10.3.4 SPI Programming for Scanner Data Monitoring

using ( ClientAPI client = new ClientAPI( CardIP ) )
{
    client.System.ResetToDefaults();

    // 
    // Configure Port A to output SPI Module 0 signals.
    // 

    IODirection[] directions = client.Gpio.GetDirections( IOPort.PortA );
    directions[0] = IODirection.Output;
    directions[1] = IODirection.Input;
    client.Gpio.SetDirections( IOPort.PortA, directions );

    client.Gpio.SetIOLevel( IOPort.PortA, IOVoltage.ThreePointThree );

    Polarity[] polarities = client.Gpio.GetPolarities( IOPort.PortA );
    polarities[1] =
    polarities[2] =
    polarities[3] =
    polarities[11] = Polarity.ActiveHigh;
    client.Gpio.SetPolarities( IOPort.PortA, polarities );

    int[] functions = client.Gpio.GetFunctions( IOPort.PortA );
    functions[1] =     // SPI0.SYNC
    functions[2] =     // SPI0.CLK
    functions[3] =     // SPI0.DO
    functions[11] = 3; // SPI0.DI
    client.Gpio.SetFunctions( IOPort.PortA, functions );

    // 
    // (Re-)Configure the SPI Module 0 signal parameters.
    // 
    int module = 0;
    SpiConfig sc = client.Sfio.Spi.GetConfig();
    SpiModule sm = sc.Modules[module];

    sm.Enabled = true;
    sm.OutputSource = DataSource.ScannerCommunication;
    sm.BitsPerWord = 8;
    sm.SpiSyncMode = SyncMode.SyncPerFrame;
    sm.ClockPeriod = 0.09;
    sm.PostDelay = 0.1;
    sm.PreDelay = 0.1;
    sm.FrameDelay = 0.1;

    sc.Modules[module] = sm;
    client.Sfio.Spi.SetConfig( sc );

    // 
    // This Enhanced Protocol command will configure a scanner
    // to output its current position (as measured) over the return channel.
    // 
    uint command =
        (uint)RAYLASE.SPICE3.ScannerEnhancedProtocol.CommandCode.SetDataSource +
        ( uint )RAYLASE.SPICE3.ScannerEnhancedProtocol.DataSource.CurrentPosition;

    // For this example, we are using the same command on all three axes.
    uint[] commands = new uint[3];
    commands[0] = command; // Copy command for X axis
    commands[1] = command; // Copy command for Y axis
    commands[2] = command; // Copy command for Z axis

    // 
    // Send the enhanced protocol command to the scanhead
    // 
    client.ScannerCommunication.TransmitEnhanced(
        0, // Scanhead 0 uses SPI Modules 0 and 2
        RAYLASE.SPICE3.Axes.XYZ,
        commands,
        100
    );

}