/* vim: set ts=8 sw=8 noet tw=80 nowrap: */ /* include/comedilib.h header file for the comedi library routines COMEDI - Linux Control and Measurement Device Interface Copyright (C) 1998-2002 David A. Schleef This program is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. */ #ifndef _COMEDILIB_H #define _COMEDILIB_H #include #include #include #include #include #ifdef __cplusplus extern "C" { #endif /* Macros for swig to %include this file. */ #ifdef SWIG #define SWIG_OUTPUT(x) OUTPUT #define SWIG_INPUT(x) INPUT #define SWIG_INOUT(x) INOUT #else #define SWIG_OUTPUT(x) x #define SWIG_INPUT(x) x #define SWIG_INOUT(x) x #endif typedef struct comedi_t_struct comedi_t; typedef struct{ double min; double max; unsigned int unit; }comedi_range; typedef struct comedi_sv_struct{ comedi_t *dev; unsigned int subdevice; unsigned int chan; /* range policy */ int range; int aref; /* number of measurements to average (for ai) */ int n; lsampl_t maxdata; }comedi_sv_t; enum comedi_oor_behavior { COMEDI_OOR_NUMBER = 0, COMEDI_OOR_NAN }; comedi_t *comedi_open(const char *fn); int comedi_close(comedi_t *it); /* logging */ int comedi_loglevel(int loglevel); void comedi_perror(const char *s); const char *comedi_strerror(int errnum); int comedi_errno(void); int comedi_fileno(comedi_t *it); /* global behavior */ enum comedi_oor_behavior comedi_set_global_oor_behavior(enum comedi_oor_behavior behavior); /* device queries */ int comedi_get_n_subdevices(comedi_t *it); #define COMEDI_VERSION_CODE(a,b,c) (((a)<<16) | ((b)<<8) | (c)) int comedi_get_version_code(comedi_t *it); const char *comedi_get_driver_name(comedi_t *it); const char *comedi_get_board_name(comedi_t *it); int comedi_get_read_subdevice(comedi_t *dev); int comedi_get_write_subdevice(comedi_t *dev); /* subdevice queries */ int comedi_get_subdevice_type(comedi_t *it,unsigned int subdevice); int comedi_find_subdevice_by_type(comedi_t *it,int type,unsigned int subd); int comedi_get_subdevice_flags(comedi_t *it,unsigned int subdevice); int comedi_get_n_channels(comedi_t *it,unsigned int subdevice); int comedi_range_is_chan_specific(comedi_t *it,unsigned int subdevice); int comedi_maxdata_is_chan_specific(comedi_t *it,unsigned int subdevice); /* channel queries */ lsampl_t comedi_get_maxdata(comedi_t *it,unsigned int subdevice, unsigned int chan); int comedi_get_n_ranges(comedi_t *it,unsigned int subdevice, unsigned int chan); comedi_range * comedi_get_range(comedi_t *it,unsigned int subdevice, unsigned int chan,unsigned int range); int comedi_find_range(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int unit,double min,double max); /* buffer queries */ int comedi_get_buffer_size(comedi_t *it,unsigned int subdevice); int comedi_get_max_buffer_size(comedi_t *it,unsigned int subdevice); int comedi_set_buffer_size(comedi_t *it,unsigned int subdevice, unsigned int len); /* low-level stuff */ #ifdef _COMEDILIB_DEPRECATED int comedi_trigger(comedi_t *it,comedi_trig *trig); /* deprecated */ #endif int comedi_do_insnlist(comedi_t *it,comedi_insnlist *il); int comedi_do_insn(comedi_t *it,comedi_insn *insn); int comedi_lock(comedi_t *it,unsigned int subdevice); int comedi_unlock(comedi_t *it,unsigned int subdevice); /* * Changing read and write subdevice is supported for the version of comedi * in the Linux kernel sources since Linux kernel version 3.19. * * The functions to set and get the read and write subdevice are unusual in * that changes are local to the "open file description" for the Comedi * device. */ int comedi_set_read_subdevice(comedi_t *it,unsigned int subdevice); int comedi_set_write_subdevice(comedi_t *it,unsigned int subdevice); /* physical units */ double comedi_to_phys(lsampl_t data,comedi_range *rng,lsampl_t maxdata); lsampl_t comedi_from_phys(double data,comedi_range *rng,lsampl_t maxdata); int comedi_sampl_to_phys(double *dest, int dst_stride, sampl_t *src, int src_stride, comedi_range *rng, lsampl_t maxdata, int n); int comedi_sampl_from_phys(sampl_t *dest,int dst_stride,double *src, int src_stride, comedi_range *rng, lsampl_t maxdata, int n); /* synchronous stuff */ int comedi_data_read(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int range,unsigned int aref,lsampl_t *SWIG_OUTPUT(data)); int comedi_data_read_n(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int range,unsigned int aref,lsampl_t *data, unsigned int n); int comedi_data_read_hint(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int range,unsigned int aref); int comedi_data_read_delayed(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int range,unsigned int aref,lsampl_t *SWIG_OUTPUT(data), unsigned int nano_sec); int comedi_data_write(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int range,unsigned int aref,lsampl_t data); int comedi_dio_config(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int dir); int comedi_dio_get_config(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int *SWIG_OUTPUT(dir)); int comedi_dio_read(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int *SWIG_OUTPUT(bit)); int comedi_dio_write(comedi_t *it,unsigned int subd,unsigned int chan, unsigned int bit); int comedi_dio_bitfield2(comedi_t *it,unsigned int subd, unsigned int write_mask, unsigned int *SWIG_INOUT(bits), unsigned int base_channel); /* Should be moved to _COMEDILIB_DEPRECATED once bindings for other languages are updated * to use comedi_dio_bitfield2() instead.*/ int comedi_dio_bitfield(comedi_t *it,unsigned int subd, unsigned int write_mask, unsigned int *SWIG_INOUT(bits)); /* slowly varying stuff */ int comedi_sv_init(comedi_sv_t *it,comedi_t *dev,unsigned int subd,unsigned int chan); int comedi_sv_update(comedi_sv_t *it); int comedi_sv_measure(comedi_sv_t *it,double *SWIG_OUTPUT(data)); /* streaming I/O (commands) */ int comedi_get_cmd_src_mask(comedi_t *dev,unsigned int subdevice, comedi_cmd *SWIG_INOUT(cmd)); int comedi_get_cmd_generic_timed(comedi_t *dev,unsigned int subdevice, comedi_cmd *SWIG_INOUT(cmd), unsigned chanlist_len, unsigned scan_period_ns); int comedi_cancel(comedi_t *it,unsigned int subdevice); int comedi_command(comedi_t *it,comedi_cmd *cmd); int comedi_command_test(comedi_t *it,comedi_cmd *SWIG_INOUT(cmd)); int comedi_poll(comedi_t *dev,unsigned int subdevice); /* buffer control */ int comedi_set_max_buffer_size(comedi_t *it, unsigned int subdev, unsigned int max_size); int comedi_get_buffer_contents(comedi_t *it, unsigned int subdev); int comedi_mark_buffer_read(comedi_t *it, unsigned int subdev, unsigned int bytes); int comedi_mark_buffer_written(comedi_t *it, unsigned int subdev, unsigned int bytes); int comedi_get_buffer_read_offset(comedi_t *it, unsigned int subdev); int comedi_get_buffer_write_offset(comedi_t *it, unsigned int subdev); int comedi_get_buffer_read_count(comedi_t *it, unsigned int subdev, unsigned int *SWIG_OUTPUT(read_count)); int comedi_get_buffer_write_count(comedi_t *it, unsigned int subdev, unsigned int *SWIG_OUTPUT(write_count)); /* Should be moved to _COMEDILIB_DEPRECATED - use comedi_get_buffer_read_offset instead. */ int comedi_get_buffer_offset(comedi_t *it, unsigned int subdev); #ifdef _COMEDILIB_DEPRECATED /* * The following functions are deprecated and should not be used. */ int comedi_get_timer(comedi_t *it,unsigned int subdev,double freq, unsigned int *trigvar,double *actual_freq); int comedi_timed_1chan(comedi_t *it,unsigned int subdev,unsigned int chan, unsigned int range, unsigned int aref,double freq, unsigned int n_samples,double *data); int comedi_get_rangetype(comedi_t *it,unsigned int subdevice, unsigned int chan); #endif #ifndef _COMEDILIB_STRICT_ABI /* The following prototypes are _NOT_ part of the Comedilib ABI, and may change in future versions without regard to source or binary compatibility. In practice, this is a holding place for the next library ABI version change. */ /* structs and functions used for parsing calibration files */ typedef struct { unsigned int subdevice; unsigned int channel; unsigned int value; } comedi_caldac_t; #define COMEDI_MAX_NUM_POLYNOMIAL_COEFFICIENTS 4 typedef struct { double coefficients[COMEDI_MAX_NUM_POLYNOMIAL_COEFFICIENTS]; double expansion_origin; unsigned order; } comedi_polynomial_t; typedef struct { comedi_polynomial_t *to_phys; comedi_polynomial_t *from_phys; } comedi_softcal_t; #define CS_MAX_AREFS_LENGTH 4 typedef struct { unsigned int subdevice; unsigned int *channels; unsigned int num_channels; unsigned int *ranges; unsigned int num_ranges; unsigned int arefs[ CS_MAX_AREFS_LENGTH ]; unsigned int num_arefs; comedi_caldac_t *caldacs; unsigned int num_caldacs; comedi_softcal_t soft_calibration; } comedi_calibration_setting_t; typedef struct { char *driver_name; char *board_name; comedi_calibration_setting_t *settings; unsigned int num_settings; } comedi_calibration_t; comedi_calibration_t* comedi_parse_calibration_file( const char *cal_file_path ); int comedi_apply_parsed_calibration( comedi_t *dev, unsigned int subdev, unsigned int channel, unsigned int range, unsigned int aref, const comedi_calibration_t *calibration ); char* comedi_get_default_calibration_path( comedi_t *dev ); void comedi_cleanup_calibration( comedi_calibration_t *calibration ); int comedi_apply_calibration( comedi_t *dev, unsigned int subdev, unsigned int channel, unsigned int range, unsigned int aref, const char *cal_file_path); /* New stuff to provide conversion between integers and physical values that * can support software calibrations. */ enum comedi_conversion_direction { COMEDI_TO_PHYSICAL, COMEDI_FROM_PHYSICAL }; int comedi_get_softcal_converter( unsigned subdevice, unsigned channel, unsigned range, enum comedi_conversion_direction direction, const comedi_calibration_t *calibration, comedi_polynomial_t* SWIG_OUTPUT(polynomial)); int comedi_get_hardcal_converter( comedi_t *dev, unsigned subdevice, unsigned channel, unsigned range, enum comedi_conversion_direction direction, comedi_polynomial_t* SWIG_OUTPUT(polynomial)); double comedi_to_physical(lsampl_t data, const comedi_polynomial_t *conversion_polynomial); lsampl_t comedi_from_physical(double data, const comedi_polynomial_t *conversion_polynomial); int comedi_internal_trigger(comedi_t *dev, unsigned subd, unsigned trignum); /* INSN_CONFIG wrappers */ int comedi_arm(comedi_t *device, unsigned subdevice, unsigned source); int comedi_arm_channel(comedi_t *device, unsigned subdevice, unsigned channel, unsigned source); int comedi_disarm(comedi_t *device, unsigned subdevice); int comedi_disarm_channel(comedi_t *device, unsigned subdevice, unsigned channel); int comedi_reset(comedi_t *device, unsigned subdevice); int comedi_reset_channel(comedi_t *device, unsigned subdevice, unsigned channel); int comedi_get_clock_source(comedi_t *device, unsigned subdevice, unsigned channel, unsigned *SWIG_OUTPUT(clock), unsigned *SWIG_OUTPUT(period_ns)); int comedi_get_gate_source(comedi_t *device, unsigned subdevice, unsigned channel, unsigned gate, unsigned *SWIG_OUTPUT(source)); int comedi_get_routing(comedi_t *device, unsigned subdevice, unsigned channel, unsigned *SWIG_OUTPUT(routing)); int comedi_set_counter_mode(comedi_t *device, unsigned subdevice, unsigned channel, unsigned mode_bits); int comedi_set_clock_source(comedi_t *device, unsigned subdevice, unsigned channel, unsigned clock, unsigned period_ns); int comedi_set_filter(comedi_t *device, unsigned subdevice, unsigned channel, unsigned filter); int comedi_set_gate_source(comedi_t *device, unsigned subdevice, unsigned channel, unsigned gate_index, unsigned gate_source); int comedi_set_other_source(comedi_t *device, unsigned subdevice, unsigned channel, unsigned other, unsigned source); int comedi_set_routing(comedi_t *device, unsigned subdevice, unsigned channel, unsigned routing); int comedi_get_hardware_buffer_size(comedi_t *device, unsigned subdevice, enum comedi_io_direction direction); int comedi_digital_trigger_disable(comedi_t *device, unsigned subdevice, unsigned trigger_id); int comedi_digital_trigger_enable_edges(comedi_t *device, unsigned subdevice, unsigned trigger_id, unsigned base_input, unsigned rising_edge_inputs, unsigned falling_edge_inputs); int comedi_digital_trigger_enable_levels(comedi_t *device, unsigned subdevice, unsigned trigger_id, unsigned base_input, unsigned high_level_inputs, unsigned low_level_inputs); /** * Get the hardware timing constraints for a streaming subdevice. * * The values returned by this function may indicate the range of valid inputs * for scan_begin_arg and convert_arg, for instance when *_src==TRIG_TIMER. For * *_src==TRIG_EXT (or other modes?), these returned values are mostly * informational and may be used in conjunction with other triggering hardware. * * If it is possible for the hardware constraints to depend on whether * *_src==TRIG_TIMER or *_src==TRIG_EXT, the values returned by this function * will depend on these inputs. Alternatively, one can specify something like * *_src==TRIG_TIMER|TRIG_EXT and retrieve the value that is the smallest that * satisfies both trigger sources. * * @param device * Pointer to the device * @param subdevice * Index of the streaming/async subdevice to query * @param scan_begin_src * Bitwise or of all trigger modes (TRIG_INT, TRIG_EXT, ...) that should be * considered. * @param scan_begin_min * If not NULL, this pointer is to return the value of minimum scan_begin * speed that meets the requirements of the slowest trigger specified in * scan_begin_src. * @param convert_src * Bitwise or of all trigger modes (TRIG_INT, TRIG_EXT, ...) that should be * considered. * @param convert_min * If not NULL, this pointer is to return the value of minimum convert * speed that meets the requirements of the slowest trigger specified in * convert_src. * @return 0 if successful or -1 otherwise */ int comedi_get_cmd_timing_constraints(comedi_t *device, unsigned int subdevice, unsigned int scan_begin_src, unsigned int *scan_begin_min, unsigned int convert_src, unsigned int *convert_min, unsigned int *chanlist, unsigned int chanlist_len); /** * Validate a globally-named route as connectible and test whether it is * connected. * * Note that since comedi_(dis)connect_route effectively perform the same * operations as comedi_{s,g}et_routing and comedi_dio_config, this operation * will only report a route as connected _if_ both operations have been * performed directly or effectively via comedi_connect_route. * * There are several routes that are not globally connectable via * comedi_connect_route, such as (NI_PFI(i) --> NI_AO_SampleClock) as they must * be connected via a trigger argument, such as comedi_cmd->start_arg for * NI_AO_StartTrigger. This function can still be used for such routes to test * whether they are valid. * * @return -1 if not connectible * @return 0 if connectible but not connected * @return 1 if connectible and connected */ int comedi_test_route(comedi_t *device, unsigned source, unsigned destination); /** * Connect a globally-named route. * * This operation is effectively the same as calling comedi_set_routing and * comedi_dio_config on the respective subdevice. * * There are some routes that are not connectible globally. For example, the * route (NI_PFI(i) --> NI_AO_SampleClock) must actually be specified via the * scan_begin_arg argument of a comedi_cmd structure. * * @return 0 on success * @return -1 on error * * Errors: * EALREADY : The route is already connected. * EINVAL : The specified route is not valid for this device. * EBUSY : The destination selector is already busy. */ int comedi_connect_route(comedi_t *device, unsigned source, unsigned destination); /** * Disconnect a globally-named route. * * This operation is effectively the same as calling comedi_set_routing and * comedi_dio_config on the respective subdevice. * * There are some routes that are not dis-connectible globally. For example, * the route (NI_PFI(i) --> NI_AO_SampleClock) must actually be specified via * the scan_begin_arg argument of a comedi_cmd structure. */ int comedi_disconnect_route(comedi_t *device, unsigned source, unsigned destination); /** * Globally-named route pair to contain values returned by comedi_get_routes. * @source: Globally-identified source of route. * @destination: Globally-identified destination of route. */ typedef struct { unsigned int source; unsigned int destination; } comedi_route_pair; /** * Obtain a list of all possible globally-named routes for the particular * device. * * A globally-named route is a route where the source and destination values are * globally recognized, regardless of the subdevice. * @param device * Pointer to the device * @param routelist * Array of comedi_route_pair structs that will be used to contain the * returned list. If this parameter is NULL, comedi_get_routes will return * the number of routes that exist for the device. Using this feature, one * can query and then allocate routelist appropriately. * @param n * The number of elements allocated for in routelist. * @return Number of routes available if routelist==NULL * @return Number of routes copied if routelist!=NULL * @return -1 if there was a problem with the system call */ int comedi_get_routes(comedi_t *device, comedi_route_pair * routelist, size_t n); #endif #ifdef __cplusplus } #endif #endif