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 char ni_id[] = "$Id$";
  40
  41 struct board_struct{
  42         char *name;
  43         int status;
  44         int (*cal)( calibration_setup_t *setup);
  45         void (*setup_observables)( calibration_setup_t *setup );
  46 };
  47
  48 int ni_setup_board( calibration_setup_t *setup , const char *device_name );
  49 void ni_setup_observables( calibration_setup_t *setup );
  50 void ni_setup_observables_611x( calibration_setup_t *setup );
  51
  52 int cal_ni_at_mio_16e_2(calibration_setup_t *setup);
  53 int cal_ni_daqcard_ai_16xe_50(calibration_setup_t *setup);
  54 int cal_ni_at_mio_16e_1(calibration_setup_t *setup);
  55 int cal_ni_pci_mio_16e_1(calibration_setup_t *setup);
  56 int cal_ni_pci_6025e(calibration_setup_t *setup);
  57 int cal_ni_pci_6035e(calibration_setup_t *setup);
  58 int cal_ni_pci_6071e(calibration_setup_t *setup);
  59 int cal_ni_pxi_6071e(calibration_setup_t *setup);
  60 int cal_ni_at_mio_16e_10(calibration_setup_t *setup);
  61 int cal_ni_pci_mio_16xe_50(calibration_setup_t *setup);
  62 int cal_ni_pci_6023e(calibration_setup_t *setup);
  63 int cal_ni_pci_6024e(calibration_setup_t *setup);
  64 int cal_ni_at_mio_16xe_50(calibration_setup_t *setup);
  65 int cal_ni_pci_mio_16xe_10(calibration_setup_t *setup);
  66 int cal_ni_pci_6052e(calibration_setup_t *setup);
  67 int cal_ni_pci_mio_16e_4(calibration_setup_t *setup);
  68 int cal_ni_pci_6032e(calibration_setup_t *setup);
  69 int cal_ni_daqcard_ai_16e_4(calibration_setup_t *setup);
  70 int cal_ni_pci_611x(calibration_setup_t *setup);
  71
  72 static struct board_struct boards[]={
  73         { "at-mio-16e-2",       STATUS_DONE,    cal_ni_at_mio_16e_2,    ni_setup_observables  },
  74         { "DAQCard-ai-16xe-50", STATUS_DONE,    cal_ni_daqcard_ai_16xe_50,      ni_setup_observables },
  75         { "at-mio-16xe-50",     STATUS_SOME,    cal_ni_at_mio_16xe_50,  ni_setup_observables },
  76         { "at-mio-16e-1",       STATUS_SOME,    cal_ni_at_mio_16e_1,    ni_setup_observables },
  77         { "pci-mio-16e-1",      STATUS_DONE,    cal_ni_pci_mio_16e_1,   ni_setup_observables },
  78         { "pci-6025e",          STATUS_SOME,    cal_ni_pci_6025e,       ni_setup_observables },
  79         { "pci-6035e",          STATUS_DONE,    cal_ni_pci_6035e,       ni_setup_observables },
  80         { "pci-6071e",          STATUS_SOME,    cal_ni_pci_6071e,       ni_setup_observables },
  81         { "pxi-6071e",          STATUS_GUESS,   cal_ni_pxi_6071e,       ni_setup_observables },
  82         { "at-mio-16e-10",      STATUS_GUESS,   cal_ni_at_mio_16e_10,   ni_setup_observables },
  83         { "pci-mio-16xe-50",    STATUS_SOME,    cal_ni_pci_mio_16xe_50, ni_setup_observables },
  84         { "pci-6023e",          STATUS_DONE,    cal_ni_pci_6023e,       ni_setup_observables },
  85         { "pci-mio-16xe-10",    STATUS_DONE,    cal_ni_pci_mio_16xe_10, ni_setup_observables },
  86         { "pci-6052e",          STATUS_DONE,    cal_ni_pci_6052e,       ni_setup_observables },
  87         { "pci-6024e",          STATUS_SOME,    cal_ni_pci_6024e,       ni_setup_observables },
  88         { "pci-mio-16e-4",      STATUS_SOME,    cal_ni_pci_mio_16e_4,   ni_setup_observables },
  89         { "pci-6032e",          STATUS_DONE,    cal_ni_pci_6032e,       ni_setup_observables },
  90         { "DAQCard-ai-16e-4",   STATUS_DONE,    cal_ni_daqcard_ai_16e_4,        ni_setup_observables },
  91         { "pci-6110",   STATUS_SOME,    cal_ni_pci_611x,        ni_setup_observables_611x },
  92         { "pci-6111",   STATUS_SOME,    cal_ni_pci_611x,        ni_setup_observables_611x },
  93 #if 0
  94 //      { "at-mio-16de-10",     cal_ni_unknown },
  95         { "at-mio-64e-3",       cal_ni_16e_1 },
  96 //      { "at-mio-16xe-50",     cal_ni_unknown },
  97 //      { "at-mio-16xe-10",     cal_ni_unknown },
  98 //      { "at-ai-16xe-10",      cal_ni_unknown },
  99 //      { "pxi-6030e",          cal_ni_unknown },
 100 //      { "pxi-6040e",          cal_ni_unknown },
 101 //      { "pci-6031e",          cal_ni_unknown },
 102 //      { "pci-6033e",          cal_ni_unknown },
 103         { "pxi-6025e",          cal_ni_6023e }, // guess
 104         { "pci-6034e",          cal_ni_6023e }, // guess
 105 //      { "pci-6711",           cal_ni_unknown },
 106 //      { "pci-6713",           cal_ni_unknown },
 107 //      { "pxi-6070e",          cal_ni_unknown },
 108 //      { "pxi-6052e",          cal_ni_unknown },
 109 //      { "DAQCard-6062e",      cal_ni_unknown },
 110 //      { "DAQCard-6024e",      cal_ni_unknown },
 111 #endif
 112 };
 113 #define n_boards (sizeof(boards)/sizeof(boards[0]))
 114
 115 enum observables{
 116         ni_zero_offset_low = 0,
 117         ni_zero_offset_high,
 118         ni_reference_low,
 119         ni_unip_offset_low,
 120         ni_ao0_zero_offset,
 121         ni_ao0_reference,
 122         ni_ao1_zero_offset,
 123         ni_ao1_reference,
 124 };
 125 static int ni_zero_offset_611x( int channel ) {
 126         return channel;
 127 };
 128 static int ni_reference_611x( int channel ) {
 129         return 4 + channel;
 130 };
 131 enum observables_611x{
 132         ni_ao0_zero_offset_611x = 8,
 133         ni_ao0_reference_611x = 9,
 134         ni_ao1_zero_offset_611x = 10,
 135         ni_ao1_reference_611x = 11,
 136 };
 137
 138 enum reference_sources {
 139         REF_GND_GND = 0,
 140         REF_AOGND_AIGND = 1,
 141         REF_DAC0_0V = 2,
 142         REF_DAC1_0V = 3,
 143         REF_5V_5V = 4,
 144         REF_5V_0V = 5,
 145         REF_DAC0_5V = 6,
 146         REF_DAC1_5V = 7,
 147 };
 148
 149 // 611x documentation wrong, this was determined from hardware behaviour
 150 enum reference_sources_611x {
 151         REF_GND_GND_611x = 0,
 152         REF_5V_0V_611x = 1,
 153         REF_DAC0_0V_611x = 2,
 154         REF_DAC1_0V_611x = 3,
 155 };
 156
 157 int ni_setup( calibration_setup_t *setup , const char *device_name )
 158 {
 159         ni_setup_board( setup, device_name );
 160         setup_caldacs( setup, setup->caldac_subdev );
 161
 162         return 0;
 163 }
 164
 165 int ni_setup_board( calibration_setup_t *setup, const char *device_name )
 166 {
 167         int i;
 168
 169         for(i = 0; i < n_boards; i++ ){
 170                 if(!strcmp( device_name, boards[i].name )){
 171                         setup->status = boards[i].status;
 172                         setup->do_cal = boards[i].cal;
 173                         boards[i].setup_observables( setup );
 174                         break;
 175                 }
 176         }
 177         if( i == n_boards ) return -1;
 178         return 0;
 179 }
 180
 181 void ni_setup_observables( calibration_setup_t *setup )
 182 {
 183         comedi_insn tmpl;
 184         int bipolar_lowgain;
 185         int bipolar_highgain;
 186         int unipolar_lowgain;
 187         double voltage_reference;
 188         observable *o;
 189
 190         bipolar_lowgain = get_bipolar_lowgain( setup->dev, setup->ad_subdev);
 191         bipolar_highgain = get_bipolar_highgain( setup->dev, setup->ad_subdev);
 192         unipolar_lowgain = get_unipolar_lowgain( setup->dev, setup->ad_subdev);
 193
 194         voltage_reference = 5.000;
 195
 196         memset(&tmpl,0,sizeof(tmpl));
 197         tmpl.insn = INSN_READ;
 198         tmpl.n = 1;
 199         tmpl.subdev = setup->ad_subdev;
 200
 201         /* 0 offset, low gain */
 202         o = setup->observables + ni_zero_offset_low;
 203         o->name = "ai, bipolar zero offset, low gain";
 204         o->observe_insn = tmpl;
 205         o->observe_insn.chanspec = CR_PACK(REF_GND_GND,bipolar_lowgain,AREF_OTHER)
 206                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 207         o->reference_source = REF_GND_GND;
 208         o->target = 0;
 209
 210         /* 0 offset, high gain */
 211         o = setup->observables + ni_zero_offset_high;
 212         o->name = "ai, bipolar zero offset, high gain";
 213         o->observe_insn = tmpl;
 214         o->observe_insn.chanspec = CR_PACK(REF_GND_GND,bipolar_highgain,AREF_OTHER)
 215                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 216         o->reference_source = REF_GND_GND;
 217         o->target = 0;
 218
 219         /* voltage reference */
 220         o = setup->observables + ni_reference_low;
 221         o->name = "ai, bipolar voltage reference, low gain";
 222         o->observe_insn = tmpl;
 223         o->observe_insn.chanspec = CR_PACK(REF_5V_0V,bipolar_lowgain,AREF_OTHER)
 224                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 225         o->reference_source = REF_5V_0V;
 226         o->target = voltage_reference;
 227
 228         setup->n_observables = ni_reference_low + 1;
 229
 230         if(unipolar_lowgain>=0){
 231                 /* unip/bip offset */
 232                 o = setup->observables + ni_unip_offset_low;
 233                 o->name = "ai, unipolar zero offset, low gain";
 234                 o->observe_insn = tmpl;
 235                 o->observe_insn.chanspec =
 236                         CR_PACK(REF_GND_GND,unipolar_lowgain,AREF_OTHER)
 237                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 238
 239                 o->reference_source = REF_GND_GND;
 240                 o->target = 0;
 241
 242 #if 0
 243                 /* unip gain */
 244                 o = observables + ni_unip_reference_low;
 245                 o->name = "ai, unipolar voltage reference, low gain";
 246                 o->observe_insn = tmpl;
 247                 o->observe_insn.chanspec =
 248                         CR_PACK(REF_5V_0V,unipolar_lowgain,AREF_OTHER)
 249                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 250                 o->reference_source = REF_5V_0V;
 251                 o->target = voltage_reference;
 252                 i++;
 253 #endif
 254                 setup->n_observables = ni_unip_offset_low + 1;
 255         }
 256
 257         if(setup->da_subdev>=0){
 258                 comedi_insn po_tmpl;
 259
 260                 memset(&po_tmpl,0,sizeof(po_tmpl));
 261                 po_tmpl.insn = INSN_WRITE;
 262                 po_tmpl.n = 1;
 263                 po_tmpl.subdev = setup->da_subdev;
 264
 265                 /* ao 0, zero offset */
 266                 o = setup->observables + ni_ao0_zero_offset;
 267                 o->name = "ao 0, zero offset, low gain";
 268                 o->preobserve_insn = po_tmpl;
 269                 o->preobserve_insn.chanspec = CR_PACK(0,0,0);
 270                 o->preobserve_insn.data = o->preobserve_data;
 271                 o->observe_insn = tmpl;
 272                 o->observe_insn.chanspec =
 273                         CR_PACK(REF_DAC0_0V,bipolar_lowgain,AREF_OTHER)
 274                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 275                 o->reference_source = REF_DAC0_0V;
 276                 set_target( setup, ni_ao0_zero_offset,0.0);
 277
 278                 /* ao 0, gain */
 279                 o = setup->observables + ni_ao0_reference;
 280                 o->name = "ao 0, reference voltage, low gain";
 281                 o->preobserve_insn = po_tmpl;
 282                 o->preobserve_insn.chanspec = CR_PACK(0,0,0);
 283                 o->preobserve_insn.data = o->preobserve_data;
 284                 o->observe_insn = tmpl;
 285                 o->observe_insn.chanspec =
 286                         CR_PACK(REF_DAC0_5V,bipolar_lowgain,AREF_OTHER)
 287                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 288                 o->reference_source = REF_DAC0_5V;
 289                 set_target( setup, ni_ao0_reference,5.0);
 290                 o->target -= voltage_reference;
 291
 292                 /* ao 1, zero offset */
 293                 o = setup->observables + ni_ao1_zero_offset;
 294                 o->name = "ao 1, zero offset, low gain";
 295                 o->preobserve_insn = po_tmpl;
 296                 o->preobserve_insn.chanspec = CR_PACK(1,0,0);
 297                 o->preobserve_insn.data = o->preobserve_data;
 298                 o->observe_insn = tmpl;
 299                 o->observe_insn.chanspec =
 300                         CR_PACK(REF_DAC1_0V,bipolar_lowgain,AREF_OTHER)
 301                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 302                 o->reference_source = REF_DAC1_0V;
 303                 set_target( setup, ni_ao1_zero_offset,0.0);
 304
 305                 /* ao 1, gain */
 306                 o = setup->observables + ni_ao1_reference;
 307                 o->name = "ao 1, reference voltage, low gain";
 308                 o->preobserve_insn = po_tmpl;
 309                 o->preobserve_insn.chanspec = CR_PACK(1,0,0);
 310                 o->preobserve_insn.data = o->preobserve_data;
 311                 o->observe_insn = tmpl;
 312                 o->observe_insn.chanspec =
 313                         CR_PACK(REF_DAC1_5V,bipolar_lowgain,AREF_OTHER)
 314                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 315                 o->reference_source = REF_DAC1_5V;
 316                 set_target( setup, ni_ao1_reference,5.0);
 317                 o->target -= voltage_reference;
 318
 319                 setup->n_observables = ni_ao1_reference + 1;
 320         }
 321 }
 322
 323 void ni_setup_observables_611x( calibration_setup_t *setup )
 324 {
 325         comedi_insn tmpl;
 326         comedi_insn po_tmpl;
 327         int range, ai_range_for_ao;
 328         double voltage_reference;
 329         observable *o;
 330         int ai_chan;
 331         int num_chans;
 332
 333         range = 2;
 334
 335         voltage_reference = 5.000;
 336
 337         memset(&tmpl,0,sizeof(tmpl));
 338         tmpl.insn = INSN_READ;
 339         tmpl.n = 1;
 340         tmpl.subdev = setup->ad_subdev;
 341
 342         num_chans = comedi_get_n_channels( setup->dev, setup->ad_subdev );
 343
 344         for( ai_chan = 0; ai_chan < num_chans; ai_chan++ )
 345         {
 346                 /* 0 offset */
 347                 o = setup->observables + ni_zero_offset_611x( ai_chan );
 348                 o->name = "ai, bipolar zero offset";
 349                 o->observe_insn = tmpl;
 350                 o->observe_insn.chanspec = CR_PACK(ai_chan, range, AREF_DIFF)
 351                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 352                 o->reference_source = REF_GND_GND_611x;
 353                 o->target = 0.0;
 354
 355                 /* voltage reference */
 356                 o = setup->observables + ni_reference_611x( ai_chan );
 357                 o->name = "ai, bipolar voltage reference";
 358                 o->observe_insn = tmpl;
 359                 o->observe_insn.chanspec = CR_PACK(ai_chan, range, AREF_DIFF)
 360                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 361                 o->reference_source = REF_5V_0V_611x;
 362                 o->target = 5.0;
 363         }
 364
 365         memset(&po_tmpl,0,sizeof(po_tmpl));
 366         po_tmpl.insn = INSN_WRITE;
 367         po_tmpl.n = 1;
 368         po_tmpl.subdev = setup->da_subdev;
 369
 370         ai_range_for_ao = 2;
 371
 372         /* ao 0, zero offset */
 373         o = setup->observables + ni_ao0_zero_offset_611x;
 374         o->name = "ao 0, zero offset";
 375         o->preobserve_insn = po_tmpl;
 376         o->preobserve_insn.chanspec = CR_PACK( 0, 0, AREF_GROUND );
 377         o->preobserve_insn.data = o->preobserve_data;
 378         o->observe_insn = tmpl;
 379         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF )
 380                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 381         o->reference_source = REF_DAC0_0V_611x;
 382         set_target( setup, ni_ao0_zero_offset_611x, 0.0 );
 383
 384         /* ao 0, gain */
 385         o = setup->observables + ni_ao0_reference_611x;
 386         o->name = "ao 0, reference voltage";
 387         o->preobserve_insn = po_tmpl;
 388         o->preobserve_insn.chanspec = CR_PACK( 0, 0, AREF_GROUND );
 389         o->preobserve_insn.data = o->preobserve_data;
 390         o->observe_insn = tmpl;
 391         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF )
 392                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 393         o->reference_source = REF_DAC0_0V_611x;
 394         set_target( setup, ni_ao0_reference_611x, 5.0 );
 395
 396         /* ao 1, zero offset */
 397         o = setup->observables + ni_ao1_zero_offset_611x;
 398         o->name = "ao 1, zero offset";
 399         o->preobserve_insn = po_tmpl;
 400         o->preobserve_insn.chanspec = CR_PACK( 1, 0, AREF_GROUND );
 401         o->preobserve_insn.data = o->preobserve_data;
 402         o->observe_insn = tmpl;
 403         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF)
 404                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 405         o->reference_source = REF_DAC1_0V_611x;
 406         set_target( setup, ni_ao1_zero_offset_611x, 0.0 );
 407
 408         /* ao 1, gain */
 409         o = setup->observables + ni_ao1_reference_611x;
 410         o->name = "ao 1, reference voltage";
 411         o->preobserve_insn = po_tmpl;
 412         o->preobserve_insn.chanspec = CR_PACK( 1, 0, AREF_GROUND );
 413         o->preobserve_insn.data = o->preobserve_data;
 414         o->observe_insn = tmpl;
 415         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF )
 416                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 417         o->reference_source = REF_DAC1_0V_611x;
 418         set_target( setup, ni_ao1_reference_611x, 5.0 );
 419
 420         setup->n_observables = ni_ao1_reference_611x + 1;
 421 }
 422
 423 int cal_ni_at_mio_16e_2(calibration_setup_t *setup)
 424 {
 425         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 426         cal1( setup, ni_zero_offset_high,0);
 427         cal1( setup, ni_reference_low,3);
 428         cal1( setup, ni_unip_offset_low,2);
 429         if(do_output){
 430                 cal1( setup, ni_ao0_zero_offset,5);
 431                 cal1( setup, ni_ao0_reference,6);
 432                 cal1( setup, ni_ao1_zero_offset,8);
 433                 cal1( setup, ni_ao1_reference,9);
 434         }
 435         return 0;
 436 }
 437
 438 /*
 439  * Device name: DAQCard-ai-16xe-50
 440  * Comedi version: 0.7.60
 441  * ai, bipolar zero offset, low gain
 442  * offset 5.87(63)e-3, target 0
 443  * caldac[0] gain=-2.243(21)e-6 V/bit S_min=208.079 dof=254
 444  * caldac[2] gain=1.56378(22)e-4 V/bit S_min=1782.91 dof=254
 445  * caldac[8] gain=2.499(14)e-7 V/bit S_min=234.915 dof=254
 446  * ai, bipolar zero offset, high gain
 447  * offset 4.251(49)e-5, target 0
 448  * caldac[0] gain=-2.396(30)e-8 V/bit S_min=231.387 dof=254
 449  * caldac[2] gain=1.56428(28)e-6 V/bit S_min=829.096 dof=254
 450  * caldac[8] gain=2.61244(18)e-7 V/bit S_min=773.092 dof=254
 451  * ai, bipolar voltage reference, low gain
 452  * offset 4.99650(81), target 5
 453  * caldac[0] gain=-3.78250(23)e-4 V/bit S_min=12207.6 dof=254
 454  * caldac[1] gain=-9.878(22)e-6 V/bit S_min=346.795 dof=254
 455  * caldac[2] gain=1.57172(23)e-4 V/bit S_min=969.526 dof=254
 456  * caldac[8] gain=2.795(14)e-7 V/bit S_min=245.703 dof=254
 457  * ai, unipolar zero offset, low gain
 458  * offset 0.0133(14), target 0
 459  * caldac[0] gain=3.73923(29)e-4 V/bit S_min=2855.79 dof=151
 460  * caldac[1] gain=9.784(11)e-6 V/bit S_min=727.295 dof=254
 461  * caldac[2] gain=7.8670(11)e-5 V/bit S_min=903.291 dof=254
 462  * caldac[8] gain=2.7732(74)e-7 V/bit S_min=415.399 dof=254
 463  */
 464 int cal_ni_daqcard_ai_16xe_50(calibration_setup_t *setup)
 465 {
 466         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 467         cal1( setup, ni_zero_offset_high,8);
 468         cal1( setup, ni_reference_low,0);
 469         cal1_fine( setup, ni_reference_low,0);
 470         cal1( setup, ni_reference_low,1);
 471         return 0;
 472 }
 473
 474 int cal_ni_at_mio_16xe_50(calibration_setup_t *setup)
 475 {
 476         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 477         cal1( setup, ni_zero_offset_high,8);
 478         cal1( setup, ni_reference_low,0);
 479         cal1_fine( setup, ni_reference_low,0);
 480         cal1( setup, ni_reference_low,1);
 481
 482         if(do_output){
 483                 cal1( setup, ni_ao0_zero_offset,6);
 484                 cal1( setup, ni_ao0_reference,4);
 485                 cal1( setup, ni_ao1_zero_offset,7);
 486                 cal1( setup, ni_ao1_reference,5);
 487         }
 488         return 0;
 489 }
 490
 491 int cal_ni_pci_mio_16xe_10(calibration_setup_t *setup)
 492 {
 493         postgain_cal( setup, ni_zero_offset_low, ni_zero_offset_high, 2);
 494         postgain_cal( setup, ni_zero_offset_low, ni_zero_offset_high, 3);
 495         cal1( setup, ni_zero_offset_high, 8);
 496         cal1( setup, ni_reference_low, 0);
 497         cal1( setup, ni_reference_low, 1);
 498
 499         if(do_output){
 500                 cal1( setup, ni_ao0_zero_offset,6);
 501                 cal1( setup, ni_ao0_reference,4);
 502                 cal1( setup, ni_ao1_zero_offset,7);
 503                 cal1( setup, ni_ao1_reference,5);
 504         }
 505         return 0;
 506 }
 507
 508 int cal_ni_at_mio_16e_1(calibration_setup_t *setup)
 509 {
 510         return cal_ni_at_mio_16e_2( setup );
 511 }
 512
 513 int cal_ni_pci_mio_16e_1(calibration_setup_t *setup)
 514 {
 515         //cal_ni_at_mio_16e_2();
 516
 517         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 518         cal1( setup, ni_zero_offset_high,0);
 519         cal1( setup, ni_reference_low,3);
 520         cal1( setup, ni_unip_offset_low,2);
 521         if(do_output){
 522                 cal1( setup, ni_ao0_zero_offset,5);
 523                 //cal1( setup, ni_ao0_zero_offset,4); /* linearity? */
 524                 cal1( setup, ni_ao0_reference,6);
 525                 cal1( setup, ni_ao1_zero_offset,8);
 526                 //cal1( setup, ni_ao1_zero_offset,7); /* linearity? */
 527                 cal1( setup, ni_ao1_reference,9);
 528         }
 529         return 0;
 530 }
 531
 532 int cal_ni_pci_6032e(calibration_setup_t *setup)
 533 {
 534         postgain_cal(setup, ni_zero_offset_low, ni_zero_offset_high, 2);
 535         postgain_cal(setup, ni_zero_offset_low, ni_zero_offset_high, 3);
 536
 537         cal1( setup, ni_zero_offset_high,8);
 538
 539         cal1( setup, ni_reference_low,0);
 540         cal1_fine( setup, ni_reference_low,0);
 541         cal1( setup, ni_reference_low,1);
 542
 543         return 0;
 544 }
 545
 546 int cal_ni_pci_6035e(calibration_setup_t *setup)
 547 {
 548         /* this is for the ad8804_debug caldac */
 549
 550         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 551
 552         cal1( setup, ni_zero_offset_high,0);
 553         cal1( setup, ni_zero_offset_high,8);
 554
 555         cal1( setup, ni_reference_low,2);
 556
 557         if(do_output){
 558                 cal1( setup, ni_ao0_zero_offset,6);
 559                 //cal1( setup, ni_ao0_zero_offset,10); /* linearity? */
 560                 cal1( setup, ni_ao0_reference,11);
 561                 cal1( setup, ni_ao1_zero_offset,9);
 562                 //cal1( setup, ni_ao1_zero_offset,1); /* linearity? */
 563                 cal1( setup, ni_ao1_reference,5);
 564         }
 565         return 0;
 566 }
 567
 568 int cal_ni_pci_6071e(calibration_setup_t *setup)
 569 {
 570         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 571         cal1( setup, ni_zero_offset_high,0);
 572         cal1( setup, ni_reference_low,3);
 573         cal1_fine( setup, ni_reference_low,3);
 574         if(do_output){
 575                 cal1( setup, ni_ao0_zero_offset,5);
 576                 //cal1( setup, ni_ao0_zero_offset,4); /* linearity? */
 577                 /* caldac 6 should most likely be AO0 reference, but it
 578                  * isn't. */
 579                 /*cal1( setup, ni_ao0_reference,6);*/
 580                 cal1( setup, ni_ao1_zero_offset,8);
 581                 //cal1( setup, ni_ao1_zero_offset,7); /* linearity? */
 582                 cal1( setup, ni_ao1_reference,9);
 583         }
 584         return 0;
 585 }
 586
 587 int cal_ni_pxi_6071e(calibration_setup_t *setup)
 588 {
 589         // 6071e (old)
 590         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 591         cal1( setup, ni_zero_offset_high,0);
 592         cal1( setup, ni_reference_low,3);
 593         if(do_output){
 594                 // unknown
 595         }
 596         return 0;
 597 }
 598
 599 int cal_ni_at_mio_16e_10(calibration_setup_t *setup)
 600 {
 601         // 16e-10 (old)
 602         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 603         cal1( setup, ni_zero_offset_high,10);
 604         cal1( setup, ni_zero_offset_high,0);
 605         cal1( setup, ni_reference_low,3);
 606         cal1( setup, ni_unip_offset_low,2);
 607         if(do_output){
 608                 cal1( setup, ni_ao0_zero_offset,5); // guess
 609                 cal1( setup, ni_ao0_reference,6); // guess
 610                 cal1( setup, ni_ao1_zero_offset,8); // guess
 611                 cal1( setup, ni_ao1_reference,9); // guess
 612         }
 613         return 0;
 614 }
 615
 616 int cal_ni_pci_mio_16xe_50(calibration_setup_t *setup)
 617 {
 618         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 619         cal1( setup, ni_zero_offset_high,8);
 620         cal1( setup, ni_reference_low,0);
 621         cal1_fine( setup, ni_reference_low,0);
 622         cal1( setup, ni_reference_low,1);
 623
 624         if(do_output){
 625                 cal1( setup, ni_ao0_zero_offset,6);
 626                 cal1( setup, ni_ao0_reference,4);
 627                 cal1( setup, ni_ao1_zero_offset,7);
 628                 cal1( setup, ni_ao1_reference,5);
 629         }
 630         return 0;
 631 }
 632
 633 int cal_ni_pci_6023e(calibration_setup_t *setup)
 634 {
 635         /* for comedi-0.7.65 */
 636
 637         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 638         cal1( setup, ni_zero_offset_high,0);
 639         cal1( setup, ni_zero_offset_high,8); /* possibly wrong */
 640         cal1( setup, ni_reference_low,2);
 641
 642         return 0;
 643 }
 644
 645 int cal_ni_pci_6024e(calibration_setup_t *setup)
 646 {
 647         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 648         cal1( setup, ni_zero_offset_high,0);
 649         cal1( setup, ni_zero_offset_high,8);
 650         cal1( setup, ni_reference_low,2);
 651         if(do_output){
 652                 cal1( setup, ni_ao0_zero_offset,6);
 653                 //cal1( setup, ni_ao0_zero_offset,10); // nonlinearity?
 654                 cal1( setup, ni_ao0_reference,11);
 655                 cal1( setup, ni_ao1_zero_offset,9);
 656                 //cal1( setup, ni_ao1_zero_offset,1); // nonlinearity?
 657                 cal1( setup, ni_ao1_reference,5);
 658         }
 659         return 0;
 660 }
 661
 662 int cal_ni_pci_6025e(calibration_setup_t *setup)
 663 {
 664         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 665         cal1( setup, ni_zero_offset_high,0);
 666         cal1( setup, ni_zero_offset_high,8);
 667         cal1( setup, ni_reference_low,2);
 668         if(do_output){
 669                 cal1( setup, ni_ao0_zero_offset,6);
 670                 //cal1( setup, ni_ao0_zero_offset,10); /* nonlinearity */
 671                 cal1( setup, ni_ao0_reference,11);
 672                 cal1( setup, ni_ao1_zero_offset,9);
 673                 //cal1( setup, ni_ao1_zero_offset,1); /* nonlinearity */
 674                 cal1( setup, ni_ao1_reference,5);
 675         }
 676         return 0;
 677 }
 678
 679 int cal_ni_pci_6052e(calibration_setup_t *setup)
 680 {
 681         /*
 682          * This board has noisy caldacs
 683          *
 684          * The NI documentation says:
 685          *   0, 8   AI pregain  (coarse, fine)          3, 11
 686          *   4, 12  AI postgain                         15,7
 687          *   2, 10  AI reference                        1, 9
 688          *   14, 7  AI unipolar offset                  5, 13
 689          *
 690          *   0      AO0 linearity
 691          *   8, 4   AO0 reference               23, 19  7, 3
 692          *   12     AO0 offset                  27      11
 693          *   2      AO1 linearity
 694          *   10, 6  AO1 reference               25, 21  9, 5
 695          *   14     AO1 offset                  29, 17  13, 1
 696          *
 697          *   0  3       x       0011
 698          *
 699          *   2  1       x       0001
 700          *
 701          *   4  7       15 3    0111 0011
 702          *
 703          *   6          17 5         0101
 704          *   7  x
 705          *   8  11      19 7    1011 0111
 706          *
 707          *   10 9       21 9    1001 1001
 708          *
 709          *   12 x       23 11        1011
 710          *
 711          *   14 5       13 1    0101 0001
 712          *
 713          */
 714
 715         cal_postgain_binary( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 716         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,3);
 717         cal1( setup, ni_zero_offset_high,0);
 718         cal1( setup, ni_zero_offset_high,1);
 719         cal_binary( setup, ni_reference_low,4);
 720         cal1_fine( setup, ni_reference_low,4);
 721         cal1( setup, ni_reference_low,5);
 722         cal1( setup, ni_unip_offset_low,6);
 723         cal1_fine( setup, ni_unip_offset_low,6);
 724         if(do_output){
 725                 cal1( setup, ni_ao0_zero_offset,12+11);
 726                 cal1_fine( setup, ni_ao0_zero_offset,12+11);
 727                 cal1( setup, ni_ao0_reference,12+7);
 728                 cal1_fine( setup, ni_ao0_reference,12+7);
 729                 cal1( setup, ni_ao0_reference,12+3);
 730                 cal1( setup, ni_ao1_zero_offset,12+1);
 731                 cal1( setup, ni_ao1_reference,12+9);
 732                 cal1_fine( setup, ni_ao1_reference,12+9);
 733                 cal1( setup, ni_ao1_reference,12+5);
 734         }
 735         return 0;
 736 }
 737
 738 int cal_ni_pci_mio_16e_4(calibration_setup_t *setup)
 739 {
 740         /* this is for the ad8804_debug caldac */
 741
 742         cal_postgain_binary( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 743         //cal_postgain_fine( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 744         cal1( setup, ni_zero_offset_high,8);
 745         cal_binary( setup, ni_reference_low,2);
 746         cal1_fine( setup, ni_reference_low,2);
 747
 748         cal1( setup, ni_unip_offset_low,7);
 749         cal1_fine( setup, ni_unip_offset_low,7);
 750
 751         if(do_output){
 752                 cal_binary( setup, ni_ao0_zero_offset,6);
 753                 cal1_fine( setup, ni_ao0_zero_offset,6);
 754                 //cal1( setup, ni_ao0_nonlinearity,10);
 755                 cal_binary( setup, ni_ao0_reference,11);
 756                 cal1_fine( setup, ni_ao0_reference,11);
 757                 cal_binary( setup, ni_ao1_zero_offset,9);
 758                 cal1_fine( setup, ni_ao1_zero_offset,9);
 759                 //cal1( setup, ni_ao1_nonlinearity,1);
 760                 cal_binary( setup, ni_ao1_reference,5);
 761                 cal1_fine( setup, ni_ao1_reference,5);
 762         }
 763         return 0;
 764 }
 765
 766 int cal_ni_daqcard_ai_16e_4(calibration_setup_t *setup)
 767 {
 768         cal_postgain_binary(setup, ni_zero_offset_low, ni_zero_offset_high, 1);
 769         //cal_postgain_fine(setup, ni_zero_offset_low, ni_zero_offset_high, 1);
 770
 771         cal_binary( setup, ni_zero_offset_high,0);
 772         cal1_fine( setup, ni_zero_offset_high,0);
 773
 774         cal_binary( setup, ni_reference_low,3);
 775         cal1_fine( setup, ni_reference_low,3);
 776
 777         cal1( setup, ni_unip_offset_low,2);
 778
 779         return 0;
 780 }
 781
 782 int cal_ni_pci_611x( calibration_setup_t *setup )
 783 {
 784         int i;
 785         int num_chans;
 786
 787         num_chans = comedi_get_n_channels( setup->dev, setup->ad_subdev );
 788
 789         for( i = 0; i < num_chans; i++ ){
 790                 cal1( setup, ni_zero_offset_611x( i ), ( 2 * i + 2 ) );
 791                 cal1( setup, ni_reference_611x( i ), ( 2 * i + 1 ) );
 792         }
 793
 794         if(do_output){
 795                 cal1( setup, ni_ao0_zero_offset_611x, 14 );
 796                 cal1( setup, ni_ao0_reference_611x, 13 );
 797                 cal1( setup, ni_ao1_zero_offset_611x, 16 );
 798                 cal1( setup, ni_ao1_reference_611x, 15 );
 799         }
 800
 801         return 0;
 802 }
 803
 804 double ni_get_reference( calibration_setup_t *setup, int lsb_loc,int msb_loc)
 805 {
 806         int lsb,msb;
 807         int uv;
 808         double ref;
 809
 810         lsb=read_eeprom( setup, lsb_loc);
 811         msb=read_eeprom( setup, msb_loc);
 812         printf("lsb=%d msb=%d\n",read_eeprom( setup, 425),read_eeprom( setup, 426));
 813
 814         uv=lsb | (msb<<8);
 815         if(uv>=0x8000)uv-=0x10000;
 816         ref=5.000+1.0e-6*uv;
 817         printf("ref=%g\n",ref);
 818
 819         return ref;
 820 }
 821
 822 #if 0
 823 void cal_ni_results(void)
 824 {
 825         comedi_range *range;
 826         int bipolar_lowgain;
 827         int bipolar_highgain;
 828         int unipolar_lowgain;
 829         //int have_ao;
 830         char s[32];
 831
 832         bipolar_lowgain = get_bipolar_lowgain(dev,setup->ad_subdev);
 833         bipolar_highgain = get_bipolar_highgain(dev,setup->ad_subdev);
 834         unipolar_lowgain = get_unipolar_lowgain(dev,setup->ad_subdev);
 835
 836         /* 0 offset, low gain */
 837         range = comedi_get_range(dev,setup->ad_subdev,0,bipolar_lowgain);
 838         read_chan2(s,0,bipolar_lowgain);
 839         DPRINT(0,"bipolar zero offset, low gain [%g,%g]: %s\n",
 840                 range->min,range->max,s);
 841
 842         /* 0 offset, high gain */
 843         range = comedi_get_range(dev,setup->ad_subdev,0,bipolar_highgain);
 844         read_chan2(s,0,bipolar_highgain);
 845         DPRINT(0,"bipolar zero offset, high gain [%g,%g]: %s\n",
 846                 range->min,range->max,s);
 847
 848         /* unip/bip offset */
 849         range = comedi_get_range(dev,setup->ad_subdev,0,unipolar_lowgain);
 850         read_chan2(s,0,unipolar_lowgain);
 851         DPRINT(0,"unipolar zero offset, low gain [%g,%g]: %s\n",
 852                 range->min,range->max,s);
 853
 854 }
 855
 856 void ni_mio_ai_postgain_cal(void)
 857 {
 858         linear_fit_t l;
 859         double offset_r0;
 860         double offset_r7;
 861         double gain;
 862         double a;
 863
 864         check_gain_chan_x(&l,CR_PACK(0,0,AREF_OTHER),1);
 865         offset_r0=linear_fit_func_y(&l,caldacs[1].current);
 866         printf("offset r0 %g\n",offset_r0);
 867
 868         check_gain_chan_x(&l,CR_PACK(0,7,AREF_OTHER),1);
 869         offset_r7=linear_fit_func_y(&l,caldacs[1].current);
 870         printf("offset r7 %g\n",offset_r7);
 871
 872         gain=l.slope;
 873
 874         a=(offset_r0-offset_r7)/(200.0-1.0);
 875         a=caldacs[1].current-a/gain;
 876
 877         printf("%g\n",a);
 878
 879         caldacs[1].current=rint(a);
 880         update_caldac(1);
 881 }
 882
 883 void ni_mio_ai_postgain_cal_2(int chan,int dac,int range_lo,int range_hi,double gain)
 884 {
 885         double offset_lo,offset_hi;
 886         linear_fit_t l;
 887         double slope;
 888         double a;
 889
 890         check_gain_chan_x(&l,CR_PACK(chan,range_lo,AREF_OTHER),dac);
 891         offset_lo=linear_fit_func_y(&l,caldacs[dac].current);
 892         printf("offset lo %g\n",offset_lo);
 893
 894         check_gain_chan_x(&l,CR_PACK(chan,range_hi,AREF_OTHER),dac);
 895         offset_hi=linear_fit_func_y(&l,caldacs[dac].current);
 896         printf("offset hi %g\n",offset_hi);
 897
 898         slope=l.slope;
 899
 900         a=(offset_lo-offset_hi)/(gain-1.0);
 901         a=caldacs[dac].current-a/slope;
 902
 903         printf("%g\n",a);
 904
 905         caldacs[dac].current=rint(a);
 906         update_caldac(dac);
 907 }
 908 #endif
 909