3 header file for the comedi library routines
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 1998-2002 David A. Schleef <ds@schleef.org>
8 This program is free software; you can redistribute it and/or modify
9 it under the terms of the GNU Lesser General Public License as published by
10 the Free Software Foundation; either version 2 of the License, or
11 (at your option) any later version.
13 This program is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 GNU General Public License for more details.
18 You should have received a copy of the GNU General Public License
19 along with this program; if not, write to the Free Software
20 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
29 #include <sys/ioctl.h>
37 typedef struct comedi_t_struct comedi_t;
45 typedef struct comedi_sv_struct{
47 unsigned int subdevice;
54 /* number of measurements to average (for ai) */
60 enum comedi_oor_behavior {
61 COMEDI_OOR_NUMBER = 0,
68 comedi_t *comedi_open(const char *fn);
69 int comedi_close(comedi_t *it);
72 int comedi_loglevel(int loglevel);
73 void comedi_perror(const char *s);
74 char *comedi_strerror(int errnum);
75 int comedi_errno(void);
76 int comedi_fileno(comedi_t *it);
79 enum comedi_oor_behavior comedi_set_global_oor_behavior(enum comedi_oor_behavior behavior);
82 int comedi_get_n_subdevices(comedi_t *it);
83 #define COMEDI_VERSION_CODE(a,b,c) (((a)<<16) | ((b)<<8) | (c))
84 int comedi_get_version_code(comedi_t *it);
85 const char *comedi_get_driver_name(comedi_t *it);
86 const char *comedi_get_board_name(comedi_t *it);
87 int comedi_get_read_subdevice(comedi_t *dev);
88 int comedi_get_write_subdevice(comedi_t *dev);
90 /* subdevice queries */
91 int comedi_get_subdevice_type(comedi_t *it,unsigned int subdevice);
92 int comedi_find_subdevice_by_type(comedi_t *it,int type,unsigned int subd);
93 int comedi_get_subdevice_flags(comedi_t *it,unsigned int subdevice);
94 int comedi_get_n_channels(comedi_t *it,unsigned int subdevice);
95 int comedi_range_is_chan_specific(comedi_t *it,unsigned int subdevice);
96 int comedi_maxdata_is_chan_specific(comedi_t *it,unsigned int subdevice);
99 lsampl_t comedi_get_maxdata(comedi_t *it,unsigned int subdevice,
101 int comedi_get_n_ranges(comedi_t *it,unsigned int subdevice,
103 comedi_range * comedi_get_range(comedi_t *it,unsigned int subdevice,
104 unsigned int chan,unsigned int range);
105 int comedi_find_range(comedi_t *it,unsigned int subd,unsigned int chan,
106 unsigned int unit,double min,double max);
109 int comedi_get_buffer_size(comedi_t *it,unsigned int subdevice);
110 int comedi_get_max_buffer_size(comedi_t *it,unsigned int subdevice);
111 int comedi_set_buffer_size(comedi_t *it,unsigned int subdevice,
114 /* low-level stuff */
115 #ifdef _COMEDILIB_DEPRECATED
116 int comedi_trigger(comedi_t *it,comedi_trig *trig); /* deprecated */
118 int comedi_do_insnlist(comedi_t *it,comedi_insnlist *il);
119 int comedi_do_insn(comedi_t *it,comedi_insn *insn);
120 int comedi_lock(comedi_t *it,unsigned int subdevice);
121 int comedi_unlock(comedi_t *it,unsigned int subdevice);
124 double comedi_to_phys(lsampl_t data,comedi_range *rng,lsampl_t maxdata);
125 lsampl_t comedi_from_phys(double data,comedi_range *rng,lsampl_t maxdata);
126 int comedi_sampl_to_phys(double *dest, int dst_stride, sampl_t *src,
127 int src_stride, comedi_range *rng, lsampl_t maxdata, int n);
128 int comedi_sampl_from_phys(sampl_t *dest,int dst_stride,double *src,
129 int src_stride, comedi_range *rng, lsampl_t maxdata, int n);
131 /* syncronous stuff */
132 int comedi_data_read(comedi_t *it,unsigned int subd,unsigned int chan,
133 unsigned int range,unsigned int aref,lsampl_t *data);
134 int comedi_data_read_n(comedi_t *it,unsigned int subd,unsigned int chan,
135 unsigned int range,unsigned int aref,lsampl_t *data, unsigned int n);
136 int comedi_data_read_hint(comedi_t *it,unsigned int subd,unsigned int chan,
137 unsigned int range,unsigned int aref);
138 int comedi_data_read_delayed(comedi_t *it,unsigned int subd,unsigned int chan,
139 unsigned int range,unsigned int aref,lsampl_t *data, unsigned int nano_sec);
140 int comedi_data_write(comedi_t *it,unsigned int subd,unsigned int chan,
141 unsigned int range,unsigned int aref,lsampl_t data);
142 int comedi_dio_config(comedi_t *it,unsigned int subd,unsigned int chan,
144 int comedi_dio_get_config(comedi_t *it,unsigned int subd,unsigned int chan,
146 int comedi_dio_read(comedi_t *it,unsigned int subd,unsigned int chan,
148 int comedi_dio_write(comedi_t *it,unsigned int subd,unsigned int chan,
150 int comedi_dio_bitfield2(comedi_t *it,unsigned int subd,
151 unsigned int write_mask, unsigned int *bits, unsigned int base_channel);
152 /* Should be moved to _COMEDILIB_DEPRECATED once bindings for other languages are updated
153 * to use comedi_dio_bitfield2() instead.*/
154 int comedi_dio_bitfield(comedi_t *it,unsigned int subd,
155 unsigned int write_mask, unsigned int *bits);
157 /* slowly varying stuff */
158 int comedi_sv_init(comedi_sv_t *it,comedi_t *dev,unsigned int subd,unsigned int chan);
159 int comedi_sv_update(comedi_sv_t *it);
160 int comedi_sv_measure(comedi_sv_t *it,double *data);
162 /* streaming I/O (commands) */
164 int comedi_get_cmd_src_mask(comedi_t *dev,unsigned int subdevice,
166 int comedi_get_cmd_generic_timed(comedi_t *dev,unsigned int subdevice,
167 comedi_cmd *cmd, unsigned chanlist_len, unsigned scan_period_ns);
168 int comedi_cancel(comedi_t *it,unsigned int subdevice);
169 int comedi_command(comedi_t *it,comedi_cmd *cmd);
170 int comedi_command_test(comedi_t *it,comedi_cmd *cmd);
171 int comedi_poll(comedi_t *dev,unsigned int subdevice);
175 int comedi_set_max_buffer_size(comedi_t *it, unsigned int subdev,
176 unsigned int max_size);
177 int comedi_get_buffer_contents(comedi_t *it, unsigned int subdev);
178 int comedi_mark_buffer_read(comedi_t *it, unsigned int subdev,
180 int comedi_mark_buffer_written(comedi_t *it, unsigned int subdev,
182 int comedi_get_buffer_offset(comedi_t *it, unsigned int subdev);
184 #ifdef _COMEDILIB_DEPRECATED
186 * The following functions are deprecated and should not be used.
188 int comedi_get_timer(comedi_t *it,unsigned int subdev,double freq,
189 unsigned int *trigvar,double *actual_freq);
190 int comedi_timed_1chan(comedi_t *it,unsigned int subdev,unsigned int chan,
191 unsigned int range, unsigned int aref,double freq,
192 unsigned int n_samples,double *data);
193 int comedi_get_rangetype(comedi_t *it,unsigned int subdevice,
198 #ifndef _COMEDILIB_STRICT_ABI
200 The following prototypes are _NOT_ part of the Comedilib ABI, and
201 may change in future versions without regard to source or binary
202 compatibility. In practice, this is a holding place for the next
203 library ABI version change.
205 /* structs and functions used for parsing calibration files */
208 unsigned int subdevice;
209 unsigned int channel;
212 #define COMEDI_MAX_NUM_POLYNOMIAL_COEFFICIENTS 4
215 double coefficients[COMEDI_MAX_NUM_POLYNOMIAL_COEFFICIENTS];
216 double expansion_origin;
218 } comedi_polynomial_t;
221 comedi_polynomial_t *to_phys;
222 comedi_polynomial_t *from_phys;
224 #define CS_MAX_AREFS_LENGTH 4
227 unsigned int subdevice;
228 unsigned int *channels;
229 unsigned int num_channels;
230 unsigned int *ranges;
231 unsigned int num_ranges;
232 unsigned int arefs[ CS_MAX_AREFS_LENGTH ];
233 unsigned int num_arefs;
234 comedi_caldac_t *caldacs;
235 unsigned int num_caldacs;
236 comedi_softcal_t soft_calibration;
237 } comedi_calibration_setting_t;
243 comedi_calibration_setting_t *settings;
244 unsigned int num_settings;
245 } comedi_calibration_t;
247 comedi_calibration_t* comedi_parse_calibration_file( const char *cal_file_path );
248 int comedi_apply_parsed_calibration( comedi_t *dev, unsigned int subdev, unsigned int channel,
249 unsigned int range, unsigned int aref, const comedi_calibration_t *calibration );
250 char* comedi_get_default_calibration_path( comedi_t *dev );
251 void comedi_cleanup_calibration( comedi_calibration_t *calibration );
252 int comedi_apply_calibration( comedi_t *dev, unsigned int subdev, unsigned int channel,
253 unsigned int range, unsigned int aref, const char *cal_file_path);
255 /* New stuff to provide conversion between integers and physical values that
256 * can support software calibrations. */
257 enum comedi_conversion_direction
262 int comedi_get_softcal_converter(
263 unsigned subdevice, unsigned channel, unsigned range,
264 enum comedi_conversion_direction direction,
265 const comedi_calibration_t *calibration, comedi_polynomial_t* polynomial);
266 int comedi_get_hardcal_converter(
267 comedi_t *dev, unsigned subdevice, unsigned channel, unsigned range,
268 enum comedi_conversion_direction direction, comedi_polynomial_t* polynomial);
269 double comedi_to_physical(lsampl_t data,
270 const comedi_polynomial_t *conversion_polynomial);
271 lsampl_t comedi_from_physical(double data,
272 const comedi_polynomial_t *conversion_polynomial);
274 /* INSN_CONFIG wrappers */
275 int comedi_reset(comedi_t *device, unsigned subdevice);
276 int comedi_arm(comedi_t *device, unsigned subdevice, unsigned target);
277 int comedi_set_counter_mode(comedi_t *device, unsigned subdevice, unsigned mode_bits);
278 int comedi_set_clock_source(comedi_t *device, unsigned subdevice, unsigned clock, unsigned period_ns);
279 int comedi_set_gate_source(comedi_t *device, unsigned subdevice, unsigned gate_index, unsigned gate_source);
280 int comedi_internal_trigger(comedi_t *dev, unsigned subd, unsigned trignum);
281 int comedi_set_other_source(comedi_t *device, unsigned subdevice,
282 unsigned other, unsigned source);