National Instruments NI-Motion - page 249

Chapter 14 Onboard Programs
© National Instruments Corporation 14-41 NI-Motion User Manual
// Insert Label number 2
err = flex_insert_program_label(boardID, 2);
CheckError;
// Execute program 2
err = flex_run_prog(boardID, 2);
CheckError;
// Wait for program 2 to finish executing
err = flex_wait_on_event(boardID, 2 /*program #*/,
NIMC_WAIT, NIMC_CONDITION_PROGRAM_COMPLETE, 0, 0,
NIMC_MATCH_ALL, 1000 /*time out*/, 0);
CheckError;
// Jump unconditionally to label 1 and check IO line
again
err = flex_jump_on_event (boardID, 0,
NIMC_CONDITION_TRUE, 0, 0, NIMC_MATCH_ALL, 1/*label
number*/);
CheckError;
// End Program Storage
err = flex_end_store(boardID, 1);
CheckError;
return;// Exit the Application
// Error Handling
nimcHandleError; //NIMCCATCHTHIS:
// Check to see if there were any Modal Errors
if (csr & NIMC_MODAL_ERROR_MSG){
do{
//Get the command ID, resource ID, and the
error code of the //modal error from the
error stack on the device
flex_read_error_msg_rtn(boardID,&commandI
D,&resourceID, &errorCode);
nimcDisplayError(errorCode,commandID,res
ourceID);
//Read the communication status register
flex_read_csr_rtn(boardID,&csr);
}while(csr & NIMC_MODAL_ERROR_MSG);
}
else// Display regular error
nimcDisplayError(err,0,0);
return;// Exit the Application
}