuf = VARPTR(yfbuf(0))
            doppler.pzfbuf = VARPTR(zfbuf(0))
       '-------------------------------------------------- 24GHz radar---------------------------------------
            ' to be done also for R24GT system! (4 channels!!!)
'            DIM dbx24Gf(0 TO 511) AS GLOBAL DOUBLE ' 0.25 second buffers, fast data - sampling rate 2048 S/s
'            DIM dby24Gf(0 TO 511) AS GLOBAL DOUBLE
'            DIM dbz24Gf(0 TO 511) AS GLOBAL DOUBLE
'            DIM dbc24Gf(0 TO 511) AS GLOBAL DOUBLE
'            DIM dbx24Gm(0 TO 255) AS GLOBAL DOUBLE ' 1 second buffers, medium data - sampling rate 256 S/s
'            DIM dby24Gm(0 TO 255) AS GLOBAL DOUBLE
'            DIM dbz24Gm(0 TO 255) AS GLOBAL DOUBLE
'            DIM dbc24Gm(0 TO 255) AS GLOBAL DOUBLE
'            DIM dbx24Gs(0 TO 255) AS GLOBAL DOUBLE ' 4 second buffers, slow data - sampling rate 64 S/s
'            DIM dby24Gs(0 TO 255) AS GLOBAL DOUBLE
'            DIM dbz24Gs(0 TO 255) AS GLOBAL DOUBLE
'            DIM dbc24Gs(0 TO 255) AS GLOBAL DOUBLE
'            R24GT.pxfast = VARPTR(dbx24Gf(0))
'            R24GT.pyfast = VARPTR(dby24Gf(0))
'            R24GT.pzfast = VARPTR(dbz24Gf(0))
'            R24GT.pcfast = VARPTR(dbc24Gf(0))
'            R24GT.pxm = VARPTR(dbx24Gm(0))
'            R24GT.pym = VARPTR(dby24Gm(0))
'            R24GT.pzm = VARPTR(dbz24Gm(0))
'            R24GT.pcm = VARPTR(dbc24Gm(0))
'            R24GT.pxslow = VARPTR(dbx24Gs(0))
'            R24GT.pyslow = VARPTR(dby24Gs(0))
'            R24GT.pzslow = VARPTR(dbz24Gs(0))
'            R24GT.pcslow = VARPTR(dbc24Gs(0))
'            R24GT.pxfbuf = VARPTR(xfbuf(0))   ' common with other structures...
'            R24GT.pyfbuf = VARPTR(yfbuf(0))
'            R24GT.pxfbuf = VARPTR(zfbuf(0))
'            R24GT.pcfbuf = VARPTR(cfbuf(0))


            'buffer inits for R24GT are only doen @ initialisation of the radar


            DIM NiMxDevs(0 TO 3) AS GLOBAL ASCIIZ * 20   ' this enumerates all devices we own and could have
                                                         ' connected
            NiMxDevs(0) = "Dev1"              'index corresponds with devicenr later on, which starts from 1,
                                              'so having an element(0) make no sense...
            NiMxDevs(1) = "USB6210-1"
            NiMxDevs(2) = "USB6212-1"         'renamed via the NiDAQ MAX utility 8.06.2009
            NiMxDevs(3) = "USB6210-2"
           ' MSGBOX "g_n*h.dll" & STR$(H) & " " & STR$(hInst),,FUNCNAME$  - dit werkt. H = hInst
         ELSE
            MSGBOX "g_n*h.dll loaded twice!  " & STR$(H) & " " & STR$(hInst),,FUNCNAME$
         END IF

        ' timeBeginPeriod CheckTimerResolution             ' must be matched with a call to timeEndPeriod.
         InitializeCriticalSection CritSecWait            ' 11.09.2000

    CASE %DLL_PROCESS_DETACH
         #IF %DEF(%NiDAQ)
            IF pDIOparams THEN
                IF @pDIOparams.id THEN DAQ_Clear @pDIOparams.id
            END IF
            IF pDAQparams THEN
                IF @pDAQparams.id THEN
                    DAQ_Clear @pDAQparams.id
                END IF
            END IF
            IF qr(0).TimerId THEN TimeKillEvent qr(0).TimerId
         #ENDIF
         DeleteCriticalSection CritSecWait       ' 11.09.2000
        ' timeEndPeriod CheckTimerResolution        '  must be paired with timeBeginPeriod
                                                 ' ChecktimerResolution is a proc in g_indep now (06.2009)
         #IF(%DEF(%ACTIVEWIRE))
            ' close USB Activewire ports before leaving:     ' 15.05.2002
            i = %False
            DO
                IF (IOports.AwUSB(i) AND %PortUsed) THEN
                    AwusbClose
                END IF
                INCR i
            LOOP UNTIL i = 32
         #ENDIF
    CASE %DLL_THREAD_ATTACH
         'SetPriorityClass hInst, %REALTIME_PRIORITY_CLASS      ' 26.07.2004   - foutief!
         ' juiste versie: (26.10.2005]
         i = SetPriorityClass (GetCurrentProcess(), %REALTIME_PRIORITY_CLASS)
        ' MSGBOX "g_nih.dll thread attach"    ' o.k.
    CASE %DLL_THREAD_DETACH
    CASE ELSE
         FUNCTION = %False
  END SELECT
END FUNCTION

FUNCTION InitDAQdll (BYREF T() AS TAAK,_
                     BYREF TEx() AS ExtraInfo,_
                     BYREF gh AS GMT_HANDLES,_
                     BYREF App AS ApplicationType,_
                     BYREF DAQparams AS DataAcquisitionParameters,_
                     BYREF DIOparams AS DigitalIOParameters) EXPORT AS LONG
                     ' this function is called from GMT_Initialize in GMT.BAS
                               '
         DIM pTEX(%NumberOfTasks-1) AS GLOBAL ExtraInfo PTR         ' added 20.09.2003
         DIM pT(%NumberOfTasks-1) AS GLOBAL TAAK PTR
         LOCAL i AS DWORD
         LOCAL m AS ASCIIZ * 100
         LOCAL szTitelBox AS ASCIIZ * 45
         szTitelBox = "{g_n*h.dll}-[InitDAQdll]" & CHR$(13)
         FOR i = 0 TO %Numberoftasks -1
             pTEX(i)= VARPTR(Tex(i))  '  - we will need this for calling stoptask en starttask procs.
                                      '  as well as for parameter windows in dll-tasks
             pT(i) = VARPTR(T(i))
         NEXT i
         pgh = VARPTR(gh)
         IF ISFALSE pgh  THEN
            m ="Null pointer for GMT handles on initialisation of g_n*h.dll"
            MessageBox hInst,m, szTitelbox,%MB_OK OR %MB_ICONSTOP OR %MB_TASKMODAL OR %MB_TOPMOST
         ELSE
            @pgh.gnh = hInst
         END IF
         pApp = VARPTR(App)
         IF ISFALSE pApp THEN
            m = "Null pointer for application on initialisation of g_n*h.dll"
            MessageBox hInst,m, szTitelbox,%MB_OK OR %MB_ICONSTOP OR %MB_TASKMODAL OR %MB_TOPMOST
         END IF
         pDAQparams = VARPTR(DAQparams)
         IF ISFALSE pDAQparams THEN
            m = "Null pointer for DAQparams on initialisation of g_n*h.dll"
            MessageBox hInst,m, szTitelbox,%MB_OK OR %MB_ICONSTOP OR %MB_TASKMODAL OR %MB_TOPMOST
         END IF
         pDIOparams = VARPTR(DIOparams)
         IF ISFALSE pDIOparams THEN
            m = "Null pointer for DIOparams on initialisation of g_n*h.dll"
            MessageBox hInst,m, szTitelbox,%MB_OK OR %MB_ICONSTOP OR %MB_TASKMODAL OR %MB_TOPMOST
         END IF
END FUNCTION

FUNCTION PrepareDaqMenu () EXPORT AS LONG
        ' 25.06.2002, used for preparing the menu in GMT
        ' 01.06.2009, modified.
        ' 06.06.2009, further debug
        ' 08.06.2009, should work fine now, both with NiDAQ and NiDAQmx
    LOCAL md               AS ASCIIZ * 40
    LOCAL m                AS ASCIIZ * 20
    LOCAL NiDaqVer         AS CUR
    LOCAL hPop             AS LONG
    LOCAL i                AS LONG
    LOCAL hMenu            AS LONG

    hMenu = GetMenu(@pgh.setup)

                NiDaqVer = NiDAQ_Version
          '      warning "nidaq ver" + STR$(Nidaqver)
       IF NiDaqVer THEN
                m = "NiDAQ " + STR$(NiDaqVer)
               ' Warning TRIM$(m)                    'ok
                EnableMenuItem hMenu, %ID_POP_DAQDEVS, %MF_ENABLED
                EnableMenuitem hMenu, %IDM_NIDAQ, %MF_ENABLED
                md = "National Instruments"
                MENU NEW POPUP TO hPop
                MENU ADD POPUP, hMenu, md, hPop, %MF_ENABLED, AT BYCMD %IDM_NIDAQ
                 ' now let the user select the devices found...
                MENU DELETE hMenu, BYCMD %IDM_NIDAQ
                i = 1
                DO
                      md = FindNiDAQdevice (i,%False)       'in this dll
                 '     Warning "dev= " & md & STR$(i)
                      'md = "NI_USB-6212"
                      IF LEFT$(UCASE$(md),2) <> "NO" THEN
                         MENU ADD STRING, hPop, TRIM$(m) & " " & TRIM$(md), %IDM_DAQ_PORTS+ i-1, %MF_ENABLED, AT BYCMD %IDM_NIDAQ
                         MENU DRAW BAR @pgh.setup
                         EXIT LOOP
                      ELSE
                         EXIT DO     ' exits on the first connected device found now.,
                      END IF
                      INCR i
                LOOP

                  ' we can retrieve the device id's as %IDM_DAQ_PORTS + id in the callback...
                  ' If we found no NiDAQ devices,we offer the choice to use the testpanel:
          ' IF ExistFile($NiDAQmxTestPanel) THEN
          '    MENU ADD STRING, hPop, "NiMAX" , %IDM_DAQ_PORTS_LAST + 1, %MF_ENABLED, AT BYCMD %IDM_NIDAQ
          ' END IF
          '    MENU DRAW BAR @pgh.setup
       ELSE
            ' no NiDaq version installed
            MENU DELETE hMenu, BYCMD %ID_POP_DAQDEVS
       END IF
   MENU DRAW BAR @pgh.setup
   FUNCTION = %True
END FUNCTION

FUNCTION NiDAQ_Version () EXPORT AS CUR
    'returns the NiDAQ version installed on this computer
    'function modified 02.06.2009 gwr
   #IF %DEF(%NiDAQ)
         LOCAL a&
         Get_Ni_DAQ_Version (a&)     ' this initializes and resets the board!
         FUNCTION = VAL(LEFT$(HEX$(a& AND &HFFFF),1) + "." + RIGHT$(HEX$(a& AND &HFFFF),2))
   #ELSEIF %DEF(%g_NiDAQmx)
         LOCAL vermaj AS DWORD
         DAQmxGetSysNIDAQMajorVersion (vermaj)
         LOCAL vermin AS DWORD
         DAQmxGetSysNIDAQMajorVersion (vermin)
         FUNCTION = VAL(STR$(vermaj)& "." & TRIM$(STR$(vermin)))  ' returns 8.8, checked gwr.
   #ELSE
         FUNCTION = %False
   #ENDIF
END FUNCTION

FUNCTION FindNiDAQdevice (BYVAL DeviceNumber AS INTEGER, BYVAL param AS DWORD) EXPORT AS STRING
           ' devicenumber passed from preparemenu function. Count starts at 1       `
           ' note: this clashes with NimxDEvs(0), which is "dev1", which can never be chosen
           ' if devicenumber here has to be at least one..
           ' param = %Search - used for preparation menu = %False
           ' param = %Verify - used for setting params
           ' param is not used anymore!
   FUNCTION = "NONE"  'default return.
'   warning FUNCNAME$ + STR$(devicenumber) + STR$(param)
   IF DeviceNumber <= %False THEN EXIT FUNCTION

   #IF %DEF(%g_NiDAQmx)
   ' new coding 06.06.2009/08.06.2009 - gwr
    LOCAL gegevens AS DWORD
    LOCAL ret AS LONG
    LOCAL device AS ASCIIZ * 20
    LOCAL i AS LONG
    LOCAL errBuff AS ASCIIZ * 1024
      FOR i = 1 TO UBOUND(NiMxDevs)
        ret = DAQmxGetDevSerialNum (NiMxDevs(i), gegevens)
        IF ret THEN
            DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         '   Warning "sern err: " + STR$(i) & TRIM$(errbuff)
            ITERATE FOR
        END IF
        'IF gegevens THEN
            'PRINT "Serial number= "; STR$(gegevens); "  &H"; HEX$(gegevens)               ' serial number
            ' dit geeft 0 wanneer het device niet aan de usb poort hangt.
            ' Volgende funktie werkt voor alle spullen die ooit aan de komputer hebben gehangen...:
            ret = DAQmxGetDevProductNum (NiMxDevs(i), gegevens)
            IF ret THEN
                DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
          '      Warning STR$(i) & TRIM$(errbuff)
            END IF
            device = NiMxDevs(i)
          '  warning TRIM$(device) & HEX$(gegevens) + STR$(i) + STR$(Devicenumber)   'ok
            SELECT CASE gegevens
            '    ' uit te breiden naarmate we meer devices hebben.
                CASE &H7339
            '        PRINT "Device found = NI_USB-6212" &  "  "  & HEX$(gegevens)
                               @pDAQparams.device = NiMxDevs(i) '"Ni_USB-6212"  '? we better return NiMxDevs(i)
                               @pDAQparams.id = i 'Devicenumber    ' mag niet 0 zijn!  - sonar_daq verwacht dat dit i is, en niet Devicenmber.. kan dit elders verdere implicaties hebben?
                               @pDAQparams.nrchannels = 16
                               @pDAQparams.mode = %DAQ_NI
                               @pDAQparams.bBitsPerSample = 16
                               FUNCTION = @pDAQparams.device
                               EXIT FUNCTION
                CASE &H726F
            '        PRINT "Device found = NI_USB-6210" &  "  "  & HEX$(gegevens)
                               @pDAQparams.device = NiMxDevs(i) '"Ni_USB-6210"
                               @pDAQparams.id = i 'Devicenumber    ' mag niet nul zijn.
                               @pDAQparams.nrchannels = 16
                               @pDAQparams.mode = %DAQ_NI
                               @pDAQparams.bBitsPerSample = 16
                               FUNCTION = @pDAQparams.device
                               EXIT FUNCTION
                CASE ELSE
            '        ' kan eigenlijk niet
            '        PRINT "Device number= " ; STR$(gegevens);" &H"; HEX$(gegevens)                 ' device number
                               @pDAQparams.device = NiMxDevs(i)
                               @pDAQparams.id = i 'Devicenumber
                               FUNCTION = "NONE"
                               EXIT FUNCTION
            END SELECT
            'EXIT FOR
        'END IF
      NEXT i
   #ENDIF

   #IF %DEF(%NiDAQ)
        '27.06.1999: This procedure returns the name of the NiDAQ device found on this computer.
        'called for setting up the menu in GMT, and again for confirmation after selection. (second call, no longer used)
   LOCAL devicekode AS INTEGER


   Init_DA_Brds BYVAL DeviceNumber, devicekode          ' resets the board!
   SELECT CASE devicekode

          CASE 1:  FUNCTION ="NONE"                     ' Not a National Instruments DAQ device"
          CASE 7:  FUNCTION ="PC-DIO-24"
                   @pDioParams.id = DeviceNumber
                   @pDIOParams.device = "PC-DIO-24"
                   @pDIOParams.nrports = 3
                   @pDIOParams.mode = %DAQ_NI
          CASE 33: FUNCTION ="DAQPad-1200"
          CASE 35: FUNCTION ="DAQCard DIO-24"       ' pcmcia card for static digital I/O
                                                    ' implemented 26.09.2000  -8255 compatible
                                                    ' Serves as replacement for printer port on NT machines.
                 '  IF param THEN
                   @pDioParams.id = DeviceNumber
                   @pDIOParams.device = "DAQCard DIO-24"
                   @pDIOParams.nrports = 3
                   @pDIOParams.mode = %DAQ_NI
                 '  END IF
          CASE 52                                    ' pcmcia 16 bit device
               FUNCTION ="DAQCard-AI-16XE-50"
                   @pDAQparams.device = "DAQCard-AI-16XE-50"
                   @pDAQparams.id = Devicenumber
                   @pDAQparams.nrchannels = 16
                   @pDAQparams.mode = %DAQ_NI
                   @pDAQparams.bBitsPerSample = 16
          CASE 53
               FUNCTION ="DAQCard-AI-16E-4"          ' pcmcia device used on <Lily>, Karin, Arne , <Quadrada>
              ' IF param THEN
                   @pDAQparams.device = "DAQCard-AI-16E-4"
                   @pDAQparams.id = Devicenumber
                   @pDAQparams.nrchannels = 16
                   @pDAQparams.mode = %DAQ_NI
                   @pDAQparams.bBitsPerSample = 12
              ' END IF

          CASE 67:  FUNCTION ="AT-DIO-32HS"         ' ISA bus card - compatible with 6533
                        @pDIOparams.device = "AT-DIO-32HS"
                        @pDIOparams.id = Devicenumber
                        @pDIOparams.nrports = 4
                        @pDIOparams.mode = %DAQ_NI
          CASE 68
                    FUNCTION = "DAQCard-6533"       ' this we have and implemented 26.09.2000
                   ' IF param THEN
                        @pDIOparams.device = "DAQCard-6533"
                        @pDIOparams.id = Devicenumber
                        @pDIOparams.nrports = 4
                        @pDIOparams.mode = %DAQ_NI
                   ' END IF
          'CASE 69:  FUNCTION ="DAQArb AT-5411"
          'CASE 75:  FUNCTION ="DAQPad-6507/6508"
          CASE 76
               FUNCTION = "DAQPad-6020E FOR USB"      ' USB device used on Yes etc...  (ii code)- sold to MIM
              ' IF param THEN
                   @pDAQparams.device = "DAQPad-6020E FOR USB"
                   @pDAQparams.id = Devicenumber
                   @pDAQparams.nrchannels = 16
                   @pDAQparams.mode = %DAQ_NI
                   @pDAQparams.bBitsPerSample = 1
              ' END IF
          'CASE 88: FUNCTION = "DAQCard-6062E"
          'CASE 89: FUNCTION = "DAQCard-6715"
          'CASE 90: FUNCTION = "DAQCard-6023E"
          'CASE 91: FUNCTION = "DAQCard-6024E"
          CASE 211
               FUNCTION ="PCI-DIO-32HS"         ' ordered 21.09.2000 - for music automats.
                                                ' implementation started 26.09.2000
          'CASE 275: FUNCTION ="DAQPad-6070E FOR 1394"
          'CASE 276: FUNCTION ="DAQPad-6052E"
          CASE ELSE
               FUNCTION ="Not Implemented"
   END SELECT
   #ELSE
        FUNCTION = "NONE"
   #ENDIF
END FUNCTION



' 27.12.1999: DAQ-ports:
SUB NiDAQDigOut (BYVAL n AS BYTE) EXPORT
      ' Note: this procedure only works with analog data acquisition devices, not with DIO devices.
      ' we use the 8-bit port as data port and one of the timers to generate the strobe.
      ' Data is output on pins D0-D7
      ' strobe on either counter0 or counter1 output.
      ' for coding documentation: see STCgenerateSinglePulse.c in the NiDAQ examples.
#IF %DEF(%NiDAQ)
      STATIC init AS BYTE
      LOCAL retval AS INTEGER
      LOCAL dummy AS INTEGER
            ' DIG_Line_Config  ' configures a specific line for either input or output
            ' DIG_Prt_Config   ' configures the port for either input or output           STEP 1
            ' DIG_Out_Prt      ' writes data to the port
            ' DIG_Out_Line     ' sets a single line                                       STEP 2
            ' DIG_In_Prt       ' reads a byte from the port
            ' DIG_In_Line      ' reads a single bit from a line
    IF ISFALSE init THEN
       IF ISFALSE @pDAQparams.id THEN EXIT SUB
       retval = DIG_Prt_Config% (@pDAQparams.id,0,0,1)   'dev.1, port 0, mode 0 = no handshaking, dir = 1, for output port)
            'dummy = NIDAQErrorHandler(retval,"DIG_Prt_Config",1)      ' this is O.K.
       init = %True
    END IF
        retval = DIG_Out_Port% (@pDAQparams.id,0,(n))
            'dummy = NIDAQErrorHandler(retval,"NiDAQ Dig_out error",1)
        NiDAQ_Pulse_Out 0, 1   ' 1 microsecond, 1 ms for test with USB daqpad
#ELSE
     EXIT SUB
#ENDIF
END SUB

SUB NiDAQ_Pulse_Out (BYVAL counter AS DWORD, BYVAL duration AS DWORD) EXPORT    ' duration is in microseconds!
   #IF %DEF(%NiDAQ)
    ' the procedure quits as soon as the pulse is started.
    ' It's up to your application not to call the proc. again before the pulse is done, or,
    ' to timeout for the pulse in your own code.
    LOCAL cnt AS DWORD
    LOCAL retval AS INTEGER
    LOCAL dummy AS INTEGER
    LOCAL countval AS DWORD
    ' E-series devices used the GPCTR functions
    IF counter = 0 THEN
       cnt =  %ND_COUNTER_0
    ELSEIF counter = 1 THEN
       cnt =  %ND_COUNTER_1
    ELSE
       EXIT SUB                                 ' invalid counter number
    END IF
    SELECT CASE UCASE$(LEFT$(@pDAQparams.device,4))
           CASE "NONE"
                EXIT SUB
           CASE "DAQP", "DAQC"
                ' both the DAQpad and the DAQcard are E-series devices.
                retval = GPCTR_Control (@pDAQparams.id,cnt, %ND_RESET)
                    'dummy = NIDAQErrorHandler(retval,"GPCTR_Control/RESET",1)
                retval = GPCTR_Set_Application (@pDAQparams.id, cnt, %ND_Single_Pulse_GNR)  ' used as strobe pulse generator
                    'dummy = NIDAQErrorHandler(retval,"gptcr_set_application",1)
                countval = duration * 20         ' for 20MHz clock
                IF countval < 2 THEN countval = 2
                IF UCASE$(LEFT$(@pDAQparams.device,4))= "DAQP" THEN
                   ' daqpad (USB) needs 1 ms minimum!!!
                   retval = GPCTR_Change_Parameter (@pDAQparams.id, cnt, %ND_SOURCE, %ND_INTERNAL_100_KHZ)  ' set clock
                        'dummy = NIDAQErrorHandler(retval,"change param/ clocksource",1)
                ELSE
                    retval = GPCTR_Change_Parameter (@pDAQparams.id, cnt, %ND_SOURCE, %ND_INTERNAL_20_MHZ)  ' set clock
                        'dummy = NIDAQErrorHandler(retval,"change param/ clocksource",1)
                END IF
                retval = GPCTR_Change_Parameter (@pDAQparams.id, cnt, %ND_OUTPUT_POLARITY, %ND_NEGATIVE)
                   ' dummy = NIDAQErrorHandler(retval,"NiDAQ CPCTR: cannot change parameter strobe negative ",1)
                retval = GPCTR_Change_Parameter (@pDAQparams.id, cnt, %ND_COUNT_1, 3)         ' 150ns delay time
                   ' dummy = NIDAQErrorHandler(retval,"NiDAQ CPCTR: cannot change parameter 150ns delay",1)
                retval = GPCTR_Change_Parameter (@pDAQparams.id, cnt, %ND_COUNT_2, countval)  ' 1000ns pulsduur
                   ' dummy = NIDAQErrorHandler(retval,"NiDAQ CPCTR: cannot change parameter pulse duration",1)
                retval = Select_Signal (@pDAQparams.id,%ND_GPCTR0_OUTPUT,%ND_GPCTR0_OUTPUT,%ND_LOW_TO_HIGH)  '%ND_HIGH_TO_LOW is not accepted!
                   ' dummy = NIDAQErrorHandler(retval,"Select_Signal error",1)
                retval = GPCTR_Control (@pDAQparams.id,cnt, %ND_PROGRAM)  'PREPARE)
                  '  dummy = NIDAQErrorHandler(retval,"Strobing error", 1)
                'retval = Select_Signal (@pDAQparams.id, %ND_GPCTR0_OUTPUT,%ND_NONE,%ND_DONT_CARE)  ' make output hi-z
                ' retval = GPCTR_Control (@pDAQparams.id,counter,BYVAL %ND_ARM)  ' should arm the counter and do the action...
                    'dummy = NIDAQErrorHandler(retval,"NiDAQ Strobing error",1)
           CASE ELSE
                countval = duration  \ 10        ' for 100kHz clock
                IF countval < 1 THEN countval = 1
                 retval = ICTR_Setup (@pDAQparams.id, counter, 4, countval, 1)
                                       ' negative going strobe pulse on TC, soft strobe, binary count
                    ' dummy = NIDAQErrorHandler(retval,"ICTR_Setup error",1)
                ' retval = ICTR_Reset(@pDAQparams.id, counter, 0)   ' switch the bit...
                '          dummy = NIDAQErrorHandler(retval,"ICTR_Reset to 0",1)
                ' retval = ICTR_Reset(@pDAQparams.id, counter, 1)
                '          dummy = NIDAQErrorHandler(retval,"ICTR_Reset to 1",1)
    END SELECT
#ENDIF
END SUB


FUNCTION Ni_CentroPort (BYVAL devnr AS INTEGER) EXPORT AS LONG
    ' initialize NiDaq board as printerport for use with our pp-hardware.
    ' works with DAQCard DIO24  & our NiDAQ-2-LPT adaptor board
    ' as well as with 6533 devices and corresponding adapter board.
    #IF %DEF(%NiDAQ)
         LOCAL stat AS LONG
         stat = DIG_Prt_Config (devnr,0,0,1)  ' make port 0 (A-port) output only - no handshaking.
         stat = DIG_PRT_Config (devnr,1,0,0)  ' make port 1 (B-port) input only - bits 3,4,5,6,7
         stat = DIG_PRT_Config (devnr,2,0,1)  ' make port 2 (C-port) output only - bits 0,1,2,3
         stat = DIG_Out_Line (devnr,2,0,1)    ' strobe must be high at rest.
         FUNCTION = %NoError
    #ELSE
         FUNCTION = %False
    #ENDIF
END FUNCTION

FUNCTION Aw_Usb_CentroPort (BYVAL devnr AS DWORD) EXPORT AS DWORD  ' no need to export this function
    #IF %DEF(%ACTIVEWIRE)
        LOCAL retval AS DWORD
        DIM b(1) AS STATIC BYTE
         b(0) = &H0FF '&B11111111  ' set lsb bits to output
        ' b(1) = &B00001111  ' set msb bits low nibble to output, high nibble to input
         b(1) = &H0FF '&B11111111
            retval = AwusbEnablePort(b(0),2)
         IF ISFALSE retval THEN
             FUNCTION = %True
         ELSE
             MSGBOX AwUsbErrorMessage (retval),,"<g_n*h.dll>"
             'er = GetLastError
             'msgbox STR$(er)
             FUNCTION = %False
         END IF
         ' init levels
                     b(0)= %False
                     b(1)=&B00000001
                     retval = AwusbOutPort (b(0),2)     ' was 1 - changed 03.06.2002
                     IF retval THEN
                        IOports.msblsb(devnr) = &H100
                        MSGBOX AwUsbErrorMessage (retval),,"<g_n*h.dll>"
                     ELSE
                        FUNCTION = %True
                     END IF
    #ELSE
             FUNCTION = %False
    #ENDIF
END FUNCTION

SUB LedDisplay (BYVAL number?, BYVAL dot1?, BYVAL dot2?, BYVAL dot3?) EXPORT
    'IF ISFALSE HIBYT(HIWRD(Displaypanel.padr)) THEN EXIT SUB
    LOCAL lownibble?
    LOCAL highnibble?
    LOCAL strobebyte AS BYTE
    LOCAL t&
    LOCAL adres AS WORD
    LOCAL f AS LONG
    LOCAL teller AS WORD
    LOCAL b AS STRING * 4

    SELECT CASE Displaypanel.dev           ' must equal a device type constant

           CASE %Bom1_Display ' = &H0000
                   SELECT CASE Displaypanel.padr
                            CASE %False
                                ' NiDAQ DIO device in LPT mode.
                                #IF %DEF(%NiDAQ)
                                    IF @pDIOparams.id THEN
                                        lownibble? = number? MOD 10
                                        highnibble? = number? \ 10
                                        IF ISFALSE highnibble? THEN highnibble? = 15     ' blank it
                                        IF (highnibble? = 15) AND (lownibble? = 0) THEN lownibble? = 15
                                        SHIFT LEFT highnibble?, 4
                                        highnibble? = highnibble? OR lownibble?
                                        PortOut 0,highnibble?
                                         BIT SET strobebyte,0
                                        IF dot1? THEN BIT RESET strobebyte, 1 ELSE BIT SET strobebyte, 1  ' inverted
                                        IF dot2? THEN BIT RESET strobebyte, 2 ELSE BIT SET strobebyte, 2  ' inverted
                                        IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                                        PortOut 2,strobebyte
                                        g_Strobe 2,strobebyte,0
                                    ELSE
                                        EXIT SUB  ' no device selected...
                                    END IF
                                #ENDIF
                            CASE &H100
                                ' NiDAQ port on DAQ card - code added 16.11.2000
                                ' no support for the dots! (that would need 3 extra bits)
                                #IF %DEF(%NiDAQ)
                                lownibble? = number? MOD 10
                                highnibble? = number? \ 10
                                IF ISFALSE highnibble? THEN highnibble? = 15     ' blank it
                                IF (highnibble? = 15) AND (lownibble? = 0) THEN lownibble? = 15
                                SHIFT LEFT highnibble?, 4
                                highnibble? = highnibble? OR lownibble?
                                NiDAQDigOut highnibble?
                                #ENDIF
                                EXIT SUB
                            CASE &H278, &H320, &H378, %Padr
                                ' code for 1994 horizontal BOM display
                                dot1? = dot1? AND 1
                                dot2? = dot2? AND 1
                                dot3? = dot3? AND 1
                                ' dot1? en dot2?  = decimal dots
                                ' dot3? is bit3 van Padr%+2 en kan worden gebruikt om de knipperled op de print in te schakelen.
                                ' willen we 'rare' tekens vermijden op het
                                 ' MSB display, dan moeten we begrenzen alsvolgt:
                                ' number? = number? MOD 100
                                 ' c = &HA
                                 ' ] = &HB (omgekeerde kleine c)
                                 ' u = &HC
                                 ' _C= &HD (onherkenbaar teken)
                                 ' t = &HE
                                 ' blank = &HF

                                 lownibble? = number? MOD 10
                                highnibble? = number? \ 10
                                IF ISFALSE highnibble? THEN highnibble? = 15     ' blank it
                                IF (highnibble? = 15) AND (lownibble? = 0) THEN lownibble? = 15
                                SHIFT LEFT highnibble?, 4
                                highnibble? = highnibble? OR lownibble?
                                PortOut Displaypanel.padr, highnibble?
                                PortOut Displaypanel.padr, highnibble?
                                strobebyte = %CtrlHiNib  '80  ' 0101 0000  = %CtrlHiNib          ' all led's OFF
                                IF dot1? THEN BIT SET strobebyte, 1 ELSE BIT RESET strobebyte, 1
                                IF dot2? THEN BIT RESET strobebyte, 2 ELSE BIT SET strobebyte, 2   'bit2 is geinverteerd op de printerkaart
                                IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                                Strobe Displaypanel.preg ,strobebyte ,0,%StrobeLength
                            CASE &H0FF0 TO &H7FF1
                                ' usb devices 0-7
                                'local dev
                                'dev = lowrd(displaypanel.padr)
                                'shift right dev, 12
                                lownibble? = number? MOD 10
                                highnibble? = number? \ 10
                                IF ISFALSE highnibble? THEN highnibble? = 15     ' blank it
                                IF (highnibble? = 15) AND (lownibble? = 0) THEN lownibble? = 15
                                SHIFT LEFT highnibble?, 4
                                highnibble? = highnibble? OR lownibble?
                                PortOut displaypanel.padr,highnibble?
                                BIT SET strobebyte,0
                                IF dot1? THEN BIT SET strobebyte, 1 ELSE BIT RESET strobebyte, 1
                                IF dot2? THEN BIT SET strobebyte, 2 ELSE BIT RESET strobebyte, 2
                                IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                               ' PortOut displaypanel.preg,strobebyte
                                g_Strobe displaypanel.preg,strobebyte,0
                            CASE &H08A00 TO &H08A40
                                ' Activewire USB port  - tested 03.06.2002 o.k.
                                lownibble? = number? MOD 10
                                highnibble? = number? \ 10
                                IF ISFALSE highnibble? THEN highnibble? = 15     ' blank it
                                IF (highnibble? = 15) AND (lownibble? = 0) THEN lownibble? = 15
                                SHIFT LEFT highnibble?, 4
                                highnibble? = highnibble? OR lownibble?
                                BIT SET strobebyte,0
                                IF dot1? THEN BIT SET strobebyte, 1 ELSE BIT RESET strobebyte, 1
                                IF dot2? THEN BIT SET strobebyte, 2 ELSE BIT RESET strobebyte, 2
                                IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                                b = CHR$(highnibble?) & CHR$(strobebyte AND &H0FE) & CHR$(highnibble?) & CHR$(strobebyte)
                                f = BufOut(Displaypanel.padr, VARPTR(b),4)
                                ' takes ca. 3 ms., strobes are 17microseconds (measured on YES)
                            CASE ELSE
                                EXIT SUB
                        END SELECT
           CASE %Bom2_Display ' = &H1000
                SELECT CASE number?
                       CASE 0 TO 9
                            ' no change
                       CASE 10 TO 99
                            lownibble? = number? MOD 10
                            highnibble? = number? \ 10
                            number? = highnibble?
                            SHIFT LEFT number?,4
                            number? = number? OR lownibble?
                       CASE 100 TO 149  '255
                            ' display as number preceded with special sign
                            lownibble? = number? MOD 10
                            highnibble? = number? \ 10
                            number? = highnibble?
                            SHIFT LEFT number?, 4
                            number? = number? OR lownibble?
                       CASE 150 TO 199
                            highnibble? = number? MOD 10
                            lownibble? = number? \ 10
                            number? = lownibble?
                            SHIFT LEFT number? ,4
                            number? = number? OR highnibble?
                       CASE 200 TO 255
                            lownibble? = number? MOD 16
                            highnibble? = number? \ 16
                            SHIFT LEFT number?, 4
                            number? = number? OR lownibble?
                       CASE ELSE
                END SELECT
                SELECT CASE Displaypanel.padr
                    CASE %False
                            ' NiDAQ - code for DIO device in LPT mode
                        #IF %DEF(%NiDAQ)
                            IF @pDIOparams.id THEN
                                PortOut 0,number?
                                BIT SET strobebyte,0
                                IF dot1? THEN BIT SET strobebyte, 1 ELSE BIT RESET strobebyte, 1
                                IF dot2? THEN BIT SET strobebyte, 2 ELSE BIT RESET strobebyte, 2
                                IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                                PortOut 2,strobebyte
                                g_Strobe 2,strobebyte,0
                            END IF
                        #ENDIF
                    CASE &H100
                        ' NiDAQ - code for port in DAQ device - added 16.11.2000
                        #IF %DEF(%NiDAQ)
                            NiDAQDigOut number?
                        #ENDIF
                        EXIT SUB
           '         CASE &H101
           '             ' Arcom
           '             EXIT SUB
           '         CASE &H102
           '             ' Contec
           '             EXIT SUB
                    CASE &H278,&H378,&H320
                            PortOut LOWRD(Displaypanel.padr), number?
                            dot1? = dot1? AND 1   ' decimal dot
                            dot2? = dot2? AND 1   ' decimal dot
                            dot3? = dot3? AND 1   ' blinking green LED
                            strobebyte = %CtrlHiNib OR 6 '80 + 6       ' 0101 0110            ' all led's OFF
                            IF dot1? THEN BIT RESET strobebyte, 1 ELSE BIT SET strobebyte, 1
                            IF dot2? THEN BIT SET strobebyte, 2 ELSE BIT RESET strobebyte, 2   'bit2 is geinverteerd op de printerkaart
                            IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                            '  IF dot3? THEN BIT RESET strobebyte, 3 ELSE BIT SET strobebyte, 3
                            Strobe Displaypanel.preg, strobebyte, 0, %StrobeLength
                    CASE &H0FF0 TO &H7FF0
                        ' usb device - Elektuur
                            PortOut Displaypanel.padr,number?
                            BIT SET strobebyte,0
                            IF dot1? THEN BIT SET strobebyte, 1 ELSE BIT RESET strobebyte, 1
                            IF dot2? THEN BIT SET strobebyte, 2 ELSE BIT RESET strobebyte, 2
                            IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                            g_Strobe Displaypanel.preg,strobebyte,0
                    CASE &H08A00 TO &H08A40
                        ' Activewire USB port  - tested 03.06.2002 o.k.
                            BIT SET strobebyte,0
                            IF dot1? THEN BIT SET strobebyte, 1 ELSE BIT RESET strobebyte, 1
                            IF dot2? THEN BIT SET strobebyte, 2 ELSE BIT RESET strobebyte, 2
                            IF dot3? THEN BIT SET strobebyte, 3 ELSE BIT RESET strobebyte, 3
                            b = CHR$(number?) & CHR$(strobebyte AND &H0FE) & CHR$(number?) & CHR$(strobebyte)
                            f = BufOut(Displaypanel.padr, VARPTR(b),4)
                            ' takes ca. 3 ms., strobes are 17microseconds (measured on YES)
                END SELECT
    END SELECT
END SUB


FUNCTION Sonar_DAQ (BYVAL param AS LONG) EXPORT AS LONG
    ' rewrite of data acquisition code for invisible instrument devices using sonar boards.
    ' coding for Nidaqmx 06.06.2009 added
    ' test session 04.07.2009 gwr
   LOCAL i              AS INTEGER
   LOCAL retval         AS INTEGER
   LOCAL dummy          AS INTEGER
   LOCAL timebase       AS INTEGER
   LOCAL sampleinterval AS INTEGER
   LOCAL scaninterval   AS INTEGER
   LOCAL scantimebase   AS INTEGER
   LOCAL sampletimebase AS INTEGER
   LOCAL physicalchannels$
   LOCAL nametoassigntochannels$
   warning FUNCNAME$
    board = %ii_2000
    FOR i = 0 TO 15
        sr.stat(i) = NUL$(128)     ' clear the statistics buffers.
    NEXT i
#IF %DEF(%g_NIDAQmx)
    '06.06.2009
    '04.07.2009 - now we try this at 128S/s, twice as fast as previous version.

    LOCAL ret AS LONG
    'static taskname AS ASCIIZ * 20
    'static taskhandle AS DWORD
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL cpcb AS DWORD
    LOCAL device AS ASCIIZ * 10
''    DIM physicalChannel(0 TO 15) AS STATIC ASCIIZ * 40
''    DIM nameToAssignToChannel (0 TO 15) AS ASCIIZ * 40
    'static physicalChannel$       ' 13.10.2009
    'static nametoassigntochannels$
    DIM nametoassigntolines (0 TO 15) AS STATIC ASCIIZ * 40  '??
    LOCAL customscalename AS ASCIIZ * 40

    SELECT CASE param
        CASE -1
            FUNCTION = @pDAQparams.mode
        CASE 0
            GOSUB StopsonarDaq
            @pDAQparams.mode = %DAQ_NI
        CASE %DAQ_DOUBLEBUFFER
            warning "start double buffer""\
                GOSUB StopSonarDAQ      ' doet niks on the first call
                @pDAQparams.channel = %DAQ_S07_M8F
                @pDAQparams.mode    = %DAQ_NI OR %DAQ_DOUBLEBUFFER
                @pDAQparams.inputconfig = 1      ' single ended ground referenced.
                @pDAQparams.rate = %False
                FOR i = 0 TO 7
                    @pDAQparams.voltagerange(i) = 5
                    @pDAQparams.samplingrate(i) = 128 '64
                    @pDAQparams.channelvector(i) = i
                    @pDAQparams.polarity(i) = 1   ' unipolar
                    @pDAQparams.rate = @pDAQparams.rate + @pDAQparams.samplingrate(i)
                NEXT i
                @pDAQparams.taskname = "Sonar ii-2000"              ' can be anything you like
                ret = DAQmxCreateTask(@pDAQparams.taskname, @pDAQparams.taskhandle)
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    warning "Create Sonar DAQ task error " & TRIM$(errbuff)
                    Logfile "Create Sonar DAQ task error " & TRIM$(errbuff)

                END IF
           '     msgbox str$(@pDaqParams.id),,funcname$
                device = NiMxDevs(@pDAQparams.id)
''                physicalChannel(0) = TRIM$(device) & "/ai0"         'these strings must be as they appear in NiMax
''                physicalChannel(1) = TRIM$(device) &"/ai1"
''                physicalChannel(2) = TRIM$(device) &"/ai2"
''                physicalChannel(3) = TRIM$(device) &"/ai3"
''                physicalChannel(4) = TRIM$(device) &"/ai4"
''                physicalChannel(5) = TRIM$(device) &"/ai5"
''                physicalChannel(6) = TRIM$(device) &"/ai6"
''                physicalChannel(7) = TRIM$(device) &"/ai7"
''              ' following could be the actual use of the channels (xa, ya, za, Sa, xv, yv, zc, Mv in the case of the sonar board)
''                nameToAssignToChannel(0) ="Ai0"
''                nameToAssignToChannel(1) ="Ai1"
''                nameToAssignToChannel(2) ="Ai2"
''                nameToAssignToChannel(3) ="Ai3"
''                nameToAssignToChannel(4) ="Ai4"
''                nameToAssignToChannel(5) ="Ai5"
''                nameToAssignToChannel(6) ="Ai6"
''                nameToAssignToChannel(7) ="Ai7"
''                    'note: the following works, but you can also create all channels at once with one
''                    'DAQmxCreateAIVoltageChan call..
''                FOR i = 0 TO 7
''                    'logfile TRIM$(physicalChannel(i))    ' we get here. result ok.
''                    ret = DAQmxCreateAIVoltageChan(BYVAL @pDAQparams.taskhandle, physicalChannel(i),nameToAssignToChannel(i),%DAQmx_Val_RSE,0.0,5.0,%DAQmx_Val_Volts ,customscalename)
''                    '@pDAQparams.taskhandle moet byval
''                    'using a variable for terminalconfig (byval as wel as byref) crashes.
''                    'the constants don't cause a crash, but give a nidaq error (request value is not supported
''                    'for the property DaqMX_Ai_termCfg).
''                    ' note gwr: we want to get data in 12 bit format (for compatibility with existing hardware)
''                    ' Sonar voltage range is 0 to 5V unipolar
''                    IF ret THEN
''                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
''                        'MSGBOX "2.error:" + TRIM$(errBuff)
''                        'Logfile TRIM$(errBuff)                'ok
''                        'EXIT FUNCTION
''                    END IF
''                NEXT i
                physicalchannels$ = TRIM$(device) + "/ai0:7"
                nametoassigntochannels$ = "Ai0, Ai1, Ai2, Ai3, Ai4, Ai5, Ai6, Ai7"
                DAQmxCreateAIVoltageChan(BYVAL @pDAQparams.taskhandle, TRIM$(physicalChannels$),TRIM$(nameToAssignToChannels$),%DAQmx_Val_RSE,0.0,5.0,%DAQmx_Val_Volts ,customscalename)
                ret = DaqmxCfgSampClkTiming(BYVAL @pDAQparams.taskhandle,"OnboardClock",128,%DAQmx_val_Rising,%DAQmx_Val_ContSamps,1)
                'for our first test we went for strict compatibility and requested 64 S/s on each channel
                '04.07.2009: now trying to run at 128 S/s
                ' we sample 8 channels.
                'note: last param means nothing when using %DAQmx_Val_ContSamps
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    'MSGBOX "Clock error:" + TRIM$(errBuff)
                    'PRINT TRIM$(errbuff)
                    logfile "Clock error:" & TRIM$(errBuff)
                ELSE
                    'logfile "DaqmxCfgSampClkTiming passed with 128S/s"
                END IF
                'sleep 5000
                cpcb = CODEPTR(ii2000_EveryNCallback)
                ret = DAQmxRegisterEveryNSamplesEvent(BYVAL @pDAQparams.taskhandle,%DAQmx_Val_Acquired_Into_Buffer,1,0,BYVAL cpcb, BYVAL %NULL)
                 '8 = nrEvents - from all channels together?? then we better take a mult of 16
                 ' check with x-tof's findings
                 ' 04.07.2009: now set to 1, for 1 sample from each channel
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "error:" + TRIM$(errBuff)
                ELSE
                    'logfile "DAQmxRegisterEveryNSamplesEvent passed with N = 1"
                END IF

                cpcb = CODEPTR(NiDAQmx_DoneCallback)
                ret = DAQmxRegisterDoneEvent(@pDAQparams.taskhandle,0,cpcb,BYVAL %NULL)
                IF ret THEN
                      DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                      logfile "error:" + TRIM$(errBuff)
                ELSE
                     ' logfile "DAQmxRegisterDoneEvent passed with cptr =" & STR$(cpcb)
                END IF

               ret = DAQmxStartTask(BYVAL @pDAQparams.taskhandle)
               IF ret THEN
                     DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                     logfile TRIM$(errBuff)
                     ' EXIT FUNCTION
               END IF
               'Logfile "acquisition started.."
               @pDAQparams.daqstopped = %False
               warning "ök.."
               FUNCTION = %DAQ_DOUBLEBUFFER
        CASE ELSE
               MSGBOX "Illegal mode",, FUNCNAME$
    END SELECT
    EXIT FUNCTION  ' essential!!!
#ENDIF


#IF %DEF(%NiDAQ)
    '14.04.2003  - for PCMCIA card
    'board = %ii_2000
    ' 64S/s

    SELECT CASE param
           CASE -1
                ' returns operational mode
                FUNCTION = @pDAQparams.mode
           CASE 0
                ' stops data acquisition
                GOSUB StopSonarDAQ
                @pDAQparams.mode = %DAQ_NI
           CASE %DAQ_DOUBLEBUFFER
                GOSUB StopSonarDAQ
                @pDAQparams.channel = %DAQ_S07_M8F
                @pDAQparams.mode    = %DAQ_NI OR %DAQ_DOUBLEBUFFER
                @pDAQparams.inputconfig = 1      ' single ended ground referenced.
                ' first set the AI characteristics
                FOR i = 0 TO 7
                    @pDAQparams.samplingrate(i)  = 64
                    @pDAQparams.ChannelVector(i) = i
                    @pDAQparams.polarity(i)      = 1   '0= bipolar , 1= unipolar
                    @pDAQparams.voltagerange(i)  = 5   '10  '5 '1 '10  ' set to 0 to 5V
                    @pDAQparams.GainVector(i)    = 2   '2 '10
                    retval = AI_Configure%(@pDAQparams.id,i,@pDAQparams.inputconfig,1,@pDAQparams.polarity(i),0)
                   ' dummy = NIDAQErrorHandler(retval,"AI_Config error {G_Nih.dll} [Sonar]",0)   ' in NiDAQEX_PB.BAS
                NEXT i
                @pDaqparams.rate = @pDAQparams.samplingrate(0) * 8 ' 8 channels only  = 512 S/s
                scantimebase = 2                                   ' use 100kHz / 10 microsecond clock
                scaninterval = 100000& / @pDAQparams.samplingrate(0)   ' 100 * 10 = 1ms
                sampletimebase = -3                               ' use 20MHz / 50ns clock
                sampleinterval = INT(20000000& / 100000&) '50000&)          ' = 400 voor samplingrate = 50000 S/s
                @pDaqparams.scanfreq = @pDAQparams.samplingrate(0) ' = 100000& / scaninterval
                retval = DAQ_DB_Config(@pDAQparams.id,%True)
                ' for debug only:
                'retval = DAQ_Rate(@pDAQparams.rate,0,sampletimebase,sampleinterval)
                        '  msgbox "Scanrate = " & STR$(@pDAQparams.rate) ' 512 for 64 S/s
                                 ' now we can recalculate the circular buffer size, for the data refreshrate we want:
                @pDAQparams.Buffersize = @pDAQparams.rate    ' in aantal samples voor 1 sekonde buffer
                REDIM ADCbuffer(@pDAQparams.Buffersize -1) AS GLOBAL INTEGER
                @pDAQparams.pADCbuffer = VARPTR(ADCbuffer(0))
                ' Prepare for acquisition of multiple channels:
                retval = SCAN_SetUp(@pDAQparams.id,8,BYREF @pDAQparams.ChannelVector(0),BYREF @pDAQparams.Gainvector(0))
                     'dummy = NIDAQErrorHandler(retval,"Scan_Setup error in {g_nih}[Sonar]",0)
                retval = SCAN_Start(@pDAQparams.id,@pDAQparams.pADCbuffer,@pDAQparams.buffersize,sampletimebase,sampleinterval,scantimebase,scaninterval)
                     'dummy = NIDAQErrorHandler(retval,"Scan_Start error in {g_nih.dll}[Sonar]",0)
             ' now start periodic event to retrieve the data:  every 15 ms  for Sr= 64 S/s (66.66 times a second)
             ' for 64 S/s:
               sr.TimerId = TimeSetEvent (15,0,CODEPTR(SonarDAQTask_CB),8,%TIME_PERIODIC OR %TIME_CALLBACK_FUNCTION)
                IF ISFALSE sr.TimerId THEN
                    MSGBOX "Failure starting Sonar data acquisition timer",, FUNCNAME$
                END IF
                @pDAQparams.daqstopped = %False
                FUNCTION = %DAQ_DOUBLEBUFFER
           CASE ELSE
                MSGBOX "Illegal mode",, FUNCNAME$
    END SELECT
    EXIT FUNCTION
#ENDIF

StopSonarDAQ:
#IF %DEF(%NIDAQ)
                IF sr.timerId THEN TimeKillevent sr.timerid
                retval = DAQ_Clear (@pDAQparams.id)
                @pDAQparams.daqstopped = %True
#ENDIF
#IF %DEF(%g_NIDAQmx)
            IF @pDAQparams.taskhandle THEN
                ret = DAQmxStopTask(BYVAL @pDAQparams.taskhandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        Logfile TRIM$(errbuff)
                END IF

                ret = DAQmxClearTask(BYVAL @pDAQparams.taskhandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        Logfile TRIM$(errbuff)
                END IF
            END IF
            'Warning "aquisition stopped"
            @pDAQparams.daqstopped = %True
            @pDAQparams.taskhandle = %False
            @pDAQparams.taskname = NUL$(20)
#ENDIF
RETURN

END FUNCTION


SUB SonarDAQTask_CB (BYVAL wTimerID AS LONG, BYVAL msg AS LONG, BYVAL eventnr AS LONG, BYVAL dw1 AS LONG, BYVAL dw2 AS LONG)
    ' This is the callback we use with NiDAQ 7.4 in the g_nih.dll only
    ' modified (data processing split of, 07.06.2009 gwr
    LOCAL  i               AS DWORD
    LOCAL dummy            AS INTEGER
    STATIC tog             AS DWORD
    LOCAL  dev             AS DWORD
    LOCAL Q                AS SINGLE
    LOCAL lx               AS SINGLE
    LOCAL ly               AS SINGLE
    LOCAL dTf              AS DWORD         ' dynamic, data dependent integration time - 30.10.2003
    STATIC xfo             AS LONG          ' for accelleration calculation
    STATIC yfo             AS LONG
    STATIC zfo             AS LONG
    STATIC xyzfo           AS LONG

#IF %DEF(%NiDAQ)
    STATIC tlast           AS DWORD
    LOCAL newestpointindex AS LONG
    STATIC DAQstopped      AS INTEGER
    DIM AD(eventnr-1)      AS LOCAL INTEGER     ' the number of data to be returned is passed in eventnr.
' first we acquire the data:
    dummy = DAQ_Monitor (@pDAQparams.id,-1,0,eventnr, VARPTR(AD(0)),newestpointindex,DAQstopped)
    IF tlast THEN
              IF newestpointindex = tlast THEN
                  EXIT SUB
              END IF
    END IF
    tlast = newestpointindex
                    ARRAY DELETE db0(), AD(0)      ' db(0) is deleted, the array shifted left and AD(0) added at the end
                    ARRAY DELETE db1(), AD(1)
                    ARRAY DELETE db2(), AD(2)
                    ARRAY DELETE db3(), AD(3)
                    ARRAY DELETE db4(), AD(4)
                    ARRAY DELETE db5(), AD(5)
                    ARRAY DELETE db6(), AD(6)
                    ARRAY DELETE db7(), AD(7)
    Sonar_ii_Math                                  ' common for NiDAQ and NiDAQmx
#ENDIF
END SUB

SUB Sonar_ii_Math ()
    ' this proc. is called from the callback for sonar in %NiDaq as well as for Nidaqmx
    ' modifications to make this possible: gwr 06.06.2009
        ' NOTE: the application code has to set a value for sr.dta if integration is required.
    '       This value can be changed on the fly using the Sonar_Control parameter window created in g_main.inc.
    ' 29.10.2003: Now we have dynamic data dependent integration on the velocity channels.
    ' 07.06.2009: Now works with NiDAQmx. Trying to raise the sampling rate to 256S/s still to be tested.
    ' 04.07.2009: sampling at 128 S/s
    LOCAL  i               AS DWORD
    LOCAL dummy            AS INTEGER
    STATIC tog             AS DWORD
    LOCAL  dev             AS DWORD
    LOCAL Q                AS SINGLE
    LOCAL lx               AS SINGLE
    LOCAL ly               AS SINGLE
    LOCAL dTf              AS DWORD         ' dynamic, data dependent integration time - 30.10.2003
    STATIC xfo             AS LONG          ' for accelleration calculation
    STATIC yfo             AS LONG
    STATIC zfo             AS LONG
    STATIC xyzfo           AS LONG
  ' the following is common for all Sonar ii_2000 daq hardware:
  '             the AD(0) to AD(7) references could be replaced with db0(UBOUND(db0))= db0(255)
  '             Note that db0(255) is always the most recently acquired data
     sr.xa = ((sr.xa * sr.dta) + db0(255)) / (sr.dta+1)        '  amplitude integration added 29.10.2003
     sr.ya = ((sr.ya * sr.dta) + db1(255)) / (sr.dta+1)
     sr.za = ((sr.za * sr.dta) + db2(255)) / (sr.dta+1)
     sr.xyza = ((sr.xyza * sr.dta) + db3(255)) / (sr.dta+1)

                    ' dynamic adaptive coding: added 30.10.2003]
                    ' this integrates over none up to 24 samples and automates the former sr.dtf
                     xfo = sr.xf              ' required for acceleration derivation.
                     yfo = sr.yf
                     zfo = sr.zf
                     xyzfo = sr.xyzf
                     IF sr.xf THEN
                       dtf = INT(2 *(12 - LOG2(sr.xf)))
                     ELSE
                       dtf = 24
                     END IF
                     sr.xf = ((sr.xf * dtf) + db4(255))/ (dtf+1)

                     IF sr.yf THEN
                       dtf = INT(2 * (12 - LOG2(sr.yf)))
                     ELSE
                       dtf = 24
                     END IF
                     sr.yf = ((sr.yf * dtf) + db5(255))/ (dtf+1)

                     IF sr.zf THEN
                       dtf = INT(2 * (12 - LOG2(sr.zf)))
                     ELSE
                       dtf = 24
                     END IF
                     sr.zf = ((sr.zf * dtf) + db6(255))/ (dtf+1)

                     IF sr.xyzf THEN
                       dtf = INT(2 * (12 - LOG2(sr.xyzf)))
                     ELSE
                       dtf = 24
                     END IF
                     sr.xyzf = ((sr.xyzf * dtf) + db7(255))/ (dtf+1)
     ' calculated data channels:
     ' new scaling 04.11.2003:
     sr.xe = SQR(sr.xa * sr.xf)   ' better then (sr.xa * sr.xf) \ %d12         ' so range is again 12 bits
     sr.ye = SQR(sr.ya * sr.yf)   '\ %d12
     sr.ze = SQR(sr.za * sr.zf)  ' \ %d12
     sr.xyze = SQR(sr.xyza * sr.xyzf) '\ %d12

                   ARRAY DELETE db8(), sr.xe        ' compatible with BOM and Songbook
                   ARRAY DELETE db9(), sr.ye
                   ARRAY DELETE dbA(), sr.ze
                   ARRAY DELETE dbB(), sr.xyze

 ' new accelleration code 30.10.2003 - now we do not need sr.dT anymore.
 ' however we may need rescaling now, using sr.ascale   [ added 01.11.2003]
     sr.xac = (sr.xf - xfo) * sr.ascale
     sr.yac = (sr.yf - yfo) * sr.ascale
     sr.zac = (sr.zf - zfo) * sr.ascale
     sr.xyzac = (sr.xyzf - xyzfo) * sr.ascale
 ' we perform the ceiling here:  ( range is always -2048 to 2047, or 12 bits bipolar)
     'sr.xac = max(sr.xac, -2048)
     'sr.xac = min(sr.xac, 2047)
 ' or in a single statement:
     sr.xac = MIN(MAX(sr.xac, -2048),2047)
     sr.yac = MIN(MAX(sr.yac, -2048),2047)
     sr.zac = MIN(MAX(sr.zac, -2048),2047)
     sr.xyzac = MIN(MAX(sr.xyzac, -2048),2047)

                   ARRAY DELETE dbC(), sr.xac         ' for compatibility with BOM and Songbook
                   ARRAY DELETE dbD(), sr.yac
                   ARRAY DELETE dbE(), sr.zac
                   ARRAY DELETE dbF(), sr.xyzac

amplitude:
            ' leaky integrator for surface amplitudes:
             ' AD(0) - AD(1) - AD(2) = sr.xa, sr.ya, sr.za amplitudes used for position information
             ' this is the value we will use for position determination
             ' new 02.11.2003
             ' ceiling added 03.11.2003
              sr.amp = MIN(((sr.dta * sr.amp) + (SQR( (sr.xa^2) + (sr.ya^2) + (sr.za^2)   ))) / (sr.dta+1), %d12)
lineposition:
    ' linevector x->y and y->x
    IF (sr.xa > sr.noise) AND (sr.ya > sr.noise) THEN
        Q = SQR(sr.xa / sr.ya)         ' for math: cfr. quadrada.html
        sr.lxy = (2! - Q) / (Q+1)
        sr.lyx = ((2*Q) -1) / (Q+1)
   ' ELSE
       ' sr.lxy = -1 : sr.lyx = -1      ' better use previous value...

    END IF
    ' linevector x->z and z->x
    IF (sr.xa > sr.noise) AND (sr.za > sr.noise) THEN
        Q = SQR(sr.xa / sr.za)
        sr.lxz = (2! - Q) / (Q+1)
        sr.lzx = ((2*Q)-1) / (Q+1)
   ' ELSE
   '     sr.lxz = -1 : sr.lzx = -1
    END IF
    ' linevector y->z and z->y:
    IF (sr.ya > sr.noise) AND (sr.za > sr.noise) THEN
        Q = SQR(sr.ya/sr.za)
        sr.lyz = (2! - Q) / (Q+1)
        sr.lzy = ((2*Q)-1) / (Q+1)
   ' ELSE
   '     sr.lyz = -1 : sr.lzy = -1
    END IF

  ' berekening van de grootte van het oppervlak van het reflekterend lichaam gezien door elke transducer:
    LOCAL s1 AS LONG
    LOCAL s2 AS LONG
    ' vanuit x -transducer
    IF (sr.lxy >= %False) AND (sr.lxy <= 1) THEN
             s1 = sr.xa * (sr.lyx^2)
    ELSE
             s1 = %False
    END IF
    IF (sr.lxz >= %False) AND (sr.lxz <= 1) THEN
             s2 = sr.xa * ((sr.lzx)^2)
    ELSE
             s2 = %False
    END IF
    IF ISFALSE s1*s2 THEN sr.sx = MAX(s1,s2) ELSE sr.sx = (s1+s2) / 2
    ' vanuit de y -transducer:
    IF (sr.lyx >= %False) AND (sr.lyx <= 1) THEN
             s1 = sr.ya * ((sr.lxy)^2)
    ELSE
             s1 = %False
    END IF
    IF (sr.lyz >= %False) AND (sr.lyz <= 1) THEN
             s2 = sr.ya * ((sr.lzy)^2)
    ELSE
             s2 = %False
    END IF
    IF ISFALSE s1*s2 THEN sr.sy = MAX(s1,s2) ELSE sr.sy = (s1+s2) / 2

    ' vanuit de z -transducer:
    IF (sr.lzx >= %False) AND (sr.lzx <= 1) THEN
             s1 = sr.za * ((sr.lxz)^2)
    ELSE
             s1 = %False
    END IF
    IF (sr.lzy >= %False) AND (sr.lzy <= 1) THEN
             s2 = sr.za * ((sr.lyz)^2)
    ELSE
             s2 = %False
    END IF
    IF ISFALSE s1*s2 THEN sr.sz = MAX(s1,s2) ELSE sr.sz = (s1+s2) / 2


'integration:
    sr.s = (sr.sx + sr.sy + sr.sz) / 3!        ' normal average

' statistic analysis:
    IF ISFALSE sr.statistic THEN
        EXIT SUB
    ELSE
        ' statistical data analysis: (cfr. former Bomstat procedures)
        '    store 7 bit reduced data in 16 strings
        '    sr.stat() = string * 128   in the type!
        IF BIT (sr.statistic,0) THEN
            i = ASC(MID$(sr.stat(0),1+(db0(128)/32),1))
            IF i THEN
                MID$(sr.stat(0),1+(db0(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(0),1+(db0(255)/32),1) = CHR$(ASC(MID$(sr.stat(0),1+(db0(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,1) THEN
            i = ASC(MID$(sr.stat(1),1+(db1(128)/32),1))
            IF i THEN
                MID$(sr.stat(1),1+(db1(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(1),1+(db1(255)/32),1) = CHR$(ASC(MID$(sr.stat(1),1+(db1(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,2) THEN
            i = ASC(MID$(sr.stat(2),1+(db2(128)/32),1))
            IF i THEN
                MID$(sr.stat(2),1+(db2(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(2),1+(db2(255)/32),1) = CHR$(ASC(MID$(sr.stat(2),1+(db2(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,3) THEN
            i = ASC(MID$(sr.stat(3),1+(db3(128)/32),1))
            IF i THEN
                MID$(sr.stat(3),1+(db3(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(3),1+(db3(255)/32),1) = CHR$(ASC(MID$(sr.stat(3),1+(db3(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,4) THEN
            i = ASC(MID$(sr.stat(4),1+(db4(128)/32),1))
            IF i THEN
                MID$(sr.stat(4),1+(db4(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(4),1+(db4(255)/32),1) = CHR$(ASC(MID$(sr.stat(4),1+(db4(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,5) THEN
            i = ASC(MID$(sr.stat(5),1+(db5(128)/32),1))
            IF i THEN
                MID$(sr.stat(5),1+(db5(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(5),1+(db5(255)/32),1) = CHR$(ASC(MID$(sr.stat(5),1+(db5(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,6) THEN
            i = ASC(MID$(sr.stat(6),1+(db6(128)/32),1))
            IF i THEN
                MID$(sr.stat(6),1+(db6(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(6),1+(db6(255)/32),1) = CHR$(ASC(MID$(sr.stat(6),1+(db6(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,7) THEN
            i = ASC(MID$(sr.stat(7),1+(db7(128)/32),1))
            IF i THEN
                MID$(sr.stat(7),1+(db7(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(7),1+(db7(255)/32),1) = CHR$(ASC(MID$(sr.stat(7),1+(db7(255)/32),1)) + 1)
        END IF
        ' energie-kanalen:
        IF BIT (sr.statistic,8) THEN
            i = ASC(MID$(sr.stat(8),1+(db8(128)/32),1))
            IF i THEN
                MID$(sr.stat(8),1+(db8(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(8),1+(db8(255)/32),1) = CHR$(ASC(MID$(sr.stat(8),1+(db8(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,9) THEN
            i = ASC(MID$(sr.stat(9),1+(db9(128)/32),1))
            IF i THEN
                MID$(sr.stat(9),1+(db9(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(9),1+(db9(255)/32),1) = CHR$(ASC(MID$(sr.stat(9),1+(db9(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,10) THEN
            i = ASC(MID$(sr.stat(10),1+(dbA(128)/32),1))
            IF i THEN
                MID$(sr.stat(10),1+(dbA(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(10),1+(dbA(255)/32),1) = CHR$(ASC(MID$(sr.stat(10),1+(dbA(255)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,11) THEN
            i = ASC(MID$(sr.stat(11),1+(dbB(128)/32),1))
            IF i THEN
                MID$(sr.stat(11),1+(dbB(128)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(11),1+(dbB(255)/32),1) = CHR$(ASC(MID$(sr.stat(11),1+(dbB(255)/32),1)) + 1)
        END IF
        ' accelleration channels: note: these have bipolar data! Range -2048 to 2047
        ' so we shift the data with 2048 and get the zero value in the middle of the graph
        IF BIT (sr.statistic,12) THEN
            i = ASC(MID$(sr.stat(12),1+((dbC(128)+2048)/32),1))
            IF i THEN
                MID$(sr.stat(12),1+((dbC(128)+2048)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(12),1+((dbC(255)+2048)/32),1) = CHR$(ASC(MID$(sr.stat(12),1+((dbC(255)+2048)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,13) THEN
            i = ASC(MID$(sr.stat(13),1+((dbD(128)+2048)/32),1))
            IF i THEN
                MID$(sr.stat(13),1+((dbD(128)+2048)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(13),1+((dbD(255)+2048)/32),1) = CHR$(ASC(MID$(sr.stat(13),1+((dbD(255)+2048)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,14) THEN
            i = ASC(MID$(sr.stat(14),1+((dbE(128)+2048)/32),1))
            IF i THEN
                MID$(sr.stat(14),1+((dbE(128)+2048)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(14),1+((dbE(255)+2048)/32),1) = CHR$(ASC(MID$(sr.stat(14),1+((dbE(255)+2048)/32),1)) + 1)
        END IF
        IF BIT (sr.statistic,15) THEN
            i = ASC(MID$(sr.stat(15),1+((dbF(128)+2048)/32),1))
            IF i THEN
                MID$(sr.stat(15),1+((dbF(128)+2048)/32),1) = CHR$(i - 1)
            END IF
            MID$(sr.stat(15),1+((dbF(255)+2048)/32),1) = CHR$(ASC(MID$(sr.stat(15),1+((dbF(255)+2048)/32),1)) + 1)
        END IF
    END IF
END SUB

#IF %DEF(%NiDAQ) OR %DEF(%g_NIDAQmx)
SUB Sonar_Statistics_Display () EXPORT
    ' 03.11.2003
    ' task code for ii-sonar statistics display.
    ' the code for the parameter window resides in g_lib.dll (UD-Callback, setting the channel)
    ' the Task().channel field should pass the parameter for the channel to be displayed
       IF ISFALSE @pT(%Sonar_Stat_Task).tog THEN
           @pt(%Sonar_Stat_Task).freq = 16
           IF ISFALSE @pgh.harvel THEN
               @pgh.harvel = MakeHarvelWindow  ' in g_lib.dll
           END IF
           @pT(%Sonar_Stat_Task).tog = %True
       END IF
       IF ISFALSE BIT(sr.statistic, @pT(%Sonar_Stat_Task).channel) THEN BIT SET sr.statistic, @pT(%Sonar_Stat_Task).channel
       @pT(%Sonar_Stat_Task).Har.vel = sr.stat(MIN(@pT(%Sonar_Stat_Task).channel,15))
       ShowHar @pT(%Sonar_Stat_Task).Har, 1,140,2!
END SUB
#ENDIF

SUB Sonar_Display () EXPORT
    #IF %DEF(%NiDAQ) OR %DEF(%g_NiDAQmx)
    ' task code for ii-sonar display.   (no references to any NiDaq function here)
   LOCAL k    AS DWORD
   STATIC a() AS SINGLE
   IF ISFALSE @pT(%Sonar_Display_Task).tog THEN
       DIM a(5) AS STATIC SINGLE
       @pT(%Sonar_Display_Task).tog = %True
       @pT(%Sonar_Display_Task).freq = 21 '16
        IF ISFALSE @pT(%Sonar_Display_Task).hParam THEN
            IF ISFALSE @pgh.spec THEN
                    @pT(%Sonar_Display_Task).hParam = MakeSpectrumWindow
                    ' should be same as @pgh.spec
            ELSE
                    @pT(%Sonar_Display_Task).hparam = @pgh.spec
            END IF
            EXIT SUB
        END IF
   END IF
   k = @pT(%Sonar_Display_Task).patch
   SELECT CASE k
          CASE %False
                a(0) = sr.xa / %d12    ' normalize
                a(1) = sr.ya / %d12
                a(2) = sr.za / %d12
                a(3) = sr.xf / %d12
                a(4) = sr.yf / %d12
                a(5) = sr.zf / %d12
                DrawRadarTriangle @pT(%Sonar_Display_Task).hParam, a()   ' in: g_glib.dll
          CASE 1 TO 12
               ' unipolar data channels  - wave display
               DECR k
               DIM by(255) AS LOCAL INTEGER AT sr.pb(k)
               DIM sp(255) AS STATIC SINGLE
               FOR k = 0 TO 255
                   sp(k) = (by(k) / %d11) - 1    ' so we can use the full screen for the unipolar data
               NEXT k
               ShowNormArray @pgh.spec, sp()
          CASE 13 TO 16
              ' bipolar, accelleration channels
               DECR k
               DIM by(255) AS LOCAL INTEGER AT sr.pb(k)
               DIM sp(255) AS STATIC SINGLE
               FOR k = 0 TO 255
                   sp(k) = by(k) / %d11
               NEXT k
               ShowNormArray @pgh.spec, sp()     ' displays 4 seconds of data (2 seconds under Nidaqmx)
          CASE 17
               ' new display
               Draw_SonarTetrahedron @pT(%Sonar_Display_Task).hParam, sr         ' in g_glib.dll
   END SELECT
   #ENDIF
END SUB

SUB Doppler_Tetrahedron_Display () EXPORT
    #IF %DEF(%NiDAQ) OR %DEF(%g_NiDAQmx)
    ' task code for ii-sonar display in fast doppler mode  (no references to any NiDaq function here)
    ' tetrahedron setup.
    ' added 07.07.2009 - gwr
    ' normalisation for frequencies to be improved.
   LOCAL k    AS DWORD
   STATIC a() AS SINGLE
   IF ISFALSE @pT(%DopplerTetraDisplay).tog THEN
       DIM a(5) AS STATIC SINGLE

       @pT(%DopplerTetraDisplay).freq = 30   ' filmspeed.  21 '16
        IF ISFALSE @pT(%DopplerTetraDisplay).hParam THEN
            IF ISFALSE @pgh.spec THEN
                    @pT(%DopplerTetraDisplay).hParam = MakeSpectrumWindow
                    ' should be same as @pgh.spec
            ELSE
                    @pT(%DopplerTetraDisplay).hparam = @pgh.spec
            END IF
            EXIT SUB
        END IF
        @pT(%DopplerTetraDisplay).tog = %True
   END IF
  ' k = @pT(%DopplerTetraDisplay).patch     ' not in use now (copied from sonar)
  ' SELECT CASE k
  '        CASE %False
                a(0) = Doppler.xa    ' normalized  - may need further integration!
                a(1) = Doppler.ya    ' drawn in blue
                a(2) = Doppler.za
                a(3) = MIN(Doppler.xf / 128,1)   ' to be checked for realistic range
                a(4) = MIN(Doppler.yf / 128,1)   ' this should be a normalisation
                a(5) = MIN(Doppler.zf / 128,1)
                DrawRadarTriangle @pT(%DopplerTetraDisplay).hParam, a()   ' in: g_glib.dll
        '  CASE 1 TO 12
        '       ' unipolar data channels  - wave display
        '       DECR k
        '       DIM by(255) AS LOCAL INTEGER AT sr.pb(k)
        '       DIM sp(255) AS STATIC SINGLE
        '       FOR k = 0 TO 255
        '           sp(k) = (by(k) / %d11) - 1    ' so we can use the full screen for the unipolar data
        '       NEXT k
        '       ShowNormArray @pgh.spec, sp()
        '  CASE 13 TO 16
        '      ' bipolar, accelleration channels
        '       DECR k
        '       DIM by(255) AS LOCAL INTEGER AT sr.pb(k)
        '       DIM sp(255) AS STATIC SINGLE
        '       FOR k = 0 TO 255
        '           sp(k) = by(k) / %d11
        '       NEXT k
        '       ShowNormArray @pgh.spec, sp()     ' displays 4 seconds of data
        '  CASE 17
        '       ' new display
        '       Draw_SonarTetrahedron @pT(%Sonar_Display_Task).hParam, sr         ' in g_glib.dll
  ' END SELECT
   #ENDIF
END SUB

SUB Radar_Display () EXPORT
    #IF %DEF(%NiDAQ) OR %DEF(%g_NiDAQmx)
     LOCAL i AS DWORD
        ' task code for ii-Radar display in Quadrada mode.
        ' The contents are normally changed by the UD controll (nr. 3) in the Radar Ctrl parameter window.
     IF ISFALSE @pgh.spec THEN         ' we need a window handle before we can proceed.
        @pgh.spec = MakeSpectrumWindow
        'StopTask %Radar_Display_Task
        EXIT SUB
    END IF

    SELECT CASE @pT(%Radar_Display_Task).patch
        ' note: we can now display the wave for any channel from the DAQ we want by using values 1,2,3,4,5,6,7,8
           CASE %False
                @pT(%Radar_Display_Task).freq = 16
                Draw_QuadRadar_square @pgh.spec , VARPTR (qr(0))  'BYVAL pr(0) ' in g_glib.dll    - pr() is a pointer array
           CASE 1
               ' wave display DAQ channel 0     - X-vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(0).pxbuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 2
               ' wave display DAQ channel 1    - Y vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(0).pybuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 3
                ' wave display DAQ channel 2   - X-vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(1).pxbuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 4
                ' wave display DAQ channel 3  - Y vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(1).pybuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 5
                ' wave display DAQ channel 4  - X-vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(2).pxbuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 6
                ' wave display DAQ channel 5  - Y-vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(2).pybuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 7
                ' wave display DAQ channel 6    - X-vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(3).pxbuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
           CASE 8
                ' wave display DAQ channel 7 - Y vektor
                @pT(%Radar_Display_Task).freq = 1    ' buffer is 2 seconds, we display 1 second intervals
                DIM by(255) AS LOCAL INTEGER AT qr(3).pybuf
                DIM sp(255) AS STATIC SINGLE
                FOR i = 0 TO 255
                     sp(i) = by(i) / 2048
                NEXT i
                ShowNormarray @pgh.spec, sp()  'bx()
    END SELECT
    #ENDIF
    ' instead of using separate exclusive tasks, we use one and the same dll task with
    ' a parameter for what to display... (use the Task().patch field to this purpose...
END SUB

SUB Sonar_ii_VU () EXPORT
   ' VU-monitor procedure as used in BOM for the tetrahedral sonar setup
   STATIC resolution AS BYTE
   STATIC v%
   STATIC h%, bw%, Sp%
   LOCAL il?, H1%
   LOCAL hBrush      AS LONG
   LOCAL hDC         AS LONG
   LOCAL versize%
   LOCAL hOldBrush AS LONG
   DIM spoint(0 TO 15) AS LOCAL INTEGER
   IF ISFALSE @pT(%Sonar_VU_Task).tog THEN
      resolution = 8          ' this value should be made adjustable, read from $BOMINI
      v% =  2^resolution
      'v% = 512  ' for 9 bit resolution    v% = 256 for 8 bit, v% = 128 for 7 bit etc...
      IF ISFALSE @pT(%Sonar_VU_Task).hParam THEN @pT(%Sonar_VU_Task).hParam = Make_ii_VU_Window (8)
      h% = 1    ' horizontal start position for VU-graph
      bw% = 7   ' breedte van de balkjes
      Sp% = 5   ' spatie tussen de balkjes
     ' @pT(%Sonar_VU_Task).freq = 8 '  changed to 8 30.10.2003   ' was 3 '16 - should be set in application code.
             ' however, since we are using periodic timers now, this is not required at all...
      @pT(%Sonar_VU_Task).tog = %True
   END IF

    hDC = GetDC (@pT(%Sonar_VU_Task).hParam)
    ' blank existing graph:
    PatBlt hDC, h%,0,h% + ((bw%+ Sp%)*16) ,v%,%WHITENESS

  ' all 16 channels filled.
                            spoint(0)= sr.xa
                            spoint(1)= sr.ya
                            spoint(2)= sr.za
                            spoint(3)= sr.xyza
                            spoint(4)= sr.xf
                            spoint(5)= sr.yf
                            spoint(6)= sr.zf
                            spoint(7)= sr.xyzf
                            spoint(8)= sr.xe
                            spoint(9)= sr.ye
                            spoint(10)= sr.ze
                            spoint(11)= sr.xyze
                            spoint(12)= sr.xac
                            spoint(13)= sr.yac
                            spoint(14)= sr.zac
                            spoint(15)= sr.xyzac
                            FOR il? = 0 TO 11
                                SHIFT RIGHT spoint(il?), 12 - resolution
                                SELECT CASE il?
                                    CASE 0, 1, 2
                                        hBrush =  CreateSolidBrush (%GREEN)
                                    CASE 4,5,6
                                        hBrush =  CreateSolidBrush (%BLUE)
                                    CASE 8,9,10
                                        hBrush =  CreateSolidBrush (%CYAN)
                                    CASE ELSE
                                        hBrush = CreateSolidBrush (%RED)
                                END SELECT
                                hOldBrush = SelectObject(hDC, hBrush)
                                H1% = h% + (il? * bw%)
                                versize% = v% - spoint(il?)
                                Rectangle hDC, H1%, v%, H1%+Sp%, versize%
                                SelectObject hDC, hOldBrush
                                DeleteObject hBrush
                            NEXT il?
                            FOR il? = 12 TO 15
                                spoint(il?) = spoint(il?) + 4096
                                SHIFT RIGHT spoint(il?), 13 - resolution
                                SELECT CASE il?
                                    CASE 12,13,14
                                        hBrush =  CreateSolidBrush (%YELLOW)
                                    CASE ELSE
                                        hBrush = CreateSolidBrush (%RED)
                                END SELECT
                                hOldBrush = SelectObject(hDC, hBrush)
                                H1% = h% + (il? * bw%)
                                versize% = v% - spoint(il?)
                                Rectangle hDC, H1%, v%, H1%+Sp%, versize%
                                SelectObject hDC, hOldBrush
                                DeleteObject hBrush
                            NEXT il?
    ReleaseDC @pT(%Sonar_VU_Task).hParam, hDC
END SUB

SUB Radar_ii_VU () EXPORT
   ' VU-monitor procedure as used in Quadrada . - displays low level incoming amplitudes for both phases
   ' 19.09.2003: moved to DLL
   ' to be done: parameter such that we can change the display mode between raw and processed data...
   '             we can use the @pT().patch field to set the parameters for what to display.
   '             0 = low level incoming amplitudes (for checking oscillation conditions and noise)
   '             4 = Quadrada setup 4 bars for surface, 4 bars for speed
   STATIC resolution AS DWORD
   STATIC v%
   STATIC h%, bw%, Sp%
   LOCAL il?, H1%
   LOCAL hBrush      AS LONG
   LOCAL hDC         AS LONG
   LOCAL versize%
   LOCAL hOldBrush   AS LONG
   LOCAL t           AS DWORD
   DIM rpoint(0 TO 7) AS LOCAL INTEGER

   IF ISFALSE @pT(%Radar_VU_Task).tog THEN
      resolution = 7 '9
      v% =  2^resolution
      'v% = 512  ' for 9 bit resolution
      IF ISFALSE @pT(%Radar_VU_Task).hParam THEN @pT(%Radar_VU_Task).hParam = Make_ii_VU_Window (resolution)  ' in g_hgen.inc
      h% = 1    ' horizontal start position for VU-graph
      bw% = 14  ' 7   ' breedte van de balkjes
      Sp% = 5   ' spatie tussen de balkjes
      @pT(%Radar_VU_Task).freq = 8
      @pT(%Radar_VU_Task).tog = %True
      EXIT SUB
   END IF

    hDC = GetDC (@pT(%Radar_VU_Task).hParam)
    ' blank existing graph:
    PatBlt hDC, h%,0,h% + ((bw%+ Sp%)*16) ,v%,%WHITENESS
    SELECT CASE @pT(%Radar_VU_Task).patch
           CASE %False
               ' raw data.
                rpoint(0)= qr(0).xal
                rpoint(1)= qr(0).yal
                rpoint(2)= qr(1).xal
                rpoint(3)= qr(1).yal
                rpoint(4)= qr(2).xal
                rpoint(5)= qr(2).yal
                rpoint(6)= qr(3).xal
                rpoint(7)= qr(3).yal
                FOR il? = 0 TO 7
                    SELECT CASE il?
                        CASE 0, 1
                             hBrush = CreateSolidBrush (%GREEN)
                        CASE 2, 3
                             hBrush = CreateSolidBrush (%BLUE)
                        CASE 4,5
                             hBrush = CreateSolidBrush (%YELLOW)
                        CASE 6,7
                             hBrush = CreateSolidBrush (%RED)
                    END SELECT
                    hOldBrush = SelectObject (hDC, hBrush)
                    H1% = h% + (il? * bw%)
                    versize% = v% - rpoint(il?)
                    Rectangle hDC, H1%, v%, H1%+Sp%, versize%
                        SelectObject hDC, hOldBrush
                    DeleteObject hBrush
                NEXT il?
         CASE 4
                ' monitor procedure for Quadrada - displays bar-graph of analysis results
                rpoint(0)= MIN(qr(0).s,128)
                rpoint(1)= MIN(qr(1).s,128)
                rpoint(2)= MIN(qr(2).s,128)
                rpoint(3)= MIN(qr(3).s,128)
                rpoint(4)= MIN(qr(0).vf ,128)
                rpoint(5)= MIN(qr(1).vf ,128)
                rpoint(6)= MIN(qr(2).vf ,128)
                rpoint(7)= MIN(qr(3).vf ,128)
                FOR il? = 0 TO 7
                    SELECT CASE il?
                     CASE 0, 4
                             hBrush = CreateSolidBrush (%GREEN)
                     CASE 1,5
                             hBrush = CreateSolidBrush (%BLUE)
                     CASE 2,6
                             hBrush = CreateSolidBrush (%YELLOW)
                     CASE 3,7
                             hBrush = CreateSolidBrush (%RED)
                    END SELECT
                    hOldBrush = SelectObject (hDC, hBrush)
                    H1% = h% + (il? * bw%)
                    versize% = v% - rpoint(il?)
                    Rectangle hDC, H1%, v%, H1%+Sp%, versize%
                    SelectObject hDC, hOldBrush
                    DeleteObject hBrush
                NEXT il?
    END SELECT
    ReleaseDC @pT(%Radar_VU_Task).hParam, hDC
END SUB


FUNCTION Radar_DAQ (BYVAL param AS LONG) EXPORT AS LONG
    ' this procedure starts/stops the data-acquisition for quad radar devices.
    ' 08.06.2009: support for NiDAQmx added
    ' 04.07.2009: gwr tests.
    board = %ii_2003
    LOCAL i AS INTEGER
    FOR i = 0 TO 4
        IF qr(i).sfakt < 1 THEN qr(i).sfakt = 2 ^ 11.25  ' 23.03.2003 - default.
    NEXT i
    'MSGBOX FUNCNAME$ + STR$(param)

#IF %DEF(%g_NiDAQmx)
    LOCAL ret AS LONG
    'static taskname AS ASCIIZ * 20   - now @pDAQparams.taskname
    'static taskhandle AS DWORD       - now @pDAQparams.taskhandle
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL cpcb AS DWORD
    LOCAL device AS ASCIIZ * 10
    STATIC init AS DWORD
''    DIM physicalChannel(0 TO 15) AS STATIC ASCIIZ * 40
''    DIM nameToAssignToChannel (0 TO 15) AS ASCIIZ * 40
    DIM nametoassigntolines (0 TO 15) AS STATIC ASCIIZ * 40
    LOCAL physicalchannels$
    LOCAL nametoassigntochannels$
    LOCAL customscalename AS ASCIIZ * 40
    SELECT CASE param
        CASE -1
            FUNCTION = @pDAQparams.mode
        CASE 0
            GOSUB StopRadarDaq
            @pDAQparams.mode = %DAQ_NI
        CASE %DAQ_DOUBLEBUFFER
                IF ISFALSE @pDAQparams.daqstopped THEN
                   GOSUB StopRadarDAQ
                END IF
                @pDAQparams.channel = %DAQ_RADAR
                @pDAQparams.mode    = %DAQ_NI OR %DAQ_DOUBLEBUFFER
                @pDAQparams.inputconfig = 1      ' single ended ground referenced.
                @pDAQparams.rate = %False
                FOR i = 0 TO 7
                    @pDAQparams.samplingrate(i)  = 128
                    @pDAQparams.ChannelVector(i) = i
                    @pDAQparams.polarity(i)      = 0   '0= bipolar , 1= unipolar
                    @pDAQparams.voltagerange(i)  = 10  ' set to -5 to +5V
                    @pDAQparams.GainVector(i)    = 1
                    @pDAQparams.rate = @pDAQparams.rate + @pDAQparams.samplingrate(i) ' sum of samplingrates.
                                                        ' this to allow checks with the capabilities of the device.
                NEXT i
                @pDAQparams.taskname = "Quadradar-ii2003"              ' can be anything you like
                ret = DAQmxCreateTask(@pDAQparams.taskname, @pDAQparams.taskhandle)
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    Logfile "Create Quadradar DAQ task error " & TRIM$(errbuff)
                END IF
                device = NiMxDevs(@pDAQparams.id)   '.id is hier 1 of 2 nu.
                'MSGBOX device + STR$(@pDaqPArams.id),,FUNCNAME$
''                physicalChannel(0) = TRIM$(device) & "/ai0"         'these strings must be as they appear in NiMax
''                physicalChannel(1) = TRIM$(device) &"/ai1"
''                physicalChannel(2) = TRIM$(device) &"/ai2"
''                physicalChannel(3) = TRIM$(device) &"/ai3"
''                physicalChannel(4) = TRIM$(device) &"/ai4"
''                physicalChannel(5) = TRIM$(device) &"/ai5"
''                physicalChannel(6) = TRIM$(device) &"/ai6"
''                physicalChannel(7) = TRIM$(device) &"/ai7"
''              ' following could be the actual use of the channels
''                nameToAssignToChannel(0) ="Ai0"
''                nameToAssignToChannel(1) ="Ai1"
''                nameToAssignToChannel(2) ="Ai2"
''                nameToAssignToChannel(3) ="Ai3"
''                nameToAssignToChannel(4) ="Ai4"
''                nameToAssignToChannel(5) ="Ai5"
''                nameToAssignToChannel(6) ="Ai6"
''                nameToAssignToChannel(7) ="Ai7"
''                    'note: the following works, but you can also create all channels at once with one
''                    'DAQmxCreateAIVoltageChan call..
''                FOR i = 0 TO 7
''                    'logfile TRIM$(physicalChannel(i))    ' we get here. result ok.
''                    ret = DAQmxCreateAIVoltageChan(BYVAL @pDAQparams.taskhandle, physicalChannel(i),nameToAssignToChannel(i),%DAQmx_Val_RSE,-5.0,5.0,%DAQmx_Val_Volts ,customscalename)
''                    '@pDAQparams.taskhandle moet byval
''                    'using a variable for terminalconfig (byval as wel as byref) crashes.
''                    'the constants don't cause a crash, but give a nidaq error (request value is not supported
''                    'for the property DaqMX_Ai_termCfg).
''                    ' note gwr: we want to get data in 12 bit format (for compatibility with existing hardware)
''                    ' Quadradar voltage range is 0-5V to 5V bipolar
''                    IF ret THEN
''                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
''                        Logfile TRIM$(errBuff)                'ok
''                    END IF
''                NEXT i
                physicalchannels$ = TRIM$(device) + "/ai0:7"
                nametoassigntochannels$ = "Ai0, Ai1, Ai2, Ai3, Ai4, Ai5, Ai6, Ai7"
                DAQmxCreateAIVoltageChan(BYVAL @pDAQparams.taskhandle, TRIM$(physicalChannelS$),TRIM$(nameToAssignToChannels$),%DAQmx_Val_RSE,-5.0,5.0,%DAQmx_Val_Volts ,customscalename)

                ret = DaqmxCfgSampClkTiming(BYVAL @pDAQparams.taskhandle,"OnboardClock",128,%DAQmx_val_Rising,%DAQmx_Val_ContSamps,1)
                'for our first test we go for strict compatibility and request 128 S/s on each channel
                ' we sample 8 channels.
                'note: last param means nothing when using %DAQmx_Val_ContSamps
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "Clock error:" & TRIM$(errBuff)
                ELSE
                    'logfile "DaqmxCfgSampClkTiming passed with 128S/s"
                END IF

                cpcb = CODEPTR(Quadrada_EveryNCallback)
                ret = DAQmxRegisterEveryNSamplesEvent(BYVAL @pDAQparams.taskhandle,%DAQmx_Val_Acquired_Into_Buffer,1,0,BYVAL cpcb, BYVAL %NULL)
                 '8 = nrEvents - from all channels together?? then we better take a mult of 16
                 ' check with x-tof's findings
                 ' changed to 1 on 04.07.2009 gwr seems to be correct now.
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "error:" + TRIM$(errBuff)
                ELSE
                    'logfile "DAQmxRegisterEveryNSamplesEvent passed with N = 1"
                END IF

                cpcb = CODEPTR(NiDAQmx_DoneCallback)
                ret = DAQmxRegisterDoneEvent(@pDAQparams.taskhandle,0,cpcb,BYVAL %NULL)
                IF ret THEN
                      DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                      logfile "error:" + TRIM$(errBuff)
                ELSE
                     ' logfile "DAQmxRegisterDoneEvent passed with cptr =" & STR$(cpcb)
                END IF

               ret = DAQmxStartTask(BYVAL @pDAQparams.taskhandle)
               IF ret THEN
                     DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                     logfile TRIM$(errBuff)
               END IF
               'Logfile "radar aquisition started.."
               @pDAQparams.daqstopped = %False
               FUNCTION = %DAQ_DOUBLEBUFFER  '%True
        CASE ELSE
               MSGBOX "Illegal mode",, FUNCNAME$
    END SELECT
    EXIT FUNCTION  ' essential!!! - ommitting this caused us half a day of debugging work...
#ENDIF

#IF %DEF(%NiDAQ)
       LOCAL retval         AS INTEGER
       LOCAL dummy          AS INTEGER
       LOCAL timebase       AS INTEGER
       LOCAL sampleinterval AS INTEGER
       LOCAL scaninterval   AS INTEGER
       LOCAL scantimebase   AS INTEGER
       LOCAL sampletimebase AS INTEGER
    'coded: 10.02.2003  - 23.03.2003

    SELECT CASE param
           CASE -1
                ' returns operational mode
                FUNCTION = @pDAQparams.mode
           CASE 0
                ' stops data acquisition
                GOSUB StopRadarDAQ
                @pDAQparams.mode = %DAQ_NI
           CASE %DAQ_DOUBLEBUFFER
                GOSUB StopRadarDAQ
                @pDAQparams.channel = %DAQ_RADAR
                @pDAQparams.mode    = %DAQ_NI OR %DAQ_DOUBLEBUFFER
                @pDAQparams.inputconfig = 1      ' single ended ground referenced.
                ' first set the AI characteristics
                FOR i = 0 TO 7
                    @pDAQparams.samplingrate(i)  = 128
                    @pDAQparams.ChannelVector(i) = i
                    @pDAQparams.polarity(i)      = 0   '0= bipolar , 1= unipolar
                    @pDAQparams.voltagerange(i)  = 10  '5 '1 '10  ' set to -5 to +5V
                    @pDAQparams.GainVector(i)    = 1   '2 '10
                      ' note: unfortunately, increasing the gain also increases the DC offset of the card...
                                                       ' 0.5 gives -10V to + 10V
                                                       ' 1 gives -5V to + 5V
                                                       ' 2 gives -2.5 to + 2,5V
                                                       ' 5 gives -1V to +1V
                                                       ' 10   -500mV to +500mV
                                                       ' 20   -250mV to + 250mV
                                                       ' 50   -100mV to + 100mV
                                                       ' 100  -50mV to +50mV
                    retval = AI_Configure%(@pDAQparams.id,i,@pDAQparams.inputconfig,1,@pDAQparams.polarity(i),0)
                '    msgbox str$(retval),,"ai-conf"  'ok
                    'dummy = NIDAQErrorHandler(retval,"AI_Config error {G_Nih.dll} [Radar]",0)   ' in NiDAQEX_PB.BAS
                NEXT i
                @pDaqparams.rate = @pDAQparams.samplingrate(0) * 8 ' 8 channels only
                scantimebase = 2                                   ' use 100kHz / 10 microsecond clock
                scaninterval = 1000
                    ' this was set to :100000& / @pDAQparams.samplingrate(0) for <BOM>, but
                    ' when using 128 S/s, we get an NiDAQ error message protesting about
                    ' the scan interval being too short.
                    ' Thus we tried setting it to 1000 =  100 * 10 microseconds = 1 ms
                sampletimebase = -3                               ' use 20MHz / 50ns clock
                sampleinterval = INT(20000000& / 100000&) '50000&)          ' = 400 voor samplingrate = 50000 S/s
                @pDaqparams.scanfreq = @pDAQparams.samplingrate(0) ' = 100000& / scaninterval
                retval = DAQ_DB_Config(@pDAQparams.id,%True)
               ' msgbox str$(retval),,"db-conf"  'ok
                ' for debug only:
                 retval = DAQ_Rate(@pDAQparams.rate,0,sampletimebase,sampleinterval)
                        '  msgbox "Scanrate = " & STR$(@pDAQparams.rate) ' 1024 for 128 S/s
                                 ' now we can recalculate the circular buffer size, for the data refreshrate we want:
                @pDAQparams.Buffersize = @pDAQparams.rate    ' in aantal samples voor 1 sekonde buffer
                REDIM ADCbuffer(@pDAQparams.Buffersize -1) AS GLOBAL INTEGER
                @pDAQparams.pADCbuffer = VARPTR(ADCbuffer(0))
                ' Prepare for acquisition of multiple channels:
                retval = SCAN_SetUp(@pDAQparams.id,8,BYREF @pDAQparams.ChannelVector(0),BYREF @pDAQparams.Gainvector(0))
               ' msgbox str$(retval),,"scan-stup" 'ok
                     'dummy = NIDAQErrorHandler(retval,"Scan_Setup error in {g_nih}[Radar]",0)
                retval = SCAN_Start(@pDAQparams.id,@pDAQparams.pADCbuffer,@pDAQparams.buffersize,sampletimebase,sampleinterval,scantimebase,scaninterval)
               ' msgbox str$(retval),,"scan-strt"  ' ok
                     'dummy = NIDAQErrorHandler(retval,"Scan_Start error in {g_nih.dll}[Radar]",0)
                FUNCTION = %DAQ_DOUBLEBUFFER

             ' now start periodic event to retrieve the data:  every 15 ms  for Sr= 64 S/s (66.66 times a second)
             ' for 64 S/s:
             '  qr(0).TimerId = TimeSetEvent (15,0,CODEPTR(RadarDAQTask_CB),8,%TIME_PERIODIC OR %TIME_CALLBACK_FUNCTION)
             ' for 128 S/s:
           '  SELECT CASE qr(0).params
           '         CASE %ZEROCROSS
               qr(0).TimerId = TimeSetEvent (7,0,CODEPTR(RadarDAQTask_CB),8,%TIME_PERIODIC OR %TIME_CALLBACK_FUNCTION)
           '         CASE ELSE
           '    qr(0).TimerId = TimeSetEvent (7,0,CODEPTR(RadarDAQTask_CB_orig),8,%TIME_PERIODIC OR %TIME_CALLBACK_FUNCTION)
           '  END SELECT
             ' (using a periodic timer, every 8 ms, for 128S/s would be too slow, so we use 7ms)
             ' alternative: get data 8 times a second:
             '   qr(0).TimerId = TimeSetEvent (125,0,CODEPTR(RadarDAQTask_CB),64,%TIME_PERIODIC OR %TIME_CALLBACK_FUNCTION)
                IF ISFALSE qr(0).TimerId THEN
                    MSGBOX "Failure starting QuadRadar data acquisition timer",, FUNCNAME$
                END IF
                @pDAQparams.daqstopped = %False
         '  CASE %DAQ_SINGLEBUFFER  ' = 4
         '       GOSUB StopRadarDAQ
         '       ' NOT SUPPORTED !!!
         '       MSGBOX "Mode not supported",,FUNCNAME$
           CASE ELSE
                MSGBOX "Illegal mode",, FUNCNAME$
    END SELECT
    EXIT FUNCTION
#ENDIF

StopRadarDAQ:
#IF %DEF(%NiDAQ)
                IF qr(0).timerId THEN TimeKillevent qr(0).timerid
                retval = DAQ_Clear (@pDAQparams.id)      'fails..
                @pDAQparams.daqstopped = %True
                RETURN
#ELSEIF %DEF(%g_NiDAQmx)
            IF @pDAQparams.taskhandle THEN
                ret = DAQmxStopTask(BYVAL @pDAQparams.taskHandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        Logfile TRIM$(errbuff)
                END IF

                ret = DAQmxClearTask(BYVAL @pDAQparams.taskhandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        Logfile TRIM$(errbuff)
                END IF
                'Warning "aquisition stopped"
            END IF
            @pDAQparams.daqstopped = %True
            @pDAQparams.taskhandle = %False
            @pDAQparams.taskname = NUL$(20)
            RETURN
#ENDIF
                ' in case memory gets shuffled around...
             '   qr(0).pXbuf = VARPTR(Db0(0))
             '   qr(0).pYbuf = VARPTR(Db1(0))
             '   qr(1).pXbuf = VARPTR(Db2(0))
             '   qr(1).pYbuf = VARPTR(Db3(0))
             '   qr(2).pXbuf = VARPTR(Db4(0))
             '   qr(2).pYbuf = VARPTR(Db5(0))
             '   qr(3).pXbuf = VARPTR(Db6(0))
             '   qr(3).pYbuf = VARPTR(Db7(0))
END FUNCTION

FUNCTION GetSonarPointer () EXPORT AS DWORD
    sr.pb(0) = VARPTR(db0(0))
    sr.pb(1) = VARPTR(db1(0))
    sr.pb(2) = VARPTR(db2(0))
    sr.pb(3) = VARPTR(db3(0))
    sr.pb(4) = VARPTR(db4(0))
    sr.pb(5) = VARPTR(db5(0))
    sr.pb(6) = VARPTR(db6(0))
    sr.pb(7) = VARPTR(db7(0))
    sr.pb(8) = VARPTR(db8(0))
    sr.pb(9) = VARPTR(db9(0))
    sr.pb(10) = VARPTR(dbA(0))
    sr.pb(11) = VARPTR(dbB(0))
    sr.pb(12) = VARPTR(dbC(0))
    sr.pb(13) = VARPTR(dbD(0))
    sr.pb(14) = VARPTR(dbE(0))
    sr.pb(15) = VARPTR(dbF(0))
    FUNCTION = VARPTR(sr)
END FUNCTION

FUNCTION GetRadarpointer (BYVAL n AS DWORD) EXPORT AS DWORD
        ' must be called after intialisation
    IF n > UBOUND(qr) THEN
        MSGBOX "Pointer index out of range" ,,FUNCNAME$
        EXIT FUNCTION
    END IF
            qr(0).pXbuf = VARPTR(db0(0))     ' A transducer, phase x
            qr(0).pYbuf = VARPTR(db1(0))     '               phase y
            qr(1).pXbuf = VARPTR(db2(0))     ' B transducer, phase x
            qr(1).pYbuf = VARPTR(db3(0))     '               phase y
            qr(2).pXbuf = VARPTR(db4(0))
            qr(2).pYbuf = VARPTR(db5(0))
            qr(3).pXbuf = VARPTR(db6(0))
            qr(3).pYbuf = VARPTR(db7(0))
            ' note that for n = 4, there is no data array!!!, so qr(4).pXbuf = qr(4).pYbuf = %False !!!
            ' we may use these fields for preservation of the traject.
    IF qr(n).setup = %TETRAHEDRON THEN
           ' DIM tetrad AS GLOBAL RadarTetrahedronType  - now done on init declare. [13.07.2009]
    END IF
    FUNCTION = VARPTR(qr(n))
END FUNCTION

SUB RadarDAQTask_CB (BYVAL wTimerID AS LONG, BYVAL msg AS LONG, BYVAL eventnr AS LONG, BYVAL dw1 AS LONG, BYVAL dw2 AS LONG)
   ' version using fixed length buffers:db0 - db7       - SQUARE SETUP with ZEROCROSS f-determination
   ' this version runs 128 times a second.
   ' this is the callback for the NiDAQ 7.4 version

    STATIC tlast           AS DWORD
    LOCAL dummy            AS INTEGER
    LOCAL newestpointindex AS LONG
    STATIC DAQstopped      AS INTEGER
    DIM AD(eventnr-1)      AS LOCAL INTEGER     ' the number of data to be returned is passed in eventnr.

' first we acquire the data:
#IF %DEF(%NiDAQ)
    dummy = DAQ_Monitor (@pDAQparams.id,-1,0,eventnr, VARPTR(AD(0)),newestpointindex,DAQstopped)
'    logfile funcname$ + str$(dummy) + str$(newestpointindex) + str$(daqstopped)   'seems to work..
    IF tlast THEN
              IF newestpointindex = tlast THEN EXIT SUB
    END IF
    tlast = newestpointindex
                    ARRAY DELETE db0(), AD(0)      ' db0() size = 255
                    ARRAY DELETE db1(), AD(1)
                    ARRAY DELETE db2(), AD(2)
                    ARRAY DELETE db3(), AD(3)
                    ARRAY DELETE db4(), AD(4)
                    ARRAY DELETE db5(), AD(5)
                    ARRAY DELETE db6(), AD(6)
                    ARRAY DELETE db7(), AD(7)
'                     logfile str$(AD(0)) + STR$(AD(1))  + STR$(AD(2))  + STR$(AD(3))+ STR$(AD(4))  + STR$(AD(5))  + STR$(AD(6))  + STR$(AD(7))    ' ok na het switchen in faust!!
                    Quadrada_ii_Math     'dit ontbrak!
#ENDIF

END SUB

SUB Quadrada_ii_Math ()
    ' common for NiDAQ and NiDAQmx versions
    ' called from the data acquisition callback functions.
    ' 07.06.2009 gwr. should be compatible with all preexisting code and compositions
    LOCAL  i               AS DWORD
    STATIC tog             AS DWORD
    LOCAL  dev             AS DWORD
    LOCAL Q                AS SINGLE
    LOCAL lx               AS SINGLE
    LOCAL ly               AS SINGLE
    DIM AD(7) AS LOCAL INTEGER
    IF ISFALSE tog THEN
            DIM trigval(7)        AS STATIC LONG      ' for Schmitt-trigger
            DIM poscnt(7)         AS STATIC DWORD      ' running counter positive pulselength
            DIM negcnt(7)         AS STATIC DWORD      ' running counter negative pulselength
            DIM posamp(7)         AS STATIC DWORD
            DIM negamp(7)         AS STATIC DWORD
            DIM prev(7)           AS STATIC DWORD     ' flip flop
            DIM posend(7)         AS STATIC DWORD      ' endcount
            DIM negend(7)         AS STATIC DWORD      ' endcount
            DIM ampsum(7)         AS STATIC DWORD
            DIM nosig(7)          AS STATIC DWORD
            FOR i = 0 TO 7
                trigval(i) = qr(i \2).noise
                posend(i) = 1
                negend(i) = 1
                poscnt(i) = 1
                negcnt(i) = 1
            NEXT i
            tog = %True
    END IF
    ' dit is een beetje stom, maar gevolg van de split van de funktie nodig voor dubbel gebruik...
    AD(0) = db0(255)     ' bij 128 S/s zijn deze buffers 2 sekonden diep.
    AD(1) = db1(255)
    AD(2) = db2(255)
    AD(3) = db3(255)
    AD(4) = db4(255)
    AD(5) = db5(255)
    AD(6) = db6(255)
    AD(7) = db7(255)
    '--------------
    FOR i = 0 TO 7
            dev = i \ 2        ' 0,1,2,3    - radar sensor teller
                    ' first we check for a no movement condition:
                    ' for fast reset on no movements we add following rule:
            IF ABS(AD(i)) =< qr(dev).noise THEN
                            INCR nosig(i)
                            IF nosig(i) > qr(dev).dt THEN
                                IF ISFALSE i MOD 2 THEN
                                    qr(dev).xf = %False
                                    qr(dev).xal = %False
                                    qr(dev).xt = %False
                                ELSE
                                    qr(dev).yf = %False
                                    qr(dev).yal = %False
                                    qr(dev).yt = %False
                                END IF
                               ' IF ISFALSE prev(i) THEN
                                    ' we are counting lows
                                    negcnt(i) = %False        ' reset frequency counter
                                    negamp(i) = %False
                               ' ELSE
                                    ' we are counting highs
                                    poscnt(i) = %False
                                    posamp(i) = %False
                               ' END IF
                            ELSE
                                ' ?
                            END IF
            END IF
amplitude:
            ' leaky integrator for amplitudes:
            IF ISFALSE i MOD 2 THEN
                ' this is the value we will use for position determination
                ' note that this a a square rooted unipolar value!  (11 bit)
                ' qr().amp can never become larger than 1448
                ' integration bug corrected 19.07.2004: we now use floats here.
                qr(dev).amp = ((qr(dev).dta * qr(dev).amp) + (SQR((AD(i)^2) + (AD(i+1)^2)) / 2)) / (qr(dev).dta + 1)
            END IF
doppler_R:
                ' in line very fast frequency counter with schmitt-trigger square wave former:
                ' this can work even faster if we only count the duration of a single pulse.
            IF AD(i) > trigval(i) THEN
                        IF ISFALSE prev(i) THEN
                                poscnt(i) = 1                    ' restart positive pulse counter
                                prev(i) = %True                  ' flipflop
                                negend(i) = negcnt(i)            ' store duration of negative pulse
                                trigval(i) = - qr(dev).noise     ' set trigger value to negative for hysteresis
                                IF (negamp(i) > %False) AND (posamp(i) > %False) THEN
                                    ampsum(i) = posamp(i) + negamp(i) ' sum of squares over full period
                                    IF ISFALSE i MOD 2 THEN
                                        qr(dev).xt = posend(i) + negend(i)
                                        qr(dev).xal = SQR(ampsum(i)/qr(dev).xt)
                                        qr(dev).xt = qr(dev).xt / @pDAQparams.Samplingrate(0)
                                        qr(dev).xf = 1!/ qr(dev).xt
                                    ELSE
                                        qr(dev).yt = posend(i) + negend(i)
                                        qr(dev).yal = SQR(ampsum(i)/qr(dev).yt)
                                        qr(dev).yt = qr(dev).yt / @pDAQparams.Samplingrate(0)
                                        qr(dev).yf = 1! / qr(dev).yt
                                    END IF
                                ELSE
                                    IF ISFALSE i MOD 2 THEN
                                        qr(dev).xf = %False
                                        qr(dev).xal = %False
                                    ELSE
                                        qr(dev).yf = %False
                                        qr(dev).yal = %False
                                    END IF
                                END IF
                                nosig(i) = %False                ' reset no movement counter
                                posamp(i) = AD(i)^2              ' restart amplitude calculation
                        ELSE
                                INCR poscnt(i)
                                posamp(i) = posamp(i) + (AD(i)^2)  ' increment amplitude sum of squares
                        END IF
            ELSE
                        IF prev(i) THEN
                                negcnt(i) = 1                   ' restart negative pulse counter
                                prev(i) = %False                ' flipflop
                                posend(i) = poscnt(i)           ' store duration of positive pulse
                                trigval(i) = qr(dev).noise      ' give positive hysteresis
                                IF (posamp(i) > %False) AND (negamp(i) > %False) THEN      ' new 02.04.2003
                                    ampsum(i) = posamp(i) + negamp(i)  ' store sum of squares over complete previous period
                                    IF ISFALSE i MOD 2 THEN
                                        qr(dev).xt = posend(i) + negend(i)
                                        qr(dev).xal = SQR(ampsum(i)/qr(dev).xt)
                                        qr(dev).xt = qr(dev).xt / @pDAQparams.Samplingrate(0)
                                        qr(dev).xf = 1!/ qr(dev).xt
                                    ELSE
                                        qr(dev).yt = posend(i) + negend(i)
                                        qr(dev).yal = SQR(ampsum(i)/qr(dev).yt)
                                        qr(dev).yt = qr(dev).yt / @pDAQparams.Samplingrate(0)
                                        qr(dev).yf = 1! / qr(dev).yt
                                    END IF
                                ELSE
                                    IF ISFALSE i MOD 2 THEN
                                        qr(dev).xf = %False
                                        qr(dev).xal = %False
                                    ELSE
                                        qr(dev).yf = %False
                                        qr(dev).yal = %False
                                    END IF
                                END IF
                                nosig(i) = %False
                                negamp(i) = AD(i)^2
                        ELSE
                                INCR negcnt(i)
                                negamp(i) = negamp(i) + (AD(i)^2)
                        END IF
            END IF
    NEXT i
lineposition:
    ' faster code:
    IF (qr(0).amp > qr(0).noise) AND (qr(2).amp > qr(2).noise) THEN
        Q = SQR(qr(0).amp / qr(2).amp)
        qr(0).l = (2! - Q) / (Q+1)
        Q = SQR(qr(2).amp / qr(0).amp)
        qr(2).l = (2! - Q) / (Q+1)
    ELSE
        qr(0).l = -1 : qr(2).l = -1
    END IF
    IF (qr(1).amp > qr(1).noise) AND (qr(3).amp > qr(3).noise) THEN
        Q = SQR(qr(1).amp / qr(3).amp)
        qr(1).l = (2! - Q) / (Q+1)
        Q = SQR(qr(3).amp / qr(1).amp)
        qr(3).l = (2! - Q) / (Q+1)
    ELSE
        qr(1).l = -1 : qr(3).l = -1
    END IF
         ' berekening van de grootte van het oppervlak van het reflekterend lichaam:
    FOR dev = 0 TO 3
         IF (qr(dev).l >= %False) AND (qr(dev).l <= 1) THEN
             qr(dev).s = qr(dev).amp * ((qr(dev).l+1)^2)
                 ' now the range is again 11 bits (0 - 2048)
                 ' for flexibility, we added a scaling factor:
             qr(dev).s = qr(dev).s / qr(dev).sfakt
             QuadRadar_PosAmp dev
         ELSE
             qr(dev).s = %False
             qr(dev).v = %False
             qr(dev).acc = %False
             qr(dev).xf = %False    ' added 23.03.2003
             qr(dev).yf = %False
             qr(dev).vf = %False    ' added 24.03.2003
             qr(dev).acf = %False   ' added 26.03.2003
         END IF
    NEXT dev
integration:
       ' integration section:
        qr(4).s = (qr(0).s + qr(1).s + qr(2).s + qr(3).s) / 4!        ' normal average
        ' from here we could derive moving mass as:
        ' qr(4).m = (qr(0).s * qr(1).s * qr(2).s * qr(3).s)^(3/10)    ' volume at 1kg/dm^3 ==> mass
        ' and impuls as:
        ' qr(4).i = qr(4).m * qr(4).v    ' kgm/s
        ' and force as:
        ' qr(4).f = qr(4).f * qr(4).acc  ' kgm/s^2
        lx = (qr(0).pc.real + qr(1).pc.real + qr(2).pc.real + qr(3).pc.real) / 4!   ' average
        ly = (qr(0).pc.imag + qr(1).pc.imag + qr(2).pc.imag + qr(3).pc.imag) / 4!   ' average
        qr(4).pc.real = ((qr(4).pc.real * 3) + lx) / 4!         ' integrated  31ms
        qr(4).pc.imag = ((qr(4).pc.imag * 3) + ly) / 4!         ' integrated
        C2P qr(4).pc, qr(4).pl                                        ' integrated
       ' qr(4).vf = (qr(0).vf + qr(1).vf + qr(2).vf + qr(3).vf) / 4!   ' average    - changed 23.09.2003 to
           ' integrated value:  (now over 125ms)
        qr(4).vf = ((qr(4).vf * 16) + (qr(0).vf + qr(1).vf + qr(2).vf + qr(3).vf)) / 20!   ' in Hz
        IF MIN(qr(0).v,qr(1).v,qr(2).v,qr(3).v,qr(4).s) <= %False THEN
            qr(4).v = %False
            qr(4).acc = %False
        ELSE
            qr(4).v = (qr(4).v + qr(3).v + qr(2).v + qr(1).v + qr(0).v) / 5!   ' integrated
            qr(4).acc = (qr(0).acc + qr(1).acc + qr(2).acc + qr(3).acc + qr(4).acc) / 5!     ' -1 to + 0.5 range
        END IF
END SUB

FUNCTION Quadradar_PosAmp (BYVAL i AS DWORD) AS DWORD
    ' only for radar square setup.
       STATIC tog      AS DWORD
       STATIC cosine   AS SINGLE
       STATIC oldspeed AS SINGLE
       STATIC ppc()    AS complex
       STATIC ppl()    AS polar
       LOCAL  pc       AS complex
       LOCAL  pl       AS polar
       IF ISFALSE tog THEN
            DIM ppc(4) AS STATIC complex           ' may become arrays to save trajects
            DIM ppl(4) AS STATIC polar
            tog = %True
       END IF

       ppc(i) = qr(i).pc       ' save previous position information, before we calculate the new data
       ppl(i) = qr(i).pl
                               ' coordinates and speed calculation for the square setup.
       qr(i).pc.real = qr(0).l - qr(2).l    ' -1 to + 1
       qr(i).pc.imag = qr(1).l - qr(3).l    ' -1 to + 1
       C2P qr(i).pc, qr(i).pl                     ' convert cartesian to polar - this preserves signs.
         ' knowing this, we can perform the cosine correction on the doppler frequencies in order to
         ' calculate movement speed.  f = v .cos(angle)
         ' note that if the angle is larger than 45 degrees, we better use the adjacent transducer as
         ' data source.
         ' we need knowledge of position and the direction of the movement. Therefore we need data with regard
         ' to the previous position as well as with regard to the position now:
         ' We limit the calculation to movements within the covered square.
         IF (qr(i).pc.real >= -1!) AND (qr(i).pc.imag >= -1!) AND (qr(i).pc.real <= 1!) AND (qr(i).pc.imag <=1!) AND _
            (ppc(i).real >= -1!) AND (ppc(i).imag >= -1!) AND (ppc(i).real =< 1!) AND (ppc(i).imag =< 1!) THEN

                ' step 1: schuif lijnstuk vorig punt tot huidig punt naar centrum van koordinatenstelsel:
            pc.real = ppc(i).real - qr(i).pc.real
            pc.imag = ppc(i).imag - qr(i).pc.imag
            ' step 2: nu moeten we de hoek met de x-as van dit lijnstuk vinden na konversie in polaire koordinaten:
            C2P pc, pl
            IF ISFALSE i MOD 2 THEN
                ' transducers A and C use the angle with the X-axis
                cosine = ABS(COS(pl.ang))
            ELSE
                ' transducers B and D use the angle with the Y-axis, so we add 90 degrees.
                'cosine = ABS(COS((ATN(1)*2) - pl.ang))
                ' which is equivalent to taking the sine:
                cosine = ABS(SIN(pl.ang))
            END IF
            IF ISFALSE qr(i).xf THEN qr(i).xf = qr(i).yf    ' hier zouden we ook kunnen blokkeren wegens te
            IF ISFALSE qr(i).yf THEN qr(i).yf = qr(i).xf    ' onbetrouwbare input. We zouden kunnen eisen dat
                                                            ' zowel xf als yf > 0 en zelfs f = min(xf.yf)
            qr(i).acf = qr(i).vf  ' used as temporary storage
            IF i < 2 THEN
                IF cosine > 0.5 THEN '0.707 THEN       ' we could also take 0.5 (= cos 60 degrees) for more overlap
                        ' we preserve the values for xf, yf
                        qr(i).vf = (qr(i).xf + qr(i).yf) / (cosine + cosine)
                ELSE
                        ' use adjacent source
                        qr(i).vf = qr(i+1).vf
                END IF
            ELSE
                IF cosine > 0.5 THEN  '0.707 THEN
                        qr(i).vf = (qr(i).xf + qr(i).yf) / (cosine + cosine)
                ELSE
                        qr(i).vf = qr(i-1).vf   ' take info from adjacent channel
                END IF
            END IF
            IF qr(i).acf > %False THEN qr(i).acf = qr(i).vf - qr(i).acf  ELSE qr(i).acf = %False' new fast accelleration value.
            ' note: with this hardware the absolute velocity in m/s equals qr(n).vf / 16.3
            '       acceleration in m/s^2 is then qr(n).acf * 32
            ' as now (02.04.2003) the returned values -if valid- range for vf from 0 to 72 and for acf -38 to + 36
            ' In theory vf cannot become larger than 64Hz * 1.4142 = 90Hz.
            ' now we can derive the slow speed of the movement, if detected.
            oldspeed = qr(i).v                                        ' for slow acceleration
            qr(i).v = 100 * SQR(  ((ppc(i).real - qr(i).pc.real)^2) + ((ppc(i).imag - qr(i).pc.imag)^2) )
            ' as now this value ranges from 0 to 0.11 , hence the multiply by 100, so we get 0-11
            ' note: the absolute slow speed will depend on the physical size of the setup!
            IF oldspeed THEN qr(i).acc = qr(i).v - oldspeed  ELSE qr(i).acc = %False  ' acceleration
            FUNCTION = %true
            EXIT FUNCTION
        END IF
NoValid:
        ' no valid data... - below noise level or outside coordinates of our setup
        qr(i).v = %False
        qr(i).acc = %False
       ' qr(i).pc.real = %False   '?
       ' qr(i).pc.imag = %False   '?
        qr(i).xf = %False    ' added 23.03.2003
        qr(i).yf = %False
        qr(i).vf = %False    ' added 24.03.2003
        qr(i).acf = %False   ' added 26.03.2003
        FUNCTION = %False
END FUNCTION

FUNCTION Quadradar_TetraMath (BYVAL i AS DWORD) AS DWORD
    ' for a setup using 4 doppler radar modules set up on the vertexes of a tetrahedron
         LOCAL q AS SINGLE
    ' uses Tetrad, as global type.
         ' we suppose x= 0 = left
         '            y= 1 = right
         '            z= 2 = front
         '            p= 3 = top
         ' the other vertexes are allways (i +1) MOD 4, (i+2) MOD 4, (i+3) MOD 4

         SELECT CASE i
                CASE 0
                    Tetrad.ax = qr(i).amp 'MAX(qr(i).xal,qr(i).yal)
                    IF Tetrad.ax THEN
                        ' te berekenen: xy, xz, xh
                        IF Tetrad.ay THEN
                            Q = SQR(Tetrad.ax / Tetrad.ay)
                            Tetrad.xy = (2! - Q)/ (Q + 1)          ' 0-1
                        ELSE
                            IF Tetrad.yx > %false AND Tetrad.yx < 1 THEN
                                Tetrad.xy = 1- Tetrad.yx
                            ELSE
                                Tetrad.xy = -1
                            END IF
                        END IF
                        IF Tetrad.az THEN
                            Q = SQR(Tetrad.ax / Tetrad.az)
                            Tetrad.xz = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.zx > %False AND Tetrad.zx < 1 THEN
                                Tetrad.xz = 1 - Tetrad.zx
                            ELSE
                                Tetrad.xz = -1
                            END IF
                        END IF
                        IF Tetrad.ah THEN
                            Q = SQR(Tetrad.ax / Tetrad.ah)
                            Tetrad.xh = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.hx > %False AND Tetrad.hx < 1 THEN
                                Tetrad.xh = 1- Tetrad.hx
                            ELSE
                                Tetrad.xh = -1
                            END IF
                        END IF
                        IF Tetrad.xy >= %False AND Tetrad.xz >=%False AND Tetrad.xh >= %False THEN
                            Tetrad.sx = Tetrad.ax * (((Tetrad.xy + Tetrad.xz + Tetrad.xh)/3)^2)
                            Tetrad.sx = Tetrad.sx ^ 2
                        ELSE
                            Tetrad.sx = %False
                        END IF
                    ELSE
                        Tetrad.xy = 2 '-1
                        Tetrad.xz = 2 '-1
                        Tetrad.xh = 2 '-1
                        Tetrad.sx = %False
                    END IF
                CASE 1
                    Tetrad.ay = qr(i).amp 'MAX(qr(i).xal,qr(i).yal)
                    ' te berekenen: yx, yz, yh
                    IF Tetrad.ay THEN
                        IF Tetrad.ax THEN
                            Q = SQR(Tetrad.ay / Tetrad.ax)
                            Tetrad.yx = (2! - Q)/ (Q + 1)          ' 0-1
                        ELSE
                            IF Tetrad.xy > %false AND Tetrad.xy < 1 THEN
                                Tetrad.yx = 1- Tetrad.xy
                            ELSE
                                Tetrad.yx = -1
                            END IF
                        END IF
                        IF Tetrad.az THEN
                            Q = SQR(Tetrad.ay / Tetrad.az)
                            Tetrad.yz = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.zy > %False AND Tetrad.zy < 1 THEN
                                Tetrad.yz = 1 - Tetrad.zy
                            ELSE
                                Tetrad.yz = -1
                            END IF
                        END IF
                        IF Tetrad.ah THEN
                            Q = SQR(Tetrad.ay / Tetrad.ah)
                            Tetrad.yh = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.hy > %False AND Tetrad.hy < 1 THEN
                                Tetrad.yh = 1- Tetrad.hy
                            ELSE
                                Tetrad.yh = -1
                            END IF
                        END IF
                        IF Tetrad.yx >= %False AND Tetrad.yz >=%False AND Tetrad.yh >= %False THEN
                            Tetrad.sy = Tetrad.ay * (((Tetrad.yx + Tetrad.yz + Tetrad.yh)/3)^2)
                            Tetrad.sy = Tetrad.sy ^ 2
                        ELSE
                            Tetrad.sy = %False
                        END IF
                    ELSE
                        Tetrad.yx = 2 '-1
                        Tetrad.yz = 2 '-1
                        Tetrad.yh = 2 '-1
                        Tetrad.sy = %False
                    END IF
                CASE 2
                    Tetrad.az = qr(i).amp 'MAX(qr(i).xal,qr(i).yal)
                    ' te berekenen: zx, zy, zh
                    IF Tetrad.az THEN
                        IF Tetrad.ax THEN
                            Q = SQR(Tetrad.az / Tetrad.ax)
                            Tetrad.zx = (2! - Q)/ (Q + 1)          ' 0-1
                        ELSE
                            IF Tetrad.xz > %false AND Tetrad.xz < 1 THEN
                                Tetrad.zx = 1- Tetrad.xz
                            ELSE
                                Tetrad.zx = -1
                            END IF
                        END IF
                        IF Tetrad.ay THEN
                            Q = SQR(Tetrad.az / Tetrad.ay)
                            Tetrad.zy = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.yz > %False AND Tetrad.yz < 1 THEN
                                Tetrad.zy = 1 - Tetrad.yz
                            ELSE
                                Tetrad.zy = -1
                            END IF
                        END IF
                        IF Tetrad.ah THEN
                            Q = SQR(Tetrad.az / Tetrad.ah)
                            Tetrad.zh = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.hz > %False AND Tetrad.hz < 1 THEN
                                Tetrad.zh = 1- Tetrad.hz
                            ELSE
                                Tetrad.zh = -1
                            END IF
                        END IF
                        IF Tetrad.zx >= %False AND Tetrad.zy >=%False AND Tetrad.zh >= %False THEN
                            Tetrad.sz = Tetrad.az * (((Tetrad.zx + Tetrad.zy + Tetrad.zh)/3)^2)
                            Tetrad.sz = Tetrad.sz ^ 2
                        ELSE
                            Tetrad.sz = %False
                        END IF
                    ELSE
                        Tetrad.zx = 2 '-1
                        Tetrad.zy = 2 '-1
                        Tetrad.zh = 2 '-1
                        Tetrad.sz = %False
                    END IF
                CASE 3
                    Tetrad.ah = qr(i).amp 'MAX(qr(i).xal,qr(i).yal)
                    ' te berekenen: hx, hy, hz
                    IF Tetrad.ah THEN
                        IF Tetrad.ax THEN
                            Q = SQR(Tetrad.ah / Tetrad.ax)
                            Tetrad.hx = (2! - Q)/ (Q + 1)          ' 0-1
                        ELSE
                            IF Tetrad.xh > %false AND Tetrad.xh < 1 THEN
                                Tetrad.hx = 1- Tetrad.xh
                            ELSE
                                Tetrad.hx = -1
                            END IF
                        END IF
                        IF Tetrad.ay THEN
                            Q = SQR(Tetrad.ah / Tetrad.ay)
                            Tetrad.hy = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.yh > %False AND Tetrad.yh < 1 THEN
                                Tetrad.hy = 1 - Tetrad.yh
                            ELSE
                                Tetrad.hy = -1
                            END IF
                        END IF
                        IF Tetrad.az THEN
                            Q = SQR(Tetrad.ah / Tetrad.az)
                            Tetrad.hz = (2! - Q)/ (Q + 1)
                        ELSE
                            IF Tetrad.zh > %False AND Tetrad.zh < 1 THEN
                                Tetrad.hz = 1- Tetrad.zh
                            ELSE
                                Tetrad.hz = -1
                            END IF
                        END IF
                        IF Tetrad.hx >= %False AND Tetrad.hz >=%False AND Tetrad.hy >= %False THEN
                            Tetrad.sh = Tetrad.ah * (((Tetrad.hx + Tetrad.hy + Tetrad.hz)/3)^2)
                            Tetrad.sh = Tetrad.sh ^ 2
                        ELSE
                            Tetrad.sh = %False
                        END IF
                    ELSE
                        Tetrad.hx = 2 '-1
                        Tetrad.hy = 2 '-1
                        Tetrad.hz = 2 '-1
                        Tetrad.sh = %False
                    END IF
         END SELECT
         ' in principe hebben we nu alle koordinaten met voldoende redundantie
         ' we hebben ook de aspektoppervlakten vanuit 4 gezichtspunten.
END FUNCTION

FUNCTION GetTetraRadarPointer () EXPORT AS DWORD
    FUNCTION = VARPTR(Tetrad)
END FUNCTION



FUNCTION Test_USB_IO (BYVAL devnr AS DWORD) EXPORT AS DWORD
         ' returns %True if the device is found, else %False.
    LOCAL f      AS ASCIIZ * 15
    LOCAL retval AS DWORD
    LOCAL pt AS SECURITY_ATTRIBUTES PTR
    pt = VARPTR(USB_DIO(devnr).Security)
    f = "\\.\usbuart_" & TRIM$(STR$(devnr))
    retval = CreateFile(f,%False,%FILE_SHARE_READ OR %FILE_SHARE_WRITE,BYVAL pt,%OPEN_EXISTING,0,0)
    IF retval = %INVALID_HANDLE_VALUE THEN
              FUNCTION = %False
    ELSE
              FUNCTION = %True
              CloseHandle retval
    END IF
END FUNCTION

FUNCTION Open_USB_IO (BYVAL devnr AS DWORD) EXPORT AS DWORD
    LOCAL f     AS ASCIIZ * 15
    LOCAL lIn   AS LONG
    LOCAL Siz   AS LONG
    LOCAL lOut  AS LONG
    LOCAL pin   AS BYTE
    LOCAL adr   AS WORD
    LOCAL pt AS SECURITY_ATTRIBUTES PTR
    pt = VARPTR(USB_DIO(devnr).Security)
    IF USB_DIO(devnr).h THEN Close_USB_IO USB_DIO(devnr).h
    f = "\\.\usbuart_" & TRIM$(STR$(devnr))
    USB_DIO(devnr).h = CreateFile(f,%GENERIC_WRITE OR %GENERIC_READ,%FILE_SHARE_WRITE OR %FILE_SHARE_READ,_
                                  BYVAL pt,%OPEN_EXISTING,0,0)
    ' following also works, but gives no apparent performance advantage
  '   USB_DIO(devnr).h = CreateFile(f,%GENERIC_WRITE OR %GENERIC_READ,%FILE_SHARE_WRITE OR %FILE_SHARE_READ,_
  '                                BYVAL pt,%OPEN_EXISTING,%FILE_FLAG_OVERLAPPED,0)
    IF USB_DIO(devnr).h <> %INVALID_HANDLE_VALUE THEN
    '    ' programm the pull up's:
    '    ' poort 0:
        lIn = 4119  ' cfr. documentation Elektuur 01.2002       = &H001017      ' = dec. 00 16 23
        DeviceIoControl USB_DIO(devnr).h, 4&, lIn,3,lOut,1,Siz, USB_DIO(devnr).gOverlapped
    '    ' poort 1:
        lIn = 4375                                            ' = &H1117        ' = dec. 00 17 23
        DeviceIoControl USB_DIO(devnr).h, 4&, lIn,3,lOut,1,Siz, USB_DIO(devnr).gOverlapped
    '    ' programm the ports current, we set to maximum:
        FOR pin = 0 TO 7
            ' set to 15:
            lIn = (65536 * 15) + (Pin * 256) + 23             ' = dec. 15 Pin 23
            ' set to 0:    (this is too low to get a logic 0 on the data lines)
            'lIn = (Pin * 256) + 23     ' cfr. documentation Elektuur 02.2002    ' 0 Pin 23
            DeviceIoControl USB_DIO(devnr).h, 4&, lIn,3,lOut,1,Siz, USB_DIO(devnr).gOverlapped
        NEXT pin
        ' write initial port condition: (bits reset, except bit0 of port p1
        adr = devnr
        SHIFT LEFT adr, 12
        adr = adr OR &H0FF0
        Portout adr,%False
        PortOut adr + 1, 1
        FUNCTION = %True   'USB_DIO(devnr).h
    ELSE
        MSGBOX "Cannot open USB port"
        USB_DIO(devnr).h = %False
        FUNCTION = %False
    END IF
END FUNCTION

SUB Close_USB_IO (BYVAL devnr AS DWORD) EXPORT
    IF USB_DIO(devnr).h THEN
        CloseHandle USB_DIO(devnr).h
        USB_DIO(devnr).h = %False
    END IF
END SUB

FUNCTION Open_Serial_IO (BYVAL devnr AS DWORD, hardware AS STRING) EXPORT AS DWORD
    ' to be used for ADXL202, BS2 stamps and suchlike  devices
    ' should also be used for Sonar USB devices since they use a port manager to make them behave like a com port.
    MSGBOX FUNCNAME$ + STR$(devnr) + hardware
    STATIC sioh AS DWORD
    STATIC ccom$
    sioh = FREEFILE
    IF devnr < 10 THEN
        ccom$ = "COM" & TRIM$(STR$(devnr))
    ELSE
        MSGBOX "Com's > 9 not yet implemented in GMT",, FUNCNAME$
        EXIT FUNCTION
    END IF
    COMM OPEN ccom$ AS #sioh
    IF ERRCLEAR THEN
        MSGBOX "Error opening " & ccom$ & " for " & hardware,, FUNCNAME$
        EXIT FUNCTION
    ELSE
 '       MSGBOX "device handle" + STR$(sioh) + " opened succesfull"
    END IF


    SELECT CASE TRIM$(UCASE$(hardware))
           CASE "USB_SONAR_V0"
               ' version 1.0
                'MSGBOX "To be done!!!" ,, FUNCNAME$
            '    msgbox "Opening USB Sonar",,funcname$
                ' settings to be checked with Johannes


                '!! looks like opening and initialsising device works here, but the filehandle is invalid when we use it later on in our app
                '    cfr code in g_interfaces.inc, SUB Demo_UsbSonar()
                COMM SET #sioh, BAUD     = 115200   'max is 256000 baud
                COMM SET #sioh, BYTE     = 8      ' 8 bits
                COMM SET #sioh, PARITY   = %FALSE ' No parity
                COMM SET #sioh, STOP     = 0      ' 1 stop bit
                COMM SET #sioh, TXBUFFER = 64   ' transmit buffer
                COMM SET #sioh, RXBUFFER = 64   ' receive buffer
            ' Optional settings for flow control
                COMM SET #sioh, CTSFLOW  = 0      ' Disable CTS
                COMM SET #sioh, RTSFLOW  = 0      ' Disable RTS
                COMM SET #sioh, XINPFLOW = 0      ' Disable XON/OFF     Input flow control
                COMM SET #sioh, XOUTFLOW = 0      ' Disable XON/XOFF    Output flow control
                COMM SEND #sioh, CHR$(128)
'                COMM SEND sioh, CHR$(&HFF, &H7F)    'reset usb sonar device
                MSGBOX "ËRR:"+ STR$(ERR)

                UsbSonar.hsio = sioh
                UsbSonar.com = devnr
                IF ERR THEN MSGBOX "ERROR" + STR$(ERRCLEAR) + " happened!",,FUNCNAME$
           CASE "ADXL202"
             '  LOCAL dummy AS STRING
                ADXL202.hsio = sioh
                ADXL202.com = devnr
             '   memo: global ADXL202 as AccelSensDevice
             '   The ADXL202 board is powered by the DTS line of the COMport.
             ' Minimum settings
                COMM SET #sioh, BAUD = 38400  'max is 256000 baud ! (25kByte/s, of 40 microsekonde per byte)
                        IF ERRCLEAR THEN
                            MSGBOX "Error setbaudrate to 38400",, FUNCNAME$
                            COMM CLOSE #sioh
                            EXIT FUNCTION
                        END IF
                COMM SET #sioh, BYTE = 8      ' 8 bits
                        IF ERRCLEAR THEN
                            MSGBOX "Error setting COM port to 8 bit",, FUNCNAME$
                            COMM CLOSE #sioh
                            EXIT FUNCTION
                        END IF
                COMM SET #sioh, PARITY = %False ' No parity
                        IF ERRCLEAR THEN
                            MSGBOX "Error setting no parity on COM port",, FUNCNAME$
                            COMM CLOSE #sioh
                            EXIT FUNCTION
                        END IF
             '   comm set #sioh, START     = 0      ' 1 start bit   how can be set 1 start bit ???
                COMM SET #sioh, STOP = 0      '0 = 1 stop bit, 1= 1.5 stop bit , 2= 2 stop bits
                        IF ERRCLEAR THEN
                            MSGBOX "Error setting stopbit",, FUNCNAME$
                            COMM CLOSE #sioh
                            EXIT FUNCTION
                        END IF
                COMM SET #sioh, TXBUFFER = 2048   ' transmit buffer
                        IF ERRCLEAR THEN
                            MSGBOX "Transmit Buffer allocation error",, FUNCNAME$
                            COMM CLOSE #sioh
                            EXIT FUNCTION
                        END IF
                COMM SET #sioh, RXBUFFER = 4096 '256   '64 '4 '4096   ' receive buffer
                        IF ERRCLEAR THEN
                            MSGBOX "Receive Buffer error",, FUNCNAME$
                            COMM CLOSE #sioh
                            EXIT FUNCTION
                        END IF

                ADXL202.samplingrate = 50  '64
                ADXL202.Xbuf = REPEAT$(512,CHR$(13)& CHR$(88))     ' set 5000 as default center value = &H1388
                ADXL202.Ybuf = REPEAT$(512,CHR$(13)& CHR$(88))
                ' start the data acquisition task (using a periodic timer)
                ADXL202.TimerId = TimeSetEvent (1000/ADXL202.samplingrate,0,CODEPTR(ADXL202_CB),0,%TIME_PERIODIC OR %TIME_CALLBACK_FUNCTION)
                IF ISFALSE ADXL202.TimerId THEN
                    MSGBOX "Failure starting ADXL202 data acquisition timer",, FUNCNAME$
                    COMM CLOSE #sioh
                    ADXL202.hsio = %False
                    ADXL202.com  = %False
                    EXIT FUNCTION
                ELSE
                    ADXL202.naam = "ADXL202"
                    ADXL202.Xref = 4900     ' reference center value
                    ADXL202.Yref = 4660     ' reference center value
                    ADXL202.tiltX = %False
                    ADXL202.tiltY = %False
                    ADXL202.accX  = %False
                    ADXL202.accY  = %False
                    ADXL202.daX   = %False
                    ADXL202.daY   = %False
                    ADXL202.xavg = ADXL202.Xref
                    ADXL202.yavg = ADXL202.Yref
                    ' request 4 bytes of data on init:
                    COMM SEND #sioh, "G"     ' = &H47 request data
                    IF ERRCLEAR THEN
                        MSGBOX "Sending error",, FUNCNAME$
                    END IF
                END IF
           CASE "BS2"
             ' Minimum settings
                COMM SET #sioh, BAUD     = 9600   ' 128000  'max is 256000 baud ! (25kByte/s, of 40 microsekonde per byte)
                COMM SET #sioh, BYTE     = 8      ' 8 bits
                COMM SET #sioh, PARITY   = %FALSE ' No parity
                COMM SET #sioh, STOP     = 0      ' 1 stop bit
                COMM SET #sioh, TXBUFFER = 2048   ' transmit buffer
                COMM SET #sioh, RXBUFFER = 4096   ' receive buffer
            ' Optional settings for flow control
                COMM SET #sioh, CTSFLOW  = 1      ' Enable CTS
                COMM SET #sioh, RTSFLOW  = 1      ' Enable RTS
                COMM SET #sioh, XINPFLOW = 0      ' Disable XON/OFF     Input flow control
                COMM SET #sioh, XOUTFLOW = 0      ' Disable XON/XOFF    Output flow control
    END SELECT
    FUNCTION = sioh
END FUNCTION

FUNCTION Close_Serial_IO (BYREF sioh AS DWORD, hardware AS STRING) EXPORT AS DWORD
    LOCAL dummy AS STRING
  '  logfile FUNCNAME$
    IF ISFALSE sioh THEN EXIT FUNCTION

    SELECT CASE TRIM$(UCASE$(hardware))
           CASE "ADXL202"
               ' stop timertask...
               IF ADXL202.TimerId THEN timeKillEvent ADXL202.TimerId : ADXL202.TimerId = %False
               IF COMM(#sioh, RXQUE) THEN COMM RECV #sioh, COMM(#sioh,RXQUE),dummy
               SLEEP 100
               COMM CLOSE #sioh
               ADXL202.hsio = %False
               ADXL202.com = %False
           CASE ELSE
               IF COMM(#sioh, RXQUE) THEN COMM RECV #sioh, COMM(#sioh,RXQUE),dummy
               logfile "closing COM" + STR$(sioh)
               COMM CLOSE #sioh
    END SELECT
    sioh = %False
  '  logfile FUNCNAME$ + " done - lasterr" + STR$(ERRCLEAR)

    FUNCTION = %False
END FUNCTION

SUB ADXL202_CB (BYVAL wTimerID AS LONG, BYVAL msg AS LONG, BYVAL eventnr AS LONG, BYVAL dw1 AS LONG, BYVAL dw2 AS LONG)
    ' No export!
    ' this function is called at the required sampling rate as a callback for TimeSetEvent started on
    ' selecting the serial ADXL202 sensor device.
    STATIC dta  AS STRING * 4
    STATIC q    AS DWORD
    LOCAL dummy AS STRING
    LOCAL tx AS LONG
    LOCAL ty AS LONG

    q = COMM(#ADXL202.hsio, RXQUE)
                IF ERRCLEAR THEN
                    MSGBOX "RXQUE error",, FUNCNAME$
                    EXIT SUB
                END IF
    IF q >= 4 THEN
        COMM RECV #ADXL202.hsio, 4, dta      ' dta = X-msb, X-lsb, Y-msb, Y-lsb
        IF ERRCLEAR THEN
            MSGBOX "Read error Com port" ,, FUNCNAME$
            EXIT SUB
        END IF
        ADXL202.Xval = (ASC(LEFT$(dta,1)) * 256) + ASC(MID$(dta,2,1))
        ADXL202.Yval = (ASC(MID$(dta,3,1)) * 256) + ASC(MID$(dta,4,1))
        ADXL202.Xbuf = MID$(dta,2,1) & LEFT$(dta,1) & ADXL202.Xbuf    ' fixed length string 1024 bytes
        ADXL202.Ybuf = RIGHT$(dta,1) & MID$(dta,3,1) & ADXL202.Ybuf

        ' now convert this data to real information:
        ' running average
        ADXL202.xavg = ((ADXL202.xavg * 99) + ADXL202.Xval) / 100    ' 2 second integration time
        ADXL202.yavg = ((ADXL202.yavg * 99) + ADXL202.Yval) / 100    ' 2 second integration time
        ' absolute acceleration:   (this is positional!)
        ADXL202.accX = (ADXL202.Xval - ADXL202.Xref) /1250 '-2g to + 2g   ' / 2500  ' range -4g to + 4g
        ADXL202.accY = (ADXL202.Yval - ADXL202.Yref) /1250 '-2g to + 2g   ' / 2500  ' range -4g to + 4g
        ' relative acceleration would be: (would be much more usefull:)
        ADXL202.daX = (ADXL202.Xval - ADXL202.xavg) / 1250  ' range -2g to + 2g
        ADXL202.daY = (ADXL202.Yval - ADXL202.yavg) / 1250  ' range -2g to + 2g
        ' value is in degrees now!
        ' to calculate tilt, we need to integrate the buffer and compare it with the reference value
        tx = ADXL202.xavg - ADXL202.Xref     ' range= 3550 to 6270 for -1g to + 1g, so tx = -1350 to + 1370
        ty = ADXL202.yavg - ADXL202.Yref     ' range= 3330 to 5960 for -1g to + 1g, so ty = -1330 to + 1300
        tx = MIN(1250,tx)
        ty = MIN(1250,ty)
        tx = MAX(-1250,tx)
        tx = MAX(-1250,tx)
        ' nu is 1g = 1350 units = 90 graden
        ADXL202.tiltX = 57.3 * ARCSIN(tx / 1250) ' convert rad to degrees * 57.2958
        ADXL202.tiltY = 57.3 * ARCSIN(ty / 1250)
        IF q-4 > %False THEN
                 COMM RECV #ADXL202.hsio, q-4, dummy
                 IF ERRCLEAR THEN
                     MSGBOX "Flushing error Com port" ,, FUNCNAME$
                     EXIT SUB
                 END IF
        END IF
        COMM SEND #ADXL202.hsio, "G"           ' request new data.
        IF ERRCLEAR THEN
            MSGBOX "Sending error",, FUNCNAME$
            EXIT SUB
        END IF
    ELSE
       ' no data, this is mostly the case...
        COMM SEND #ADXL202.hsio, "G"    ' request new data.
        IF ERRCLEAR THEN
            MSGBOX "Sending error",, FUNCNAME$
            EXIT SUB
        END IF
    END IF
END SUB

FUNCTION GetADXL202pointer () EXPORT AS DWORD
    FUNCTION = VARPTR(ADXL202)
END FUNCTION


FUNCTION BufOut (BYVAL adrreg AS DWORD,BYVAL pd AS DWORD, BYVAL siz AS DWORD) EXPORT AS DWORD
    ' adrreg is composed as the .preg, pinp, preg byte in our IO device types.
    ' pd is a pointer to the first element of the databuffer
    ' siz is the length in bytes - it must be even!!!
    LOCAL dev    AS WORD
    LOCAL retval AS DWORD
    DIM b(siz-1) AS LOCAL BYTE AT pd    ' must be local or we get a gpf...
    SELECT CASE adrreg
           #IF %DEF(%ACTIVEWIRE)
           CASE &H08A00 TO &H08A40
               ' activewire usb devices
                     retval = AwusbOutPort (b(0), siz)
                     IF ISFALSE retval THEN
                        dev = LOBYT(adrreg)
                        SHIFT RIGHT dev, 1  ' now dev. is 0,1,2,3,4,5...
                        IOports.msblsb(dev) = b(siz-1)
                        SHIFT LEFT IOports.msblsb(dev), 8
                        IOports.msblsb(dev) = IOports.msblsb(dev) OR b(siz-2)
                        FUNCTION = %True
                     ELSE
                        MSGBOX AwUsbErrorMessage (retval),,FUNCNAME$
                        FUNCTION = %False
                     END IF
           #ENDIF
    END SELECT
END FUNCTION

SUB PortOut (BYVAL adr AS WORD, BYVAL b AS BYTE) EXPORT
   LOCAL retval AS LONG
   ' mimic Visual Basic statement
   SELECT CASE adr
#IF %DEF(%NiDAQ)
          CASE 0,1,2
               ' uses a NiDAQ DIO device
               retval = DIG_Out_Port(@pDIOparams.id, adr,b)
          CASE &H100
               ' uses a NiDAQ DAQ device
               retval = DIG_Out_Port(@pDAQparams.id, adr,b)
#ENDIF
          'CASE < &H278
          '     EXIT SUB
          CASE %Padr, %Padr+1, %Padr + 2
               '- this crashes on NT machines if you do not run UserPort.exe
             ! push ax
             ! push dx
             ! mov dx, adr??
             ! mov al, b?
             ! out dx, al
             ! pop dx
             ! pop ax

          CASE &H0FF0 TO &H7FF1 '> &H037F       ' should be &H0FF0 to &H7FF1
                ' uses a USB UART device         - new 10.01.2002
                ' the device number is in the high nibble of the high byte of adr
                'Note that adr?? must be &H?FF? (lowest possible value is 4080)
                LOCAL dev AS DWORD
                LOCAL lIn AS LONG       ' 3 bytes used as databuffer
                LOCAL lOut AS LONG      ' 1 byte
                LOCAL siz  AS LONG
                dev = adr
                SHIFT RIGHT dev,12
                ' the port (each device has 2 ports) is in the low nibble of adr??, so adr?? AND &H000F
                ' new:
                lIn = b
                SHIFT LEFT lIn,8
                lIn = lIn OR (adr AND &H000F)
                SHIFT LEFT lIn,8
                lIn = lIn OR 21
               DeviceIOControl USB_DIO(dev).h, 4&,lIn,3,lOut,1,siz,USB_DIO(dev).gOverlapped
#IF %DEF(%ACTIVEWIRE)
          CASE &H08A00 TO &H08A40   ' for activewire devices
                ' the device number is in the lowest byte, numbered in even steps: 0,2,4,6,8...
                ' but, we do not need the device number since we can have only one instance of an
                ' aw-usb device in this thread.
                DIM b(1) AS LOCAL BYTE
                dev = LOBYT(adr)
                SHIFT RIGHT dev, 1  ' now dev. is 0,1,2,3,4,5...
                IF ISFALSE BIT(adr,0) THEN
                    ' data byte for lsb, so 8 bit transfer
                     b(0) = b
                     retval = AwusbOutPort (b(0),1)
                     IF ISFALSE retval THEN
                        IOports.msblsb(dev) = IOports.msblsb(dev) AND &H0FF00
                        IOports.msblsb(dev) = IOports.msblsb(dev) OR b
                     ELSE
                        MSGBOX AwUsbErrorMessage (retval),,"<g_n*h.dll>"
                     END IF
                ELSE
                    ' register byte for msb, so 16 bit transfer
                    ' we use the previous lsb as data byte
                     b(1) = b
                     b(0) = LOBYT(IOports.msblsb(dev))
                     retval = AwusbOutPort (b(0), 2)
                     IF ISFALSE retval THEN
                        lOut = b
                        SHIFT LEFT lOut,8
                        IOports.msblsb(dev) = IOports.msblsb(dev) AND &H00FF
                        IOports.msblsb(dev) = IOports.msblsb(dev) OR lOut
                     ELSE
                        MSGBOX AwUsbErrorMessage (retval),,"<g_n*h.dll>"
                     END IF
                END IF
#ENDIF
   END SELECT
END SUB

FUNCTION PortIn? (BYVAL adr??)  EXPORT
   LOCAL answer AS BYTE
#IF %DEF(%NiDAQ)
'   ' this gives a general protection error when we do mov Portin, al...
   LOCAL retval AS INTEGER
   LOCAL pattern AS INTEGER
   SELECT CASE adr??
          CASE &H379, %Padr+1
                ' mimic Visual Basic statement
                ! push ax
                ! push dx
                ! mov dx, adr??
                ! in al, dx
                ! mov answer, al
                ! pop dx
                ! pop ax
                FUNCTION = answer
          CASE 0,1,2
                ' now adr?? must correspond the the port to be read (0,1,2...)
                ' used and tested in Roto_Mot
                retval = DIG_In_Port(@pDIOparams.id, adr??,pattern)
                FUNCTION = LOBYT(pattern)

          CASE &H0FF0 TO &H7FF1
                ' uses a USB UART device         - new 10.01.2002
                ' the device number is in the high nibble of the high byte of adr
                'Note that adr?? must be &H?FF? (lowest possible value is 4080)
                LOCAL dev AS DWORD
                LOCAL lIn AS LONG
                LOCAL lOut AS LONG
                LOCAL siz  AS LONG

                dev = adr??
                SHIFT RIGHT dev,12
                ' the port (each device has 2 ports) is in the low nibble of adr??, so adr?? AND &H000F
                'lIn = (256 * (adr?? AND &H000F)) + 20
                lIn = adr?? AND &H000F
                SHIFT LEFT lIn, 8
                lIn = lIn OR 20
                DeviceIOControl USB_DIO(dev).h, 4&,lIn,2,lOut,2,siz,USB_DIO(dev).gOverlapped
                SHIFT RIGHT lOut, 8
                FUNCTION = lOut     ' was: (lOut / 256) AND 255

#IF %DEF(%ACTIVEWIRE)
          CASE &H08A00 TO &H08A40  ' for activewire devices  - the leading zero is mandatory!
                ' the device number is in the lowest byte, numbered in even steps: 0,2,4,6,8...
                ' but, we do not need the device number since we can have only one instance of an
                ' aw-usb device in this thread.
                AwusbInPort BYVAL(VARPTR(lIn)),2    ' we always must read a word (16 bits)
                IF BIT(adr??,0) THEN
                    ' data byte for lsb, so 8 bit transfer
                     FUNCTION = LOBYT(lIn)
                ELSE
                    ' register byte for msb, so HIBYT
                     FUNCTION = HIBYT(lIn)
                END IF
#ENDIF
          CASE ELSE
               ' nothing
                FUNCTION = %False
   END SELECT
#ELSE
   SELECT CASE adr??
          CASE <&H200
              ' refuse
              FUNCTION = %False
          CASE %Padr TO %Padr + 2
            ' mimic Visual Basic statement
            ! push ax
            ! push dx
            ! mov dx, adr??
            ! in al, dx
            ! mov answer, al
            ! pop dx
            ! pop ax
            FUNCTION = answer
          CASE &H0FF0 TO &H7FF1
                LOCAL dev AS DWORD
                LOCAL lIn AS LONG
                LOCAL lOut AS LONG
                LOCAL siz  AS LONG
                dev = adr??
                SHIFT RIGHT dev,12
                lIn = adr?? AND &H000F
                SHIFT LEFT lIn, 8
                lIn = lIn OR 20
                DeviceIOControl USB_DIO(dev).h, 4&,lIn,2,lOut,2,siz,USB_DIO(dev).gOverlapped
                SHIFT RIGHT lOut, 8
                FUNCTION = lOut
#IF %DEF(%ACTIVEWIRE)
          CASE &H08A00 TO &H08A40  ' for activewire devices
                AwusbInPort BYVAL(VARPTR(lIn)),2
                IF BIT(adr??,0) THEN
                     FUNCTION = LOBYT(lIn)
                ELSE
                     FUNCTION = HIBYT(lIn)
                END IF
#ENDIF
          CASE ELSE
                FUNCTION = %False
   END SELECT
#ENDIF
END FUNCTION

SUB Strobe (BYVAL Adr AS WORD, BYVAL strobebyte AS BYTE, BYVAL bitnumber AS BYTE, BYVAL t AS WORD)  EXPORT
    ' when used with NiDAQ DIO devices, strobebyte will be disregarded.
    STATIC timres AS SINGLE
    STATIC tog    AS LONG
    LOCAL tc0     AS QUAD 'LARGE_INTEGER   ' was winApi type in 6.00
    LOCAL tc1     AS QUAD 'LARGE_INTEGER
    LOCAL pqt0    AS QUAD PTR
    LOCAL pqt1    AS QUAD PTR

    pqt0 = VARPTR(tc0)
    pqt1 = VARPTR(tc1)

    IF ISFALSE tog THEN
       QueryPerformanceFrequency tc0        ' returns the performancecounterfrequency in Hz
       IF @pqt0 THEN
                timres = 1000000 / @pqt0       ' expressed in microseconds
       ELSE
                MSGBOX "[g_n*h.dll Strobe]: This PC cannot perform micro timing!",,"<g+>: [Strobe]"
       END IF
       tog = %True
    END IF

    SELECT CASE Adr
           CASE &H0FF0 TO &H7FF1  '> &H037F
                ' uses a USB UART device         - new 06.02.2002
                ' the device number is in the high nibble of the high byte of adr
                ' Note that adr?? must be &H?FF? (lowest possible value is 4080)
                LOCAL dev AS DWORD
                LOCAL lIn AS LONG
                LOCAL lOut AS LONG
                LOCAL siz  AS LONG
                dev = Adr
                SHIFT RIGHT dev,12
                ' the port (each device has 2 ports) is in the low nibble of adr??, so adr?? AND &H000F
                BIT RESET strobebyte, bitnumber
                lIn = strobebyte
                SHIFT LEFT lIn,16
                lIn = lIn + 21 + (256 * (Adr AND &H000F))
                DeviceIOControl USB_DIO(dev).h, 4&,lIn,3,lOut,1,siz,USB_DIO(dev).gOverlapped
                BIT SET strobebyte, bitnumber
                lIn = strobebyte
                SHIFT LEFT lIn,16
                lIn = lIn + 21 + (256 * (Adr AND &H000F))
                DeviceIOControl USB_DIO(dev).h, 4&,lIn,3,lOut,1,siz,USB_DIO(dev).gOverlapped

           CASE >= %Padr
                    ' Adr          = I/O adres
                    ' strobebyte   = bit pattern to write
                    ' bitnumber    = bit to toggle
                    ' t            = time to keep bit in toggled position, expressed in microseconds.
                    ' this strobes a single bit on a given I/O port
                    ' Note that the printer port uses the port on base adres + 2
                    ' strobebyte = Portin (Adr) = %CtrlHiNib
                    'strobebyte = 80
                    '  BIT SET strobebyte, 0              ' makes strobe-low
                  BIT TOGGLE strobebyte, bitnumber              ' makes strobe-low, if printer port
                ! push eax
                ! push edx
                ! mov dx, Adr
                ! mov al, strobebyte
                ! out dx, al
                ! pop edx
                ! pop eax
                 IF timres THEN
                        QueryPerformanceCounter tc0
                        @pqt0 = @pqt0 + (t / timres)
                        DO
                            QueryPerformanceCounter tc1
                        LOOP UNTIL @pqt1 >= @pqt0
                 ELSE
                        @pqt0 = 0
                        DO
                             INCR @pqt0
                        LOOP UNTIL @pqt0 = t
                 END IF
                BIT TOGGLE strobebyte, bitnumber            ' makes strobe high, if printer port
                ! push eax
                ! push edx
                ! mov dx, Adr
                ! mov al, strobebyte
                ! out dx, al
                ! pop edx
                ! pop eax
    CASE 0,1,2
         'ni_Strobe @pDIOparams.id, Adr, bitnumber, t
          #IF %DEF(%NiDAQ)
                 'stat =
                 DIG_Out_Line @pDIOparams.id,adr,bitnumber,0  ' make strobe low.
                 IF timres THEN
                        QueryPerformanceCounter tc0
                        @pqt0 = @pqt0 + (t / timres)
                        DO
                            QueryPerformanceCounter tc1
                        LOOP UNTIL @pqt1 >= @pqt0
                 ELSE
                        @pqt0 = 0
                        DO
                             INCR @pqt0
                        LOOP UNTIL @pqt0 = t
                 END IF
                'stat =
                DIG_Out_Line @pDIOparams.id,adr,bitnumber,1
         #ENDIF
    END SELECT
END SUB

FUNCTION g_Strobe (BYVAL Adr AS WORD, BYVAL strobebyte AS BYTE, BYVAL bitnumber AS BYTE)  EXPORT AS LONG
    LOCAL pqt0    AS QUAD PTR
    LOCAL pqt1    AS QUAD PTR
    LOCAL tc0     AS QUAD
    LOCAL tc1     AS QUAD
    LOCAL dev     AS DWORD
    LOCAL siz     AS LONG
    LOCAL retval  AS DWORD

    SELECT CASE Adr
#IF %DEF(%ACTIVEWIRE)
          CASE &H08A00 TO &H08A40 ' for activewire devices
                ' the device number is in the lowest byte, numbered in even steps: 0,2,4,6,8...
                ' but, we do not need the device number since we can have only one instance of an
                ' aw-usb device in this thread.
                ' The strobe pulses generated are 17 microseconds long. (measured 18.05.2002)
                ' The time to transfer a byte (time between strobes) is 50 microseconds. (02.06.2002 YES)
                DIM b(3) AS LOCAL BYTE
                dev = LOBYT(adr)
                SHIFT RIGHT dev, 1  ' now dev. is 0,1,2,3,4,5...
                b(0) = LOBYT (IOports.msblsb(dev))
                b(2) = b(0)
                b(1) = strobebyte
                b(3) = strobebyte
                BIT RESET b(1),bitnumber
                BIT SET b(3),bitnumber
                retval = AwusbOutPort (b(0),4)
                IF ISFALSE retval THEN
                    IOports.msblsb(dev) = b(3)
                    SHIFT LEFT IOports.msblsb(dev),8
                    IOports.msblsb(dev) = IOports.msblsb(dev) OR b(0)
                ELSE
                    MSGBOX AwUsbErrorMessage (retval),,FUNCNAME$
                    FUNCTION = %False
                    EXIT FUNCTION
                END IF
#ENDIF
           CASE &H0FF0 TO &H7FF1  '> &H037F
                ' uses a USB UART device         - new 06.02.2002
                ' the device number is in the high nibble of the high byte of adr
                ' Note that adr?? must be &H?FF? (lowest possible value is 4080)
                LOCAL lIn AS LONG
                LOCAL lOut AS LONG
                dev = Adr
                SHIFT RIGHT dev,12

              '  goto probeer:
                ' the port (each device has 2 ports) is in the low nibble of adr??, so adr?? AND &H000F
                BIT RESET strobebyte, bitnumber
                ' new:
                lIn = strobebyte
                SHIFT LEFT lIn,8
                lIn = lIn OR (Adr AND &H000F)
                SHIFT LEFT lIn,8
                lIn = lIn OR 21
                DeviceIOControl USB_DIO(dev).h, 4&,lIn,3,lOut,1,siz,USB_DIO(dev).gOverlapped
                BIT SET lIn, bitnumber +16
                DeviceIOControl USB_DIO(dev).h, 4&,lIn,3,lOut,1,siz,USB_DIO(dev).gOverlapped
                FUNCTION = %True
                EXIT FUNCTION
probeer:
                ' try to do it in one move:
                BIT RESET strobebyte, bitnumber
                tc0 = strobebyte
                SHIFT LEFT tc0,8
                tc0 = tc0 OR (Adr AND &H000F)
                SHIFT LEFT tc0, 8
                tc0 = tc0 OR 21
                SHIFT LEFT tc0, 8
                BIT SET strobebyte, bitnumber
                tc0 = tc0 OR strobebyte
                SHIFT LEFT tc0, 8
                tc0 = tc0 OR (Adr AND &H000F)
                SHIFT LEFT tc0,8
                tc0 = tc0 OR 21


                DeviceIOControl USB_DIO(dev).h, 4&,tc0,6,lOut,1,siz,USB_DIO(dev).gOverlapped

           CASE >= %Padr
                 pqt0 = VARPTR(tc0)
                 pqt1 = VARPTR(tc1)
                    ' takes 25 microseconds on <mobi> and <yes>  [strobe stays negative for 12.5 microseconds]
                            ' Adr          = I/O adres
                            ' strobebyte   = bit pattern to write
                            ' bitnumber    = bit to toggle
                            ' this strobes a single bit on a given I/O port
                            ' Note that the printer port uses the port on base adres + 2
                            ' strobebyte = Portin (Adr) = %CtrlHiNib
                  BIT TOGGLE strobebyte, bitnumber              ' makes strobe-low, if printer port
                ! push eax
                ! push edx
                ! mov dx, Adr
                ! mov al, strobebyte
                ! out dx, al
                ! pop edx
                ! pop eax
                        QueryPerformanceCounter tc0
                        INCR @pqt0 '@pqt0 = @pqt0 + 1 '(t / timres)
                        DO
                            QueryPerformanceCounter tc1
                        LOOP UNTIL @pqt1 >= @pqt0
                BIT TOGGLE strobebyte, bitnumber            ' makes strobe high, if printer port
                ! push eax
                ! push edx
                ! mov dx, Adr
                ! mov al, strobebyte
                ! out dx, al
                ! pop edx
                ! pop eax
                        QueryPerformanceCounter tc0
                        INCR @pqt0 '@pqt0 = @pqt0 + 1 '(t / timres)
                        DO
                            QueryPerformanceCounter tc1
                        LOOP UNTIL @pqt1 >= @pqt0
        CASE 0,1,2
             #IF %DEF(%NiDAQ)
                    ' devnr        = assigned by NiDAQ
                    ' portnumber   = 0,1,2 for DIO devices
                    ' strobebyte   = bit pattern to write     - no longer required since we can switch individual bits.
                    ' bitnumber    = bit to toggle in strobebyte
                    ' t            = time to keep bit in toggled position, expressed in microseconds.
                    ' this strobes a single bit on a given I/O port
                    ' Note that the hardware uses the port 2
                 'stat = DIG_Out_Line (@pDIOparams.id,Adr,bitnumber,0)  ' make strobe low
                  DIG_Out_Line @pDIOparams.id,Adr,bitnumber,0
                 ' without these query's the negative strobe becomes 9 microseconds on Putty using NiDAQ DIO24
                 ' measured with Vibi, using Fluke, 22.10.2001
                 ' with NiDAQ 6355 on Vaio, we get strobes between 24 and 30 microseconds.
                 '                 on Lily, we get 100 microseconds.
           '      QueryPerformanceCounter tc0
           '      INCR @pqt0
           '      DO
           '           QueryPerformanceCounter tc1
           '      LOOP UNTIL @pqt1 >= @pqt0
               '  stat = DIG_Out_Line (@pDIOparams.id,Adr,bitnumber,1)
                  DIG_Out_Line @pDIOparams.id,Adr,bitnumber,1
           '      QueryPerformanceCounter tc0
           '      INCR @pqt0
           '      DO
           '           QueryPerformanceCounter tc1
           '      LOOP UNTIL @pqt1 >= @pqt0
' we can also do (maybe even faster...): [yields same speed on Vaio with 6355 card]
           '   BIT RESET strobebyte, bitnumber
           '   stat = DIG_Out_Prt(@pDIOparams.id,Adr,strobebyte)
           '   BIT SET strobebyte, bitnumber
           '   stat = DIG_Out_Prt(@pDIOparams.id,Adr,strobebyte)
             #ENDIF

    END SELECT
    FUNCTION = %True
END FUNCTION

'' ***********************************************************
'' *     machine control code for musical robots             *
'' ***********************************************************
FUNCTION Ni_16bitHandshake (BYVAL prt AS BYTE) EXPORT AS LONG
    ' initialize the DIO device for 16 bit I/O with handshaking
    ' prt = 0 resets the group settings
    ' prt = 1 configures output to the lowest 16 bit port
    ' prt = 2 configures output to the highest 16 bit port  (only for 6355 cards)
    ' prt = 12 configure %DualHandshake mode
 '   STATIC tog AS BYTE
    ' implemented for <Vibi> and <Harma> - under test.
    LOCAL stat AS INTEGER
    LOCAL retval AS INTEGER
    #IF %DEF(%NiDAQ)
    SELECT CASE UCASE$(@pDIOparams.device)
              CASE UCASE$("DAQCard DIO-24")
                   SELECT CASE prt
                          CASE 0
                               ' reset to non-handshaking mode, delete all port-grouping
                             '  retval = DIG_SCAN_Setup(@pDIOparams.id,1,0,0,1)     - proc. not found in dll...
                          CASE 1
                     ' this card cannot be used for 16bit transfers, but we implemented a pretty fast
                     ' pseudo 16bit out in our Ni_16bitOut function
                     ' question: can we use following code?
                 '    DIM lst(0 TO 1) AS LOCAL INTEGER
                 '    lst(0) = 1
                 '    lst(1) = 0
                 '    retval = DIG_SCAN_Setup(@pDIOparams.id,1,2,VARPTR(lst()),1)
                     ' with this, we have to use DIG_Block_Out for I/O
                 '    stat= NiDAQErrorhandler(stat,"DIG_SCAN_Setup",0)

                     ' alternative:
                     stat = DIG_Prt_Config (@pDioparams.id,0,1,1)       ' mode=1 for handhake enabled, dir=1 for output
                     'retval = NiDAQErrorhandler(stat,"DIG_Prt_Config",0)
                     stat = DIG_Prt_Config (@pDioparams.id,1,0,1)       ' port B, mode=0 no handshake
                    ' retval = NiDAQErrorhandler(stat,"DIG_Prt_Config",0)
                     @pDIOparams.flags = %WordHandshake
                    END SELECT
              CASE UCASE$("DAQCard-6533"),"AT-DIO-32HS","PCI-DIO-32HS"
                   SELECT CASE prt
                          CASE 0
                              ' reset to non-handshaking mode, delete all port-groupings
                              stat = DIG_Grp_Config(@pDIOparams.id,1,0,0,1)     'group=1, groupsize=0 (16bit),port=0,dir =1 for output
                             ' retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                              @pDIOparams.flags = %False
                          CASE 1
                              stat = DIG_Grp_Config(@pDIOparams.id,prt,2,0,1)     'group=1, groupsize=2 (16bit),port=0,dir =1 for output
                             ' retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                              'stat = DIG_Grp_Mode(@pDIOparams.id,prt,4,0,1,1,7)   'config handshake 8255 mode
                                      ' this leads to strobe pulses of 100ns
                              ' or: use long pulse mode - protocol = 2
                              'stat = DIG_Grp_Mode(@pDIOparams.id,prt,2,0,1,1,7)  ' 700ns strobe pulse
                              '' above hangs..., apparently we must use:
                              'stat = DIG_Grp_Mode(@pDIOparams.id,prt,2,0,1,0,7)  ' 700ns strobe pulse - positive going
                              stat = DIG_Grp_Mode(@pDIOparams.id,prt,2,0,0,1,7)  ' 700ns strobe pulse - negative going
                            '  retval = NiDAQErrorHandler(stat,"DIG_Grp_Mode",0)
                              @pDIOparams.flags = %WordHandshake         ' 16 bit
                              FUNCTION = %True
                          CASE 2
                               stat = DIG_Grp_Config(@pDIOparams.id,prt,2,2,1)       'group=1, groupsize=2 (16bit),port=2,dir =1 for output
                             '  retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                               stat = DIG_Grp_Mode(@pDIOparams.id,1,2,0,0,1,7)
                             '  retval = NiDAQErrorHandler(stat,"DIG_Grp_Mode",0)
                               @pDIOparams.flags = %WordHandshake
                               FUNCTION = %True
                          CASE 12 ' test dualhandshake mode
                               ' in mode 2, 300ns, we measured 1ms for each reg/data byte transfer..., strobes are 100 microsec.
                               ' configure port 0 as a group - (dataport)
                               stat = DIG_Grp_Config(@pDIOparams.id,1,1,0,1)       'group=1, groupsize=1 (8bit),port=0,dir =1 for output
                            '   retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                               'stat = DIG_Grp_Mode(@pDIOparams.id,1,2,0,0,1,3)    ' 300ns strobe pulse - negative going
                               stat = DIG_Grp_Mode(@pDIOparams.id,1,4,0,1,1,0)  ' 8255 mode...
                               'stat = DIG_Grp_Mode(@pDIOparams.id,1,1,0,1,1,0)
                             '  retval = NiDAQErrorHandler(stat,"DIG_Grp_Mode",0)
                               ' configure port 2 as a group - (dataport)
                               stat = DIG_Grp_Config(@pDIOparams.id,2,1,2,1)       'group=2, groupsize=1 (8bit),port=0,dir =1 for output
                            '   retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                               'stat = DIG_Grp_Mode(@pDIOparams.id,2,2,0,0,1,3)     ' 300ns strobe pulse - negative going
                               stat = DIG_Grp_Mode(@pDIOparams.id,2,4,0,1,1,0)   ' 8255 mode
                               'stat = DIG_Grp_Mode(@pDIOparams.id,2,1,0,1,1,0)
                            '   retval = NiDAQErrorHandler(stat,"DIG_Grp_Mode",0)
                               @pDIOparams.flags = %DualHandshake
                               FUNCTION = %True
                          CASE 13 ' test for harma
                               stat = DIG_PRT_Config (@pDIOparams.id,2,0,1)  ' make port 2 (C-port) output only - bits 0,1,2,3
                               stat = DIG_Out_Line (@pDIOparams.id,2,0,1)    ' strobe must be high at rest.
                               ' configure port 0 as a group - (dataport)
                               ' configure port 2 as non-strobed I/O port
                               stat = DIG_Grp_Config(@pDIOparams.id,1,1,0,1)       'group=1, groupsize=1 (8bit),port=0,dir =1 for output
                             '  retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                               stat = DIG_Grp_Mode(@pDIOparams.id,1,2,0,0,1,7)
                             '  retval = NiDAQErrorHandler(stat,"DIG_Grp_Mode",0)
                               stat = DIG_PRT_Config (@pDIOparams.id,2,0,1)  ' make port 2 (C-port) output only - bits 0,1,2,3
                               stat = DIG_Out_Line (@pDIOparams.id,2,0,1)    ' strobe must be high at rest.
                               @pDIOparams.flags = 13
                          CASE 14 ' this should attempt pattern generation mode, so timing would be only
                               ' dependent on the internal clock of our NiDAQ device.
                               stat = DIG_Grp_Config(@pDIOparams.id,prt,2,0,1)     'group=1, groupsize=2 (16bit),port=0,dir =1 for output
                             '  retval = NiDAQErrorhandler(stat,"DIG_Grp_Config",0)
                               stat = DIG_Block_PG_Config(@pDIOparams.id,1,1,0,2,2,0)    ' timebase set to 10 microseconds
                               ' now we can only use DIG_Block_Out operations to output data...
                               ' %WordBlockTransfer
                   END SELECT
              CASE ELSE
                    MSGBOX "Invalid device for 16bit handshake operation",,"g_nih.dll"
                    @pDIOparams.flags = %False
                    FUNCTION = %False
                    EXIT FUNCTION
    END SELECT
    #ELSE
                    @pDIOparams.flags = %False
                    FUNCTION = %False
    #ENDIF
END FUNCTION

FUNCTION Ni_16bitOut (BYVAL grp AS INTEGER, BYVAL bh AS BYTE, BYVAL bl AS BYTE) EXPORT AS LONG
   '05.11.2001 - implemented for Vibi with 8355 DAQ card
   'on <Vaio> this leads to 100ns strobe signals in mode 4, 800ns strobes for mode=2.
   'This would lead to suggest a peak data rate in the order of 5MWord/sec
   'the practical data rate is in the order of 10000 words/second
   LOCAL w AS WORD
   LOCAL stat AS INTEGER
   LOCAL retval AS INTEGER
   LOCAL latched AS INTEGER
   STATIC card AS LONG
#IF %DEF(%NiDAQ)
   IF ISFALSE card THEN
       SELECT CASE UCASE$(@pDIOparams.device)
              CASE UCASE$("DAQCard DIO-24")
                    card = 1
              CASE UCASE$("DAQCard-6533"),"AT-DIO-32HS","PCI-DIO-32HS"
                    card = 2
              CASE ELSE
                    MSGBOX "Invalid device for 16bit PortOut",,"g_nih.dll"
                    FUNCTION = %False
                    EXIT FUNCTION
                    card = -1
       END SELECT
    END IF
    SELECT CASE card
           CASE 1
                 ' not tested yet...
                 ' block code:
             '     DIM Buf(0 TO 2) AS LOCAL INTEGER
             '     LOCAL remain AS LONG
             '     Buf(0)=bh : Buf(1)=bl
             '     retval = DIG_Block_Out(@pDIOparams.id,1,Buf(),1)
             '    DO
             '             stat = Dig_Block_Check(@pDioParams.id,1,remain)
             '             'retval = NiDAQYield(1)                ' ???
             '    LOOP UNTIL ISFALSE(remain)
             '    retval = NiDAQErrorhandler(stat,"DIG_Block_Check",0)
             '    FUNCTION = %True
                ' alternative:
                 retval = DIG_Out_Port(@pDIOparams.id,1,bh)     ' use special handshake connector board!!!
                 retval = DIG_Out_Port(@pDIOparams.id,0,bl)
                 DO
                          stat = Dig_Prt_Status(@pDioParams.id,0,latched)
                          'retval = NiDAQYield(1)                ' ???
                 LOOP UNTIL latched
                ' retval = NiDAQErrorhandler(stat,"DIG_Prt_Status",0)
                 FUNCTION = %True
           CASE 2
                SELECT CASE @pDioparams.flags
                       CASE %False
                            FUNCTION = %False    ' illegal call
                            EXIT FUNCTION
                       CASE %DualHandShake    ' = 2
                            ' in this mode we do not use the card's controll signals ACK/REQ as strobe
                            ' for our automats, but only bit 0 of the second port.
                            ' set register
                         '   BIT SET bh,0
                         '   retval =
                            DIG_Out_Grp @pDIOparams.id,2,bh OR 1
                         '   DO
                         '      stat = DIG_Grp_Status(@pDIOparams.id,2,latched)
                         '   LOOP UNTIL latched
                            ' set data
                            'retval =
                            DIG_Out_Grp @pDIOparams.id,1,bl
                         '   DO
                         '      stat = DIG_Grp_Status(@pDIOparams.id,1,latched)
                         '   LOOP UNTIL latched
                            ' strobe low
                            'BIT RESET bh,0
                           ' retval =
                           DIG_Out_Grp @pDIOparams.id,2,bh AND &HFE
                          '  DO
                          '     stat = DIG_Grp_Status(@pDIOparams.id,2,latched)
                          '  LOOP UNTIL latched
                            ' strobe high again
                            'BIT SET bh,0
                           ' retval =
                           DIG_Out_Grp @pDIOparams.id,2,bh OR 1
                          '  DO
                          '     stat = DIG_Grp_Status(@pDIOparams.id,2,latched)
                          '  LOOP UNTIL latched
                       CASE 13, %ByteHandshake      ' =1
                            ' testmode for harma   - to be tested, with first pcb prototype 6533 board
                            ' gives 25microsecond strobes on Vaio
                            BIT SET bh,0
                            retval = DIG_Out_Port(@pDIOparams.id,2,bh)
                            stat = Dig_Out_Grp (@pDIOparams.id,1,bl)
                            DO
                                stat = DIG_Grp_Status(@pDIOparams.id,1,latched)
                            LOOP UNTIL latched
                            BIT RESET bh,0
                            retval = DIG_Out_Port(@pDIOparams.id,2,bh)
                            BIT SET bh,0
                            retval = DIG_Out_Port(@pDIOparams.id,2,bh)
                       CASE %WordHandshake      '=4
                            w = bh
                            SHIFT LEFT w,8
                            w = w OR bl
                            Dig_Out_Grp @pDIOparams.id,grp,w      ' voor DAQCard 6533
                            FUNCTION = %True
                END SELECT
           CASE ELSE
                 FUNCTION = %False
    END SELECT
   #ELSE
                 FUNCTION = %False
   #ENDIF
END FUNCTION

FUNCTION IOportselector (BYVAL device AS DWORD) EXPORT AS DWORD
       ' device is the ID constant for the hardware that needs a port to connect to.
       'note: the code dealing with the robot types directly is moved to separate helper functions
       'in g_robo.dll  (legacy since 02.06.2009
    LOCAL hIOdlg   AS LONG
    LOCAL ID_IODlg AS DWORD
    LOCAL hmo      AS DWORD
    LOCAL usbcnt   AS DWORD
    LOCAL usbawcnt AS DWORD
    LOCAL arrsize  AS DWORD
    LOCAL i        AS DWORD
    LOCAL d        AS LONG
    LOCAL answer   AS DWORD
    LOCAL ret      AS DWORD
    LOCAL cnt      AS LONG
    LOCAL items()  AS STRING

    FUNCTION = %False

    arrsize = 0
    cnt = 0
    REDIM items(arrsize)
    'share global Ioports with g_robo.dll
    'Share_IoPorts VARPTR(Ioports), VARPTR(USB_DIO(0)) - removed 02.062009

    ' check for NT:
    IF IsNT THEN
               ' check for a driver: Userport.sys under C:\Winnt\system32\drivers
               ' run UserPort.Exe, click start and then exit.
               ' To remove the driver:
               ' run UserPort.exe, click stop.
               ' Documentation is under C:b\pb\LPT_Drivers
               'msgbox "NT detected"
       ' "C:\winnt\system32\drivers\UserPort.sys"    ' for NT and Win2000
       ' "C:\WINDOWS\system32\drivers\UserPort.sys"  ' for XP
        items(0) = TRIM$(GetWindir) & "\system32\drivers\UserPort.sys"
        IF ExistFile (items(0)) THEN
                IOports.padr = %Padr
                items(0) = "1- Forced LPT port on &H" & LTrimZero(HEX$(IOports.padr))
                INCR cnt
                REDIM PRESERVE items(cnt)
        ELSE
                IOports.padr = %False
                items(0)=""
                MSGBOX "Install or run UserPort.exe to get access to your ports" ,,FUNCNAME$
        END IF
    ELSE
        ' if not NT, we can use the printerport as a first device:
        IF ISFALSE HIBYT(HIWRD(IOports.padr)) THEN
            IOports.padr = %Padr
            items(0) = "1- LPT port on &H" & LTrimZero(HEX$(%Padr))
            INCR cnt
            REDIM PRESERVE items(cnt)
        ELSE
            items(0)= ""
        END IF
    END IF
    ' now create and calculate the size of the items array in function of available ports:
'    #IF %DEF(%NiDAQ)
        IF @pDIOParams.id THEN
           IF ISFALSE HIBYT(HIWRD(IOports.NiDAQ_DIO)) THEN
                items(cnt)="2- NiDAQ DIO port"
                IOports.NiDAQ_DIO = %True
                INCR cnt
                REDIM PRESERVE items(cnt)
           END IF
        END IF
        IF @pDAQParams.id THEN
                IF ISFALSE HIBYT(HIWRD(IOports.NiDAQ_Daq)) THEN
                    items(cnt)="3- NiDAQ DAQ port"
                    IOports.NiDAQ_DAQ = %True
                    INCR cnt
                    REDIM PRESERVE items(cnt)
                END IF
        END IF
'    #ENDIF
    ' add and count number of free usb uart devices:
    ' [Elektor type slow ports]
    usbcnt = 0
    DO
        IF ISFALSE HIBYT(HIWRD(IOports.USB(usbcnt))) THEN
            hmo = Test_USB_IO (usbcnt)
            IF hmo THEN
                items(cnt)= TRIM$(STR$(4+usbcnt) & "- USB UART port nr." & STR$(usbcnt))
                IOports.USB(usbcnt)= %True
                INCR usbcnt
                INCR cnt
                REDIM PRESERVE items(cnt)
            ELSE
                EXIT DO
            END IF
        ELSE
            INCR usbcnt
        END IF
    LOOP
#IF(%DEF(%ACTIVEWIRE))
    ' add and count number of free activewire usb devices:
    ' we have to change this code, since a single thread can only use a single Activewire usb device.
    usbawcnt = 0
    DO
         IF ISFALSE HIBYT(HIWRD(IOports.AWUSB(usbawcnt))) THEN
              ' if in use the hibyt should read &B10000000 = &H8
             ret = AwUsbOpen(usbawcnt)
             IF ISFALSE ret THEN
                 items(cnt) = TRIM$(STR$(14+usbawcnt) & "- ActiveWire USB nr." & STR$(usbawcnt))
                 IOports.AwUSB(usbawcnt) = %True
                 INCR usbawcnt
                 INCR cnt
                 REDIM PRESERVE items(cnt)
                 AwUSBClose
                 EXIT DO
             ELSE
                 EXIT DO
             END IF
         ELSE
             INCR usbawcnt
         END IF
    LOOP
#ENDIF
    ' if no ports are found , or none are free anymore, we should quit here...
    IF ISFALSE cnt THEN
        MSGBOX "No more free I/O ports found...",,FUNCNAME$
        FUNCTION = %False
        EXIT FUNCTION
    END IF

    ID_IODlg= 100
    DIALOG NEW @pgh.setup, "I/O-port selector",,,100,50,,TO hIOdlg
    CONTROL ADD LISTBOX, hIODlg, id_IODlg,items(), 0, 0, 100, 40,,, CALL IoDlgCallback
    ' modal:
    cnt = %False
    DIALOG SHOW MODAL hIOdlg TO cnt     ' note cnt cannot be a register variable
    DIALOG END hIodlg

       ' msgbox items(IOports.msg-1) & " selected"
        SELECT CASE device
               CASE %IDM_BOM1
                     DisplayPanel.dev = %Bom1_Display
                     SELECT CASE IOports.msg
                            CASE 1
                                DisplayPanel.padr = %Padr
                                DisplayPanel.pinp = %Padr + 1
                                DisplayPanel.preg = %Padr + 2
                                IOports.padr  = %PortUsed OR %Padr    ' set to port bin use
                                FUNCTION = %True
                            #IF %DEF(%NiDAQ)
                            CASE 2
                                    Ni_CentroPort @pDIOparams.id
                                    DisplayPanel.padr = %False        ' NiDAQ dio
                                    DisplayPanel.pinp = 1
                                    Displaypanel.preg = 2
                                    IOports.NiDAQ_DIO = IOports.NiDAQ_DIO OR %PortUsed
                                    FUNCTION = %True
                            CASE 3
                                    DisplayPanel.padr = &H100
                                    IOports.NiDAQ_DAQ = IOports.NiDAQ_DAQ OR %PortUsed
                                    FUNCTION = %True
                            #ENDIF
                            CASE 4 TO 13
                                IOports.msg = IOports.msg - 4
                                i = Open_USB_IO (IOports.msg)
                                IF i > %False THEN
                                    ' now USB_DIO(devnr).h must contain a valid handle
                                    IOports.USB(IOports.msg)= %PortUsed OR %True
                                    SHIFT LEFT IOports.msg, 12
                                    DisplayPanel.padr = IOports.msg
                                    DisplayPanel.padr = DisplayPanel.padr OR &H0FF0
                                    DisplayPanel.preg = IOports.msg OR &H0FF1
                                    FUNCTION = %True
                                   ' MSGBOX HEX$(DisplayPanel.padr) & " USB port selected"
                                ELSE
                                    MSGBOX "Failure on opening requested USB port"
                                END IF
                            CASE 14 TO 46
                               #IF %DEF(%ACTIVEWIRE)
                               ' activewire USB ports
                                IOports.msg = IOports.msg - 14
                                i = AwUsbOpen (IOports.msg)
                                IF ISFALSE i THEN
                                    IOports.AwUSB(IOports.msg)= %PortUsed OR %True
                                    SHIFT LEFT IOports.msg, 1                ' = x 2
                                    DisplayPanel.padr = IOports.msg OR &H08A00  ' even
                                    DisplayPanel.preg = IOports.msg OR &H08A01  ' odd
                                    Aw_USB_CentroPort IOports.msg
                                    FUNCTION = %True
                                ELSE
                                   MSGBOX "Failure on opening ActiveWire USB port",,"<g_h*.dll>"
                                END IF
                                #ENDIF
                     END SELECT
               CASE %IDM_BOM2
                    DisplayPanel.dev = %Bom2_Display
                     SELECT CASE IOports.msg
                            CASE 1
                                DisplayPanel.padr = %Padr
                                IOports.padr  = %PortUsed OR %Padr    ' set to port bin use
                                FUNCTION = %True
                           #IF %DEF(%NiDAQ)
                            CASE 2
                                    Ni_CentroPort @pDIOparams.id
                                    DisplayPanel.padr = %False
                                    DisplayPanel.pinp = 1
                                    Displaypanel.preg = 2
                                    IOports.NiDAQ_DIO = %Portused OR %TRue
                                    FUNCTION = %True
                            CASE 3
                                    DisplayPanel.padr = &H100
                                    IOports.NiDAQ_DAQ = %Portused OR %True
                                    FUNCTION = %True
                           #ENDIF
                            CASE 4 TO 13
                                IOports.msg = IOports.msg - 4
                                i = Open_USB_IO (IOports.msg)
                                IF i > %False THEN
                                    IOports.USB(IOports.msg) = %PortUsed OR %True
                                    SHIFT LEFT IOports.msg, 12
                                    DisplayPanel.padr = IOports.msg
                                    DisplayPanel.padr = DisplayPanel.padr OR &H0FF0
                                    DisplayPanel.preg = IOports.msg OR &H0FF1
                                    FUNCTION = %True
                                ELSE
                                    MSGBOX "Failure on opening requested USB port",,"<g_h*.dll>"
                                END IF
                            CASE 14 TO 46
                               #IF %DEF(%ACTIVEWIRE)
                               ' activewire USB ports
                                IOports.msg = IOports.msg - 14
                                i = AwUsbOpen (IOports.msg)
                                IF ISFALSE i THEN
                                    IOports.AwUSB(IOports.msg)= %PortUsed OR %True
                                    SHIFT LEFT IOports.msg, 1                ' = x 2
                                    DisplayPanel.padr = IOports.msg OR &H08A00  ' even
                                    DisplayPanel.preg = IOports.msg OR &H08A01  ' odd
                                    Aw_USB_CentroPort IOports.msg
                                    FUNCTION = %True
                                ELSE
                                   MSGBOX "Failure on opening ActiveWire USB port",,"<g_h*.dll>"
                                END IF
                                #ENDIF
                     END SELECT

                CASE %IDM_SONARRANGER   ' new 14.04.2004
                    SELECT CASE IOports.msg
                           CASE 1
                                IOports.padr = %Padr OR %PortUsed
                                SonarRanger.padr = %Padr
                                SonarRanger.pinp = %Padr +1
                                SonarRanger.preg = %Padr + 2
                                FUNCTION = %True
                           #IF %DEF(%NiDAQ)
                           CASE 2
           '                    ' NiDAQDIO
                               IF @pDIOParams.id THEN
                                    SonarRanger.pAdr= %False ' use port 0 for data.
                                    SonarRanger.pInp= 1      ' input port
                                    SonarRanger.pReg= 2      ' controll port - low nibble
                                    Ni_CentroPort @pDIOParams.id
                                    IOports.NiDAQ_DIO = %PortUsed OR %True
                                    'm = "SonarRanger using " & @pDIOParams.device
                                    FUNCTION = %True
                                ELSE
                                    MSGBOX "NiDAQ DIO device not initialized",,FUNCNAME$
                                END IF
                           #ENDIF
                           CASE 3 TO 46
                                MSGBOX "This port cannot be used for SonarRanger",,FUNCNAME$
                    END SELECT


            END SELECT

        IOports.msg = %False ' reset the message from the callback.
END FUNCTION

CALLBACK FUNCTION IoDlgCallback () AS LONG
 ' LOCAL lParam AS LONG
 ' LOCAL wParam AS LONG
  LOCAL TXT$

 ' lParam = CBLPARAM
 ' wParam = CBWPARAM
  IF CBCTLMSG = %LBN_SELCHANGE THEN
      LISTBOX GET TEXT CBHNDL, 100 TO TXT$
      'msgbox txt$
      'function = VAL(LEFT$(txt$,1))
      DIALOG END CBHNDL
      IOports.msg = VAL(TXT$)  ' was: VAL(LEFT$(txt$,1))
      FUNCTION = %True
  END IF
END FUNCTION

FUNCTION Topo (k%) EXPORT AS LONG
   ' #IF %DEF(%NiDAQ)    - the conditional is not required here, since there are no NiDAQ calls here.
   ' this <ii> function was only used in Songbook - translated from Bom96.
   ' 22.08.99: used in Topoi as well.
   '           now the timeframe is a common parameter.
   '           We use bom.dT, updated from slider(1) in the Cockpit window.
   '           The original value for bom.dT was a constant = 125 ms.
   ' 25.03.2002: modified with new stat function in g_indep.dll
   ' 15.04.2003: moved to g_nih.dll

    STATIC Co AS LONG
    STATIC xh%, yh%, zh%
    LOCAL x%,y%,z%
    LOCAL sig!
             ' de overgedragen variabele k% kan volgende waarden aannemen:
             ' 0 = dan wordt de analyze uitgevoerd op grond van gemeten amplitudes
             ' 4 = dan wordt de analyze uitgevoerd op grond van gemeten snelheden
             ' als beveiliging zou de kode : IF k% THEN k%=4 ingepast kunnen worden.
             ' [22.08.99: implemented as follows:]
             ' changed to 250ms buffers 05.04.2003 - becomes worse
             ' so we now take 1 second!
    FUNCTION = Co   ' default value = previous value
    SELECT CASE k%
           CASE <= 3
                k% = %False   ' body surface channels
                x% = AvgStatArr(Db0(), sig!,64)
                y% = AvgStatArr(Db1(), sig!,64)
                z% = AvgStatArr(Db2(), sig!,64)
           CASE <= 7
                k% = 4    ' velocity channels
                x% = AvgStatArr(Db4(), sig!,64)
                y% = AvgStatArr(Db5(), sig!,64)
                z% = AvgStatArr(Db6(), sig!,64)
           CASE <= 11
                k% = 8    ' power-channels
                x% = AvgStatArr(Db8(), sig!,64)
                y% = AvgStatArr(Db9(), sig!,64)
                z% = AvgStatArr(DbA(), sig!,64)
           CASE ELSE
               ' k% = 12   ' accelleration channels : not yet implemented.
               ' x% = AvgStatArr(DbC(), sig!,64)
               ' y% = AvgStatArr(DbD(), sig!,64)
               ' z% = AvgStatArr(DbE(), sig!,64)
                MSGBOX "Do not call Topo on acceleration channels!",, FUNCNAME$
                EXIT FUNCTION
    END SELECT


         ' get 4-bit statistic positional amplitudes
    SHIFT RIGHT x%,8         ' 0-15
    SHIFT RIGHT y%,8
    SHIFT RIGHT z%,8
         ' 'Hold-function causing positions to be held on standstill.
    IF MAX(x%,y%,z%) < = (sr.noise OR 1) THEN
        'FUNCTION = Co
        EXIT FUNCTION
    END IF
         ' if nothing has changed as compared to the previous call of this
         ' function, exit and return the previous value of this function.
         ' This is a Hold-function as well
    IF (x% = xh%) AND (y% = yh%) AND (z% = zh%) THEN
        'FUNCTION = Co
        EXIT FUNCTION
    END IF
    xh% = x%
    yh% = y%
    zh% = z%

         ' Topografische analyze:
         ' de ordening der plaatsbepalingen verloopt in wijzerzin uitgaand
         ' van geval x=y en z>x (12u positie)
         ' het bijzonder geval (centrale im- of explosie krijgt het nummer 1)
    IF x% = y% THEN
       IF y% = z% THEN FUNCTION = 1: Co = 1: EXIT FUNCTION
         ' eerste halfuur:
       IF x% < z% THEN FUNCTION = 2: Co = 2: EXIT FUNCTION
         ' tweede halfuur:
       IF x% > z% THEN FUNCTION = 8: Co = 8: EXIT FUNCTION
    END IF
    IF y% <= sr.noise THEN
       IF x% < z% THEN FUNCTION = 3: Co = 3: EXIT FUNCTION
        ' tweede halfuur
       IF x% > z% THEN FUNCTION = 9: Co = 9: EXIT FUNCTION
    END IF
    IF y% = z% THEN
       IF x% < y% THEN FUNCTION = 4: Co = 4: EXIT FUNCTION
       ' tweede halfuur:
       IF x% > z% THEN FUNCTION = 10: Co = 10: EXIT FUNCTION
    END IF
    IF z% <= sr.noise THEN
       IF x% < y% THEN FUNCTION = 5: Co = 5: EXIT FUNCTION
       'tweede halfuur
       IF x% > y% THEN FUNCTION = 11: Co = 11: EXIT FUNCTION
    END IF
    IF x% = z% THEN
       IF x% < y% THEN FUNCTION = 6: Co = 6: EXIT FUNCTION
       ' tweede halfuur:
       IF x% > y% THEN FUNCTION = 12: Co = 12: EXIT FUNCTION
    END IF
    IF x% <= sr.noise THEN
       IF y% > z% THEN FUNCTION = 7: Co = 7: EXIT FUNCTION
       ' tweede halfuur
       IF y% < z% THEN FUNCTION = 13: Co = 13: EXIT FUNCTION
    END IF
      ' bijzondere -teoretisch wiskundig onmogelijke gevallen zijn  er wanneer
      ' twee waarden nul zouden zijn: een beweging in een ruimtelijke figuur
      ' (intersektie van 2 bolsegmenten) loodrecht op zowel de ene 0-vektor als
      ' de andere nul vektor. In volgorde zouden dit zijn:
        ' x=0 , y=0 , z >0   : beide handen omhoog op cirkels rond x en y ?
        ' x=0 , z=0 , y > 0
        ' y =0, z=0, x > 0
   ' #ENDIF
END FUNCTION

FUNCTION Place () EXPORT AS LONG
    STATIC Co AS LONG
    STATIC xh%, yh%, zh%
    LOCAL xf%, yf%,zf%
    LOCAL x%, y%, z%
    LOCAL sig!
    LOCAL t AS DWORD
    LOCAL av AS LONG

    ' old:
    ' get 4-bit statistic positional amplitudes
    ' new:                               ' changed to 500ms 18.02.2002
    '                                              to 1 sec. 05.04.2003
    xf% = AvgStatArr (Db0(), sig!, @pDaqparams.scanfreq)
    yf% = AvgStatArr (Db1(), sig!, @pDaqparams.scanfreq)
    zf% = AvgStatArr (Db2(), sig!, @pDaqparams.scanfreq)
    SHIFT RIGHT xf%,8
    SHIFT RIGHT yf%,8
    SHIFT RIGHT zf%,8
    ' if nothing has changed as compared to the previous call, exit.
    IF (xf% = xh%) AND (yf% = yh%) AND (zf% = zh%) THEN
        FUNCTION = Co       ' default value = previous value
        EXIT FUNCTION
    END IF
    xh% = xf%
    yh% = yf%
    zh% = zf%

   x% = 2 * SQR(sr.xe)
   y% = 2 * SQR(sr.ye)
   z% = 2 * SQR(sr.ze)

         ' Following statement functions as a 'Hold on' causing chords to
         ' be held on standstill.
    IF MAX(x%,y%,z%) <= sr.noise THEN
        FUNCTION = Co
        EXIT FUNCTION
    END IF
         ' Following statement implements the possibility to switch-off an
         ' effect or chord on a small and slow movement of the hand:
    av = AvgStatArr (Db7(), sig!, @pDaqparams.scanfreq)  ' now 1 sec.
    SHIFT RIGHT av, 8
    IF av <= sr.noise THEN Co = 1 : FUNCTION = 1 : EXIT FUNCTION
    '----
         ' Following logic figures out the radial position in space of a movement
    IF ISFALSE yf% AND ISFALSE zf% THEN Co = 2: FUNCTION = 2: EXIT FUNCTION
    IF ISFALSE xf% AND ISFALSE yf% THEN Co = 3: FUNCTION = 3: EXIT FUNCTION
    IF ISFALSE xf% AND ISFALSE zf% THEN Co = 4: FUNCTION = 4: EXIT FUNCTION
    IF (xf% EQV yf%) AND (yf% EQV zf%) THEN Co = 5: FUNCTION = 5: EXIT FUNCTION
    IF yf% EQV zf% THEN Co = 6: FUNCTION = 6: EXIT FUNCTION
    IF xf% EQV yf% THEN Co = 7: FUNCTION = 7: EXIT FUNCTION
    IF xf% EQV zf% THEN Co = 8: FUNCTION = 8: EXIT FUNCTION
    IF (xf% < yf%) AND (xf% < zf%) THEN
        IF  (yf% < zf%) THEN
            Co = 9
            FUNCTION = 9
            EXIT FUNCTION
        ELSE
            Co = 10
            FUNCTION = 10
            EXIT FUNCTION
        END IF
    END IF
    IF (yf% < xf%) AND (yf% < zf%) THEN
       IF (xf% < zf%) THEN
          Co = 11
          FUNCTION = 11
          EXIT FUNCTION
       ELSE
          Co = 12
          FUNCTION = 12
          EXIT FUNCTION
       END IF
    END IF
    IF (zf% < xf%) AND (zf% < yf%) THEN
       IF (xf% < yf%) THEN
          Co = 13
          FUNCTION = 13
          EXIT FUNCTION
       ELSE
          Co = 14
          FUNCTION = 14
          EXIT FUNCTION
       END IF
    END IF
END FUNCTION


' ***********************************************
' *  SONAR RANGER SUPPORT SECTION               *
' ***********************************************

FUNCTION SonarRanger_Init_DLL (BYREF gh AS GMT_HANDLES, BYVAL tasknr AS WORD) EXPORT AS DWORD
     ' returns a pointer to SonarRanger.structure to the executable.
     ' the user has to pass a value for tasknr. This task will we used for the data acquisition.
    LOCAL m AS ASCIIZ * 40
    LOCAL i AS LONG
    LOCAL chk AS BYTE
    IF ISFALSE pgh THEN         ' pgh is a global pointer
       pgh = VARPTR(gh)
    END IF
    IF ISFALSE @pgh.gnh THEN
       @pgh.gnh = hInst         ' instance handle of this dll.
    END IF

    IF ISFALSE SonarRanger.preg THEN
            i = IOportselector (%IDM_SONARRANGER)
    END IF
    IF ISFALSE i THEN FUNCTION = %False : EXIT FUNCTION
    SonarRanger.tasknr = tasknr
    SonarRanger.naam   = "Ranger"

    ' default settings:  (real time updatable with ctrl-window)
    SonarRanger.nearlimit = 34  ' in cm
    SonarRanger.farlimit = 680  ' in cm
    SonarRanger.mintime =  sonarRanger.nearlimit * 2 / %VelSound  ' 2 ms
    SonarRanger.maxtime =  SonarRanger.farlimit * 2 / %VelSound   ' 40ms
    SonarRanger.range   = SonarRanger.farlimit - SonarRanger.nearlimit   ' required for normalisation
    SonarRanger.dT      = 4
    SonarRanger.dv      = 8
    SonarRanger.rate    = 8
    ' movable dll tasks:
    @pT(SonarRanger.tasknr).cPtr = CODEPTR(SonarRanger_DAQ)
    @pT(SonarRanger.tasknr).naam = SonarRanger.naam
    @pT(SonarRanger.tasknr).freq =  1000
    @pT(SonarRanger.tasknr).flags = %DLL_TASK
    ' initialize hardware:
    PortOut Sonarranger.Padr, %False  ' make data lines low. - we use only bit 0 here.
    chk = PortIn(SonarRanger.pinp)

    IF BIT (chk,4) THEN       ' check for power-on condition - bit 4.
 '          StartTask SonarRanger.tasknr          ' sonar-daq task
    ELSE
           MSGBOX "Sonar device unavailable or not powered on",, FUNCNAME$
           IF @pT(SonarRanger.tasknr).swit THEN stoptask SonarRanger.tasknr
           FUNCTION = %False
           EXIT FUNCTION
    END IF

    FUNCTION = VARPTR(SonarRanger)
    m = "SonarRanger using port &H" & LTrimzero(HEX$(SonarRanger.padr))
    Sendmessage gh.Cockpit, %WM_SETTEXT,0, VARPTR(m)
END FUNCTION

SUB SonarRanger_DAQ () EXPORT
    STATIC Olddistance AS DWORD        ' in cm
    STATIC tog         AS DWORD
    STATIC tt          AS DWORD       ' in ms.
    LOCAL  chk         AS BYTE
    ' data acquisition task for sonarranger.
    '    ' polling code - it would be better to use timer or real hardware interrupt.
    '                hardware timing leads to the best precision.
    ' now the measurement precision is a direct function of the timing resolution in GMT.
'    %Inithigh = 1   ' bit 0
'    %Echo = 128     ' bit 7
'    %Power = 16     ' bit 4
    IF ISFALSE tog THEN
       PortOut Sonarranger.Padr, 1  ' set bit 0    %InitHigh
                        '  make INIT High. This enables the 420kHz
                        '  oscillator and causes a transmit of 16 cycles @ 300V - 49.4kHz
                        '  The transducer holds a 150V dc bias, for receive.
                        '  The osc. output steps to 93kHz and remains there as long as INIT stays high.
       tt = TimeGetTime
       tog = %True
       @pT(SonarRanger.tasknr).freq = 1000   ' poll as fast as possible... (we need ms precision...)
       EXIT SUB
    ELSE
       ' wait for echo...
       chk = PortIn(SonarRanger.pinp)             ' input port
       IF BIT (chk,7) THEN                        ' check bit 7 (centronics busy signal)
          tog = %True
                                                  ' here we could also check for time-out conditions.
          IF TimeGetTime - tt > SonarRanger.maxtime THEN
             ' reset!
             PortOut SonarRanger.Padr, %False
             @pT(Sonarranger.tasknr).freq = SonarRanger.rate '8
             tog = %False
          END IF
          EXIT SUB
       ELSE
                                                  ' Echo bit is inverted on printeradapter.
                                                  ' Wait for echo. (When echo pulses high, and read-out is false)
          tt = TimeGetTime - tt                   ' read time-count value
          PortOut SonarRanger.padr, %False        ' reset port to 0, bit 0 is enough...
                                                  ' make init low again.
          IF ISFALSE SonarRanger.dT THEN
                ' without integration:
                SonarRanger.Distance = tt * %Velsound
                SHIFT RIGHT SonarRanger.Distance, 1 ' divide by 2
          ELSE
                ' with integration:
                SonarRanger.Distance = (SonarRanger.Distance * (SonarRanger.dT -1)/ SonarRanger.dT) + ((tt * %Velsound / 2)/ SonarRanger.dT)
          END IF
          ' mits een konstante samplingfrekwentie
          ' kan ook de bewegingssnelheid in 1 dimensie worden afgeleid:
          ' Merk op dat de meetfout hier 2% * 2% = 4% beloopt, en dat de snelheid ook
          ' een funktie is van de cosinus van de bewegingshoek tegenover de rechte
          ' gevormd door de ultrasone golf!
          @pT(SonarRanger.tasknr).freq = SonarRanger.rate  '8
          SonarRanger.Delta = Olddistance - SonarRanger.Distance   ' positive means coming closer to device
          Olddistance = SonarRanger.Distance
          ' we use SonarRanger.dv for integration...
          ' may contain bug: depends on SonarRanger.rate !!!
          SonarRanger.Speed =  (SonarRanger.Speed * (SonarRanger.dv-1) / SonarRanger.dv) + (SonarRanger.Delta * @pT(SonarRanger.tasknr).freq /SonarRanger.dv)   ' in  cm/s - signed
          'OldSpeed = SonarRanger.Speed
          IF SonarRanger.Distance < SonarRanger.Nearlimit THEN SonarRanger.Distance = SonarRanger.NearLimit     ' we should reset the device, it may crash...
          IF SonarRanger.Distance > SonarRanger.Farlimit THEN SonarRanger.Distance = SonarRanger.Farlimit ' 14.04.2004
          SonarRanger.normdist = (SonarRanger.Distance - SonarRanger.Nearlimit)/ SonarRanger.range  ' 0-1, mormalization
          tog = %False
          ' Omzettingskonstante:
                    ' = geluidssnelheid/2   ( afstand= v.t/2 in sonar)
                    ' geluidssnelheid in cm/ms = 34 cm/ms  = %VelSound
       END IF
    END IF
END SUB


' ******************************************
' *  USBSONAR UPPORT SECTION               *
' ******************************************
'20060106 - status:
'   both pulse - and dopplermodus are basically working
'   initialise with function USBSonar_Init_DLL(mode, tasknr, monitortasknr) (g_h.bas), which returns a pointer to the USBSonarDevice structure
'   mode = %USB_SONAR_PULSEMODE or %USB_SONAR_DOPPLERMODE
'   in dopplermode tasknris dummy and monitortaksnr is used as a flag: 0 = no monitor window, 1 = monitorwindow, as we're using a thread for that now (2006.03.02)
'   "         "    you can switch on/off the monitoring simply by setting/clearing UsbSonar.montasknr
'   then call Create_UsbSonar_Control (g_main)
'   once the task is started you can read tout he following from the USBSonarDevice struct:
'      for pulsemode:   UsbSonar.dist    - distance in some arbitrary unit
'                       USbSonar.amp     - amplitude of signal - at first sight not very usefull, but worth testing further..
'      for dopplermode: USbSonar.speed   - we rescaled the values we got from the usbsonar device logarithmically to rangd [-64, 64] - single precision
'                       UsbSonar.energy    byte [0-127] in rest already > 100
'                       UsbSonar.sps     - samples taken per second - we put this here because it's dynamic, dependent on chosen OutputDownSampling..
'                                          note also that samples are NOT comming in in a steady tempo.
'                                          this is the integrated value of what we actually get
'                       UsbSonar.acceleration - an experiment to track beginning and end of movement - at least in visuals it looks nice with a treshold of 2
'                                               influenced by sps!
'                       USbSonar.pbEnergy - pointer to buffer of last USbSonar.buufersize energy values  (byte)
'                       USbSonar.pbSpeed  -   "      "    "    "   "     "                 speed    "    (integer)
'                       UsbSonar.pbAccell -  "      "    "    "   "     "               acceleration "   (single)
'                       USbSonar.buffersize - bufferlength in samples. right now it's not allowed to change it after initialistation!!
'            in dopplermode we have a monitor window that shows energy and speed buffers and points with clear acceleration

'   TO DO: support for multiple devices, mixed doppler and pulsemode
'          convert distance values in dist to m
'          clean up thread code for doppler - dummywindow should disappear, monitorwindow should be toggeleable
'          re-insert control window  - creatusbsonarcontrol still needs a tasknr!!!


FUNCTION USBSonar_Init_DLL(BYVAL MODE AS DWORD, BYVAL tasknr AS DWORD, OPT BYVAL monitortasknr AS DWORD) EXPORT AS DWORD
    'initialises the USBSonar and returns pointer to the USBSonar structure
    'mode =   %USB_SONAR_PULSEMODE  or  %USB_SONAR_DOPPLERMODE
    'IMPORTANT: make sure to call Create_UsbSonar_Control (g_main) from your app after calling this function but before starting the UsbSonar task!
    'returns pointer to USbSonarDevice structuur
    'we should add a param for nr devices to be used / COM portnrs in ini file?? - of uitproberen welke luisteren?..
    '!!! for dopplermode we don;t use a task anymore, as this was allways resulting in unexlainable crashes.
    '    now data-aquisition is done in a separate thread, so the tasknr en monitortasknr here is dummy

    'we gaan er nu van uit dat je bij het opstarten een mode kiest, en daar dan bij blijft - mssch dynamisch maken?
'     STATIC be() AS BYTE
'     STATIC bs() AS SINGLE
'     STATIC ba() AS SINGLE
     LOCAL retval AS LONG
     LOCAL dummy AS LONG
     MSGBOX FUNCNAME$

     UsbSonar.tasknr = tasknr
     USbSonar.MonTasknr = monitortasknr
'     UsbSOnar.hsio = Open_Serial_IO (BYVAL 2, "USB_SONAR_V0")
'     SLEEP 100
     UsbSonar.mode = MODE

 '    warning FUNCNAME$ + " mode =" + STR$(mode) + STR$(%USB_SONAR_DOPPLERMODE)
     'we prepare the buffers here, so it's safe to access them as soon as init function has been called
     'we only buffer the data in dopplermode for now
'     UsbSonar.buffersize = 256
'     REDIM be(USbSonar.buffersize - 1)
'     REDIM bs(USbSonar.buffersize - 1)
'     REDIM ba(UsbSonar.buffersize - 1)
'     UsbSonar.pbEnergy = VARPTR(be(0))
'     USbSonar.pbSpeed = VARPTR(bs(0))
'     UsbSonar.pbAccell = VARPTR(ba(0))
     SELECT CASE MODE
         CASE %USB_SONAR_PULSEMODE
             UsbSOnar.hsio = Open_Serial_IO (BYVAL 2, "USB_SONAR_V0")
                SLEEP 100
             UsbSonar_SetPulseDefaultsettings
             @pT(UsbSonar.tasknr).naam = "US_Pulse"
                 @pT(UsbSonar.tasknr).freq = 20 ' voor freq/2 pulsen/metingen per seconde..
                 @pT(UsbSonar.tasknr).cptr = CODEPTR(UsbSonar_PulseTask)
                 @pT(UsbSonar.tasknr).flags = %DLL_TASK OR %PERTIM_TASK
                 @pTEx(UsbSonar.tasknr).stopcptr = CODEPTR(UsbSonar_Cleanup)
                 IF Monitortasknr THEN Warning "Monitoring in pulsemode not supported yet"

         CASE %USB_SONAR_DOPPLERMODE
'             UsbSonar_SetDopplerDefaultSettings
'             @pT(UsbSonar.tasknr).naam = "US_doppler"
'                 @pT(UsbSonar.tasknr).freq = 100
'                 @pT(UsbSonar.tasknr).cptr = CODEPTR(UsbSonar_DopplerTask)
'                 @pT(UsbSonar.tasknr).flags = %DLL_TASK OR %PERTIM_TASK
'                 @pTEx(UsbSonar.tasknr).stopcptr = CODEPTR(UsbSonar_Cleanup)
'                 IF MonitorTasknr THEN
'                     @pT(Monitortasknr).naam = "US_P_Mon"
'                     @pT(MonitorTasknr).freq = 12
'                     @pT(USbSonar.tasknr).flags = %DLL_TASK OR %PERTIM_TASK
'                     @pT(MonitorTasknr).cptr = CODEPTR(UsbSonar_MonitorTask)
'                 END IF
               THREAD CREATE USbSonar_DopplerThread(dummy) TO retval
               IF ISFALSE retval THEN warning "couldn't create USB-Sonar thread"

     END SELECT
     FUNCTION = VARPTR(UsbSonar)
END FUNCTION

SUB UsbSonar_PulseTask()
    STATIC PulseSent AS DWORD
    STATIC hwViz AS DWORD
    STATIC slnr AS DWORD
    LOCAL dwread AS  DWORD
    LOCAL buf$, a$
    LOCAL normarr() AS SINGLE
    LOCAL i AS INTEGER
    LOCAL mx AS BYTE, piek AS BYTE
    IF ISFALSE @pT(UsbSonar.tasknr).tog THEN
        @pT(UsbSonar.tasknr).tog = %true
         hwViz = MakeSpectrumWindow    'hoort hier niet thuis - laten het voorlopig staan om te debuggen
    END IF
    IF USbSonar.UpdTxdur AND (UsbSonar.TxDur <> UsbSonar.UpdTxDur) THEN
        UsbSonar.TxDur = UsbSonar.updTxdur
        USbSonar.UpdTXDur = 0
        COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetPulseTXDuration, UsbSonar.TxDur)
    END IF
    IF UsbSonar.updRxDur AND (UsbSonar.RxDur <> UsbSonar.updRXDur) THEN
       UsbSonar.RxDur = UsbSonar.updRXDur
       UsbSonar.updRXDur = 0
        COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetPulseRXDuration, UsbSonar.RxDur)
    END IF
    IF ISFALSE PulseSent THEN
    'send new pulse
       COMM SEND UsbSonar.hsio, CHR$(&H80)   'send pulse
       PulseSent = 1
       EXIT SUB
    ELSE
    'receive pulse
        Pulsesent = 0
         i = COMM(UsbSonar.hsio, RXQUE)
         COMM RECV UsbSonar.hsio, i, buf$
         REDIM Normarr(i)  'normarr alleen voor visualisatie..
         FOR i = 1 TO LEN(buf$)
             IF ASC(buf$, i) <  UsbSonar.noise THEN ITERATE FOR
             IF (i>8) AND (ASC(buf$, i)> mx) THEN   ' > 8: onbetrouwbaar en dichter dan toegelaten, dus dat negeren we hier
                 mx = ASC(buf$, i)
                 piek = i
             END IF
             Normarr(i) = ASC(buf$, i) / 256 - .5
         NEXT
         IF mx >  UsbSonar.noise THEN
             UsbSonar.dist = piek 'berekening naar meter nog te doen!
             UsbSonar.amp = 127 * (mx -  UsbSonar.noise) / (256 -  UsbSonar.noise) 'scalen naar[0-127]; noisefloor = 0
         ELSE
             UsbSonar.dist = 0
             UsbSonar.amp = 0
         END IF
         ShowNormArray  hwViz, Normarr()  'niet te verwarren met sonar display: toont een buffer waarin de piek(en) staan voor reflecternde voorwerpen
                                          'hoe verder in de buffer, hoe groter de afstand..
    END IF
END SUB

SUB UsbSonar_SetPulseDefaultSettings EXPORT
    USBSonar.RXDur = 52  'should be enough to measure some 3m far
    USBSonar.TXDur = 23  'a bit higher then recommended by Johannes, but works better for longer distances - penalty is a loss in precision
    USBSonar.noise = 120
    COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetPulseTXDuration, USBSonar.TXDur)
    COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetPulseRXDuration, USBSonar.RXDur)
END SUB


SUB UsbSonar_Cleanup()
    'close COM port
   ' logfile FUNCNAME$
'    UsbSonar_MonitorTask 1  'tell monitor task to kill its window

    IF UsbSonar.mode = %USB_SONAR_DOPPLERMODE THEN
        COMM SEND USbSonar.hsio, CHR$(%TXCH_DopplerStopCmd)
    END IF

   '!!!!! if we do call the Close_Serial_IO function here, we get a crash when we exit the program (also if that happens much later than the calling of this function
   '       according to the PB docs closing of the port will be handled by the compler afterwards..
   '       20060221 - this solved half of our exit crashes..

    Close_Serial_IO (BYREF UsbSonar.hsio, "USB_SONAR_V0")
    IF ERR THEN
        MSGBOX "Error" + STR$(ERRCLEAR) + " happened while closing the USB sonar!",,FUNCNAME$  + "@g_h.bas"
    END IF

    @pT(UsbSonar.tasknr).tog = 0
    UsbSonar.hsio = 0     'so it gets re-initialised..
   ' logfile FUNCNAME$ + " done"
    'we presume the device is on COM port 2 - we should make this confiurable later on
END SUB

FUNCTION GetUsbSonarPointer() EXPORT AS DWORD
    FUNCTION = VARPTR(UsbSonar)
END FUNCTION

THREAD FUNCTION USbSonar_DopplerThread(BYVAL dummy AS LONG) AS LONG
    'alles (Behalve monitorwindow) gebeurt in de deze functie - van initialisatie tot einde - om mysterie crashes te vermijden
    'lijkt nu goed te werken (@006.03.02)
    #REGISTER NONE

    LOCAL ccom$
    LOCAL i AS INTEGER, j AS INTEGER
    LOCAL activewindows AS LONG
    LOCAL buf$, membuf$, b$
    LOCAL nextAqTime AS DWORD
    LOCAL nextVisTime AS DWORD
    LOCAL hw AS LONG
    STATIC be() AS BYTE
    STATIC bs() AS SINGLE
    STATIC ba() AS SINGLE

     UsbSonar.buffersize = 256
     REDIM be(USbSonar.buffersize - 1)
     REDIM bs(USbSonar.buffersize - 1)
     REDIM ba(UsbSonar.buffersize - 1)
     UsbSonar.pbEnergy = VARPTR(be(0))
     USbSonar.pbSpeed = VARPTR(bs(0))
     UsbSonar.pbAccell = VARPTR(ba(0))

    '---------- initialise Sonar Device
    ERRCLEAR
    UsbSonar.hsio = FREEFILE
    ccom$ = "COM2"
    COMM OPEN ccom$ AS UsbSonar.hsio
    'with #DEBUG ON we get an errormessage here..
    IF ERR THEN Warning FUNCNAME$ +": err1" + STR$(ERRCLEAR): EXIT FUNCTION


    COMM SET UsbSonar.hsio, BAUD     = 115200   'max is 256000 baud
    COMM SET UsbSonar.hsio, BYTE     = 8      ' 8 bits
    COMM SET UsbSonar.hsio, PARITY   = %FALSE ' No parity
    COMM SET UsbSonar.hsio, STOP     = 0      ' 1 stop bit
    COMM SET UsbSonar.hsio, TXBUFFER = 64   ' transmit buffer
    COMM SET UsbSonar.hsio, RXBUFFER = 64   ' receive buffer
' Optional settings for flow control
    COMM SET UsbSonar.hsio, CTSFLOW  = 0      ' Disable CTS
    COMM SET UsbSonar.hsio, RTSFLOW  = 0      ' Disable RTS
    COMM SET UsbSonar.hsio, XINPFLOW = 0      ' Disable XON/OFF     Input flow control
    COMM SET UsbSonar.hsio, XOUTFLOW = 0      ' Disable XON/XOFF    Output flow control
    COMM SEND UsbSonar.hsio, CHR$(128)

    UsbSonar.Bias= 0      'might make sense to adapt this live
    UsbSonar.FilterCoef = 28  'was 8
    UsbSonar.OutputDownSampling = 2
    UsbSonar.PowerTresh = 56
    UsbSonar.OutputFilterCoef = 28

    COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetBias, UsbSonar.Bias)
    COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetFiltercoef, UsbSonar.FilterCoef)
    COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetOutputDownSampling, UsbSonar.OutputDownSampling)
    COMM SEND USbSonar.hsio, CHR$(%TXCH_SetPowerThresh, UsbSonar.PowerTresh)
    COMM SEND UsbSonar.hsio, CHR$(%TXCH_SetOutputFilterCoef, UsbSonar.OutputFilterCoef)

    SLEEP 200  'this one's crucial!!


    COMM SEND UsbSonar.hsio, CHR$(%TXCH_DopplerStartCmd)

    SLEEP 200  'this one's crucial!!

    'purge first buffer
            i = COMM(UsbSonar.hsio, RXQUE)

            IF i THEN
                COMM RECV UsbSonar.hsio, i, buf$
            END IF
'    msgbox "enter loop"
    '---------- main loop
    DO
        IF NextAqTime < TimeGetTime THEN
            NextAqTime = TimeGetTime + 10    '= equivalent to task freq 100 in GMT...

            i = COMM(UsbSonar.hsio, RXQUE)
                CONTROL SET TEXT hw, 3, STR$(i)  + STR$(timegettime)
            IF i THEN
                COMM RECV UsbSonar.hsio, i, buf$
                IF LEN(membuf$) THEN    'partial buffer last time - add the two now
                    buf$ = membuf$ + buf$
                    membuf$ = ""
                END IF
ReadNextChunk:
                'first find %RXH_DopplerData
                FOR i = 1 TO LEN(buf$)
                    IF ASC(buf$, i) <> %RXCH_DopplerData THEN
                        ITERATE FOR
                    ELSE
                        EXIT FOR
                    END IF
                NEXT
                IF i = LEN(buf$) THEN EndOfLoop
                IF (LEN(buf$) - i) < 4 THEN  'partial buffer
                    membuf$ = MID$(buf$, i)
                    GOTO EndOfLoop
                END IF

                UsbSonar.energy = ASC(buf$, i + 1)
                TRACE PRINT "E" + STR$(USbSonar.Energy)
                '!!MSB = SIGNED char, LSB = unsigned char
                b$ = MID$(buf$, i+3, 1) + MID$(buf$, i + 2, 1)
                POKE$ VARPTR(j), PEEK$(STRPTR(b$), 2)
                UsbSonar.speed = SGN(j) * SQR(ABS(j))
                UsbSonar.accelleration = bs(i) - bs(i-1)      'would it make sense to buffer this one?
                TRACE PRINT "S" + STR$(USbSonar.Speed)

                ARRAY DELETE  bs(), UsbSonar.Speed  'dus achteraan in buffer = recentste!
                ARRAY DELETE be(), UsbSonar.energy
                ARRAY DELETE ba(), UsbSonar.accelleration

                buf$ = MID$(buf$, i + 4)

                IF LEN(buf$) > 3 THEN
                    GOTO readNextChunk
                ELSE
                    membuf$ = buf$
                END IF
            END IF
        END IF

        IF NextVisTime < TimeGetTime THEN
            NextVisTime = TimeGetTime + 42
            IF USbSonar.MonTasknr THEN  'deze is / zou moeten toggelbaar
                UsbSonar_Threaded_Monitor
            ELSEIF UsbSonar.hwMon THEN
                USbSonar_Threaded_Monitor 1  'cleanup falg
            END IF
        END IF

EndOfLoop:
        SLEEP 10
    LOOP
    '---------- clean up
    COMM SEND USbSonar.hsio, CHR$(%TXCH_DopplerStopCmd)
    IF COMM(UsbSonar.hsio, RXQUE) THEN COMM RECV UsbSonar.hsio, COMM(UsbSonar.hsio, RXQUE), buf$


END FUNCTION


SUB UsbSonar_Threaded_Monitor (OPT BYVAL endit AS DWORD)
    'heel vreemde bug:"
    'als we in de loop waar we be / bs tekenen logfile str$(bs(i)) gebruiken, krijgen we als waarde 922.337203685478 of 92.2337203685478
    '  bij  logfile "i:" + STR$(i) + " - value:" + STR$(be(i))         krijgen we deze waarden voor i; en voorbe(i) krijgen we wat er plausibele waarden uitzien
    STATIC init AS DWORD
'    STATIC hw AS DWORD
    LOCAL i AS LONG
    LOCAL s AS SINGLE
    IF ISFALSE UsbSonar.hwMon THEN
        IF ISFALSE USbSOnar.pbAccell THEN
            MSGBOX "not ready!"
            EXIT SUB
        END IF
        init = 1
        DIM be(UsbSonar.Buffersize -1) AS STATIC BYTE AT UsbSonar.pbEnergy
        DIM bs(UsbSonar.Buffersize -1) AS STATIC SINGLE AT UsbSonar.pbSpeed
        DIM ba(UsbSonar.Buffersize -1) AS STATIC SINGLE AT UsbSonar.pbAccell
        GRAPHIC WINDOW "UsbSonar Doppler -" + STR$(UsbSonar.buffersize) + " samples", 1, 1, 300, 250 TO USbSonar.hwMon
        GRAPHIC ATTACH USbSonar.hwMon, 0, REDRAW
        GRAPHIC SCALE (0, 255) - (UsbSonar.buffersize, -255)
        GRAPHIC WIDTH 0
        GRAPHIC STYLE 0
        GRAPHIC REDRAW
        EXIT SUB
    END IF
    IF endit THEN
        IF (USbSonar.hwMon > 0) THEN
            GRAPHIC ATTACH USbSonar.hwMon, 0, REDRAW
            GRAPHIC WINDOW END
            UsbSonar.hwMon = 0
        END IF
        EXIT SUB
    END IF
    '!!!!!! apparently graphic attach has to be called every time !!!
    '   otherwise, not only it fails to redraw the window, but it seems to corrupt certain variables
    '   if we do the following without graphic attach:
    '     FOR i = 0 TO USbSonar.Buffersize - 1
    '         logfile "i:" + STR$(i) + " - value:" + STR$(be(i))
    '         GRAPHIC SET PIXEL (i,  be(i)), 0
    '     NEXT
    '   then i (wich is declared as long) becomes 922.337!
    GRAPHIC ATTACH USbSonar.hwMon, 0, REDRAW
    GRAPHIC CLEAR &H0111111
    'grijs raster
    GRAPHIC COLOR &H0666666, &H0
    FOR i = -250 TO 255 STEP 50
        GRAPHIC LINE (0, i) - (UsbSonar.buffersize - 1, i)
    NEXT
    FOR i = 0 TO UsbSonar.buffersize - 1 STEP 50
        GRAPHIC LINE(i, -255) - (i, 255)
    NEXT
    '------- energy in pink
    GRAPHIC COLOR &H0FF99FF, 0
    GRAPHIC FONT "Lucida Console", 7, 0
    GRAPHIC SET POS (0, -230)
    GRAPHIC PRINT "Energy [0, 127]"
    FOR i = 0 TO UBOUND(be)
        GRAPHIC SET PIXEL (i,  be(i)) ', 0
    NEXT

    '------- acceleration in yelloz
    GRAPHIC COLOR &H066FFFF
    GRAPHIC SET POS (170, -230)
    GRAPHIC PRINT "accell [-127, 127]"
    FOR i = 0 TO UBOUND(ba)
         GRAPHIC LINE (i, ba(i)) - (i, 0)
    NEXT
    '----- speed in green
    GRAPHIC COLOR &H066ffcc
    GRAPHIC SET POS (85, -230)
    GRAPHIC PRINT "Speed [-64 - 64]"
    FOR i = 0 TO UBOUND(bs)
        GRAPHIC SET PIXEL (i, bs(i)) ', 0
    NEXT

    GRAPHIC REDRAW
END SUB

SUB g_h_dummy () EXPORT
    MSGBOX "dummy@g_h",,FUNCNAME$
END SUB

FUNCTION ii2000_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
    'this function gets called every 8 samples and should read the data
    '07.06.2009: this is working!
    '04.07.2009: now trying to run at 128S/s , thus our time buffer is only 2 seconds now.
#IF %DEF(%g_NIDAQmx)
    LOCAL ret AS LONG
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL i AS LONG
    DIM value(31) AS STATIC DOUBLE   'data buffer - float's

    ret = DAQmxReadAnalogF64(taskHandle,1,0.01,%DAQmx_Val_GroupByScanNumber,VARPTR(value(0)),UBOUND(value),nSamples,BYVAL %NULL)
                                      'nr of samples                                         'array size = at least nrsamples * nrchans
             ' so if we understand X-tofs remarks well, nr. of samples should be 1 here, meaning 1 for each channel,
             ' and not 8 as we first had it. (gwr 04.07.2009)
    IF ret THEN
         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         'MSGBOX "6.err: " + TRIM$(errbuff)
         warning TRIM$(errbuff)
    ELSE
         ' transfer and process the data into the sonar data arrays.
         ' value() ranges here from 0 to 5.000
         ' note that dbx(255) always has the most recent data sample!!!
         ARRAY DELETE db0(), MAX(0,value(0) *819)    ' back conversion to 12 bit resolution  0-4096
         ARRAY DELETE db1(), MAX(0,value(1) *819)    ' for 0-4096, it should be *819.2, but we risk overflow
         ARRAY DELETE db2(), MAX(0,value(2) *819)    ' 5 x 819 = 4095
         ARRAY DELETE db3(), MAX(0,value(3) *819)
         ARRAY DELETE db4(), MIN(MAX(0,value(4) *819),4095)    ' this channels overflows and blocks...
         ARRAY DELETE db5(), MIN(MAX(0,value(5) *819),4095)    ' this one also
         ARRAY DELETE db6(), MIN(MAX(0,value(6) *819),4095)
         ARRAY DELETE db7(), MIN(MAX(0,value(7) *819),4095)

         Sonar_ii_Math      ' this is common and compatible with the %Nidaq code. for ii_2000
    END IF
#ENDIF
END FUNCTION


FUNCTION Quadrada_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
    'this function gets called every 8 samples and should read the data
    '07.06.2009: tested
    '            note that we here have bipolar values!!!
#IF %DEF(%g_NIDAQmx)
    LOCAL ret AS LONG
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL i AS LONG
    DIM value(31) AS STATIC DOUBLE   'data buffer

    ret = DAQmxReadAnalogF64(taskHandle,1,0.01,%DAQmx_Val_GroupByScanNumber,VARPTR(value(0)),UBOUND(value),nSamples,BYVAL %NULL)
                                      'nr of samples                                         'array size = at least nrsamples * nrchans
                                      ' 1 sample for eacht channel.
   IF ret THEN
         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         warning TRIM$(errbuff)
         ' if the acquisition stops here, we have to set @pDAQparams.daqstopped = %True
         ' this is to be checked.
    ELSE
         ' transfer and process the data into the radar data arrays.
         ' the values here are -5V to +5V
         ARRAY DELETE db0(), MAX(-2048,value(0) *409.6)    ' back conversion to 12 bit resolution -2048 to + 2047 ipv 0-4096
         ARRAY DELETE db1(), MAX(-2048,value(1) *409.6)
         ARRAY DELETE db2(), MAX(-2048,value(2) *409.6)
         ARRAY DELETE db3(), MAX(-2048,value(3) *409.6)
         ARRAY DELETE db4(), MAX(-2048,value(4) *409.6)
         ARRAY DELETE db5(), MAX(-2048,value(5) *409.6)
         ARRAY DELETE db6(), MAX(-2048,value(6) *409.6)
         ARRAY DELETE db7(), MAX(-2048,value(7) *409.6)

         Quadrada_ii_Math      ' this is common and compatible with the %Nidaq code. for Quadrada hardware

    END IF
#ENDIF
END FUNCTION


FUNCTION NiDAQmx_DoneCallback CDECL (BYVAL taskhandle AS LONG,BYVAL stat AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
    ' this procedure can be common to all our NiDAQmx applications, sonar as well as radar.
    ' the procedure needs not to be exported. It's only used as an internal callback.
    ' 07.06.2009: checked gwr.
    ' note we can also use @pDAQparameters.taskhandle instead of passing the variable.???
    ' probably we cannot, because in would contradict the prototype of the function call.
    ' 29.09.2009 separate versionmade fror 24ghz radar
    #IF %DEF(%g_NIDAQmx)
    'this function is called when an error occurs which forces the DAQ to stop
    'works (checked door de usb kabel uit te trekken tijdens het werken - wordt proper afgehandeld..)
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL ret AS LONG
    'this function gets called when something's wrong and the DAQ stops..
    'Warning "DAQ stopped"
    '03.08.2009 examinating crashes and errors.. the crash is an acces violation. also when we don't crash, pb reports an
                    '"illegal function call" error when we switch the doppler off or on again after switching off (thus not the very first time..)
    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
    Warning TRIM$(errbuff)

    ret = DAQmxClearTask(BYVAL @pDAQparams.taskhandle)
    IF ret THEN
         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         Warning TRIM$(errbuff)
    END IF
    Warning "data acquisition stopped from NiDAQmx callback"
    @pDAQparams.daqstopped = %True   ' added 08.06.2009
    @pDAQparams.taskhandle = %False
    @pDAQparams.taskname = NUL$(10)
    #ENDIF
END FUNCTION

FUNCTION Doppler_DAQ (BYVAL param AS LONG) EXPORT AS LONG
    ' this procedure starts/stops the data-acquisition for the doppler
    ' channels 8,9,10 on the ii-2000 board.
    ' only supported for NiDAQmx.
    ' 10.06.2009: first redaction.
    ' 05.07.2009: debug session.
    ' 07.07.2009: changed to -10V --- + 10V range
'    TRACE NEW "doppler_Daq_trace"   'for debug..
'    TRACE ON
'    TRACE PRINT FUNCNAME$ + STR$(param)
    board = %ii_2000

  '  exit function
  '  warning FUNCNAME$

    LOCAL i AS INTEGER
'    MSGBOX FUNCNAME$ + STR$(param)
#IF %DEF(%g_NiDAQmx)
    LOCAL ret AS LONG
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL cpcb AS DWORD
    LOCAL device AS ASCIIZ * 10
    LOCAL physicalchannels AS ASCIIZ * 40
    LOCAL nametoassigntochannels AS ASCIIZ * 40
    STATIC EveryN AS LONG
'    MSGBOX "predim"
        REDIM PRESERVE physicalChannel(0 TO 15) AS STATIC ASCIIZ * 40      'was dim, but gets repeated on every call..
        REDIM PRESERVE nameToAssignToChannel (0 TO 15) AS ASCIIZ * 40
'        REDIM PRESERVE nametoassigntolines (0 TO 15) AS STATIC ASCIIZ * 40
'        MSGBOX "postdim"
    LOCAL customscalename AS ASCIIZ * 40
'    warning "check:" + STR$(param)
    SELECT CASE param
        CASE -1
            FUNCTION = @pDAQparams.mode
        CASE 0
 '           MSGBOX "pre gosub.."
      '      exit function   'experiment   -and even then we get a crash
            GOSUB StopDopplerDaq   'is this one the culprit?
      '      @pDAQparams.mode = %DAQ_NI
        CASE %DAQ_DOUBLEBUFFER
            warning "prepare double buffer.."
                IF ISFALSE @pDAQparams.daqstopped THEN
              '      MSGBOX "pre gosub 2"
                   GOSUB StopDopplerDAQ
                END IF
                @pDAQparams.channel = %DAQ_RADAR
                @pDAQparams.mode    = %DAQ_NI OR %DAQ_DOUBLEBUFFER
                @pDAQparams.inputconfig = 1      ' single ended ground referenced.
                @pDAQparams.rate = %False
                FOR i = 8 TO 10
                    @pDAQparams.samplingrate(i)  = 1024
                    @pDAQparams.ChannelVector(i) = i
                    @pDAQparams.polarity(i)      = 0   '0= bipolar , 1= unipolar
                    @pDAQparams.voltagerange(i)  = 20  '10= set to -5 to +5V
                    @pDAQparams.GainVector(i)    = 1
                    @pDAQparams.rate = @pDAQparams.rate + @pDAQparams.samplingrate(i) ' sum of samplingrates.
                                                        ' this to allow checks with the capabilities of the device.
                NEXT i
                @pDAQparams.taskname = "Doppler-ii2000"              ' can be anything you like
                ret = DAQmxCreateTask(@pDAQparams.taskname, @pDAQparams.taskhandle)
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    warning "Create Doppler DAQ task error " & TRIM$(errbuff)
                END IF
                device = NiMxDevs(@pDAQparams.id)   '.id is hier 1 of 2 nu.
                   physicalchannels = TRIM$(device) + "/ai8:10"
                   warning TRIM$(physicalchannels)
                   nametoassigntochannels = "Ai8, Ai9, Ai10"
                   ret = DAQmxCreateAIVoltageChan(BYVAL @pDAQparams.taskhandle, physicalChannels$,nameToAssignToChannels$,%DAQmx_Val_RSE,-10.0,10.0,%DAQmx_Val_Volts ,customscalename)
                   IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        warning "error creating channels: " + TRIM$(errBuff)                'ok
                   END IF


             '   warning "channels ok"   'ok..
                ret = DaqmxCfgSampClkTiming(BYVAL @pDAQparams.taskhandle,"OnboardClock",1024,%DAQmx_val_Rising,%DAQmx_Val_ContSamps,1)
                ' we sample 3 channels.
                ' note: last param means nothing when using %DAQmx_Val_ContSamps
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "Clock error:" & TRIM$(errBuff)
                ELSE
                    'logfile "DaqmxCfgSampClkTiming passed with 1024S/s"
                END IF
            '    íf we don't call the following, the default is used
                'reming this function made the  Attempted to read samples that are no longer available. '
'                ' -buffer
'                ret = DAQmxCfgInputBuffer(BYVAL @pDAQparams.taskhandle,240) 'use a sample DMA buffer
'                IF ret THEN
'                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
'                    logfile "Inputbuffer error:" & TRIM$(errBuff)
'                END IF
                '--------
                cpcb = CODEPTR(Doppler_EveryNCallback)
                 ' 12 samples each time gives us 1 cs resolution
                 ' 4 samples for each channel
                 ' should create a transfer of 3 x 4 samples each time.
                 ' !!!! this is too fast for xi - change to 32 sample pc or more and adapt callback
                ret = DAQmxRegisterEveryNSamplesEvent(BYVAL @pDAQparams.taskhandle,%DAQmx_Val_Acquired_Into_Buffer,4,0,BYVAL cpcb, BYVAL %NULL)
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "DAQmxRegisterEveryNSamplesEvent error:" + TRIM$(errBuff)
                'ELSE
                    'logfile "DAQmxRegisterEveryNSamplesEvent passed with N = 4"
                END IF

                cpcb = CODEPTR(NiDAQmx_DoneCallback)
                ret = DAQmxRegisterDoneEvent(@pDAQparams.taskhandle,0,cpcb,BYVAL %NULL)
                IF ret THEN
                      DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                      logfile "DAQmxRegisterDoneEvent error:" & TRIM$(errBuff)
                'ELSE
                     ' logfile "DAQmxRegisterDoneEvent passed with cptr =" & STR$(cpcb)
                END IF

          '     warning "start doppler task"
          '     logfile "Start doppler task"
               TRACE PRINT "start doppler dask.. - last error was" + STR$(ERRCLEAR)
               ret = DAQmxStartTask(BYVAL @pDAQparams.taskhandle)   '->the crash really seems to be caused by this, although we still get the retval 0 just before it really happens
                  'note: the callback gets called a couple of times (allways 4 timmes?) in between this function call and the actual crash..
                  'when compiling with debug error on, sometimes we get error
                  logfile "ret:" + STR$(ret)
      '         MSGBOX "ret:" + STR$(ret)    'when crashing sometimes this is the last msgbox we get, sometimes we get to "start done"
               IF ret THEN
                     DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                     logfile "DAQmxStartTask error: " & TRIM$(errBuff)
               END IF
        '       logfile "Start done"
        '       warning "start done"
               'Logfile "doppler aquisition started.."
               @pDAQparams.daqstopped = %False
               FUNCTION = %DAQ_DOUBLEBUFFER  '%True
        CASE ELSE
               MSGBOX "Illegal mode",, FUNCNAME$
    END SELECT
    EXIT FUNCTION  ' essential!!!

StopDopplerDAQ:
            IF @pDAQparams.taskhandle THEN
                TRACE PRINT "handle did exist.."
             '   MSGBOX "1"
                ret = DAQmxStopTask(BYVAL @pDAQparams.taskHandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        Logfile TRIM$(errbuff)
                END IF
             '   MSGBOX "2"
                ret = DAQmxClearTask(BYVAL @pDAQparams.taskhandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        Logfile TRIM$(errbuff)
                END IF
            END IF
            @pDAQparams.daqstopped = %True
            @pDAQparams.taskhandle = %False
            @pDAQparams.taskname = NUL$(20)
                TRACE PRINT "now return..."
             '   MSGBOX "return from gosub"  'sometimes we return here without any gosub!!!
            RETURN
#ENDIF
END FUNCTION

FUNCTION Doppler_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
' callback handler for data acquisition with the ii_2000 board on the Doppler channels.
    ' this function gets called every 12 samples and reads the acquired data. 256 times a second
    ' the latency is 3.9ms.
    ' note that we here have bipolar values!!!
  ' 11.06.2009: after adjusting the buffer-size this works very well on \\No
  ' 13.06.2009: We cannot do the DFT from within the callback, it's too many fps for the processor
  '             however we could easily create different time-scale buffers
  '             0.25 sec = fast buffer   = 256 samples (= sampling rate 1024 S/s)
  '             1    sec = medium buffer = 256 samples (converted sampling rate 256 S/s)
  '             4 sec    = slow buffer   = 256 samples (converted sampling rate 64 S/s)
  ' 14.06.2009: this function runs at 256 times a second.
  '           problem with dc offset and extremely low frequency components...
  ' 07.07.2009: Voltage range changed to -10V to +10V (20V range)
  '             Note that we use the full 16 bit resolution of the NiUSB device here.
  ' 08.07.2009: High pass filter for DC removal added.
  ' 09.07.2009: acceleration data added.
  ' 12.07.2009: accelleration calculus improved.
  ' 08.04.2010: amplitude scaling changed a factor 5
    LOCAL i AS LONG
    STATIC cnt AS DWORD
#IF %DEF(%g_NIDAQmx)
    LOCAL ret AS LONG
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL newval AS DOUBLE
    REDIM value(95) AS STATIC DOUBLE   'data buffer   'was 47 - does it take longer before we crash now? to be tested after medieaval rehearsal..
    STATIC xslow, yslow, zslow AS DOUBLE
    STATIC xdc, ydc, zdc AS DOUBLE ' for dc offset removal.
    ' STATIC oxf, oyf, ozf AS SINGLE

    'ret = DAQmxReadAnalogF64(taskHandle,12,0.1,%DAQmx_Val_GroupByScanNumber,VARPTR(value(0)),UBOUND(value),nSamples,BYVAL %NULL)
                                      'nr of samples                                         'array size = at least nrsamples * nrchans
                                      '0.012    note:
                                          'time out = 12 x (1/1024) seconds
                                      ' nr of samples per channel=4
    ret = DAQmxReadAnalogF64(taskHandle,4,0.012,%DAQmx_Val_GroupByScanNumber,VARPTR(value(0)),UBOUND(value),nSamples,BYVAL %NULL)   '-1: as much as available - used to be 4

    IF ret THEN
         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         logfile "DaqmxReadAnalogF64 error: " & TRIM$(errbuff)
         warning "DaqmxReadAnalogF64 error: " & TRIM$(errbuff)
         ' warning TRIM$(errbuff)
         ' if the acquisition stops here, we have to set @pDAQparams.daqstopped = %True
         ' this is to be checked.
    ELSE
         ' transfer and process the data into the sonar data arrays.
    ' with DC offset removal: (high pass filter)
         ' changed to -10 = +10 Volt range 07.07.2009
                         'Xdc = ((Xdc * 1275) + Value(0))/ 1280           ' 1275 = 255 * 5, 1280 = 256 * 5
         ' for 20V range this becomes:
         'Xdc = ((Xdc * 2550) + Value(0)) / 2560           ' 2550 = 255 * 10, 2560 = 256 * 10
                                                          ' this makes a high pass filter (differenciator)
                                                          ' if we are right, the cut off is around 4Hz now. (to be checked)
                ' a version using a variable LPF parameter would be:
                ' Xdc = (Xdc * Doppler.hpf) / (Doppler.hpf + 1)
                ' ARRAY DELETE dbx(), (value(0) - Xdc)/ 10
                        ' 5V version: ARRAY DELETE dbx(), (value(0) /5) - Xdc         'dbx(255) = always newest data, dbx(0)= oldest data sample
      '   ARRAY DELETE dbx(), (value(0) /10) - Xdc         'dbx(255) = always newest data, dbx(0)= oldest data sample
      '   Ydc = ((Ydc * 2550) + Value(1))/ 2560
      '   ARRAY DELETE dby(), (value(1) /10) - Ydc
      '   Zdc = ((Zdc * 2550) + Value(2))/ 2560
      '   ARRAY DELETE dbz(), (value(2) /10) - Zdc

      '   Xdc = ((Xdc * 2550) + Value(3))/ 2560
      '   ARRAY DELETE dbx(), (value(3) /10) - Xdc
      '   Ydc = ((Ydc * 2550) + Value(4))/ 2560
      '   ARRAY DELETE dby(), (value(4) /10) - Ydc
      '   Zdc = ((Zdc * 2550) + Value(5))/ 2560
      '   ARRAY DELETE dbz(), (value(5) /10) - Zdc
      '
      '   Xdc = ((Xdc * 2550) + Value(6))/ 2560
      '   ARRAY DELETE dbx(), (value(6) /10) - Xdc
      '   Ydc = ((Ydc * 2550) + Value(7))/ 2560
      '   ARRAY DELETE dby(), (value(7) /10) - Ydc
      '   Zdc = ((Zdc * 2550) + Value(8))/ 2560
      '   ARRAY DELETE dbz(), (value(8) /10) - Zdc
      '
      '   Xdc = ((Xdc * 2550) + Value(9))/ 2560
      '   ARRAY DELETE dbx(), (value(9) /10) - Xdc       ' so here we should write the most recent data sampled.
      '   Ydc = ((Ydc * 2550) + Value(10))/ 2560
      '   ARRAY DELETE dby(), (value(10)/10) - Ydc
      '   Zdc = ((Zdc * 2550) + Value(11))/ 2560
      '   ARRAY DELETE dbz(), (value(11)/10) - Zdc

     ' version with parametric control over the differenciator for DC removal: [08.07.2009] gwr
     ' note: doppler.hpf should never be zero, since that erases any signal...
     '       the hpf range is now quadratic from 1 to 128^2
     ' up to 07.04.2010 we divided by 10 here, to rescale the voltages to 0-1V since the ADC returns -10V to +10V
     'thus we could never have an overflow. However the signal with the ii2010 omni transducers seems not to exceed -2 to +2V
     'hence we changed the division here to /2 instead of the former /10
     'now there is a risk for overflow!
     'hence we added the limiter with the MIN function. (gwr)
     IF Doppler.hpf THEN
         i = Doppler.hpf + 1
         Xdc = ((Xdc * Doppler.hpf) + Value(0)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbx(), MIN((value(0) - Xdc)/2,1)         'dbx(255) = always newest data, dbx(0)= oldest data sample
         Ydc = ((Ydc * Doppler.hpf) + Value(1)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dby(), MIN((value(1) - Ydc)/2,1)
         Zdc = ((Zdc * Doppler.hpf) + Value(2)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbz(),MIN((value(2) - Zdc)/2,1)

         Xdc = ((Xdc * Doppler.hpf) + Value(3)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbx(), MIN((value(3) - Xdc)/2,1)
         Ydc = ((Ydc * Doppler.hpf) + Value(4)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dby(), MIN((value(4) - Ydc)/2,1)
         Zdc = ((Zdc * Doppler.hpf) + Value(5)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbz(), MIN((value(5) - Zdc)/2,1)

         Xdc = ((Xdc * Doppler.hpf) + Value(6)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbx(), MIN((value(6) - Xdc)/2,1)
         Ydc = ((Ydc * Doppler.hpf) + Value(7)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dby(), MIN((value(7) - Ydc)/2,1)
         Zdc = ((Zdc * Doppler.hpf) + Value(8)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbz(), MIN((value(8) - Zdc)/2,1)

         Xdc = ((Xdc * Doppler.hpf) + Value(9)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbx(), MIN((value(9) - Xdc)/2,1)
         Ydc = ((Ydc * Doppler.hpf) + Value(10)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dby(), MIN((value(10) - Ydc)/2,1)
         Zdc = ((Zdc * Doppler.hpf) + Value(11)) / i '(Doppler.hpf + 1)
         ARRAY DELETE dbz(), MIN((value(11) - Zdc)/2,1)
     ELSE
         ' no data processing with filter, limiter added 08.04.2010 gwr
         ARRAY DELETE dbx(),MIN(value(0)/2,1)
         ARRAY DELETE dby(),MIN(value(1)/2,1)
         ARRAY DELETE dbz(),MIN(value(2)/2,1)
         ARRAY DELETE dbx(),MIN(value(3)/2,1)
         ARRAY DELETE dby(),MIN(value(4)/2,1)
         ARRAY DELETE dbz(),MIN(value(5)/2,1)
         ARRAY DELETE dbx(),MIN(value(6)/2,1)
         ARRAY DELETE dby(),MIN(value(7)/2,1)
         ARRAY DELETE dbz(),MIN(value(8)/2,1)
         ARRAY DELETE dbx(),MIN(value(9)/2,1)
         ARRAY DELETE dby(),MIN(value(10)/2,1)
         ARRAY DELETE dbz(),MIN(value(11)/2,1)
     END IF
                                               ' since the samples flow in at a rate of 4 per channel at a time
                                               ' nr samples in the function above is samples *per channel*,
                                               ' so we get 4 new samples on each of the 3 channels
                                               ' the timing latency is 4.096ms.
         ' downsampling to medium 1 second buffer:  [ sampling rate becomes 256 S/s)
    '     newval = dbxm(255)
    '     FOR i = 252 TO 255
    '         newval = (newval + dbx(i)) /2
    '     NEXT i
    '     ARRAY DELETE dbxm(), newval
    '
         ' better (faster code),doing exactly the same thing:

         newval = (dbxm(255)/16) + (dbx(252)/16) + (dbx(253)/8) + (dbx(254)/4) + (dbx(255)/2)  ' sum always = 1
         ARRAY DELETE dbxm(), newval
         newval = dbym(255)/16 + dby(252)/16 + dby(253)/8 + dby(254)/4 + dby(255)/2
         ARRAY DELETE dbym(), newval
         newval = dbzm(255)/16 + dbz(252)/16 + dbz(253)/8 + dbz(254)/4 + dbz(255)/2
         ARRAY DELETE dbzm(), newval

         ' downsampling to slow 4 second buffer:   { sampling rate becomes 64 S/s)
         xslow = (xslow + dbxm(255))/2    ' running integrator or simple FIR filter
         yslow = (yslow + dbym(255))/2
         zslow = (zslow + dbzm(255))/2
         IF ISFALSE (cnt MOD 4) THEN
                ARRAY DELETE dbxs(), xslow
                ARRAY DELETE dbys(), yslow
                ARRAY DELETE dbzs(), zslow
         END IF


         INCR cnt
      '   if isfalse (cnt mod 100) then  '50 =  20 x per sekonde
      '       Doppler_ii_Math           ' takes still way too long to perform from within the callback...
      '   end if

      ' surface calculations:  [this works from within the callback]
      '    rectified sigma function:                           [ FIR-filter ]
      '    surfx = ((surfx * dta) + abs(dbx(0))) / (dta+1)    ' dta = integratiediepte (0 tot 255)
      '    normalized in the range 0-1
           Doppler.xa = ((Doppler.xa * Doppler.dta) + ABS(dbx(255))) / (Doppler.dta +1)   'sampling rate remains 1024S/s but is lowpassed and rectified
           Doppler.ya = ((Doppler.ya * Doppler.dta) + ABS(dby(255))) / (Doppler.dta +1)
           Doppler.za = ((Doppler.za * Doppler.dta) + ABS(dbz(255))) / (Doppler.dta +1)
      ' speed calculations, using zero-cross calculation:    (proc. in g_indep)
            ' noise level should become a function of .xa, ya. za
            ' the noise parameter is now expressed in fraction of normalized full scale, hence 1E-3 is 60dB or 1/1000
            ' Since we count on every call (256 times a second) the entire buffer, the maximum
            ' difference between succesive values can never be larger than 4. (on each refresh, we are getting 4 new
            ' samples in dbx().
      IF Doppler.xa > doppler.noise THEN
           Doppler.xf = WaveFreq_Dbl (dbx(), 1024, Doppler.noise)' 1E-3) '4 * 2.44E-4)     ' new function in g_indep
           ' the values are expressed in Hz
           ' the theoretical absolute maximum value would be 512Hz(corresponding to movement speed of 5m/s)
           ' the gate-time is 0.256 Sec.
           ' as for now, no integration is performed.
      ELSE
           'Doppler.xf = %False    ' we could also write Doppler.xf = Doppler.xf / 2 for a fast decay to zero.
           Doppler.xf = Doppler.xf / 2
      END IF
      IF Doppler.ya > doppler.noise THEN
           Doppler.yf = WaveFreq_Dbl (dby(), 1024, Doppler.noise) '1E-3) '4 * 2.44E-4)     ' noise = 1/4096 = 12 bit
      ELSE
           Doppler.yf = Doppler.yf / 2
      END IF
      IF Doppler.za > doppler.noise THEN
           Doppler.zf = WaveFreq_Dbl (dbz(), 1024, Doppler.noise) '1E-3) '4 * 2.44E-4)     ' * 4 = 10 bits resolution
      ELSE
           Doppler.zf = Doppler.zf/2
      END IF
      ' accelleration calculation:
      ' theory: if we take the maximum accelleration for body movement as 100m/s2, we need to
      ' measure accelleration with a time interval of 50ms. Since one sample in our buffer
      ' corresponds to 0.976ms, this corresponds to 51 samples.
      ' However, if we want to optimize for speed of response -at the detriment of resolution-
      ' we should take the timeinterval as 1cs = 10ms and thus 10 samples.
      ' hence:
                      ' following are part of the structure, and thus global
      '                  DIM xfbuf(0 to 63) as global single   ' we take 63, to give us some margin
      '                  DIM yfbuf(0 to 63) as global single   ' done on init.
      '                  DIM zfbuf(0 to 63) as global single
      '                  Doppler.pxfbuf = varptr(xfbuf(0))     ' done on dll-init
      '                  Doppler.pyfbuf = varptr(yfbuf(0))
      '                  Doppler.pzfbuf = varptr(zfbuf(0))
      i = 63 - Doppler.dtacc            ' range for dtacc: 1 to 63. Crash if exceeded.
      ARRAY DELETE xfbuf(), Doppler.xf
      ARRAY DELETE yfbuf(), Doppler.yf
      ARRAY DELETE zfbuf(), Doppler.zf  ' waarbij de maat van de buffer de dt bepaalt.
      Doppler.xac = (Doppler.xf - xfbuf(i)) / Doppler.dtacc ' 12 = 63 - 51, voor 10 samp: 53 = 63 - 10
      Doppler.yac = (Doppler.yf - yfbuf(i)) / Doppler.dtacc
      Doppler.zac = (Doppler.zf - zfbuf(i)) / Doppler.dtacc
                                     ' de resolutie neemt toe met .dtacc, maar de scaling blijft konstant.
                                     ' zonder de deling door dtacc hadden we:
                                     ' dtacc = 1 : X= -22/+8     Y= -8/+8     z= -8/+8
                                     ' dtacc = 2 : X= -16/+20    Y= -16/+24   z= -20/+24
                                     ' dtacc = 4 : X= -72/+72    y= -52/+64   z= -64/+52
                                     ' dtacc = 6 : x= -72/+104   Y= -84/+88   Z= -76/+72
                                     ' dtacc =10 : X= -48/+175   Y=-112/+124  Z= -168/+144
                                     ' met de deling en na debug..., krijgen we nu:
                                     ' X= -9/+8   Y=-8/+24  Z=-8/+8
                                     ' onafhankelijk van de setting voor dtacc.
                                     ' de resolutie neemt evenredig toe met dtacc natuurlijk
    END IF
#ENDIF
END FUNCTION

SUB Doppler_ii_Math ()
    STATIC tog AS LONG
    ' to be tested. This requires a very fast processor!!!
    ' DFT math on the buffer such as to return spectral data and power.
    ' if the processor load is too heavy, we can make this a task instead of running from the callback
    ' for reasonable tempo resolution we need 4 second buffers
    ' test-bed now in Faust- Tango code  (4.07.09)
    IF ISFALSE tog THEN
        DIM hanx(0 TO 4095) AS STATIC DOUBLE
        DIM hany(0 TO 4095) AS STATIC DOUBLE
        DIM hanz(0 TO 4095) AS STATIC DOUBLE
        ' following moved to init dll:
                    ' DIM Spx(0 TO 4095) AS GLOBAL DOUBLE     ' calculated spectrum, bands in 0.25Hz increments, 0-2047
                    ' DIM Spy(0 TO 4095) AS GLOBAL DOUBLE
                    ' DIM Spz(0 TO 4095) AS GLOBAL DOUBLE
       ' DIM Han(0 TO 4095) AS STATIC DOUBLE
       ' MAT Han() = CON

       ' HanningWindow_dbl Han()
        tog = %True
    END IF
    ' first we could apply a hanning window to the array, however, this changes its data!
    ' HanningWindow Spx()       'in g_indep
    ' it would be better to create a new hanning function,
    ' converting doubles on the input to singles and applying hanning window.
    ' Then we could calculate the FFT in single precision.
    ' however, it may very well be that there is no longer a speed penalty to using double throughout

    ' tmp remmed out:
  '  MAT hanx() = dbx() * Han()           ' copy the input data and apply hanning window
  '  MAT hany() = dby() * Han()
  '  MAT hanz() = dbz() * Han()
    '--------------

            '    HanningWindow_dbl Hanx()    ' in g_indep
            '    HanningWindow_dbl Hany()
            '    HanningWindow_dbl Hanz()
    ' without windowing:
  '  DFT_Dbl dbx(),Spx()         ' this would perform a spectral transform on the 4 second buffer
  '  DFT_Dbl dby(),Spy()
  '  DFT_Dbl dbz(),Spz()


    ' with hanning window:
   ' DFT_Dbl hanx(), Spx()
   ' DFT_Dbl hany(), Spy()
   ' DFT_Dbl hanz(), Spz()
END SUB

FUNCTION GetDopplerPointer () EXPORT AS DWORD
        ' must be called after initialisation
        ' in your own application
    FUNCTION = VARPTR(doppler)
END FUNCTION

' ---------------------------- 24GHz radar system support ------------------------------------------------
' wordt dit al ergens gebruikt: ja, in de Butoh kompilatie.

FUNCTION Get24GHzRadarPointer () EXPORT AS DWORD
   ' function = varptr(...)
   FUNCTION = VARPTR(R24GT)
END FUNCTION

FUNCTION R24GT_DAQ (BYVAL param AS LONG) EXPORT AS LONG
    ' this procedure starts/stops the data-acquisition for the 24GHz radar tetrahedron
    ' channels 1,2,3,4 on the 24GHz board.
    ' only supported for NiDAQmx.
    ' 08.09.2009: first redaction.
    ' 25.11.2009 note R24GT.dtq should be set by the calling application first
    ' in first experiments, 20 looks like a good value..
    ' both TL-lights and motors in the orchestra cause a lot of noise in the radar signal
    ' 09.03.2010: adapted to new channel assignment on the NiDAQ interface.
    'restored to callback every 8 samples instead 0f 32 (which used to crash on xi)
    'on yo does'nt crash, but gives lots of errors..
    STATIC init AS DWORD

    board = %R24GT   ' new constant 08.09.2009

    LOCAL i AS INTEGER
    warning "FUNCNAME$ + STR$(param)"
#IF %DEF(%g_NiDAQmx)
    LOCAL ret AS LONG
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL cpcb AS DWORD
    LOCAL device AS ASCIIZ * 10
    LOCAL physicalchannels AS ASCIIZ * 40
    LOCAL nametoassigntochannels AS ASCIIZ * 40
    LOCAL customscalename AS ASCIIZ * 40
    IF ISFALSE init THEN
        warning "ïnit" + FUNCNAME$
        'following buffers stay fixed in size..
            REDIM dbx24Gf(2048 * 3600) AS DOUBLE     'one hour buffer  - four buffers are about 60 mb, but that shouldn't be a problem..
            REDIM dby24Gf(2048 * 3600) AS DOUBLE
            REDIM dbz24Gf(2048 * 3600) AS DOUBLE
            REDIM dbc24Gf(2048 * 3600) AS DOUBLE
            REDIM dbx24Gm(UBOUND(dbx24Gf)\8) AS DOUBLE
            REDIM dby24Gm(UBOUND(dby24Gf)\8) AS DOUBLE
            REDIM dbz24Gm(UBOUND(dbz24Gf)\8) AS DOUBLE
            REDIM dbc24Gm(UBOUND(dbc24Gf)\8) AS DOUBLE
            REDIM dbx24Gs(UBOUND(dbx24Gm)\8) AS DOUBLE
            REDIM dby24Gs(UBOUND(dby24Gm)\8) AS DOUBLE
            REDIM dbz24Gs(UBOUND(dbz24Gm)\8) AS DOUBLE
            REDIM dbc24Gs(UBOUND(dbc24Gm)\8) AS DOUBLE
            REDIM xfbuf(UBOUND(dbx24Gm)) AS SINGLE            'klopt dit? zelfde rate als mid buffer?
            REDIM zfbuf(UBOUND(dbx24Gm)) AS SINGLE              '*re*dim seems to be crucial here..
            REDIM yfbuf(UBOUND(dbx24Gm)) AS SINGLE
            REDIM cfbuf(UBOUND(dbx24Gm)) AS SINGLE
            R24GT.bufpos = 0
            R24GT.pxfast = VARPTR(dbx24Gf(0))
            R24GT.pyfast = VARPTR(dby24Gf(0))
            R24GT.pzfast = VARPTR(dbz24Gf(0))
            R24GT.pcfast = VARPTR(dbc24Gf(0))
            R24GT.pxm = VARPTR(dbx24Gm(0))
            R24GT.pym = VARPTR(dby24Gm(0))
            R24GT.pzm = VARPTR(dbz24Gm(0))
            R24GT.pcm = VARPTR(dbc24Gm(0))
            R24GT.pxslow = VARPTR(dbx24Gs(0))
            R24GT.pyslow = VARPTR(dby24Gs(0))
            R24GT.pzslow = VARPTR(dbz24Gs(0))
            R24GT.pcslow = VARPTR(dbc24Gs(0))
            R24GT.pxfbuf = VARPTR(xfbuf(0))   ' common with other structures...
            R24GT.pyfbuf = VARPTR(yfbuf(0))
            R24GT.pzfbuf = VARPTR(zfbuf(0))
            R24GT.pcfbuf = VARPTR(cfbuf(0))
            warning "dim & ptrs done"
            init = 1
    END IF
    warning "check param" + STR$(param)
    SELECT CASE param
        CASE -1
            FUNCTION = @pDAQparams.mode
        CASE 0
            GOSUB StopR24GT_Daq   'is this one the culprit?     apparently not..
      '      @pDAQparams.mode = %DAQ_NI
        CASE %DAQ_DOUBLEBUFFER
            warning "init double buffer"
                IF ISFALSE @pDAQparams.daqstopped THEN
                   ' MSGBOX "pre gosub 2"
                   GOSUB StopR24GT_DAQ
                END IF
                @pDAQparams.channel = %DAQ_RADAR
                @pDAQparams.mode    = %DAQ_NI OR %DAQ_DOUBLEBUFFER
                @pDAQparams.inputconfig = 1      ' single ended ground referenced.
                @pDAQparams.rate = %False
                FOR i = 12 TO 15   'changed 09.03.2010 - gwr, conform to new hardware wiring. Was: 1 TO 4
                    @pDAQparams.samplingrate(i)  = 2048
                    @pDAQparams.ChannelVector(i) = i
                    @pDAQparams.polarity(i)      = 0   '0= bipolar , 1= unipolar
                    @pDAQparams.voltagerange(i)  = 20  '-10 to + 10V
                    @pDAQparams.GainVector(i)    = 1
                    @pDAQparams.rate = @pDAQparams.rate + @pDAQparams.samplingrate(i) ' sum of samplingrates.
                                                        ' this to allow checks with the capabilities of the device.
                NEXT i
                @pDAQparams.taskname = "R24GT"              ' can be anything you like
                ret = DAQmxCreateTask(@pDAQparams.taskname, @pDAQparams.taskhandle)
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    Logfile "Create R24GT DAQ task error " & TRIM$(errbuff)
                END IF
                device = NiMxDevs(@pDAQparams.id)   '.id is hier 1 of 2 nu.
                    'note: create all channels at once with one call - otherwise we get crashes..
                    'DAQmxCreateAIVoltageChan call..
                   'physicalchannels$ = TRIM$(Device) + "/ai1:4" - in de eerste bedrading, nu gewijzigd in:
                   physicalchannels$ = TRIM$(Device) + "/ai12:15"   'dit was fout.. /ai12:4 kon omogelijk werken!!
                   nametoassigntochannels$ = "A1, A2, A3, A4"     'heeft dit enige betekenis of moet het nu Ä12, A13, A14, A15" zijn
                   ret = DAQmxCreateAIVoltageChan(BYVAL @pDAQparams.taskhandle, physicalChannels$,nameToAssignToChannels$,%DAQmx_Val_RSE,-10.0,10.0,%DAQmx_Val_Volts ,customscalename)
                   IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                        warning "createvoltagechannels: " + TRIM$(errBuff)
                        logfile TRIM$(errBuff)             'ok
                   END IF
                ret = DaqmxCfgSampClkTiming(BYVAL @pDAQparams.taskhandle,"OnboardClock",2048,%DAQmx_val_Rising,%DAQmx_Val_ContSamps,1)
                ' we sample 4 channels.
                ' note: last param means nothing when using %DAQmx_Val_ContSamps
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "Clock error:" & TRIM$(errBuff)
                END IF
                ' -buffer
                ret = DAQmxCfgInputBuffer(BYVAL @pDAQparams.taskhandle,640) 'use a sample DMA buffer
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "Inputbuffer error:" & TRIM$(errBuff)
                END IF
                '--------
                cpcb = CODEPTR(R24GT_EveryNCallback)
                 ' 32 samples each time gives us 64ms resolution.
                 '    with the current sampplingrate (2048), working with less then 32 samples seiously increases the chance of crashes on xi and shop.
                 '    less then 8 crashses guaranteed
                 ' should create a transfer of 4 x 32 samples each time.
                ret = DAQmxRegisterEveryNSamplesEvent(BYVAL @pDAQparams.taskhandle,%DAQmx_Val_Acquired_Into_Buffer,8,0,BYVAL cpcb, BYVAL %NULL)      'rstored 32 to 8
                IF ret THEN
                    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                    logfile "DAQmxRegisterEveryNSamplesEvent error:" + TRIM$(errBuff)
                END IF

                cpcb = CODEPTR(R24GT_DoneCallback)
                ret = DAQmxRegisterDoneEvent(@pDAQparams.taskhandle,0,cpcb,BYVAL %NULL)
                IF ret THEN
                      DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                      logfile "DAQmxRegisterDoneEvent error:" & TRIM$(errBuff)
                END IF

               ret = DAQmxStartTask(BYVAL @pDAQparams.taskhandle)
                  '->the crash really seems to be caused by this, although we still get the retval 0 just
                  ' before it happens
                  'note: the callback gets called a couple of times in between this function call and the actual crash..
                  'when compiling with debug error on, sometimes we get error
               IF ret THEN
                     DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                     logfile "DAQmxStartTask error: " & TRIM$(errBuff)
               END IF
               @pDAQparams.daqstopped = %False
               warning "init done:"
               FUNCTION = %DAQ_DOUBLEBUFFER  '%True
        CASE ELSE
               MSGBOX "Illegal mode",, FUNCNAME$
    END SELECT
'    msgbox "started.."
    EXIT FUNCTION  ' essential!!!

StopR24GT_DAQ:
            'TO DO: allow to save log, then reset buffer..
            IF @pDAQparams.taskhandle THEN
                ret = DAQmxStopTask(BYVAL @pDAQparams.taskHandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                END IF
                ret = DAQmxClearTask(BYVAL @pDAQparams.taskhandle)
                IF ret THEN
                        DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
                END IF
            END IF
            @pDAQparams.daqstopped = %True
            @pDAQparams.taskhandle = %False
            @pDAQparams.taskname = NUL$(20)
            RETURN
#ENDIF
END FUNCTION



FUNCTION offsetpos(BYVAL currentpos AS LONG,BYVAL offset AS LONG, BYVAL maxpos AS LONG) AS LONG
    'this function helps counting in a circular buffer..
    'presuming that offset is no bigger than the size of the buffer, and that we start counting from 0, not 1!!
    'should go in g_math maybe?
    'note: offset can be negative!!
  '  logfile FUNCNAME$ + STR$(currentpos) + STR$(offset) + STR$(maxpos)
    currentpos = currentpos + offset
    IF currentpos < 0 THEN
        currentpos = (maxpos - currentpos) - 1
    ELSEIF currentpos > maxpos THEN  'sic, no >=
        currentpos = (currentpos MOD maxpos) - 1  'thus here we should substract 1, so one step further then max position = 0 and not 1
    END IF
 '   logfile "    --->" + STR$(Currentpos)
    FUNCTION = currentpos
END FUNCTION


FUNCTION R24GT_EveryNCallback CDECL (BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
' callback handler for data acquisition with the 24GHz board, 4 channels - tetrahedron setup
    ' this function gets called every 8 samples and reads the acquired data. 256 s/s, 4 samples   (daq internal sr: 2048 samples per channel / second)
    ' the latency is 3.9ms.
    ' note that we here have bipolar values!!!
  ' 07.09.2009: Modelled after the similar doppler function
  ' if we would do this using allocated memory we need 29,4912MByte/h * 4 = 120MByte/h    - Xi has 512mb of memory, 3 gig is standard if you buy a laptop now...
  ' 2009.09.30: we try to remove the superfluous buffer shuffling and just use one big buffer..
  '                 copy of code before changes below
  'oktober 2009: adapting of this code to 32 samples per call by xof.. not sure if understood everything right.. to be checked!!
  '2009.10.19  we get crashes again - probably something wrong in our calculations on the mid and slow buffers... 'pointer out of range"
  '2009.10.22 crashes solved. visualised log created in butoh.exe in pd , which looks fine after fixing a minor bug..
  '            now check amps (why aren't they buffered*?)  en do acceleration..
'  2009.10.30  made R24GT_II_VU. amplitude (range 0-1) and speed work fine, result of acceleration look less ok - hardly ever becomes negative
'              looks like channels are swapped (???)

'2010.10.06 restored to old version on request by gwr..

    LOCAL i AS LONG
    STATIC cnt AS DWORD
#IF %DEF(%g_NIDAQmx)
    LOCAL ret AS LONG
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL newval AS DOUBLE
    LOCAL div AS DWORD
    LOCAL ub AS DWORD
    LOCAL lbuf() AS DOUBLE
    REDIM value(256) AS STATIC DOUBLE   'inputdata buffer   - twice as big as what we suspect to need..
    STATIC xslow, yslow, zslow, cslow AS DOUBLE
    STATIC xdc, ydc, zdc, cdc AS DOUBLE ' for dc offset removal.

      'nr of samples -> use -1 = all new samples, which normally  is as much as you expect, but on some occasions it appears to be twice as much
                                            'array size = at least nrsamples * nrchans
      ' time out = 12 x (1/2048) seconds   'vanwaar 12?  - anyway, after solving all bugs, timing appears to be really tight. after 10 minutes of sampling we get exactly as much calls here as expected..
      ' nr of samples per channel=32
    IF ISFALSE R24GT.dtacc THEN R24GT.dtacc = 10

    ret = DAQmxReadAnalogF64(taskHandle,-1,0.006,%DAQmx_Val_GroupByScanNumber,VARPTR(value(0)),UBOUND(value),nSamples,BYVAL %NULL)

    '!!!! since we changed the nr of samples we  an expect here from 8 to 32, the code below probably needs to be revised..

 '   logfile "nsamples:" + STR$(nsamples)


    IF ret THEN
         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         logfile "DaqmxReadAnalogF64 error: " & TRIM$(errbuff)
         warning "DaqmxReadAnalogF64 error: " & TRIM$(errbuff)
         EXIT FUNCTION
         ' warning TRIM$(errbuff)
         ' if the acquisition stops here, we have to set @pDAQparams.daqstopped = %True
         ' this is to be checked.
    END IF
         ' transfer and process the data into the radar data arrays.
     ' with DC offset removal: (high pass filter)
     ' version with parametric control over the differenciator for DC removal: [08.07.2009] gwr
     ' note: R24GT.hpf should never be zero, since that erases any signal...
     '       the hpf range is now quadratic from 1 to 128^2


     'everything we used to do 8 times we have to do 32 times now.. maybe first considering different buffering strattegies..
     'in first instance, do basic filtering save everything to big buffer(s) - all the rest we probably better do somewhere else then in this callback anyway..


      div = R24GT.hpf + 1
      FOR i = 0 TO (nsamples - 1)
            xdc = IIF(R24GT.hpf, (xdc * R24GT.hpf + value(4*i))/div, value(4*i))       'if hpf >0, integrate, otherwise take sampled value directly..
            ydc = IIF(R24GT.hpf, (ydc * R24GT.hpf + value(4*i + 1))/div, value(4*i + 1))
            zdc = IIF(R24GT.hpf, (zdc * R24GT.hpf + value(4*i + 2))/div, value(4*i + 2))
            cdc = IIF(R24GT.hpf, (cdc * R24GT.hpf + value(4*i + 3))/div, value(4*i + 3))
            dbx24Gf(R24GT.bufpos) = xdc   'value (4 * i)
            dby24Gf(R24GT.bufpos) = ydc   'value (4 * i + 1)
            dbz24Gf(R24GT.bufpos) = zdc   'value (4 * i + 2)
            dbc24Gf(R24GT.bufpos) = cdc   'value (4 * i + 3)
 '           logfile "write fast buffer @" + str$(R24GT.bufpos) + str$(dbx24Gf(R24GT.bufpos))  + STR$(dby24Gf(R24GT.bufpos)) + STR$(dbz24Gf(R24GT.bufpos)) + STR$(dbc24Gf(R24GT.bufpos))
            INCR R24GT.bufpos
            IF R24GT.bufpos > UBOUND(dbx24Gf) THEN
                Warning "one hour of radar data recorded - resetting circular buffer pointer"
                logfile "one hour of radar data recorded - resetting circular buffer pointer"
                R24GT.bufpos = 0
            END IF
      NEXT

  '    if isfalse R24GT.bufpos mod 200 then logfile "cb" + str$(R24GT.bufpos)      'ok


        ' !!! the stuff below should be thoroughly checked...
        ' now we have to downsample from 2048 s/s -> 256 s/s  = factor 8
        ' we have 32 new input samples, so 4 output samples..
        ' so bufpos in medium array = R24GT.bufpos\8, but we should calc from current bufpos - 31 to current bufpos

        ' >>>>> we gaan er voorlopig van uit dat we over mnder dan een uur bezig zijn, en de ringteller van de hoofdbuffer niet rondgegaan is - later aan te passen!!!


'         newval = dbx24Gm(255)/256 + dbx24Gf(248)/256 + dbx24Gf(249)/128 + dbx24Gf(250)/64 + dbx24Gf(251)/32 + dbx24Gf(252)/16 + dbx24Gf(253)/ 8 + dbx24Gf(254)/4 + dbx24Gf(255)/2  ' sum always = 1
        ' tpos = R24GT.bufpos - 31

#IF %DEF(%r24_32spb)
        LOCAL tpos AS LONG 'DWORD

        tpos = offsetpos(R24GT.bufpos, -32, UBOUND(dbx24Gf))
        dbx24GM(tpos\8) = dbx24GM(offsetpos((tpos\8), - 1, UBOUND(dbx24GM)))   'take last value
        ub = UBOUND(dbx24Gf)
        'note: for optimalisation we could check before if there's a risk of crossing the ubound, and if that doens't happen, drop all the offsetpos's...
        'note the difference..  dbx24g*M*(tpos\8) vs dbx24g*F*(tpos)
        dbx24GM(tpos\8) = dbx24GM(tpos\8)/256 + dbx24Gf(offsetpos(tpos, 1, ub))/256 + dbx24Gf(offsetpos(tpos, 2, ub))/64 + dbx24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbx24Gf(offsetpos(tpos, 4, ub))/16 + dbx24Gf(offsetpos(tpos, 5, ub))/8 + dbx24Gf(offsetpos(tpos, 6, ub))/4 + dbx24Gf(offsetpos(tpos, 7, ub))/2
        dby24GM(tpos\8) = dby24GM(tpos\8 + 1)/256 + dby24Gf(offsetpos(tpos, 1, ub))/256 + dby24Gf(offsetpos(tpos, 2, ub))/64 + dby24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dby24Gf(offsetpos(tpos, 4, ub))/16 + dby24Gf(offsetpos(tpos, 5, ub))/8 + dby24Gf(offsetpos(tpos, 6, ub))/4 + dby24Gf(offsetpos(tpos, 7, ub))/2
        dbz24GM(tpos\8 ) = dbz24GM(tpos\8)/256 + dbz24Gf(offsetpos(tpos, 1, ub))/256 + dbz24Gf(offsetpos(tpos, 2, ub))/64 + dbz24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbz24Gf(offsetpos(tpos, 4, ub))/16 + dbz24Gf(offsetpos(tpos, 5, ub))/8 + dbz24Gf(offsetpos(tpos, 6, ub))/4 + dbz24Gf(offsetpos(tpos, 7, ub))/2
        dbc24GM(tpos\8) = dbc24GM(tpos\8)/256 + dbc24Gf(offsetpos(tpos, 1, ub))/256 + dbc24Gf(offsetpos(tpos, 2, ub))/64 + dbc24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbc24Gf(offsetpos(tpos, 4, ub))/16 + dbc24Gf(offsetpos(tpos, 5, ub))/8 + dbc24Gf(offsetpos(tpos, 6, ub))/4 + dbc24Gf(offsetpos(tpos, 7, ub))/2

        tpos = offsetpos(tpos, 8, UBOUND(dbx24Gf))
 '       logfile "write gm buffer @" + STR$(tpos\8)


        dbx24GM(tpos\8) = dbx24GM(tpos\8)/256 + dbx24Gf(offsetpos(tpos, 1, ub))/256 + dbx24Gf(offsetpos(tpos, 2, ub))/64 + dbx24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbx24Gf(offsetpos(tpos, 4, ub))/16 + dbx24Gf(offsetpos(tpos, 5, ub))/8 + dbx24Gf(offsetpos(tpos, 6, ub))/4 + dbx24Gf(offsetpos(tpos, 7, ub))/2
        dby24GM(tpos\8) = dby24GM(tpos\8 + 1)/256 + dby24Gf(offsetpos(tpos, 1, ub))/256 + dby24Gf(offsetpos(tpos, 2, ub))/64 + dby24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dby24Gf(offsetpos(tpos, 4, ub))/16 + dby24Gf(offsetpos(tpos, 5, ub))/8 + dby24Gf(offsetpos(tpos, 6, ub))/4 + dby24Gf(offsetpos(tpos, 7, ub))/2
        dbz24GM(tpos\8 ) = dbz24GM(tpos\8)/256 + dbz24Gf(offsetpos(tpos, 1, ub))/256 + dbz24Gf(offsetpos(tpos, 2, ub))/64 + dbz24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbz24Gf(offsetpos(tpos, 4, ub))/16 + dbz24Gf(offsetpos(tpos, 5, ub))/8 + dbz24Gf(offsetpos(tpos, 6, ub))/4 + dbz24Gf(offsetpos(tpos, 7, ub))/2
        dbc24GM(tpos\8) = dbc24GM(tpos\8)/256 + dbc24Gf(offsetpos(tpos, 1, ub))/256 + dbc24Gf(offsetpos(tpos, 2, ub))/64 + dbc24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbc24Gf(offsetpos(tpos, 4, ub))/16 + dbc24Gf(offsetpos(tpos, 5, ub))/8 + dbc24Gf(offsetpos(tpos, 6, ub))/4 + dbc24Gf(offsetpos(tpos, 7, ub))/2

        tpos = offsetpos(tpos, 8, UBOUND(dbx24Gf))
  '      logfile "write gm buffer @" + STR$(tpos\8)

        dbx24GM(tpos\8) = dbx24GM(tpos\8)/256 + dbx24Gf(offsetpos(tpos, 1, ub))/256 + dbx24Gf(offsetpos(tpos, 2, ub))/64 + dbx24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbx24Gf(offsetpos(tpos, 4, ub))/16 + dbx24Gf(offsetpos(tpos, 5, ub))/8 + dbx24Gf(offsetpos(tpos, 6, ub))/4 + dbx24Gf(offsetpos(tpos, 7, ub))/2
        dby24GM(tpos\8) = dby24GM(tpos\8 + 1)/256 + dby24Gf(offsetpos(tpos, 1, ub))/256 + dby24Gf(offsetpos(tpos, 2, ub))/64 + dby24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dby24Gf(offsetpos(tpos, 4, ub))/16 + dby24Gf(offsetpos(tpos, 5, ub))/8 + dby24Gf(offsetpos(tpos, 6, ub))/4 + dby24Gf(offsetpos(tpos, 7, ub))/2
        dbz24GM(tpos\8 ) = dbz24GM(tpos\8)/256 + dbz24Gf(offsetpos(tpos, 1, ub))/256 + dbz24Gf(offsetpos(tpos, 2, ub))/64 + dbz24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbz24Gf(offsetpos(tpos, 4, ub))/16 + dbz24Gf(offsetpos(tpos, 5, ub))/8 + dbz24Gf(offsetpos(tpos, 6, ub))/4 + dbz24Gf(offsetpos(tpos, 7, ub))/2
        dbc24GM(tpos\8) = dbc24GM(tpos\8)/256 + dbc24Gf(offsetpos(tpos, 1, ub))/256 + dbc24Gf(offsetpos(tpos, 2, ub))/64 + dbc24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbc24Gf(offsetpos(tpos, 4, ub))/16 + dbc24Gf(offsetpos(tpos, 5, ub))/8 + dbc24Gf(offsetpos(tpos, 6, ub))/4 + dbc24Gf(offsetpos(tpos, 7, ub))/2

        tpos = offsetpos(tpos, 8, UBOUND(dbx24Gf))
   '     logfile "write gm buffer @" + STR$(tpos\8)

        dbx24GM(tpos\8) = dbx24GM(tpos\8)/256 + dbx24Gf(offsetpos(tpos, 1, ub))/256 + dbx24Gf(offsetpos(tpos, 2, ub))/64 + dbx24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbx24Gf(offsetpos(tpos, 4, ub))/16 + dbx24Gf(offsetpos(tpos, 5, ub))/8 + dbx24Gf(offsetpos(tpos, 6, ub))/4 + dbx24Gf(offsetpos(tpos, 7, ub))/2
        dby24GM(tpos\8) = dby24GM(tpos\8 + 1)/256 + dby24Gf(offsetpos(tpos, 1, ub))/256 + dby24Gf(offsetpos(tpos, 2, ub))/64 + dby24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dby24Gf(offsetpos(tpos, 4, ub))/16 + dby24Gf(offsetpos(tpos, 5, ub))/8 + dby24Gf(offsetpos(tpos, 6, ub))/4 + dby24Gf(offsetpos(tpos, 7, ub))/2
        dbz24GM(tpos\8 ) = dbz24GM(tpos\8)/256 + dbz24Gf(offsetpos(tpos, 1, ub))/256 + dbz24Gf(offsetpos(tpos, 2, ub))/64 + dbz24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbz24Gf(offsetpos(tpos, 4, ub))/16 + dbz24Gf(offsetpos(tpos, 5, ub))/8 + dbz24Gf(offsetpos(tpos, 6, ub))/4 + dbz24Gf(offsetpos(tpos, 7, ub))/2
        dbc24GM(tpos\8) = dbc24GM(tpos\8)/256 + dbc24Gf(offsetpos(tpos, 1, ub))/256 + dbc24Gf(offsetpos(tpos, 2, ub))/64 + dbc24Gf(offsetpos(tpos, 3, ub))/32 + _
                               dbc24Gf(offsetpos(tpos, 4, ub))/16 + dbc24Gf(offsetpos(tpos, 5, ub))/8 + dbc24Gf(offsetpos(tpos, 6, ub))/4 + dbc24Gf(offsetpos(tpos, 7, ub))/2
        logfile STR$(dbx24GM(tpos\8))

#ELSE


'        old code (presuming 8 samples at a time, shifting buffers instead of circular big ones..)


                                               ' since the samples flow in at a rate of 8 per channel at a time     -> is 32 sample now..
                                               ' nr samples in the function above is samples *per channel*,
                                               ' so we get 8 new samples on each of the 4 channels
                                               ' the timing latency is 3.9ms

         ' downsampling to medium 1 second buffer:  [ sampling rate becomes 256 S/s)
         newval = dbx24Gm(255)/256 + dbx24Gf(248)/256 + dbx24Gf(249)/128 + dbx24Gf(250)/64 + dbx24Gf(251)/32 + dbx24Gf(252)/16 + dbx24Gf(253)/ 8 + dbx24Gf(254)/4 + dbx24Gf(255)/2  ' sum always = 1
         ARRAY DELETE dbx24Gm(), newval
         newval = dby24Gm(255)/256 + dby24Gf(248)/256 + dby24Gf(249)/128 + dby24Gf(250)/64 + dby24Gf(251)/32 + dby24Gf(252)/16 + dby24Gf(253)/ 8 + dby24Gf(254)/4 + dby24Gf(255)/2
         ARRAY DELETE dby24Gm(), newval
         newval = dbz24Gm(255)/256 + dbz24Gf(248)/256 + dbz24Gf(249)/128 + dbz24Gf(250)/64 + dbz24Gf(251)/32 + dbz24Gf(252)/16 + dbz24Gf(253)/ 8 + dbz24Gf(254)/4 + dbz24Gf(255)/2
         ARRAY DELETE dbz24Gm(), newval
         newval = dbc24Gm(255)/256 + dbc24Gf(248)/256 + dbc24Gf(249)/128 + dbc24Gf(250)/64 + dbc24Gf(251)/32 + dbc24Gf(252)/16 + dbc24Gf(253)/ 8 + dbc24Gf(254)/4 + dbc24Gf(255)/2
         ARRAY DELETE dbc24Gm(), newval
         ' downsampling to slow 4 second buffer:   { sampling rate becomes 64 S/s)
         xslow = (xslow + dbx24Gm(255))/2    ' running integrator
         yslow = (yslow + dby24Gm(255))/2
         zslow = (zslow + dbz24Gm(255))/2
         cslow = (cslow + dbc24Gm(255))/2
         IF ISFALSE (cnt MOD 8) THEN
                ARRAY DELETE dbx24Gs(), xslow
                ARRAY DELETE dby24Gs(), yslow
                ARRAY DELETE dbz24Gs(), zslow
                ARRAY DELETE dbc24Gs(), cslow
         END IF
#ENDIF

#IF %DEF(%r24_32spb)



       ub = UBOUND(dbx24Gm)
       tpos = tpos\8    'last filled in pos in GM buffer now
    '   logfile "process gm buffer @" + STR$(tpos)
    '   logfile STR$(dbx24GM(tpos))
    '   logfile "xslow wrap:" + STR$(offsetpos(tpos, -3, ub)) + " reading in Gmx buffer - ub" + STR$(UBOUND(Dbx24Gm))
       xslow = (xslow + dbx24Gm(offsetpos(tpos, -3, ub)))/2
       yslow = (yslow + dby24Gm(offsetpos(tpos, -3, ub)))/2
       zslow = (zslow + dbz24Gm(offsetpos(tpos, -3, ub)))/2
       cslow = (cslow + dbc24Gm(offsetpos(tpos, -3, ub)))/2

   '    logfile "xslow wrap2:" + STR$(offsetpos(tpos, -2, ub)) + " reading in Gmx buffer - ub" + STR$(UBOUND(Dbx24Gm))

       xslow = (xslow + dbx24Gm(offsetpos(tpos, -2, ub)))/2
       yslow = (yslow + dby24Gm(offsetpos(tpos, -2, ub)))/2
       zslow = (zslow + dbz24Gm(offsetpos(tpos, -2, ub)))/2
       cslow = (cslow + dbc24Gm(offsetpos(tpos, -2, ub)))/2

 '       logfile "xslow wrap3:" + STR$(offsetpos(tpos, -1, ub)) + " reading in Gmx buffer - ub" + STR$(UBOUND(Dbx24Gm))
      xslow = (xslow + dbx24Gm(offsetpos(tpos, -1, ub)))/2
       yslow = (yslow + dby24Gm(offsetpos(tpos, -1, ub)))/2
       zslow = (zslow + dbz24Gm(offsetpos(tpos, -1, ub)))/2
       cslow = (cslow + dbc24Gm(offsetpos(tpos, -1, ub)))/2

       xslow = (xslow + dbx24Gm(tpos))/2
       yslow = (yslow + dby24Gm(tpos))/2
       zslow = (zslow + dbz24Gm(tpos))/2
       cslow = (cslow + dbc24Gm(tpos))/2

   '    logfile "x, y, z, c slow:" + STR$(xslow) + STR$(yslow) + STR$(zslow) + STR$(cslow)
   '    logfile "cnt"  + STR$(cnt)
       IF ISFALSE (cnt MOD 2) THEN
           dbx24Gs(tpos\8) = xslow
           dby24Gs(tpos\8) = yslow
           dbz24Gs(tpos\8) = zslow
           dbc24Gs(tpos\8) = cslow
       END IF

        INCR cnt
#ELSE
'
       'to check: R24GT_ii_math.. waar is deze functie ???
'         INCR cnt
'      '   if isfalse (cnt mod 100) then  '50 =  20 x per sekonde
'      '       R24GT_ii_Math           ' takes still way too long to perform from within the callback...
'      '   end if
'




      ' surface calculations:  [this works from within the callback]
      '    rectified sigma function:
      '    surfx = ((surfx * dta) + abs(dbx24Gf(0))) / (dta+1)    ' dta = integratiediepte (0 tot 255)    '???? dbx24Gf(0) - dat snapt xof niet..
      '    normalized in the range 0-1
           R24GT.xa = ((R24GT.xa * R24GT.dta) + ABS(dbx24Gf(255))) / (R24GT.dta +1)           '????  alleen met de laatste sample? - dus dan vallen er altijd 31 tussenuit..
           R24GT.ya = ((R24GT.ya * R24GT.dta) + ABS(dby24Gf(255))) / (R24GT.dta +1)           '????  waarom moet dit nog geintegreerd worden?
           R24GT.za = ((R24GT.za * R24GT.dta) + ABS(dbz24Gf(255))) / (R24GT.dta +1)
           R24GT.ca = ((R24GT.ca * R24GT.dta) + ABS(dbc24Gf(255))) / (R24GT.dta +1)
#ENDIF

#IF %DEF(%r24_32spb)

         'absolute waarde van alle samples, geintegreerd..  -> gwr, klopt dit?
         '2009.10.29 blijkbaar is .dta 0?!?   onderstaande kan dan niet goed werken..
         logfile "CURRENT BPOS:" + STR$(R24GT.bufpos)
            FOR i = -31 TO -1
                tpos = offsetpos(R24GT.bufpos, i, UBOUND(dbx24Gf))                                        'mult by 127 to get in in the same scale as the sonar..
                R24GT.xa = ((R24GT.xa * R24GT.dta) + 127 * ABS(dbx24Gf(tpos))) / (R24GT.dta + 1)
                R24GT.ya = ((R24GT.ya * R24GT.dta) + 127 * ABS(dby24Gf(tpos))) / (R24GT.dta + 1)
                R24GT.za = ((R24GT.za * R24GT.dta) + 127 * ABS(dbz24Gf(tpos))) / (R24GT.dta + 1)
                R24GT.ca = ((R24GT.ca * R24GT.dta) + 127 * ABS(dbc24Gf(tpos))) / (R24GT.dta + 1)
   '             logfile "24Gf offset@" + STR$(i) + STR$(tpos) + str$(R24GT.xa) + str$(dbx24Gf(tpos))
            NEXT
#ELSE

      ' speed calculations, using zero-cross calculation:    (proc. in g_indep)
            ' noise level should become a function of .xa, ya. za
            ' the noise parameter is now expressed in fraction of normalized full scale, hence 1E-3 is 60dB or 1/1000
            ' Since we count on every call (256 times a second) the entire buffer, the maximum
            ' difference between succesive values can never be larger than 4. (on each refresh, we are getting 4 new
            ' samples in dbx24Gf().
      IF R24GT.xa > R24GT.noise THEN       ' to be checked!!!
           R24GT.xf = WaveFreq_Dbl (dbx24Gf(), 512, R24GT.noise)' 1E-3) '4 * 2.44E-4)     ' new function in g_indep
           ' the values are expressed in Hz
           ' the theoretical absolute maximum value would be 512Hz(corresponding to movement speed of 5m/s)
           ' the gate-time is 0.256 Sec.
           ' as for now, no integration is performed.
      ELSE
           'R24GT.xf = %False    ' we could also write R24GT.xf = R24GT.xf / 2 for a fast decay to zero.
           R24GT.xf /= 2         'xof wonders: isn't just putting 0 more correct?
      END IF
      IF R24GT.ya > R24GT.noise THEN
           R24GT.yf = WaveFreq_Dbl (dby24Gf(), 1024, R24GT.noise) '1E-3) '4 * 2.44E-4)     ' noise = 1/4096 = 12 bit
      ELSE
           R24GT.yf /= 2
      END IF
      IF R24GT.za > R24GT.noise THEN
           R24GT.zf = WaveFreq_Dbl (dbz24Gf(), 1024, R24GT.noise) '1E-3) '4 * 2.44E-4)     ' * 4 = 10 bits resolution
      ELSE
           R24GT.zf /= 2
      END IF
      IF R24GT.ca > R24GT.noise THEN
           R24GT.cf = WaveFreq_Dbl (dbc24Gf(), 1024, R24GT.noise) '1E-3) '4 * 2.44E-4)     ' * 4 = 10 bits resolution
      ELSE
           R24GT.cf /= 2
      END IF
#ENDIF

      'snelheidsberekening
      'hiervoor moeten we nu een aparte buffer maken..

  '    logfile "***compute speeds.. current bufpos: "+ STR$(R24GT.bufpos)
'      logfile "noise:" + STR$(R24GT.noise) + " - sig:" + STR$(R24Gt.xa)
      IF R24GT.xa > R24GT.noise  THEN
          REDIM lbuf(1024) AS LOCAL DOUBLE
          IF R24GT.bufpos => 1024 THEN
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dbx24Gf(R24GT.bufpos -1024)), 1024 * 8)
          ELSE
              i = 1024 - R24GT.bufpos
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dbx24Gf(UBOUND(Dbx24Gf)-i)), i*8)
              POKE$ VARPTR(lbuf(i-1)), PEEK$(VARPTR(dbx24Gf(0)), (R24Gt.bufpos-1) * 8)
          END IF
          R24GT.xf = WaveFreq_Dbl(lbuf(),1024, R24GT.noise)'/2   'by dividing by 2 we get same scale as the sonar (?)
 '         logfile "wavfreq direct:" + STR$(R24GT.xf)
      ELSE
   '       logfile "wavfreq div" + STR$(R24GT.xf)
          R24GT.xf /= 2    '?           'frequency response seems to have a different curve then with sonar system, with a lower average but high peeks..
      END IF



      IF R24GT.ya > R24GT.noise  THEN
          REDIM lbuf(1024) AS LOCAL DOUBLE
          IF R24GT.bufpos >= 1024 THEN
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dby24Gf(R24GT.bufpos -1024)), 1024 * 8)
          ELSE
              i = 1024 - R24GT.bufpos
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dby24Gf(UBOUND(Dby24Gf)-i)), i*8)
              POKE$ VARPTR(lbuf(i)), PEEK$(VARPTR(dby24Gf(0)), ((R24Gt.bufpos-1)) * 8)
              FOR i = LBOUND(lbuf) TO UBOUND(lbuf)
              NEXT
          END IF
          R24GT.yf = WaveFreq_Dbl(lbuf(),1024, R24GT.noise)'/2
    '      logfile "wavfreq direct:" + STR$(R24GT.yf)
      ELSE
          R24GT.yf /= 2    '?
      END IF
      IF R24GT.za > R24GT.noise  THEN
          REDIM lbuf(1024) AS LOCAL DOUBLE
          IF R24GT.bufpos >= 1024 THEN
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dbz24Gf(R24GT.bufpos -1024)), 1024 * 8)
          ELSE
              i = 1024 - R24GT.bufpos
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dbz24Gf(UBOUND(Dby24Gf)-i)), i*8)
              POKE$ VARPTR(lbuf(i)), PEEK$(VARPTR(dbz24Gf(0)), ((R24Gt.bufpos-1)) * 8)
          END IF
          R24GT.zf = WaveFreq_Dbl(lbuf(),1024, R24GT.noise) '/2
     '     logfile "wavfreq direct:" + STR$(R24GT.zf)
      ELSE
          R24GT.zf /= 2    '?
      END IF
      IF R24GT.ca > R24GT.noise  THEN
          REDIM lbuf(1024) AS LOCAL DOUBLE
          IF R24GT.bufpos > 1024 THEN
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dbc24Gf(R24GT.bufpos -1024)), 1024 * 8)
          ELSE
              i = 1024 - R24GT.bufpos
              POKE$ VARPTR(lbuf(0)), PEEK$(VARPTR(dbc24Gf(UBOUND(Dbc24Gf)-i)), i*8)
              POKE$ VARPTR(lbuf(i)), PEEK$(VARPTR(dbc24Gf(0)), ((R24Gt.bufpos-1)) * 8)
          END IF
          R24GT.cf = WaveFreq_Dbl(lbuf(),1024, R24GT.noise)'/2
    '      logfile "wavfreq direct:" + STR$(R24GT.cf)
      ELSE
          R24GT.cf /= 2    '?
      END IF
'      logfile "***speeds done"

       ' the following used to happen every 8 samples.. every 32 now..
       'TO DO TO DO TO DO

'      ' accelleration calculation:
'      ' theory: if we take the maximum accelleration for body movement as 100m/s2, we need to
'      ' measure accelleration with a time interval of 50ms. Since one sample in our buffer
'      ' corresponds to 0.976ms, this corresponds to 51 samples.
'      ' However, if we want to optimize for speed of response -at the detriment of resolution-
'      ' we should take the timeinterval as 1cs = 10ms and thus 10 samples.
'      ' hence:
'                      ' following are part of the structure, and thus global
'      '                  DIM xfbuf(0 to 63) as global single   ' we take 63, to give us some margin
'      '                  DIM yfbuf(0 to 63) as global single   ' done on init.
'      '                  DIM zfbuf(0 to 63) as global single
'      '                  DIM cfBuf(0 to 63) as global single
'      '                  R24GT.pxfbuf = varptr(xfbuf(0))     ' done on dll-init
'      '                  R24GT.pyfbuf = varptr(yfbuf(0))
'      '                  R24GT.pzfbuf = varptr(zfbuf(0))
'      '                  R24GT.pcfbuf = varptr(cfbuf(0))
'      i = 63 - R24GT.dtacc            ' range for dtacc: 1 to 63. Crash if exceeded.          '???

       '>>>>>>>>>>>>>>>>>    in original idea, same rate as mid buffer. problem: we only have the frequencies computerd once every 32 samples now in stead of every 8/..
       '>>>>>>>>>>>>>>>>     bet idea seems to store it only once for every 32 samples?
#IF %DEF(%r24_32spb)


       '??? zijn y  en z hier omgewisseld??
       tpos = R24Gt.bufpos \ 32
  '     logfile "buffer f" + STR$(tpos) + STR$(UBOUND(xfbuf)) + STR$( R24Gt.xf )  + STR$( R24Gt.yf )  + STR$( R24Gt.zf )  + STR$( R24Gt.cf )
       xfbuf(tpos) = R24Gt.xf
       yfbuf(tpos) = R24Gt.yf
       zfbuf(tpos) = R24Gt.zf
       cfbuf(tpos) = R24Gt.cf

#ELSE
 '      logfile "speeds buffered"

      ARRAY DELETE xfbuf(), R24GT.xf
      ARRAY DELETE yfbuf(), R24GT.yf
      ARRAY DELETE zfbuf(), R24GT.zf  ' waarbij de maat van de buffer de dt bepaalt.
      ARRAY DELETE cfbuf(), R24GT.cf
#ENDIF

'     '????   volgende kan gewoon blijven staan zoals het was?
      '       heel assuymetrisch - komt nauwelijks onder 0..
      'note    .dtacc mag niet 0 zijn
      i = 63 - R24GT.dtacc            ' range for dtacc: 1 to 63. Crash if exceeded.          '???
      R24GT.xac = (R24GT.xf - xfbuf(i)) / R24GT.dtacc ' 12 = 63 - 51, voor 10 samp: 53 = 63 - 10
      R24GT.yac = (R24GT.yf - yfbuf(i)) / R24GT.dtacc           'dus de acceleratie wordt berekend door de huidige sample te vergelijken met die van R24GT.dtacc stappen terug??
                                                                '  zou ok moeten zijn mits integratie, maar waar gebeurt deze?
      R24GT.zac = (R24GT.zf - zfbuf(i)) / R24GT.dtacc
      R24GT.cac = (R24GT.cf - cfbuf(i)) / R24GT.dtacc
'                                     ' de resolutie neemt toe met .dtacc, maar de scaling blijft konstant.
'                                     ' zonder de deling door dtacc hadden we:
'                                     ' dtacc = 1 : X= -22/+8     Y= -8/+8     z= -8/+8
'                                     ' dtacc = 2 : X= -16/+20    Y= -16/+24   z= -20/+24
'                                     ' dtacc = 4 : X= -72/+72    y= -52/+64   z= -64/+52
'                                     ' dtacc = 6 : x= -72/+104   Y= -84/+88   Z= -76/+72
'                                     ' dtacc =10 : X= -48/+175   Y=-112/+124  Z= -168/+144
'                                     ' met de deling en na debug..., krijgen we nu:
'                                     ' X= -9/+8   Y=-8/+24  Z=-8/+8
'                                     ' onafhankelijk van de setting voor dtacc.
'                                     ' de resolutie neemt evenredig toe met dtacc natuurlijk
'    END IF
    logfile "exit callback"
#ENDIF
END FUNCTION


FUNCTION R24GT_DoneCallback CDECL (BYVAL taskhandle AS LONG,BYVAL stat AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
    ' this procedure can be common to all our NiDAQmx applications, sonar as well as radar.
    ' the procedure needs not to be exported. It's only used as an internal callback.
    ' 07.06.2009: checked gwr.
    ' note we can also use @pDAQparameters.taskhandle instead of passing the variable.???   'no.. this parmeters are required by NidaqMx
    ' probably we cannot, because in would contradict the prototype of the function call.
    ' 29.09.2009 separate versionmade fror 24ghz radar for debugging - probably we can merge it again with the general one later on..
    #IF %DEF(%g_NIDAQmx)
    'this function is called when an error occurs which forces the DAQ to stop, not when it was terminated in a proper way..
    'works (checked door de usb kabel uit te trekken tijdens het werken - wordt proper afgehandeld..)
    LOCAL errBuff AS ASCIIZ * 2048
    LOCAL ret AS LONG
    'this function gets called when something's wrong and the DAQ stops..
    'Warning "DAQ stopped"
    '03.08.2009 examinating crashes and errors.. the crash is an acces violation. also when we don't crash, pb reports an
                    '"illegal function call" error when we switch the doppler off or on again after switching off (thus not the very first time..)
    DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
    Warning TRIM$(errbuff)

    ret = DAQmxClearTask(BYVAL @pDAQparams.taskhandle)
    IF ret THEN
         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
         Warning TRIM$(errbuff)
    END IF
    Warning "data acquisition stopped from NiDAQmx callback"
    @pDAQparams.daqstopped = %True   ' added 08.06.2009
    @pDAQparams.taskhandle = %False
    @pDAQparams.taskname = NUL$(10)

    MSGBOX "R24GT acquisition stopped!",,FUNCNAME$
    #ENDIF
END FUNCTION





SUB R24GT_ii_VU () EXPORT
   ' VU-monitor procedure as used in BOM for the tetrahedral sonar setup
   STATIC resolution AS BYTE
   STATIC v%
   STATIC h%, bw%, Sp%
   LOCAL il?, H1%
   LOCAL hBrush      AS LONG
   LOCAL hDC         AS LONG
   LOCAL versize%
   LOCAL hOldBrush AS LONG
   DIM spoint(0 TO 15) AS LOCAL SINGLE
   IF ISFALSE @pT(%R24GT_VU_Task).tog THEN
      resolution = 8          ' this value should be made adjustable, read from $BOMINI
      v% =  2^resolution
      'v% = 512  ' for 9 bit resolution    v% = 256 for 8 bit, v% = 128 for 7 bit etc...
      IF ISFALSE @pT(%R24GT_VU_Task).hParam THEN @pT(%R24GT_VU_Task).hParam = Make_ii_VU_Window (8)
      h% = 1    ' horizontal start position for VU-graph
      bw% = 7   ' breedte van de balkjes
      Sp% = 5   ' spatie tussen de balkjes
     ' @pT(%Sonar_VU_Task).freq = 8 '  changed to 8 30.10.2003   ' was 3 '16 - should be set in application code.
             ' however, since we are using periodic timers now, this is not required at all...
      @pT(%R24GT_VU_Task).tog = %True
   END IF
    logfile FUNCNAME$ + STR$(R24GT.xa)+ STR$(R24GT.ya)+ STR$(R24GT.za)  + STR$(R24GT.ca)+ STR$(R24GT.xf)+ STR$(R24GT.yf)+ STR$(R24GT.zf)  + STR$(R24GT.cf)+ STR$(R24GT.xac)+ STR$(R24GT.yac)+ STR$(R24GT.zac)  + STR$(R24GT.cac)
    hDC = GetDC (@pT(%R24GT_VU_Task).hParam)
    ' blank existing graph:
    PatBlt hDC, h%,0,h% + ((bw%+ Sp%)*16) ,v%,%WHITENESS

  ' all 16 channels filled.
                            spoint(0)= R24GT.xa '* 127
                            spoint(1)= R24GT.ya '* 127
                            spoint(2)= R24GT.za '* 127
                            spoint(3)= R24GT.ca '* 127
                            spoint(4)= R24GT.xf
                            spoint(5)= R24GT.yf
                            spoint(6)= R24GT.zf
                            spoint(7)= R24GT.cf
                          '  spoint(8)= R24GT.xe
                          '  spoint(9)= R24GT.ye
                          '  spoint(10)= R24GT.ze
                        '    spoint(11)= R24GT.xyze
                            spoint(12)= R24GT.xac
                            spoint(13)= R24GT.yac
                            spoint(14)= R24GT.zac
                            spoint(15)= R24GT.cac
                            FOR il? = 0 TO 7
                               ' SHIFT RIGHT spoint(il?), 12 - resolution    ???
                                SELECT CASE il?
                                    CASE 0 TO 3
                                        hBrush =  CreateSolidBrush (%GREEN)
                                    CASE 4 TO 7
                                        hBrush =  CreateSolidBrush (%BLUE)
                                    CASE 12 TO 15
                                        hBrush =  CreateSolidBrush (%CYAN)
                                    CASE ELSE
                                        hBrush = CreateSolidBrush (%RED)
                                END SELECT
                                hOldBrush = SelectObject(hDC, hBrush)
                                H1% = h% + (il? * bw%)
                                versize% = v% - spoint(il?)
                                Rectangle hDC, H1%, v%, H1%+Sp%, versize%
                            '    logfile "draw rect for" + STR$(il) + STR$(H1%) + STR$(v%)    ok
                            '    logfile "spoint:" + STR$(spoint(il?))
                                SelectObject hDC, hOldBrush
                                DeleteObject hBrush
                            NEXT il?
                            FOR il? = 12 TO 15
                                spoint(il?) = spoint(il?) * 64 + 64
                               ' SHIFT RIGHT spoint(il?), 13 - resolution
                                SELECT CASE il?
                                    CASE 12 TO 15
                                        hBrush =  CreateSolidBrush (%YELLOW)
                                    CASE ELSE
                                        hBrush = CreateSolidBrush (%RED)
                                END SELECT
                                hOldBrush = SelectObject(hDC, hBrush)
                                H1% = h% + (il? * bw%)
                                versize% = v% - spoint(il?)
                                Rectangle hDC, H1%, v%, H1%+Sp%, versize%
                                SelectObject hDC, hOldBrush
                                DeleteObject hBrush
                            NEXT il?
    ReleaseDC @pT(%Sonar_VU_Task).hParam, hDC
END SUB











'
'FUNCTION R24GT_EveryNCallback(BYVAL taskHandle AS LONG, BYVAL everyNsamplesEventType AS LONG,  BYVAL nSamples AS LONG, BYVAL pCallBackData AS DWORD PTR) AS LONG
'' callback handler for data acquisition with the 24GHz board, 4 channels - tetrahedron setup
'    ' this function gets called every 8 samples and reads the acquired data. 256 s/s, 4 samples   (daq internal sr: 2048 samples per channel / second)
'    ' the latency is 3.9ms.
'    ' note that we here have bipolar values!!!
'  ' 07.09.2009: Modelled after the similar doppler function
'  ' if we would do this using allocated memory we need 29,4912MByte/h * 4 = 120MByte/h    - Xi has 512mb of memory, 3 gig is standard if you buy a laptop now...
'    old code with continuous buffer shuffling
'
'    LOCAL i AS LONG
'    STATIC cnt AS DWORD
'#IF %DEF(%g_NIDAQmx)
'    LOCAL ret AS LONG
'    LOCAL errBuff AS ASCIIZ * 2048
'    LOCAL newval AS DOUBLE
'    REDIM value(256) AS STATIC DOUBLE   'data buffer   - twice as big as what we suspect to need..
'    STATIC xslow, yslow, zslow, cslow AS DOUBLE
'    STATIC xdc, ydc, zdc, cdc AS DOUBLE ' for dc offset removal.
'
'      'nr of samples -> use -1 = all new samples, which normally  is as much as you expect, but on some occasions it appears to be twice as much
'                                            'array size = at least nrsamples * nrchans
'      ' time out = 12 x (1/2048) seconds   'vanwaar 12?  - anyway, after solving all bugs, timing appears to be really tight. after 10 minutes of sampling we get exactly as much calls here as expected..
'      ' nr of samples per channel=32
'
'
'    ret = DAQmxReadAnalogF64(taskHandle,-1,0.006,%DAQmx_Val_GroupByScanNumber,VARPTR(value(0)),UBOUND(value),nSamples,BYVAL %NULL)
'
'    '!!!! since we changed the nr of samples we  an expect here from 8 to 32, the code below probably needs to be revised..
'
'
'
'
'    IF ret THEN
'         DAQmxGetExtendedErrorInfo(errBuff, SIZEOF(errbuff))
'         logfile "DaqmxReadAnalogF64 error: " & TRIM$(errbuff)
'         ' warning TRIM$(errbuff)
'         ' if the acquisition stops here, we have to set @pDAQparams.daqstopped = %True
'         ' this is to be checked.
'    ELSE
'         ' transfer and process the data into the radar data arrays.
'     ' with DC offset removal: (high pass filter)
'     ' version with parametric control over the differenciator for DC removal: [08.07.2009] gwr
'     ' note: R24GT.hpf should never be zero, since that erases any signal...
'     '       the hpf range is now quadratic from 1 to 128^2
'
'
'     'everything we used to do 8 times we have to do 32 times now.. maybe first considering different buffering strattegies..
'
'
'     IF R24GT.hpf THEN
'         i = R24GT.hpf + 1
'         Xdc = ((Xdc * R24GT.hpf) + Value(0)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(0) - Xdc)/10         'dbx(255) = always newest data, dbx(0)= oldest data sample
'         Ydc = ((Ydc * R24GT.hpf) + Value(1)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(1) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(2)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(2) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(3)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(3) - Cdc)/10
'
'         Xdc = ((Xdc * R24GT.hpf) + Value(4)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(4) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(5)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(5) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(6)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(6) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(7)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(7) - Cdc)/10
'
'         Xdc = ((Xdc * R24GT.hpf) + Value(8)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(8) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(9)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(9) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(10)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(10) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(11)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(11) - Cdc)/10
'
'         Xdc = ((Xdc * R24GT.hpf) + Value(12)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(12) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(13)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(13) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(14)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(14) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(15)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(15) - Cdc)/10
'         ' uit te breiden tot 31
'         Xdc = ((Xdc * R24GT.hpf) + Value(16)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(16) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(17)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(17) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(18)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(18) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(19)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(19) - Cdc)/10
'
'         Xdc = ((Xdc * R24GT.hpf) + Value(20)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(20) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(21)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(21) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(22)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(22) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(23)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(23) - Cdc)/10
'
'         Xdc = ((Xdc * R24GT.hpf) + Value(24)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(24) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(25)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(25) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(26)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(26) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(27)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(27) - Cdc)/10
'
'         Xdc = ((Xdc * R24GT.hpf) + Value(28)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbx24Gf(), (value(28) - Xdc)/10
'         Ydc = ((Ydc * R24GT.hpf) + Value(29)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dby24Gf(), (value(29) - Ydc)/10
'         Zdc = ((Zdc * R24GT.hpf) + Value(30)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbz24Gf(), (value(30) - Zdc)/10
'         Cdc = ((Cdc * R24GT.hpf) + Value(31)) / i '(R24GT.hpf + 1)
'         ARRAY DELETE dbc24Gf(), (value(31) - Cdc)/10
'
'     ELSE
'         ' no data processing with filter
'         ARRAY DELETE dbx24Gf(),value(0)/10
'         ARRAY DELETE dby24Gf(),value(1)/10
'         ARRAY DELETE dbz24Gf(),value(2)/10
'         ARRAY DELETE dbc24Gf(),value(3)/10
'         ARRAY DELETE dbx24Gf(),value(4)/10
'         ARRAY DELETE dby24Gf(),value(5)/10
'         ARRAY DELETE dbz24Gf(),value(6)/10
'         ARRAY DELETE dbc24Gf(), value(7)/10
'         ARRAY DELETE dbx24Gf(),value(8)/10
'         ARRAY DELETE dby24Gf(),value(9)/10
'         ARRAY DELETE dbz24Gf(),value(10)/10
'         ARRAY DELETE dbc24Gf(), value(11)/10
'         ARRAY DELETE dbx24Gf(),value(12)/10
'         ARRAY DELETE dby24Gf(),value(13)/10
'         ARRAY DELETE dbz24Gf(),value(14)/10
'         ARRAY DELETE dbc24Gf(), value(15)/10
'         ' uit te breiden tot 31
'         ARRAY DELETE dbx24Gf(),value(16)/10
'         ARRAY DELETE dby24Gf(),value(17)/10
'         ARRAY DELETE dbz24Gf(),value(18)/10
'         ARRAY DELETE dbc24Gf(),value(19)/10
'         ARRAY DELETE dbx24Gf(),value(20)/10
'         ARRAY DELETE dby24Gf(),value(21)/10
'         ARRAY DELETE dbz24Gf(),value(22)/10
'         ARRAY DELETE dbc24Gf(),value(23)/10
'         ARRAY DELETE dbx24Gf(),value(24)/10
'         ARRAY DELETE dby24Gf(),value(25)/10
'         ARRAY DELETE dbz24Gf(),value(26)/10
'         ARRAY DELETE dbc24Gf(), value(27)/10
'         ARRAY DELETE dbx24Gf(),value(28)/10
'         ARRAY DELETE dby24Gf(),value(29)/10
'         ARRAY DELETE dbz24Gf(),value(30)/10
'         ARRAY DELETE dbc24Gf(), value(31)/10
'     END IF
'                                               ' since the samples flow in at a rate of 8 per channel at a time
'                                               ' nr samples in the function above is samples *per channel*,
'                                               ' so we get 8 new samples on each of the 4 channels
'                                               ' the timing latency is 3.9ms
'
'         ' downsampling to medium 1 second buffer:  [ sampling rate becomes 256 S/s)
'         newval = dbx24Gm(255)/256 + dbx24Gf(248)/256 + dbx24Gf(249)/128 + dbx24Gf(250)/64 + dbx24Gf(251)/32 + dbx24Gf(252)/16 + dbx24Gf(253)/ 8 + dbx24Gf(254)/4 + dbx24Gf(255)/2  ' sum always = 1
'         ARRAY DELETE dbx24Gm(), newval
'         newval = dby24Gm(255)/256 + dby24Gf(248)/256 + dby24Gf(249)/128 + dby24Gf(250)/64 + dby24Gf(251)/32 + dby24Gf(252)/16 + dby24Gf(253)/ 8 + dby24Gf(254)/4 + dby24Gf(255)/2
'         ARRAY DELETE dby24Gm(), newval
'         newval = dbz24Gm(255)/256 + dbz24Gf(248)/256 + dbz24Gf(249)/128 + dbz24Gf(250)/64 + dbz24Gf(251)/32 + dbz24Gf(252)/16 + dbz24Gf(253)/ 8 + dbz24Gf(254)/4 + dbz24Gf(255)/2
'         ARRAY DELETE dbz24Gm(), newval
'         newval = dbc24Gm(255)/256 + dbc24Gf(248)/256 + dbc24Gf(249)/128 + dbc24Gf(250)/64 + dbc24Gf(251)/32 + dbc24Gf(252)/16 + dbc24Gf(253)/ 8 + dbc24Gf(254)/4 + dbc24Gf(255)/2
'         ARRAY DELETE dbc24Gm(), newval
'         ' downsampling to slow 4 second buffer:   { sampling rate becomes 64 S/s)
'         xslow = (xslow + dbx24Gm(255))/2    ' running integrator
'         yslow = (yslow + dby24Gm(255))/2
'         zslow = (zslow + dbz24Gm(255))/2
'         cslow = (cslow + dbc24Gm(255))/2
'         IF ISFALSE (cnt MOD 8) THEN
'                ARRAY DELETE dbx24Gs(), xslow
'                ARRAY DELETE dby24Gs(), yslow
'                ARRAY DELETE dbz24Gs(), zslow
'                ARRAY DELETE dbc24Gs(), cslow
'         END IF
'
'
'         INCR cnt
'      '   if isfalse (cnt mod 100) then  '50 =  20 x per sekonde
'      '       R24GT_ii_Math           ' takes still way too long to perform from within the callback...
'      '   end if
'
'      ' surface calculations:  [this works from within the callback]
'      '    rectified sigma function:
'      '    surfx = ((surfx * dta) + abs(dbx24Gf(0))) / (dta+1)    ' dta = integratiediepte (0 tot 255)
'      '    normalized in the range 0-1
'           R24GT.xa = ((R24GT.xa * R24GT.dta) + ABS(dbx24Gf(255))) / (R24GT.dta +1)
'           R24GT.ya = ((R24GT.ya * R24GT.dta) + ABS(dby24Gf(255))) / (R24GT.dta +1)
'           R24GT.za = ((R24GT.za * R24GT.dta) + ABS(dbz24Gf(255))) / (R24GT.dta +1)
'           R24GT.ca = ((R24GT.ca * R24GT.dta) + ABS(dbc24Gf(255))) / (R24GT.dta +1)
'      ' speed calculations, using zero-cross calculation:    (proc. in g_indep)
'            ' noise level should become a function of .xa, ya. za
'            ' the noise parameter is now expressed in fraction of normalized full scale, hence 1E-3 is 60dB or 1/1000
'            ' Since we count on every call (256 times a second) the entire buffer, the maximum
'            ' difference between succesive values can never be larger than 4. (on each refresh, we are getting 4 new
'            ' samples in dbx24Gf().
'      IF R24GT.xa > R24GT.noise THEN       ' to be checked!!!
'           R24GT.xf = WaveFreq_Dbl (dbx24Gf(), 512, R24GT.noise)' 1E-3) '4 * 2.44E-4)     ' new function in g_indep
'           ' the values are expressed in Hz
'           ' the theoretical absolute maximum value would be 512Hz(corresponding to movement speed of 5m/s)
'           ' the gate-time is 0.256 Sec.
'           ' as for now, no integration is performed.
'      ELSE
'           'R24GT.xf = %False    ' we could also write R24GT.xf = R24GT.xf / 2 for a fast decay to zero.
'           R24GT.xf = R24GT.xf / 2         'xof wonders: isn't just putting 0 more correct?
'      END IF
'      IF R24GT.ya > R24GT.noise THEN
'           R24GT.yf = WaveFreq_Dbl (dby24Gf(), 1024, R24GT.noise) '1E-3) '4 * 2.44E-4)     ' noise = 1/4096 = 12 bit
'      ELSE
'           R24GT.yf = R24GT.yf / 2
'      END IF
'      IF R24GT.za > R24GT.noise THEN
'           R24GT.zf = WaveFreq_Dbl (dbz24Gf(), 1024, R24GT.noise) '1E-3) '4 * 2.44E-4)     ' * 4 = 10 bits resolution
'      ELSE
'           R24GT.zf = R24GT.zf/2
'      END IF
'      IF R24GT.ca > R24GT.noise THEN
'           R24GT.cf = WaveFreq_Dbl (dbc24Gf(), 1024, R24GT.noise) '1E-3) '4 * 2.44E-4)     ' * 4 = 10 bits resolution
'      ELSE
'           R24GT.cf = R24GT.cf/2
'      END IF
'      ' accelleration calculation:
'      ' theory: if we take the maximum accelleration for body movement as 100m/s2, we need to
'      ' measure accelleration with a time interval of 50ms. Since one sample in our buffer
'      ' corresponds to 0.976ms, this corresponds to 51 samples.
'      ' However, if we want to optimize for speed of response -at the detriment of resolution-
'      ' we should take the timeinterval as 1cs = 10ms and thus 10 samples.
'      ' hence:
'                      ' following are part of the structure, and thus global
'      '                  DIM xfbuf(0 to 63) as global single   ' we take 63, to give us some margin
'      '                  DIM yfbuf(0 to 63) as global single   ' done on init.
'      '                  DIM zfbuf(0 to 63) as global single
'      '                  DIM cfBuf(0 to 63) as global single
'      '                  R24GT.pxfbuf = varptr(xfbuf(0))     ' done on dll-init
'      '                  R24GT.pyfbuf = varptr(yfbuf(0))
'      '                  R24GT.pzfbuf = varptr(zfbuf(0))
'      '                  R24GT.pcfbuf = varptr(cfbuf(0))
'      i = 63 - R24GT.dtacc            ' range for dtacc: 1 to 63. Crash if exceeded.
'      ARRAY DELETE xfbuf(), R24GT.xf
'      ARRAY DELETE yfbuf(), R24GT.yf
'      ARRAY DELETE zfbuf(), R24GT.zf  ' waarbij de maat van de buffer de dt bepaalt.
'      ARRAY DELETE cfbuf(), R24GT.cf
'      R24GT.xac = (R24GT.xf - xfbuf(i)) / R24GT.dtacc ' 12 = 63 - 51, voor 10 samp: 53 = 63 - 10
'      R24GT.yac = (R24GT.yf - yfbuf(i)) / R24GT.dtacc
'      R24GT.zac = (R24GT.zf - zfbuf(i)) / R24GT.dtacc
'      R24GT.cac = (R24GT.cf - cfbuf(i)) / R24GT.dtacc
'                                     ' de resolutie neemt toe met .dtacc, maar de scaling blijft konstant.
'                                     ' zonder de deling door dtacc hadden we:
'                                     ' dtacc = 1 : X= -22/+8     Y= -8/+8     z= -8/+8
'                                     ' dtacc = 2 : X= -16/+20    Y= -16/+24   z= -20/+24
'                                     ' dtacc = 4 : X= -72/+72    y= -52/+64   z= -64/+52
'                                     ' dtacc = 6 : x= -72/+104   Y= -84/+88   Z= -76/+72
'                                     ' dtacc =10 : X= -48/+175   Y=-112/+124  Z= -168/+144
'                                     ' met de deling en na debug..., krijgen we nu:
'                                     ' X= -9/+8   Y=-8/+24  Z=-8/+8
'                                     ' onafhankelijk van de setting voor dtacc.
'                                     ' de resolutie neemt evenredig toe met dtacc natuurlijk
'    END IF
'    'logfile "exit callback"
'#ENDIF
'END FUNCTION





'[eof]