comedi_calibrate/ni.c

   1 /*
   2    A little auto-calibration utility, for boards
   3    that support it.
   4
   5    copyright (C) 1999,2000,2001,2002 by David Schleef
   6    copyright (C) 2003 by Frank Mori Hess
   7
   8    A few things need improvement here:
   9     - current system gets "close", but doesn't
  10       do any fine-tuning
  11     - statistics would be nice, to show how good
  12       the calibration is.
  13     - doesn't check unipolar ranges
  14     - more portable
  15  */
  16
  17 /***************************************************************************
  18  *                                                                         *
  19  *   This program is free software; you can redistribute it and/or modify  *
  20  *   it under the terms of the GNU Lesser General Public License as        *
  21  *   published by                                                          *
  22  *   the Free Software Foundation; either version 2.1 of the License, or   *
  23  *   (at your option) any later version.                                   *
  24  *                                                                         *
  25  ***************************************************************************/
  26
  27 #define _GNU_SOURCE
  28
  29 #include <stdio.h>
  30 #include "comedilib.h"
  31 #include <fcntl.h>
  32 #include <unistd.h>
  33 #include <errno.h>
  34 #include <getopt.h>
  35 #include <ctype.h>
  36 #include <math.h>
  37 #include <stdlib.h>
  38 #include <string.h>
  39 #include <assert.h>
  40
  41 #include "calib.h"
  42
  43
  44 char ni_id[] = "$Id$";
  45
  46 struct board_struct{
  47         char *name;
  48         int status;
  49         int (*cal)( calibration_setup_t *setup);
  50         void (*setup_observables)( calibration_setup_t *setup );
  51         int ref_eeprom_lsb;
  52         int ref_eeprom_msb;
  53 };
  54
  55 static int ni_setup_board( calibration_setup_t *setup , const char *device_name );
  56 static void ni_setup_observables( calibration_setup_t *setup );
  57 static void ni_setup_observables_611x( calibration_setup_t *setup );
  58
  59 static int cal_ni_at_mio_16e_2(calibration_setup_t *setup);
  60 static int cal_ni_daqcard_ai_16xe_50(calibration_setup_t *setup);
  61 static int cal_ni_at_mio_16e_1(calibration_setup_t *setup);
  62 static int cal_ni_pci_mio_16e_1(calibration_setup_t *setup);
  63 static int cal_ni_pci_6025e(calibration_setup_t *setup);
  64 static int cal_ni_pci_6035e(calibration_setup_t *setup);
  65 static int cal_ni_pci_6071e(calibration_setup_t *setup);
  66 static int cal_ni_pxi_6071e(calibration_setup_t *setup);
  67 static int cal_ni_at_mio_16e_10(calibration_setup_t *setup);
  68 static int cal_ni_pci_mio_16xe_50(calibration_setup_t *setup);
  69 static int cal_ni_pci_6023e(calibration_setup_t *setup);
  70 static int cal_ni_pci_6024e(calibration_setup_t *setup);
  71 static int cal_ni_at_mio_16xe_50(calibration_setup_t *setup);
  72 static int cal_ni_pci_mio_16xe_10(calibration_setup_t *setup);
  73 static int cal_ni_pci_6052e(calibration_setup_t *setup);
  74 static int cal_ni_pci_mio_16e_4(calibration_setup_t *setup);
  75 static int cal_ni_pci_6032e(calibration_setup_t *setup);
  76 static int cal_ni_daqcard_ai_16e_4(calibration_setup_t *setup);
  77 static int cal_ni_pci_611x(calibration_setup_t *setup);
  78 static int cal_ni_daqcard_6062e(calibration_setup_t *setup);
  79
  80 static double ni_get_reference( calibration_setup_t *setup, int lsb_loc,int msb_loc);
  81
  82 static struct board_struct boards[]={
  83         { "at-mio-16e-2", STATUS_DONE, cal_ni_at_mio_16e_2, ni_setup_observables, 0x1a9, 0x1aa },
  84         { "DAQCard-ai-16xe-50", STATUS_DONE, cal_ni_daqcard_ai_16xe_50, ni_setup_observables, 0x1be, 0x1bf },
  85         { "at-mio-16xe-50", STATUS_SOME, cal_ni_at_mio_16xe_50, ni_setup_observables, 0x1b5, 0x1b6 },
  86         { "at-mio-16e-1", STATUS_SOME, cal_ni_at_mio_16e_1, ni_setup_observables, 0x1a9, 0x1aa },
  87         { "pci-mio-16e-1", STATUS_DONE, cal_ni_pci_mio_16e_1, ni_setup_observables, 0x1a9, 0x1aa },
  88         { "pci-6025e", STATUS_SOME, cal_ni_pci_6025e, ni_setup_observables, 0x1af, 0x1b0 },
  89         { "pci-6035e", STATUS_DONE, cal_ni_pci_6035e, ni_setup_observables, 0x1af, 0x1b0 },
  90         { "pci-6071e", STATUS_SOME, cal_ni_pci_6071e, ni_setup_observables, 0x1a9, 0x1aa },
  91         { "pxi-6071e", STATUS_GUESS, cal_ni_pxi_6071e, ni_setup_observables, -1, -1 },
  92         { "at-mio-16e-10", STATUS_GUESS, cal_ni_at_mio_16e_10, ni_setup_observables, 0x1a7, 0x1a8 },
  93         { "pci-mio-16xe-50", STATUS_SOME, cal_ni_pci_mio_16xe_50, ni_setup_observables, 0x1b5, 0x1b6 },
  94         { "pci-6023e", STATUS_DONE, cal_ni_pci_6023e, ni_setup_observables, 0x1bb, 0x1bc },
  95         { "pci-mio-16xe-10", STATUS_DONE,       cal_ni_pci_mio_16xe_10, ni_setup_observables, 0x1ae, 0x1af },
  96         { "pci-6052e", STATUS_DONE, cal_ni_pci_6052e, ni_setup_observables, 0x19f, 0x1a0 },
  97         { "pci-6024e", STATUS_SOME, cal_ni_pci_6024e, ni_setup_observables, 0x1af, 0x1b0 },
  98         { "pci-mio-16e-4", STATUS_SOME, cal_ni_pci_mio_16e_4, ni_setup_observables, 0x1a9, 0x1aa },
  99         { "pci-6032e", STATUS_DONE, cal_ni_pci_6032e, ni_setup_observables, 0x1ae, 0x1af },
 100         { "DAQCard-ai-16e-4", STATUS_DONE, cal_ni_daqcard_ai_16e_4, ni_setup_observables, 0x1b5, 0x1b6 },
 101         { "pci-6110", STATUS_DONE, cal_ni_pci_611x, ni_setup_observables_611x, 0x1d4, 0x1d5 },
 102         { "pci-6111", STATUS_DONE, cal_ni_pci_611x, ni_setup_observables_611x, 0x1d4, 0x1d5 },
 103         { "DAQCard-6062E", STATUS_SOME, cal_ni_daqcard_6062e, ni_setup_observables, 0x1a9, 0x1aa },
 104         { "DAQCard-6024E", STATUS_UNKNOWN, NULL, ni_setup_observables, -1, -1 },
 105         { "at-mio-16de-10", STATUS_UNKNOWN, NULL, ni_setup_observables, 0x1a7, 0x1a8 },
 106         { "at-mio-16xe-10", STATUS_UNKNOWN, NULL, ni_setup_observables, 0x1b7, 0x1b8 },
 107         { "at-ai-16xe-10", STATUS_UNKNOWN, NULL, ni_setup_observables, 0x1b7, 0x1b8 },
 108         { "pci-6031e", STATUS_UNKNOWN, NULL, ni_setup_observables, 0x1ae, 0x1af },
 109         { "pci-6033e", STATUS_UNKNOWN, NULL, ni_setup_observables, 0x1ae, 0x1af },
 110 #if 0
 111         { "at-mio-64e-3",       cal_ni_16e_1 },
 112 //      { "at-mio-16xe-50",     cal_ni_unknown },
 113 //      { "pxi-6030e",          cal_ni_unknown },
 114 //      { "pxi-6040e",          cal_ni_unknown },
 115         { "pxi-6025e",          cal_ni_6023e }, // guess
 116         { "pci-6034e",          cal_ni_6023e }, // guess
 117 //      { "pci-6711",           cal_ni_unknown },
 118 //      { "pci-6713",           cal_ni_unknown },
 119 //      { "pxi-6070e",          cal_ni_unknown },
 120 //      { "pxi-6052e",          cal_ni_unknown },
 121 #endif
 122 };
 123 #define n_boards (sizeof(boards)/sizeof(boards[0]))
 124
 125 static const int ni_num_observables = 12;
 126 enum observables{
 127         ni_zero_offset_low = 0,
 128         ni_zero_offset_high,
 129         ni_reference_low,
 130         ni_unip_zero_offset_low,
 131         ni_unip_zero_offset_high,
 132         ni_unip_reference_low,
 133         ni_ao0_zero_offset,
 134         ni_ao0_reference,
 135         ni_ao0_linearity,
 136         ni_ao1_zero_offset,
 137         ni_ao1_reference,
 138         ni_ao1_linearity,
 139 };
 140 static inline unsigned int ni_ao_zero_offset( unsigned int channel )
 141 {
 142         if( channel ) return ni_ao1_zero_offset;
 143         else return ni_ao0_zero_offset;
 144 }
 145 static inline unsigned int ni_ao_reference( unsigned int channel )
 146 {
 147         if( channel ) return ni_ao1_reference;
 148         else return ni_ao0_reference;
 149 }
 150 static inline unsigned int ni_ao_linearity( unsigned int channel )
 151 {
 152         if( channel ) return ni_ao1_linearity;
 153         else return ni_ao0_linearity;
 154 }
 155
 156 enum observables_611x{
 157         ni_ao0_zero_offset_611x = 0,
 158         ni_ao0_reference_611x = 1,
 159         ni_ao1_zero_offset_611x = 2,
 160         ni_ao1_reference_611x = 3,
 161 };
 162 static inline unsigned int ni_zero_offset_611x( unsigned int channel ) {
 163         return 4 + 2 * channel;
 164 };
 165 static inline unsigned int ni_reference_611x( unsigned int channel ) {
 166         return 5 + 2 * channel;
 167 };
 168
 169 enum reference_sources {
 170         REF_GND_GND = 0,
 171         REF_AOGND_AIGND = 1,
 172         REF_DAC0_GND = 2,
 173         REF_DAC1_GND = 3,
 174         REF_CALSRC_CALSRC = 4,
 175         REF_CALSRC_GND = 5,
 176         REF_DAC0_CALSRC = 6,
 177         REF_DAC1_CALSRC = 7,
 178 };
 179 static inline unsigned int REF_DAC_GND( unsigned int channel )
 180 {
 181         if( channel ) return REF_DAC1_GND;
 182         else return REF_DAC0_GND;
 183 }
 184 static inline unsigned int REF_DAC_CALSRC( unsigned int channel )
 185 {
 186         if( channel ) return REF_DAC1_CALSRC;
 187         else return REF_DAC0_CALSRC;
 188 }
 189
 190 static struct board_struct* ni_board( calibration_setup_t *setup )
 191 {
 192         return setup->private_data;
 193 }
 194
 195 int ni_setup( calibration_setup_t *setup , const char *device_name )
 196 {
 197         int retval;
 198
 199         retval = ni_setup_board( setup, device_name );
 200         if( retval < 0 ) return retval;
 201         setup_caldacs( setup, setup->caldac_subdev );
 202
 203         return 0;
 204 }
 205
 206 static int ni_setup_board( calibration_setup_t *setup, const char *device_name )
 207 {
 208         int i;
 209
 210         for(i = 0; i < n_boards; i++ ){
 211                 if(!strcmp( device_name, boards[i].name )){
 212                         setup->status = boards[i].status;
 213                         setup->do_cal = boards[i].cal;
 214                         setup->private_data = &boards[ i ];
 215                         boards[i].setup_observables( setup );
 216                         break;
 217                 }
 218         }
 219         if( i == n_boards ) return -1;
 220         return 0;
 221 }
 222
 223 static void ni_setup_observables( calibration_setup_t *setup )
 224 {
 225         comedi_insn tmpl;
 226         int bipolar_lowgain;
 227         int bipolar_highgain;
 228         int unipolar_lowgain;
 229         int unipolar_highgain;
 230         double voltage_reference;
 231         observable *o;
 232
 233         bipolar_lowgain = get_bipolar_lowgain( setup->dev, setup->ad_subdev);
 234         bipolar_highgain = get_bipolar_highgain( setup->dev, setup->ad_subdev);
 235         unipolar_lowgain = get_unipolar_lowgain( setup->dev, setup->ad_subdev);
 236         unipolar_highgain = get_unipolar_highgain( setup->dev, setup->ad_subdev);
 237
 238         if( ni_board( setup )->ref_eeprom_lsb >= 0 &&
 239                 ni_board( setup )->ref_eeprom_msb >= 0 )
 240         {
 241                 voltage_reference = ni_get_reference( setup,
 242                         ni_board( setup )->ref_eeprom_lsb, ni_board( setup )->ref_eeprom_msb );
 243         }else
 244         {
 245                 DPRINT( 0, "WARNING: unknown eeprom address for reference voltage\n"
 246                         "correction.  This might be fixable if you send us an eeprom dump\n"
 247                         "(see the demo/eeprom_dump program).\n");
 248                 voltage_reference = 5.0;
 249         }
 250
 251         memset(&tmpl,0,sizeof(tmpl));
 252         tmpl.insn = INSN_READ;
 253         tmpl.n = 1;
 254         tmpl.subdev = setup->ad_subdev;
 255
 256         setup->n_observables = ni_num_observables;
 257
 258         /* 0 offset, low gain */
 259         o = setup->observables + ni_zero_offset_low;
 260         o->name = "ai, bipolar zero offset, low gain";
 261         o->observe_insn = tmpl;
 262         o->observe_insn.chanspec = CR_PACK(REF_GND_GND,bipolar_lowgain,AREF_OTHER)
 263                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 264         o->reference_source = REF_GND_GND;
 265         o->target = 0;
 266
 267         /* 0 offset, high gain */
 268         o = setup->observables + ni_zero_offset_high;
 269         o->name = "ai, bipolar zero offset, high gain";
 270         o->observe_insn = tmpl;
 271         o->observe_insn.chanspec = CR_PACK(REF_GND_GND,bipolar_highgain,AREF_OTHER)
 272                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 273         o->reference_source = REF_GND_GND;
 274         o->target = 0;
 275
 276         /* voltage reference */
 277         o = setup->observables + ni_reference_low;
 278         o->name = "ai, bipolar voltage reference, low gain";
 279         o->observe_insn = tmpl;
 280         o->observe_insn.chanspec = CR_PACK(REF_CALSRC_GND,bipolar_lowgain,AREF_OTHER)
 281                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 282         o->reference_source = REF_CALSRC_GND;
 283         o->target = voltage_reference;
 284
 285         if(unipolar_lowgain>=0){
 286                 comedi_range *range;
 287                 int max_data;
 288
 289                 range = comedi_get_range( setup->dev, setup->ad_subdev, 0, unipolar_lowgain );
 290                         assert( range != NULL );
 291                 max_data = comedi_get_maxdata( setup->dev, setup->ad_subdev, 0 );
 292                 assert( max_data > 0 );
 293
 294                 o = setup->observables + ni_unip_zero_offset_low;
 295                 o->name = "ai, unipolar zero offset, low gain";
 296                 o->observe_insn = tmpl;
 297                 o->observe_insn.chanspec =
 298                         CR_PACK(REF_GND_GND,unipolar_lowgain,AREF_OTHER)
 299                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 300                 o->reference_source = REF_GND_GND;
 301                 o->target = comedi_to_phys( 1, range, max_data ) / 2.0;
 302
 303                 o = setup->observables + ni_unip_reference_low;
 304                 o->name = "ai, unipolar voltage reference, low gain";
 305                 o->observe_insn = tmpl;
 306                 o->observe_insn.chanspec =
 307                         CR_PACK(REF_CALSRC_GND,unipolar_lowgain,AREF_OTHER)
 308                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 309                 o->reference_source = REF_CALSRC_GND;
 310                 o->target = voltage_reference;
 311         }
 312
 313         if(unipolar_highgain >= 0)
 314         {
 315                 comedi_range *range;
 316                 int max_data;
 317
 318                 range = comedi_get_range( setup->dev, setup->ad_subdev, 0, unipolar_highgain );
 319                         assert( range != NULL );
 320                 max_data = comedi_get_maxdata( setup->dev, setup->ad_subdev, 0 );
 321                 assert( max_data > 0 );
 322
 323                 o = setup->observables + ni_unip_zero_offset_high;
 324                 o->name = "ai, unipolar zero offset, high gain";
 325                 o->observe_insn = tmpl;
 326                 o->observe_insn.chanspec =
 327                         CR_PACK(REF_GND_GND,unipolar_highgain,AREF_OTHER)
 328                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 329                 o->reference_source = REF_GND_GND;
 330                 o->target = comedi_to_phys( 1, range, max_data ) / 2.0;
 331         }
 332
 333         if(setup->da_subdev>=0){
 334                 comedi_insn po_tmpl;
 335                 unsigned int channel;
 336
 337                 memset(&po_tmpl,0,sizeof(po_tmpl));
 338                 po_tmpl.insn = INSN_WRITE;
 339                 po_tmpl.n = 1;
 340                 po_tmpl.subdev = setup->da_subdev;
 341
 342                 for( channel = 0; channel < 2; channel++ )
 343                 {
 344                         /* ao zero offset */
 345                         o = setup->observables + ni_ao_zero_offset( channel );
 346                         assert( o->name == NULL );
 347                         asprintf( &o->name, "ao %i, zero offset, low gain", channel );
 348                         o->preobserve_insn = po_tmpl;
 349                         o->preobserve_insn.chanspec = CR_PACK(channel,0,0);
 350                         o->preobserve_insn.data = o->preobserve_data;
 351                         o->observe_insn = tmpl;
 352                         o->observe_insn.chanspec =
 353                                 CR_PACK(REF_DAC_GND( channel ),bipolar_lowgain,AREF_OTHER)
 354                                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 355                         o->reference_source = REF_DAC_GND( channel );
 356                         set_target( setup, ni_ao_zero_offset( channel ),0.0);
 357
 358                         /* ao gain */
 359                         o = setup->observables + ni_ao_reference( channel );
 360                         assert( o->name == NULL );
 361                         asprintf( &o->name, "ao %i, reference voltage, low gain", channel );
 362                         o->preobserve_insn = po_tmpl;
 363                         o->preobserve_insn.chanspec = CR_PACK(channel,0,0);
 364                         o->preobserve_insn.data = o->preobserve_data;
 365                         o->observe_insn = tmpl;
 366                         o->observe_insn.chanspec =
 367                                 CR_PACK(REF_DAC_GND( channel ),bipolar_lowgain,AREF_OTHER)
 368                                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 369                         o->reference_source = REF_DAC_GND( channel );
 370                         set_target( setup, ni_ao_reference( channel ),5.0);
 371
 372                         /* ao linearity, negative */
 373                         o = setup->observables + ni_ao_linearity( channel );
 374                         assert( o->name == NULL );
 375                         asprintf( &o->name, "ao %i, linearity (negative), low gain", channel );
 376                         o->preobserve_insn = po_tmpl;
 377                         o->preobserve_insn.chanspec = CR_PACK(channel,0,0);
 378                         o->preobserve_insn.data = o->preobserve_data;
 379                         o->observe_insn = tmpl;
 380                         o->observe_insn.chanspec =
 381                                 CR_PACK(REF_DAC_GND( channel ),bipolar_lowgain,AREF_OTHER)
 382                                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 383                         o->reference_source = REF_DAC_GND( channel );
 384                         set_target( setup, ni_ao_linearity( channel ),-5.0);
 385                 }
 386         }
 387 }
 388
 389 /* XXX for +-50V and +-20V ranges, the reference source goes 0V
 390  * to 50V instead of 0V to 5V */
 391 static unsigned int cal_gain_register_bits_611x( double reference, double *voltage )
 392 {
 393         unsigned int bits;
 394
 395         bits = 200.0 * ( *voltage / reference );
 396         if( bits > 200 ) bits = 200;
 397
 398         *voltage = reference * ( bits / 200.0 );
 399         return bits;
 400 }
 401
 402 static unsigned int ref_source_611x( unsigned int ref_source, unsigned int cal_gain_bits )
 403 {
 404         return ( ref_source & 0xf ) | ( ( cal_gain_bits << 4 ) & 0xff0 );
 405 }
 406
 407 static void ni_setup_observables_611x( calibration_setup_t *setup )
 408 {
 409         comedi_insn tmpl;
 410         comedi_insn po_tmpl;
 411         int range, ai_range_for_ao;
 412         double voltage_reference, master_reference;
 413         observable *o;
 414         int ai_chan;
 415         int num_chans;
 416         int cal_gain_reg_bits;
 417
 418         setup->settling_time_ns = 1000000;
 419
 420         range = 2;
 421
 422         master_reference = ni_get_reference( setup,
 423                 ni_board( setup )->ref_eeprom_lsb, ni_board( setup )->ref_eeprom_msb );
 424         voltage_reference = 5.0;
 425         cal_gain_reg_bits = cal_gain_register_bits_611x( master_reference, &voltage_reference );
 426
 427         memset(&tmpl,0,sizeof(tmpl));
 428         tmpl.insn = INSN_READ;
 429         tmpl.n = 1;
 430         tmpl.subdev = setup->ad_subdev;
 431
 432         num_chans = comedi_get_n_channels( setup->dev, setup->ad_subdev );
 433
 434         for( ai_chan = 0; ai_chan < num_chans; ai_chan++ )
 435         {
 436                 /* 0 offset */
 437                 o = setup->observables + ni_zero_offset_611x( ai_chan );
 438                 o->name = "ai, bipolar zero offset";
 439                 o->observe_insn = tmpl;
 440                 o->observe_insn.chanspec = CR_PACK(ai_chan, range, AREF_DIFF)
 441                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 442                 o->reference_source = REF_GND_GND;
 443                 o->target = 0.0;
 444
 445                 /* voltage reference */
 446                 o = setup->observables + ni_reference_611x( ai_chan );
 447                 o->name = "ai, bipolar voltage reference";
 448                 o->observe_insn = tmpl;
 449                 o->observe_insn.chanspec = CR_PACK(ai_chan, range, AREF_DIFF)
 450                         | CR_ALT_SOURCE | CR_ALT_FILTER;
 451                 o->reference_source = ref_source_611x( REF_CALSRC_GND, cal_gain_reg_bits );
 452                 o->target = voltage_reference;
 453         }
 454
 455         memset(&po_tmpl,0,sizeof(po_tmpl));
 456         po_tmpl.insn = INSN_WRITE;
 457         po_tmpl.n = 1;
 458         po_tmpl.subdev = setup->da_subdev;
 459
 460         ai_range_for_ao = 2;
 461
 462         /* ao 0, zero offset */
 463         o = setup->observables + ni_ao0_zero_offset_611x;
 464         o->name = "ao 0, zero offset";
 465         o->preobserve_insn = po_tmpl;
 466         o->preobserve_insn.chanspec = CR_PACK( 0, 0, AREF_GROUND );
 467         o->preobserve_insn.data = o->preobserve_data;
 468         o->observe_insn = tmpl;
 469         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF )
 470                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 471         o->reference_source = REF_DAC0_GND;
 472         set_target( setup, ni_ao0_zero_offset_611x, 0.0 );
 473
 474         /* ao 0, gain */
 475         o = setup->observables + ni_ao0_reference_611x;
 476         o->name = "ao 0, reference voltage";
 477         o->preobserve_insn = po_tmpl;
 478         o->preobserve_insn.chanspec = CR_PACK( 0, 0, AREF_GROUND );
 479         o->preobserve_insn.data = o->preobserve_data;
 480         o->observe_insn = tmpl;
 481         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF )
 482                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 483         o->reference_source = REF_DAC0_GND;
 484         set_target( setup, ni_ao0_reference_611x, 5.0 );
 485
 486         /* ao 1, zero offset */
 487         o = setup->observables + ni_ao1_zero_offset_611x;
 488         o->name = "ao 1, zero offset";
 489         o->preobserve_insn = po_tmpl;
 490         o->preobserve_insn.chanspec = CR_PACK( 1, 0, AREF_GROUND );
 491         o->preobserve_insn.data = o->preobserve_data;
 492         o->observe_insn = tmpl;
 493         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF)
 494                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 495         o->reference_source = REF_DAC1_GND;
 496         set_target( setup, ni_ao1_zero_offset_611x, 0.0 );
 497
 498         /* ao 1, gain */
 499         o = setup->observables + ni_ao1_reference_611x;
 500         o->name = "ao 1, reference voltage";
 501         o->preobserve_insn = po_tmpl;
 502         o->preobserve_insn.chanspec = CR_PACK( 1, 0, AREF_GROUND );
 503         o->preobserve_insn.data = o->preobserve_data;
 504         o->observe_insn = tmpl;
 505         o->observe_insn.chanspec = CR_PACK( 0, ai_range_for_ao, AREF_DIFF )
 506                 | CR_ALT_SOURCE | CR_ALT_FILTER;
 507         o->reference_source = REF_DAC1_GND;
 508         set_target( setup, ni_ao1_reference_611x, 5.0 );
 509
 510         setup->n_observables = 4 + 2 * num_chans;
 511 }
 512
 513 static int cal_ni_at_mio_16e_2(calibration_setup_t *setup)
 514 {
 515         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 516         cal1( setup, ni_zero_offset_high,0);
 517         cal1( setup, ni_reference_low,3);
 518         cal1( setup, ni_unip_zero_offset_low,2);
 519         if(setup->do_output){
 520                 cal1( setup, ni_ao0_zero_offset,5);
 521                 cal1( setup, ni_ao0_reference,6);
 522                 cal1( setup, ni_ao1_zero_offset,8);
 523                 cal1( setup, ni_ao1_reference,9);
 524         }
 525         return 0;
 526 }
 527
 528 /*
 529  * Device name: DAQCard-ai-16xe-50
 530  * Comedi version: 0.7.60
 531  * ai, bipolar zero offset, low gain
 532  * offset 5.87(63)e-3, target 0
 533  * caldac[0] gain=-2.243(21)e-6 V/bit S_min=208.079 dof=254
 534  * caldac[2] gain=1.56378(22)e-4 V/bit S_min=1782.91 dof=254
 535  * caldac[8] gain=2.499(14)e-7 V/bit S_min=234.915 dof=254
 536  * ai, bipolar zero offset, high gain
 537  * offset 4.251(49)e-5, target 0
 538  * caldac[0] gain=-2.396(30)e-8 V/bit S_min=231.387 dof=254
 539  * caldac[2] gain=1.56428(28)e-6 V/bit S_min=829.096 dof=254
 540  * caldac[8] gain=2.61244(18)e-7 V/bit S_min=773.092 dof=254
 541  * ai, bipolar voltage reference, low gain
 542  * offset 4.99650(81), target 5
 543  * caldac[0] gain=-3.78250(23)e-4 V/bit S_min=12207.6 dof=254
 544  * caldac[1] gain=-9.878(22)e-6 V/bit S_min=346.795 dof=254
 545  * caldac[2] gain=1.57172(23)e-4 V/bit S_min=969.526 dof=254
 546  * caldac[8] gain=2.795(14)e-7 V/bit S_min=245.703 dof=254
 547  * ai, unipolar zero offset, low gain
 548  * offset 0.0133(14), target 0
 549  * caldac[0] gain=3.73923(29)e-4 V/bit S_min=2855.79 dof=151
 550  * caldac[1] gain=9.784(11)e-6 V/bit S_min=727.295 dof=254
 551  * caldac[2] gain=7.8670(11)e-5 V/bit S_min=903.291 dof=254
 552  * caldac[8] gain=2.7732(74)e-7 V/bit S_min=415.399 dof=254
 553  */
 554 static int cal_ni_daqcard_ai_16xe_50(calibration_setup_t *setup)
 555 {
 556         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 557         cal1( setup, ni_zero_offset_high,8);
 558         cal1( setup, ni_reference_low,0);
 559         cal1_fine( setup, ni_reference_low,0);
 560         cal1( setup, ni_reference_low,1);
 561         return 0;
 562 }
 563
 564 static int cal_ni_at_mio_16xe_50(calibration_setup_t *setup)
 565 {
 566         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 567         cal1( setup, ni_zero_offset_high,8);
 568         cal1( setup, ni_reference_low,0);
 569         cal1_fine( setup, ni_reference_low,0);
 570         cal1( setup, ni_reference_low,1);
 571
 572         if(setup->do_output){
 573                 cal1( setup, ni_ao0_zero_offset,6);
 574                 cal1( setup, ni_ao0_reference,4);
 575                 cal1( setup, ni_ao1_zero_offset,7);
 576                 cal1( setup, ni_ao1_reference,5);
 577         }
 578         return 0;
 579 }
 580
 581 static int cal_ni_pci_mio_16xe_10(calibration_setup_t *setup)
 582 {
 583         postgain_cal( setup, ni_zero_offset_low, ni_zero_offset_high, 2);
 584         postgain_cal( setup, ni_zero_offset_low, ni_zero_offset_high, 3);
 585         cal1( setup, ni_zero_offset_high, 8);
 586         cal1( setup, ni_reference_low, 0);
 587         cal1( setup, ni_reference_low, 1);
 588
 589         if(setup->do_output){
 590                 cal1( setup, ni_ao0_zero_offset,6);
 591                 cal1( setup, ni_ao0_reference,4);
 592                 cal1( setup, ni_ao1_zero_offset,7);
 593                 cal1( setup, ni_ao1_reference,5);
 594         }
 595         return 0;
 596 }
 597
 598 static int cal_ni_at_mio_16e_1(calibration_setup_t *setup)
 599 {
 600         return cal_ni_at_mio_16e_2( setup );
 601 }
 602
 603 static int cal_ni_pci_mio_16e_1(calibration_setup_t *setup)
 604 {
 605         //cal_ni_at_mio_16e_2();
 606
 607         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 608         cal1( setup, ni_zero_offset_high,0);
 609         cal1( setup, ni_reference_low,3);
 610         cal1( setup, ni_unip_zero_offset_low,2);
 611         if(setup->do_output){
 612                 cal1( setup, ni_ao0_zero_offset,5);
 613                 //cal1( setup, ni_ao0_zero_offset,4); /* linearity? */
 614                 cal1( setup, ni_ao0_reference,6);
 615                 cal1( setup, ni_ao1_zero_offset,8);
 616                 //cal1( setup, ni_ao1_zero_offset,7); /* linearity? */
 617                 cal1( setup, ni_ao1_reference,9);
 618         }
 619         return 0;
 620 }
 621
 622 static int cal_ni_pci_6032e(calibration_setup_t *setup)
 623 {
 624         postgain_cal(setup, ni_zero_offset_low, ni_zero_offset_high, 2);
 625         postgain_cal(setup, ni_zero_offset_low, ni_zero_offset_high, 3);
 626
 627         cal1( setup, ni_zero_offset_high,8);
 628
 629         cal1( setup, ni_reference_low,0);
 630         cal1_fine( setup, ni_reference_low,0);
 631         cal1( setup, ni_reference_low,1);
 632
 633         return 0;
 634 }
 635
 636 static int cal_ni_pci_6035e(calibration_setup_t *setup)
 637 {
 638         /* this is for the ad8804_debug caldac */
 639
 640         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 641
 642         cal1( setup, ni_zero_offset_high,0);
 643         cal1( setup, ni_zero_offset_high,8);
 644
 645         cal1( setup, ni_reference_low,2);
 646
 647         if(setup->do_output){
 648                 cal1( setup, ni_ao0_zero_offset,6);
 649                 //cal1( setup, ni_ao0_zero_offset,10); /* linearity? */
 650                 cal1( setup, ni_ao0_reference,11);
 651                 cal1( setup, ni_ao1_zero_offset,9);
 652                 //cal1( setup, ni_ao1_zero_offset,1); /* linearity? */
 653                 cal1( setup, ni_ao1_reference,5);
 654         }
 655         return 0;
 656 }
 657
 658 static int cal_ni_pci_6071e(calibration_setup_t *setup)
 659 {
 660         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 661         cal1( setup, ni_zero_offset_high,0);
 662         cal1( setup, ni_reference_low,3);
 663         cal1_fine( setup, ni_reference_low,3);
 664         if(setup->do_output){
 665                 cal1( setup, ni_ao0_zero_offset,5);
 666                 //cal1( setup, ni_ao0_zero_offset,4); /* linearity? */
 667                 /* caldac 6 should most likely be AO0 reference, but it
 668                  * isn't. */
 669                 /*cal1( setup, ni_ao0_reference,6);*/
 670                 cal1( setup, ni_ao1_zero_offset,8);
 671                 //cal1( setup, ni_ao1_zero_offset,7); /* linearity? */
 672                 cal1( setup, ni_ao1_reference,9);
 673         }
 674         return 0;
 675 }
 676
 677 static int cal_ni_pxi_6071e(calibration_setup_t *setup)
 678 {
 679         // 6071e (old)
 680         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 681         cal1( setup, ni_zero_offset_high,0);
 682         cal1( setup, ni_reference_low,3);
 683         if(setup->do_output){
 684                 // unknown
 685         }
 686         return 0;
 687 }
 688
 689 static int cal_ni_at_mio_16e_10(calibration_setup_t *setup)
 690 {
 691         // 16e-10 (old)
 692         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,1);
 693         cal1( setup, ni_zero_offset_high,10);
 694         cal1( setup, ni_zero_offset_high,0);
 695         cal1( setup, ni_reference_low,3);
 696         cal1( setup, ni_unip_zero_offset_low,2);
 697         if(setup->do_output){
 698                 cal1( setup, ni_ao0_zero_offset,5); // guess
 699                 cal1( setup, ni_ao0_reference,6); // guess
 700                 cal1( setup, ni_ao1_zero_offset,8); // guess
 701                 cal1( setup, ni_ao1_reference,9); // guess
 702         }
 703         return 0;
 704 }
 705
 706 static int cal_ni_pci_mio_16xe_50(calibration_setup_t *setup)
 707 {
 708         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 709         cal1( setup, ni_zero_offset_high,8);
 710         cal1( setup, ni_reference_low,0);
 711         cal1_fine( setup, ni_reference_low,0);
 712         cal1( setup, ni_reference_low,1);
 713
 714         if(setup->do_output){
 715                 cal1( setup, ni_ao0_zero_offset,6);
 716                 cal1( setup, ni_ao0_reference,4);
 717                 cal1( setup, ni_ao1_zero_offset,7);
 718                 cal1( setup, ni_ao1_reference,5);
 719         }
 720         return 0;
 721 }
 722
 723 static int cal_ni_pci_6023e(calibration_setup_t *setup)
 724 {
 725         /* for comedi-0.7.65 */
 726
 727         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 728         cal1( setup, ni_zero_offset_high,0);
 729         cal1( setup, ni_zero_offset_high,8); /* possibly wrong */
 730         cal1( setup, ni_reference_low,2);
 731
 732         return 0;
 733 }
 734
 735 static int cal_ni_pci_6024e(calibration_setup_t *setup)
 736 {
 737         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 738         cal1( setup, ni_zero_offset_high,0);
 739         cal1( setup, ni_zero_offset_high,8);
 740         cal1( setup, ni_reference_low,2);
 741         if(setup->do_output){
 742                 cal1( setup, ni_ao0_zero_offset,6);
 743                 //cal1( setup, ni_ao0_zero_offset,10); // nonlinearity?
 744                 cal1( setup, ni_ao0_reference,11);
 745                 cal1( setup, ni_ao1_zero_offset,9);
 746                 //cal1( setup, ni_ao1_zero_offset,1); // nonlinearity?
 747                 cal1( setup, ni_ao1_reference,5);
 748         }
 749         return 0;
 750 }
 751
 752 static int cal_ni_pci_6025e(calibration_setup_t *setup)
 753 {
 754         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 755         cal1( setup, ni_zero_offset_high,0);
 756         cal1( setup, ni_zero_offset_high,8);
 757         cal1( setup, ni_reference_low,2);
 758         if(setup->do_output){
 759                 cal1( setup, ni_ao0_zero_offset,6);
 760                 //cal1( setup, ni_ao0_zero_offset,10); /* nonlinearity */
 761                 cal1( setup, ni_ao0_reference,11);
 762                 cal1( setup, ni_ao1_zero_offset,9);
 763                 //cal1( setup, ni_ao1_zero_offset,1); /* nonlinearity */
 764                 cal1( setup, ni_ao1_reference,5);
 765         }
 766         return 0;
 767 }
 768
 769 static int cal_ni_pci_6052e(calibration_setup_t *setup)
 770 {
 771         /*
 772          * This board has noisy caldacs
 773          *
 774          * The NI documentation says:
 775          *   0, 8   AI pregain  (coarse, fine)          3, 11
 776          *   4, 12  AI postgain                         15,7
 777          *   2, 10  AI reference                        1, 9
 778          *   14, 7  AI unipolar offset                  5, 13
 779          *
 780          *   0      AO0 linearity
 781          *   8, 4   AO0 reference               23, 19  7, 3
 782          *   12     AO0 offset                  27      11
 783          *   2      AO1 linearity
 784          *   10, 6  AO1 reference               25, 21  9, 5
 785          *   14     AO1 offset                  29, 17  13, 1
 786          *
 787          *   0  3       x       0011
 788          *
 789          *   2  1       x       0001
 790          *
 791          *   4  7       15 3    0111 0011
 792          *
 793          *   6          17 5         0101
 794          *   7  x
 795          *   8  11      19 7    1011 0111
 796          *
 797          *   10 9       21 9    1001 1001
 798          *
 799          *   12 x       23 11        1011
 800          *
 801          *   14 5       13 1    0101 0001
 802          *
 803          */
 804
 805         cal_postgain_binary( setup, ni_zero_offset_low,ni_zero_offset_high,2);
 806         postgain_cal( setup, ni_zero_offset_low,ni_zero_offset_high,3);
 807         cal1( setup, ni_zero_offset_high,0);
 808         cal1( setup, ni_zero_offset_high,1);
 809         cal_binary( setup, ni_reference_low,4);
 810         cal1_fine( setup, ni_reference_low,4);
 811         cal1( setup, ni_reference_low,5);
 812         cal1( setup, ni_unip_zero_offset_low,6);
 813         cal1_fine( setup, ni_unip_zero_offset_low,6);
 814         if(setup->do_output){
 815                 cal1( setup, ni_ao0_zero_offset,12+11);
 816                 cal1_fine( setup, ni_ao0_zero_offset,12+11);
 817                 cal1( setup, ni_ao0_reference,12+7);
 818                 cal1_fine( setup, ni_ao0_reference,12+7);
 819                 cal1( setup, ni_ao0_reference,12+3);
 820                 cal1( setup, ni_ao1_zero_offset,12+1);
 821                 cal1( setup, ni_ao1_reference,12+9);
 822                 cal1_fine( setup, ni_ao1_reference,12+9);
 823                 cal1( setup, ni_ao1_reference,12+5);
 824         }
 825         return 0;
 826 }
 827
 828 static int cal_ni_pci_mio_16e_4(calibration_setup_t *setup)
 829 {
 830         /* this is for the ad8804_debug caldac */
 831
 832         cal_postgain_binary( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 833         //cal_postgain_fine( setup, ni_zero_offset_low,ni_zero_offset_high,4);
 834         cal1( setup, ni_zero_offset_high,8);
 835         cal_binary( setup, ni_reference_low,2);
 836         cal1_fine( setup, ni_reference_low,2);
 837
 838         cal1( setup, ni_unip_zero_offset_low,7);
 839         cal1_fine( setup, ni_unip_zero_offset_low,7);
 840
 841         if(setup->do_output){
 842                 cal_binary( setup, ni_ao0_zero_offset,6);
 843                 cal1_fine( setup, ni_ao0_zero_offset,6);
 844                 //cal1( setup, ni_ao0_nonlinearity,10);
 845                 cal_binary( setup, ni_ao0_reference,11);
 846                 cal1_fine( setup, ni_ao0_reference,11);
 847                 cal_binary( setup, ni_ao1_zero_offset,9);
 848                 cal1_fine( setup, ni_ao1_zero_offset,9);
 849                 //cal1( setup, ni_ao1_nonlinearity,1);
 850                 cal_binary( setup, ni_ao1_reference,5);
 851                 cal1_fine( setup, ni_ao1_reference,5);
 852         }
 853         return 0;
 854 }
 855
 856 static int cal_ni_daqcard_ai_16e_4(calibration_setup_t *setup)
 857 {
 858         cal_postgain_binary(setup, ni_zero_offset_low, ni_zero_offset_high, 1);
 859         //cal_postgain_fine(setup, ni_zero_offset_low, ni_zero_offset_high, 1);
 860
 861         cal_binary( setup, ni_zero_offset_high,0);
 862         cal1_fine( setup, ni_zero_offset_high,0);
 863
 864         cal_binary( setup, ni_reference_low,3);
 865         cal1_fine( setup, ni_reference_low,3);
 866
 867         cal1( setup, ni_unip_zero_offset_low,2);
 868
 869         return 0;
 870 }
 871
 872 static int cal_ni_pci_611x( calibration_setup_t *setup )
 873 {
 874         int i;
 875         int num_chans;
 876
 877         num_chans = comedi_get_n_channels( setup->dev, setup->ad_subdev );
 878
 879         for( i = 0; i < num_chans; i++ ){
 880                 cal1( setup, ni_zero_offset_611x( i ), ( 2 * i + 2 ) );
 881                 cal1( setup, ni_reference_611x( i ), ( 2 * i + 1 ) );
 882         }
 883
 884         if(setup->do_output){
 885                 cal1( setup, ni_ao0_zero_offset_611x, 14 );
 886                 cal1( setup, ni_ao0_reference_611x, 13 );
 887                 cal1( setup, ni_ao1_zero_offset_611x, 16 );
 888                 cal1( setup, ni_ao1_reference_611x, 15 );
 889         }
 890
 891         return 0;
 892 }
 893
 894 enum caldacs_dc6062e
 895 {
 896         DAC1_LINEARITY_DC6062E = 1, /* not sure exactly what this does */
 897         ADC_GAIN_DC6062E = 2,   /* couples strongly to offset in bipolar ranges */
 898         ADC_POSTGAIN_OFFSET_DC6062E = 4,
 899         DAC1_GAIN_DC6062E = 5,
 900         DAC0_OFFSET_DC6062E = 6,
 901         ADC_UNIPOLAR_OFFSET_DC6062E = 7,
 902         ADC_PREGAIN_OFFSET_DC6062E = 8,
 903         DAC1_OFFSET_DC6062E = 9,
 904         DAC0_LINEARITY_DC6062E = 10,
 905         DAC0_GAIN_DC6062E = 11,
 906 };
 907 static inline unsigned int DAC_OFFSET_DC6062E( unsigned int channel )
 908 {
 909         if( channel ) return DAC1_OFFSET_DC6062E;
 910         else return DAC0_OFFSET_DC6062E;
 911 }
 912 static inline unsigned int DAC_GAIN_DC6062E( unsigned int channel )
 913 {
 914         if( channel ) return DAC1_GAIN_DC6062E;
 915         else return DAC0_GAIN_DC6062E;
 916 }
 917 static inline unsigned int DAC_LINEARITY_DC6062E( unsigned int channel )
 918 {
 919         if( channel ) return DAC1_LINEARITY_DC6062E;
 920         else return DAC0_LINEARITY_DC6062E;
 921 }
 922
 923 static void prep_adc_caldacs_dc6062e( calibration_setup_t *setup )
 924 {
 925         int retval;
 926
 927         if( setup->do_reset )
 928         {
 929                 reset_caldac( setup, ADC_PREGAIN_OFFSET_DC6062E );
 930                 reset_caldac( setup, ADC_POSTGAIN_OFFSET_DC6062E );
 931                 reset_caldac( setup, ADC_GAIN_DC6062E );
 932                 reset_caldac( setup, ADC_PREGAIN_OFFSET_DC6062E );
 933         }else
 934         {
 935                 retval = comedi_apply_calibration( setup->dev, setup->ad_subdev,
 936                         0, 0, AREF_GROUND, setup->cal_save_file_path);
 937                 if( retval < 0 )
 938                 {
 939                         DPRINT( 0, "Failed to apply existing calibration, reseting adc caldacs.\n" );
 940                         reset_caldac( setup, ADC_PREGAIN_OFFSET_DC6062E );
 941                         reset_caldac( setup, ADC_POSTGAIN_OFFSET_DC6062E );
 942                         reset_caldac( setup, ADC_GAIN_DC6062E );
 943                         reset_caldac( setup, ADC_PREGAIN_OFFSET_DC6062E );
 944                 }
 945         }
 946 }
 947
 948 static void prep_dac_caldacs_dc6062e( calibration_setup_t *setup,
 949         unsigned int channel )
 950 {
 951         int retval;
 952
 953         if( setup->do_reset )
 954         {
 955                 reset_caldac( setup, DAC_OFFSET_DC6062E( channel ) );
 956                 reset_caldac( setup, DAC_GAIN_DC6062E( channel ) );
 957                 reset_caldac( setup, DAC_LINEARITY_DC6062E( channel ) );
 958         }else
 959         {
 960                 retval = comedi_apply_calibration( setup->dev, setup->da_subdev,
 961                         channel, 0, AREF_GROUND, setup->cal_save_file_path);
 962                 if( retval < 0 )
 963                 {
 964                         DPRINT( 0, "Failed to apply existing calibration, reseting dac caldacs.\n" );
 965                         reset_caldac( setup, DAC_OFFSET_DC6062E( channel ) );
 966                         reset_caldac( setup, DAC_GAIN_DC6062E( channel ) );
 967                         reset_caldac( setup, DAC_LINEARITY_DC6062E( channel ) );
 968                 }
 969         }
 970 }
 971
 972 static int cal_ni_daqcard_6062e( calibration_setup_t *setup )
 973 {
 974         saved_calibration_t saved_cals[ 3 ], *current_cal;
 975         static const int num_calibrations = sizeof( saved_cals ) / sizeof( saved_cals[0] );
 976         int i, retval;
 977
 978         comedi_set_global_oor_behavior( COMEDI_OOR_NUMBER );
 979
 980         current_cal = saved_cals;
 981
 982         memset( saved_cals, 0, sizeof( saved_cals ) );
 983
 984         prep_adc_caldacs_dc6062e( setup );
 985
 986         cal_relative_binary( setup, ni_zero_offset_low, ni_reference_low, ADC_GAIN_DC6062E );
 987         cal_relative_binary( setup, ni_zero_offset_low, ni_zero_offset_high,
 988                 ADC_POSTGAIN_OFFSET_DC6062E );
 989         cal_binary( setup, ni_zero_offset_high, ADC_PREGAIN_OFFSET_DC6062E );
 990         cal_binary( setup, ni_unip_zero_offset_high, ADC_UNIPOLAR_OFFSET_DC6062E );
 991
 992         current_cal->subdevice = setup->ad_subdev;
 993         sc_push_caldac( current_cal, setup->caldacs[ ADC_PREGAIN_OFFSET_DC6062E ] );
 994         sc_push_caldac( current_cal, setup->caldacs[ ADC_GAIN_DC6062E ] );
 995         sc_push_caldac( current_cal, setup->caldacs[ ADC_POSTGAIN_OFFSET_DC6062E ] );
 996         sc_push_caldac( current_cal, setup->caldacs[ ADC_UNIPOLAR_OFFSET_DC6062E ] );
 997         sc_push_channel( current_cal, SC_ALL_CHANNELS );
 998         sc_push_range( current_cal, SC_ALL_RANGES );
 999         sc_push_aref( current_cal, SC_ALL_AREFS );
1000         current_cal++;
1001
1002         if(setup->do_output)
1003         {
1004                 unsigned int channel;
1005
1006                 for( channel = 0; channel < 2; channel++ )
1007                 {
1008                         prep_dac_caldacs_dc6062e( setup, channel );
1009
1010                         cal_linearity_binary( setup, ni_ao_linearity( channel ),
1011                                 ni_ao_zero_offset( channel ), ni_ao_reference( channel ),
1012                                 DAC_LINEARITY_DC6062E( channel ) );
1013                         cal_binary( setup, ni_ao_zero_offset( channel ), DAC_OFFSET_DC6062E( channel ) );
1014                         cal_binary( setup, ni_ao_reference( channel ), DAC_GAIN_DC6062E( channel ) );
1015
1016                         current_cal->subdevice = setup->da_subdev;
1017                         sc_push_caldac( current_cal, setup->caldacs[ DAC_OFFSET_DC6062E( channel ) ] );
1018                         sc_push_caldac( current_cal, setup->caldacs[ DAC_GAIN_DC6062E( channel ) ] );
1019                         sc_push_caldac( current_cal, setup->caldacs[ DAC_LINEARITY_DC6062E( channel ) ] );
1020                         sc_push_channel( current_cal, channel );
1021                         sc_push_range( current_cal, SC_ALL_RANGES );
1022                         sc_push_aref( current_cal, SC_ALL_AREFS );
1023                         current_cal++;
1024                 }
1025         }
1026
1027         retval = write_calibration_file( setup, saved_cals, num_calibrations );
1028         for( i = 0; i < num_calibrations; i++ )
1029                 clear_saved_calibration( &saved_cals[ i ] );
1030
1031         return retval;
1032 }
1033
1034 static double ni_get_reference( calibration_setup_t *setup, int lsb_loc,int msb_loc)
1035 {
1036         int lsb,msb;
1037         int16_t uv;
1038         double ref;
1039
1040         lsb=read_eeprom( setup, lsb_loc);
1041         msb=read_eeprom( setup, msb_loc);
1042         DPRINT(0,"eeprom reference lsb=%d msb=%d\n", lsb, msb);
1043
1044         uv = ( lsb & 0xff ) | ( ( msb << 8 ) & 0xff00 );
1045         ref=5.000+1.0e-6*uv;
1046         DPRINT(0, "resulting reference voltage: %g\n", ref );
1047         if( fabs( ref - 5.0 ) > 0.005 )
1048                 DPRINT( 0, "WARNING: eeprom indicates reference is more than 5mV away\n"
1049                         "from 5V.  Possible bad eeprom address?\n" );
1050
1051         return ref;
1052 }
1053
1054 #if 0
1055 static void cal_ni_results(void)
1056 {
1057         comedi_range *range;
1058         int bipolar_lowgain;
1059         int bipolar_highgain;
1060         int unipolar_lowgain;
1061         //int have_ao;
1062         char s[32];
1063
1064         bipolar_lowgain = get_bipolar_lowgain(dev,setup->ad_subdev);
1065         bipolar_highgain = get_bipolar_highgain(dev,setup->ad_subdev);
1066         unipolar_lowgain = get_unipolar_lowgain(dev,setup->ad_subdev);
1067
1068         /* 0 offset, low gain */
1069         range = comedi_get_range(dev,setup->ad_subdev,0,bipolar_lowgain);
1070         read_chan2(s,0,bipolar_lowgain);
1071         DPRINT(0,"bipolar zero offset, low gain [%g,%g]: %s\n",
1072                 range->min,range->max,s);
1073
1074         /* 0 offset, high gain */
1075         range = comedi_get_range(dev,setup->ad_subdev,0,bipolar_highgain);
1076         read_chan2(s,0,bipolar_highgain);
1077         DPRINT(0,"bipolar zero offset, high gain [%g,%g]: %s\n",
1078                 range->min,range->max,s);
1079
1080         /* unip/bip offset */
1081         range = comedi_get_range(dev,setup->ad_subdev,0,unipolar_lowgain);
1082         read_chan2(s,0,unipolar_lowgain);
1083         DPRINT(0,"unipolar zero offset, low gain [%g,%g]: %s\n",
1084                 range->min,range->max,s);
1085
1086 }
1087
1088 static void ni_mio_ai_postgain_cal(void)
1089 {
1090         linear_fit_t l;
1091         double offset_r0;
1092         double offset_r7;
1093         double gain;
1094         double a;
1095
1096         check_gain_chan_x(&l,CR_PACK(0,0,AREF_OTHER),1);
1097         offset_r0=linear_fit_func_y(&l,caldacs[1].current);
1098         printf("offset r0 %g\n",offset_r0);
1099
1100         check_gain_chan_x(&l,CR_PACK(0,7,AREF_OTHER),1);
1101         offset_r7=linear_fit_func_y(&l,caldacs[1].current);
1102         printf("offset r7 %g\n",offset_r7);
1103
1104         gain=l.slope;
1105
1106         a=(offset_r0-offset_r7)/(200.0-1.0);
1107         a=caldacs[1].current-a/gain;
1108
1109         printf("%g\n",a);
1110
1111         caldacs[1].current=rint(a);
1112         update_caldac(1);
1113 }
1114
1115 static void ni_mio_ai_postgain_cal_2(int chan,int dac,int range_lo,int range_hi,double gain)
1116 {
1117         double offset_lo,offset_hi;
1118         linear_fit_t l;
1119         double slope;
1120         double a;
1121
1122         check_gain_chan_x(&l,CR_PACK(chan,range_lo,AREF_OTHER),dac);
1123         offset_lo=linear_fit_func_y(&l,caldacs[dac].current);
1124         printf("offset lo %g\n",offset_lo);
1125
1126         check_gain_chan_x(&l,CR_PACK(chan,range_hi,AREF_OTHER),dac);
1127         offset_hi=linear_fit_func_y(&l,caldacs[dac].current);
1128         printf("offset hi %g\n",offset_hi);
1129
1130         slope=l.slope;
1131
1132         a=(offset_lo-offset_hi)/(gain-1.0);
1133         a=caldacs[dac].current-a/slope;
1134
1135         printf("%g\n",a);
1136
1137         caldacs[dac].current=rint(a);
1138         update_caldac(dac);
1139 }
1140 #endif
1141