comedi_calibrate/ni.c

   1 /*
   2    A little auto-calibration utility, for boards
   3    that support it.
   4
   5    Right now, it only supports NI E series boards,
   6    but it should be easily portable.
   7
   8    A few things need improvement here:
   9     - current system gets "close", but doesn't
  10       do any fine-tuning
  11     - no pre/post gain discrimination for the
  12       A/D zero offset.
  13     - should read (and use) the actual reference
  14       voltage value from eeprom
  15     - statistics would be nice, to show how good
  16       the calibration is.
  17     - doesn't check unipolar ranges
  18     - "alternate calibrations" would be cool--to
  19       accurately measure 0 in a unipolar range
  20     - more portable
  21  */
  22
  23 #define _GNU_SOURCE
  24
  25 #include <stdio.h>
  26 #include <comedilib.h>
  27 #include <fcntl.h>
  28 #include <unistd.h>
  29 #include <errno.h>
  30 #include <getopt.h>
  31 #include <ctype.h>
  32 #include <math.h>
  33 #include <stdlib.h>
  34 #include <string.h>
  35
  36 #include "calib.h"
  37
  38
  39 struct board_struct{
  40         char *name;
  41         int status;
  42         void (*cal)(void);
  43 };
  44
  45 void ni_setup_board(void);
  46 void ni_setup_observables(void);
  47
  48 void cal_ni_16e_1(void);
  49 void cal_ni_daqcard_ai_16xe_50(void);
  50 void cal_ni_6035e(void);
  51 void cal_ni_6071e(void);
  52 void cal_ni_16e_10(void);
  53 void cal_ni_16xe_50(void);
  54
  55 struct board_struct boards[]={
  56         { "at-mio-16e-2",       STATUS_DONE,    cal_ni_16e_1 },
  57         { "DAQCard-ai-16xe-50", STATUS_DONE,    cal_ni_daqcard_ai_16xe_50 },
  58         { "at-mio-16e-1",       STATUS_SOME,    cal_ni_16e_1 },
  59         { "pci-mio-16e-1",      STATUS_SOME,    cal_ni_16e_1 },
  60         { "pci-6035e",          STATUS_GUESS,   cal_ni_6035e },
  61         { "pci-6071e",          STATUS_GUESS,   cal_ni_6071e },
  62         { "pxi-6071e",          STATUS_GUESS,   cal_ni_6071e },
  63         { "at-mio-16e-10",      STATUS_GUESS,   cal_ni_16e_10 },
  64         { "pci-mio-16xe-50",    STATUS_GUESS,   cal_ni_16xe_50 },
  65         { "pci-6023e",          STATUS_GUESS,   cal_ni_6035e },
  66 #if 0
  67 //      { "at-mio-16de-10",     cal_ni_unknown },
  68         { "at-mio-64e-3",       cal_ni_16e_1 },
  69 //      { "at-mio-16xe-50",     cal_ni_unknown },
  70 //      { "at-mio-16xe-10",     cal_ni_unknown },
  71 //      { "at-ai-16xe-10",      cal_ni_unknown },
  72         { "pci-mio-16xe-10",    cal_ni_16xe_10 },
  73 //      { "pxi-6030e",          cal_ni_unknown },
  74 //      { "pci-mio-16e-4",      cal_ni_unknown },
  75 //      { "pxi-6040e",          cal_ni_unknown },
  76 //      { "pci-6031e",          cal_ni_unknown },
  77 //      { "pci-6032e",          cal_ni_unknown },
  78 //      { "pci-6033e",          cal_ni_unknown },
  79 //      { "pci-6071e",          cal_ni_unknown },
  80         { "pci-6024e",          cal_ni_6023e }, // guess
  81         { "pci-6025e",          cal_ni_6023e }, // guess
  82         { "pxi-6025e",          cal_ni_6023e }, // guess
  83         { "pci-6034e",          cal_ni_6023e }, // guess
  84         { "pci-6035e",          cal_ni_6023e },
  85 //      { "pci-6052e",          cal_ni_unknown },
  86 //      { "pci-6110e",          cal_ni_unknown },
  87 //      { "pci-6111e",          cal_ni_unknown },
  88 //      { "pci-6711",           cal_ni_unknown },
  89 //      { "pci-6713",           cal_ni_unknown },
  90 //      { "pxi-6070e",          cal_ni_unknown },
  91 //      { "pxi-6052e",          cal_ni_unknown },
  92 //      { "DAQCard-ai-16e-4",   cal_ni_unknown },
  93 //      { "DAQCard-6062e",      cal_ni_unknown },
  94 //      { "DAQCard-6024e",      cal_ni_unknown },
  95 #endif
  96 };
  97 #define n_boards (sizeof(boards)/sizeof(boards[0]))
  98
  99 enum {
 100         ni_zero_offset_low = 0,
 101         ni_zero_offset_high,
 102         ni_reference_low,
 103         ni_unip_offset_low,
 104         ni_ao0_zero_offset,
 105         ni_ao0_reference,
 106         ni_ao1_zero_offset,
 107         ni_ao1_reference,
 108 };
 109
 110 void ni_setup(void)
 111 {
 112         ni_setup_board();
 113         ni_setup_observables();
 114         setup_caldacs();
 115 }
 116
 117 void ni_setup_board(void)
 118 {
 119         int i;
 120
 121         for(i=0;i<n_boards;i++){
 122                 if(!strcmp(devicename,boards[i].name)){
 123                         device_status = boards[i].status;
 124                         do_cal = boards[i].cal;
 125                         return;
 126                 }
 127         }
 128
 129 }
 130
 131 void ni_setup_observables(void)
 132 {
 133         comedi_insn tmpl;
 134         int bipolar_lowgain;
 135         int bipolar_highgain;
 136         int unipolar_lowgain;
 137         double voltage_reference;
 138         observable *o;
 139
 140         bipolar_lowgain = get_bipolar_lowgain(dev,ad_subdev);
 141         bipolar_highgain = get_bipolar_highgain(dev,ad_subdev);
 142         unipolar_lowgain = get_unipolar_lowgain(dev,ad_subdev);
 143
 144         voltage_reference = 5.000;
 145
 146         memset(&tmpl,0,sizeof(tmpl));
 147         tmpl.insn = INSN_READ;
 148         tmpl.n = 1;
 149         tmpl.subdev = ad_subdev;
 150
 151         /* 0 offset, low gain */
 152         o = observables + ni_zero_offset_low;
 153         o->name = "ai, bipolar zero offset, low gain";
 154         o->observe_insn = tmpl;
 155         o->observe_insn.chanspec = CR_PACK(0,bipolar_lowgain,AREF_OTHER);
 156         o->target = 0;
 157
 158         /* 0 offset, high gain */
 159         o = observables + ni_zero_offset_high;
 160         o->name = "ai, bipolar zero offset, high gain";
 161         o->observe_insn = tmpl;
 162         o->observe_insn.chanspec = CR_PACK(0,bipolar_highgain,AREF_OTHER);
 163         o->target = 0;
 164
 165         /* voltage reference */
 166         o = observables + ni_reference_low;
 167         o->name = "ai, bipolar voltage reference, low gain";
 168         o->observe_insn = tmpl;
 169         o->observe_insn.chanspec = CR_PACK(5,bipolar_lowgain,AREF_OTHER);
 170         o->target = voltage_reference;
 171
 172         if(unipolar_lowgain>=0){
 173                 /* unip/bip offset */
 174                 o = observables + ni_unip_offset_low;
 175                 o->name = "ai, unipolar zero offset, low gain";
 176                 o->observe_insn = tmpl;
 177                 o->observe_insn.chanspec =
 178                         CR_PACK(0,unipolar_lowgain,AREF_OTHER);
 179                 o->target = 0;
 180
 181 #if 0
 182                 /* unip gain */
 183                 o = observables + ni_unip_reference_low;
 184                 o->name = "ai, unipolar voltage reference, low gain";
 185                 o->observe_insn = tmpl;
 186                 o->observe_insn.chanspec =
 187                         CR_PACK(5,unipolar_lowgain,AREF_OTHER);
 188                 o->target = voltage_reference;
 189                 i++;
 190 #endif
 191         }
 192
 193         if(da_subdev>=0){
 194                 comedi_insn po_tmpl;
 195
 196                 memset(&po_tmpl,0,sizeof(po_tmpl));
 197                 po_tmpl.insn = INSN_WRITE;
 198                 po_tmpl.n = 1;
 199                 po_tmpl.subdev = da_subdev;
 200
 201                 /* ao 0, zero offset */
 202                 o = observables + ni_ao0_zero_offset;
 203                 o->name = "ao 0, zero offset, low gain";
 204                 o->preobserve_insn = po_tmpl;
 205                 o->preobserve_insn.chanspec = CR_PACK(0,0,0);
 206                 o->preobserve_insn.data = &o->preobserve_data;
 207                 o->observe_insn = tmpl;
 208                 o->observe_insn.chanspec =
 209                         CR_PACK(2,bipolar_lowgain,AREF_OTHER);
 210                 set_target(ni_ao0_zero_offset,0.0);
 211
 212                 /* ao 0, gain */
 213                 o = observables + ni_ao0_reference;
 214                 o->name = "ao 0, reference voltage, low gain";
 215                 o->preobserve_insn = po_tmpl;
 216                 o->preobserve_insn.chanspec = CR_PACK(0,0,0);
 217                 o->preobserve_insn.data = &o->preobserve_data;
 218                 o->observe_insn = tmpl;
 219                 o->observe_insn.chanspec =
 220                         CR_PACK(6,bipolar_lowgain,AREF_OTHER);
 221                 set_target(ni_ao0_reference,5.0);
 222                 o->target -= voltage_reference;
 223
 224                 /* ao 1, zero offset */
 225                 o = observables + ni_ao1_zero_offset;
 226                 o->name = "ao 1, zero offset, low gain";
 227                 o->preobserve_insn = po_tmpl;
 228                 o->preobserve_insn.chanspec = CR_PACK(1,0,0);
 229                 o->preobserve_insn.data = &o->preobserve_data;
 230                 o->observe_insn = tmpl;
 231                 o->observe_insn.chanspec =
 232                         CR_PACK(3,bipolar_lowgain,AREF_OTHER);
 233                 set_target(ni_ao1_zero_offset,0.0);
 234
 235                 /* ao 1, gain */
 236                 o = observables + ni_ao1_reference;
 237                 o->name = "ao 1, reference voltage, low gain";
 238                 o->preobserve_insn = po_tmpl;
 239                 o->preobserve_insn.chanspec = CR_PACK(1,0,0);
 240                 o->preobserve_insn.data = &o->preobserve_data;
 241                 o->observe_insn = tmpl;
 242                 o->observe_insn.chanspec =
 243                         CR_PACK(7,bipolar_lowgain,AREF_OTHER);
 244                 set_target(ni_ao1_reference,5.0);
 245                 o->target -= voltage_reference;
 246
 247         }
 248         n_observables = ni_ao1_reference + 1;
 249 }
 250
 251 void cal_ni_daqcard_ai_16xe_50(void)
 252 {
 253         // daqcard
 254         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,2);
 255         cal1(ni_zero_offset_high,8);
 256         cal1(ni_reference_low,0);
 257 }
 258
 259 void cal_ni_16e_1(void)
 260 {
 261         // 16e-2
 262         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 263         cal1(ni_zero_offset_high,0);
 264         cal1(ni_reference_low,3);
 265         cal1(ni_unip_offset_low,2);
 266         if(do_output){
 267                 cal1(ni_ao0_zero_offset,5);
 268                 cal1(ni_ao0_reference,6);
 269                 cal1(ni_ao1_zero_offset,8);
 270                 cal1(ni_ao1_reference,9);
 271         }
 272 }
 273
 274 void cal_ni_16e_10(void)
 275 {
 276         // 16e-10 (old)
 277         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 278         cal1(ni_zero_offset_high,10);
 279         cal1(ni_zero_offset_high,0);
 280         cal1(ni_reference_low,3);
 281         cal1(ni_unip_offset_low,2);
 282         if(do_output){
 283                 cal1(ni_ao0_zero_offset,5); // guess
 284                 cal1(ni_ao0_reference,6); // guess
 285                 cal1(ni_ao0_zero_offset,8); // guess
 286                 cal1(ni_ao0_reference,9); // guess
 287         }
 288 }
 289
 290 void cal_ni_16xe_50(void)
 291 {
 292         // 16xe-50 (old) (same as daqcard?)
 293         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,2);
 294         cal1(ni_zero_offset_high,8);
 295         cal1(ni_reference_low,0);
 296         if(do_output){
 297                 // unknown
 298         }
 299 }
 300
 301 void cal_ni_6035e(void)
 302 {
 303         // 6035e (old)
 304         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 305         cal1(ni_zero_offset_high,0);
 306         cal1(ni_reference_low,3);
 307         if(do_output){
 308                 // unknown
 309         }
 310 }
 311
 312 void cal_ni_6071e(void)
 313 {
 314         // 6071e (old)
 315         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 316         cal1(ni_zero_offset_high,0);
 317         cal1(ni_reference_low,3);
 318         if(do_output){
 319                 // unknown
 320         }
 321 }
 322
 323
 324 double ni_get_reference(int lsb_loc,int msb_loc)
 325 {
 326         int lsb,msb;
 327         int uv;
 328         double ref;
 329
 330         lsb=read_eeprom(lsb_loc);
 331         msb=read_eeprom(msb_loc);
 332         printf("lsb=%d msb=%d\n",read_eeprom(425),read_eeprom(426));
 333
 334         uv=lsb | (msb<<8);
 335         if(uv>=0x8000)uv-=0x10000;
 336         ref=5.000+1.0e-6*uv;
 337         printf("ref=%g\n",ref);
 338
 339         return ref;
 340 }
 341
 342 void cal_ni_unknown(void)
 343 {
 344         comedi_range *range;
 345         int bipolar_lowgain;
 346         int bipolar_highgain;
 347         int unipolar_lowgain;
 348         int have_ao = 1;
 349
 350         reset_caldacs();
 351         printf("Warning: device not calibrated due to insufficient information\n");
 352         printf("Please send this output to <ds@schleef.org>\n");
 353         printf("$Id$\n");
 354         printf("Device name: %s\n",comedi_get_board_name(dev));
 355         printf("Comedi version: %d.%d.%d\n",
 356                 (comedi_get_version_code(dev)>>16)&0xff,
 357                 (comedi_get_version_code(dev)>>8)&0xff,
 358                 (comedi_get_version_code(dev))&0xff);
 359
 360         bipolar_lowgain = get_bipolar_lowgain(dev,ad_subdev);
 361         bipolar_highgain = get_bipolar_highgain(dev,ad_subdev);
 362         unipolar_lowgain = get_unipolar_lowgain(dev,ad_subdev);
 363
 364         /* 0 offset, low gain */
 365         range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 366         DPRINT(0,"bipolar zero offset, low gain [%g,%g]\n",
 367                 range->min,range->max);
 368         channel_dependence(0,bipolar_lowgain);
 369
 370         /* 0 offset, high gain */
 371         range = comedi_get_range(dev,ad_subdev,0,bipolar_highgain);
 372         DPRINT(0,"bipolar zero offset, high gain [%g,%g]\n",
 373                 range->min,range->max);
 374         channel_dependence(0,bipolar_highgain);
 375
 376         /* unip/bip offset */
 377         range = comedi_get_range(dev,ad_subdev,0,unipolar_lowgain);
 378         DPRINT(0,"unipolar zero offset, low gain [%g,%g]\n",
 379                 range->min,range->max);
 380         channel_dependence(0,unipolar_lowgain);
 381
 382         /* voltage reference */
 383         range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 384         DPRINT(0,"bipolar voltage reference, low gain [%g,%g]\n",
 385                 range->min,range->max);
 386         channel_dependence(5,bipolar_lowgain);
 387
 388         have_ao = (comedi_get_subdevice_type(dev,da_subdev)==COMEDI_SUBD_AO);
 389         if(have_ao){
 390                 int ao_chan;
 391
 392                 /* ao 0, zero offset */
 393                 ao_chan = 0;
 394                 set_ao(dev,da_subdev,ao_chan,0,0.0);
 395                 range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 396                 DPRINT(0,"ao 0, zero offset, low gain [%g,%g]\n",
 397                         range->min,range->max);
 398                 channel_dependence(2,bipolar_lowgain);
 399
 400                 /* ao 0, gain */
 401                 ao_chan = 0;
 402                 set_ao(dev,da_subdev,ao_chan,0,5.0);
 403                 range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 404                 DPRINT(0,"ao 0, gain, low gain [%g,%g]\n",
 405                         range->min,range->max);
 406                 channel_dependence(6,bipolar_lowgain);
 407
 408                 /* ao 1, zero offset */
 409                 ao_chan = 1;
 410                 set_ao(dev,da_subdev,ao_chan,0,0.0);
 411                 range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 412                 DPRINT(0,"ao 1, zero offset, low gain [%g,%g]\n",
 413                         range->min,range->max);
 414                 channel_dependence(3,bipolar_lowgain);
 415
 416                 /* ao 1, gain */
 417                 ao_chan = 1;
 418                 set_ao(dev,da_subdev,ao_chan,0,5.0);
 419                 range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 420                 DPRINT(0,"ao 1, gain, low gain [%g,%g]\n",
 421                         range->min,range->max);
 422                 channel_dependence(7,bipolar_lowgain);
 423         }
 424
 425         cal_ni_results();
 426 }
 427
 428 void cal_ni_results(void)
 429 {
 430         comedi_range *range;
 431         int bipolar_lowgain;
 432         int bipolar_highgain;
 433         int unipolar_lowgain;
 434         //int have_ao;
 435         char s[32];
 436
 437         bipolar_lowgain = get_bipolar_lowgain(dev,ad_subdev);
 438         bipolar_highgain = get_bipolar_highgain(dev,ad_subdev);
 439         unipolar_lowgain = get_unipolar_lowgain(dev,ad_subdev);
 440
 441         /* 0 offset, low gain */
 442         range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 443         read_chan2(s,0,bipolar_lowgain);
 444         DPRINT(0,"bipolar zero offset, low gain [%g,%g]: %s\n",
 445                 range->min,range->max,s);
 446
 447         /* 0 offset, high gain */
 448         range = comedi_get_range(dev,ad_subdev,0,bipolar_highgain);
 449         read_chan2(s,0,bipolar_highgain);
 450         DPRINT(0,"bipolar zero offset, high gain [%g,%g]: %s\n",
 451                 range->min,range->max,s);
 452
 453         /* unip/bip offset */
 454         range = comedi_get_range(dev,ad_subdev,0,unipolar_lowgain);
 455         read_chan2(s,0,unipolar_lowgain);
 456         DPRINT(0,"unipolar zero offset, low gain [%g,%g]: %s\n",
 457                 range->min,range->max,s);
 458
 459 }
 460
 461 #if 0
 462 void ni_mio_ai_postgain_cal(void)
 463 {
 464         linear_fit_t l;
 465         double offset_r0;
 466         double offset_r7;
 467         double gain;
 468         double a;
 469
 470         check_gain_chan_x(&l,CR_PACK(0,0,AREF_OTHER),1);
 471         offset_r0=linear_fit_func_y(&l,caldacs[1].current);
 472         printf("offset r0 %g\n",offset_r0);
 473
 474         check_gain_chan_x(&l,CR_PACK(0,7,AREF_OTHER),1);
 475         offset_r7=linear_fit_func_y(&l,caldacs[1].current);
 476         printf("offset r7 %g\n",offset_r7);
 477
 478         gain=l.slope;
 479
 480         a=(offset_r0-offset_r7)/(200.0-1.0);
 481         a=caldacs[1].current-a/gain;
 482
 483         printf("%g\n",a);
 484
 485         caldacs[1].current=rint(a);
 486         update_caldac(1);
 487 }
 488
 489 void ni_mio_ai_postgain_cal_2(int chan,int dac,int range_lo,int range_hi,double gain)
 490 {
 491         double offset_lo,offset_hi;
 492         linear_fit_t l;
 493         double slope;
 494         double a;
 495
 496         check_gain_chan_x(&l,CR_PACK(chan,range_lo,AREF_OTHER),dac);
 497         offset_lo=linear_fit_func_y(&l,caldacs[dac].current);
 498         printf("offset lo %g\n",offset_lo);
 499
 500         check_gain_chan_x(&l,CR_PACK(chan,range_hi,AREF_OTHER),dac);
 501         offset_hi=linear_fit_func_y(&l,caldacs[dac].current);
 502         printf("offset hi %g\n",offset_hi);
 503
 504         slope=l.slope;
 505
 506         a=(offset_lo-offset_hi)/(gain-1.0);
 507         a=caldacs[dac].current-a/slope;
 508
 509         printf("%g\n",a);
 510
 511         caldacs[dac].current=rint(a);
 512         update_caldac(dac);
 513 }
 514 #endif
 515