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