From 0be5b0051387ecd35441a60193def68f058cdc0c Mon Sep 17 00:00:00 2001 From: David Schleef Date: Mon, 21 Jan 2002 15:32:42 +0000 Subject: [PATCH] Move documentation ported to DocBook-3.1 out of docbook directory. --- doc/Makefile | 17 +- doc/{docbook => }/advanced.sgml | 0 doc/comedilib.sgml | 2296 +----------------------------- doc/docbook/Makefile | 18 - doc/docbook/comedilib.sgml | 66 - doc/docbook/drivers.txt | 1075 -------------- doc/{docbook => }/funcref | 0 doc/{docbook => }/install.sgml | 0 doc/{docbook => }/intro.sgml | 0 doc/{docbook => }/mkdr | 0 doc/{docbook => }/mkref | 0 doc/{docbook => }/other.sgml | 0 doc/{docbook => }/reference.sgml | 0 doc/tutorial | 430 ------ doc/{docbook => }/tutorial.sgml | 0 15 files changed, 71 insertions(+), 3831 deletions(-) rename doc/{docbook => }/advanced.sgml (100%) delete mode 100644 doc/docbook/Makefile delete mode 100644 doc/docbook/comedilib.sgml delete mode 100644 doc/docbook/drivers.txt rename doc/{docbook => }/funcref (100%) rename doc/{docbook => }/install.sgml (100%) rename doc/{docbook => }/intro.sgml (100%) rename doc/{docbook => }/mkdr (100%) rename doc/{docbook => }/mkref (100%) rename doc/{docbook => }/other.sgml (100%) rename doc/{docbook => }/reference.sgml (100%) delete mode 100644 doc/tutorial rename doc/{docbook => }/tutorial.sgml (100%) diff --git a/doc/Makefile b/doc/Makefile index 19d8e7d..0137d2a 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -1,9 +1,17 @@ locales = de -all: - sgml2html comedilib.sgml - sgml2txt comedilib.sgml +all: drivers.sgml funcref.sgml + -mkdir -p html + -mkdir -p man + -docbook2html -o html comedilib.sgml + -docbook2man -o man comedilib.sgml + +funcref.sgml: funcref mkref + ./mkref funcref >funcref.sgml + +drivers.sgml: drivers.txt mkdr + ./mkdr drivers.txt >drivers.sgml messages: .phony xgettext -k_ -k_s $(shell find .. -name '*.c') @@ -16,6 +24,9 @@ messages: .phony distclean: clean rm -f *.html *.txt rm -rf locale + rm -rf html + rm -rf man + rm -f drivers.sgml funcref.sgml clean: for i in messages $(locales);do \ diff --git a/doc/docbook/advanced.sgml b/doc/advanced.sgml similarity index 100% rename from doc/docbook/advanced.sgml rename to doc/advanced.sgml diff --git a/doc/comedilib.sgml b/doc/comedilib.sgml index 084ec75..ef1bae2 100644 --- a/doc/comedilib.sgml +++ b/doc/comedilib.sgml @@ -1,2246 +1,64 @@ - + + + + + + + +]>
-Comedi Documentation -<author> -David Schleef <tt/ds@stm.lbl.gov/, -Frank Hess <tt/fmhess@uiuc.edu/ +<artheader> + <title> + Comedi Documentation + + + David + Schleef + +
+ ds@schleef.org +
+ + + + Frank + Hess + +
+ fmhess@uiuc.edu +
+ + + + +&intro + +&install + +&tutorial + +&other + +&drivers + +
+ + Comedi Reference + + + Reference for functions, macros, and constants. + + + &reference + + &funcref + +
-Introduction - -

-This is preliminary documentation for Comedi and Comedilib. - -Installation and configuration -

- -This section covers compiling, installing, and configuring -comedi and comedlib. - - -Compiling and Installing -

- -This section has not been written. - -

-Insmod'ding the kernel module -

- -This section has not been written. - -

-Configuring comedi for your hardware -

- - -I assume that your hardware device is in your computer, and that -you know the relevant details about it, i.e., what kind of card -it is, the I/O base, the IRQ, jumper settings related to input -ranges, etc. - -To tell the comedi kernel module that you have a particular device, and -some information about it, you will be running the comedi_config -command. Perhaps you should read the man page now. - -In this tutorial, I will go through the process of configuring comedi -for two devices, a National Instruments AT-MIO-16E-10 -and a Data Translation DT2821-F-8DI. - -The NI board is plug-and-play, and the man page tells me that I need -to configure the PnP part of the board with isapnptools. The isapnptools -package is a little cryptic, but the concepts are simple. Once I -learned how to use it, I settled on a /etc/isapnp.conf file that -contained the lines: - - - -# ANSI string -->National Instruments, AT-MIO-16E-10<-- -(CONFIGURE NIC2400/10725401 (LD 0 - (IO 0 (BASE 0x0260)) - (INT 0 (IRQ 3 (MODE +E))) -# (DMA 0 (CHANNEL 5)) -# (DMA 1 (CHANNEL 6)) - (ACT Y) -)) - - - -It also contains a few lines about overall configuration and about my -sound card. I found out after a bit of trial-and-error that the NI -board does not always work with interrupts other than IRQ 3. YMMV. -Currently, the driver doesn't use DMA, but it may in the future, so -I commented out the DMA lines. It is a curious fact that the device -ignores the IRQ and DMA information given here, however, I keep the -information here to remind myself that the numbers aren't arbitrary. - -When I run comedi_config (as root, of course), I provide the same -information. Since I want to have the board configured every time -I boot, I put the line - - -/usr/sbin/comedi_config /dev/comedi0 atmio-E 0x260,3 - - -into /etc/rc.d/rc.local. You can, of course, run this command at -a command prompt. The man page tells me that the option list -is supposed to be "(I/O base),(IRQ)", so I used the same numbers -as I put in /etc/isapnp.conf, i.e., 0x260,3. - -For the Data Translation board, I need to have a list of the -jumper settings. Fortunately, I wrote them all down in the -manual -- I hope they are still correct. However, I had to -open the case to figure out which board in the series I had. -It is a DT2821-f-8di. The man page of comedi_config tells -me that I need to know the I/O base, IRQ, DMA 1, DMA 2. However, -since I wrote the driver, I know that it also recognizes the -differential/single-ended and unipolar/bipolar jumpers. As always, -the source is the final authority, and looking in module/dt282x.c -tells me that the options list is interpreted as: - - -I/O base -IRQ -1=differential, 0=single ended -ai 0=unipolar, 1=bipolar -ao0 0=unipolar, 1=bipolar -ao1 0=unipolar, 1=bipolar -dma1 -dma2 - - -(ai=analog input, ao=analog output.) From this, I decide that -the appropriate options list is - - -0x200,4,,1,1,1 - - -I left the differential/single-ended number blank, since the -driver already knowns (from the board name), that it is -differential. I also left the DMA numbers blank, since I -don't want the driver to use DMA. (Don't want it to interfere -with my sound card -- life is full of difficult choices.) -Keep in mind that things commented in the source, but not in -the documentation are about as likely to change as the weather, -so I put good comments next to the following line when I put -it in rc.local. - - -/usr/sbin/comedi_config /dev/comedi1 dt2821-f-8di 0x200,4,,1,1,1 - - -So now I think that I have my boards configured correctly. -Since data acquisition boards are not typically well-engineered, -comedi sometimes can't figure out if the board is actually there. -If it can't, it assumes you are right. Both of these boards -are well-made, so comedi will give me an error message if it -can't find them. The comedi kernel module, since it is a part -of the kernel, prints messages to the kernel logs, which you -can access through the command 'dmesg' or /var/log/messages. -Here is a configuration failure (from dmesg): - - -comedi0: ni_E: 0x0200 can't find board - - -When it does work, I get: - - -comedi0: ni_E: 0x0260 at-mio-16e-10 ( irq = 3 ) - - -Note that it also correctly identified my board. - - -

-Getting information from comedi -

- - -So now that we have comedi talking to the hardware, we want to -talk to comedi. Here's some pretty low-level information -- -it's sometimes useful for debugging: - -

- - -cat /proc/comedi - - -Right now, on my computer, this command gives: - - -comedi version 0.6.4 -format string - 0: atmio-E at-mio-16e-10 7 - 1: dt282x dt2821-f-8di 4 - - -This is a feature that is not well-developed yet. Basically, it -currently tells you driver name, device name, and number of -subdevices. - -In the demo/ directory, there is a command called -info, which provides information about each subdevice on the -board. The output of it is rather long, since I have 7 -subdevices (4 or fewer is common for other boards.) -Here's part of the output of the NI board (which -is on /dev/comedi0.) ('demo/info /dev/comedi0') - - -overall info: - version code: 0x000604 - driver name: atmio-E - board name: at-mio-16e-10 - number of subdevices: 7 -subdevice 0: - type: 1 (unknown) - number of channels: 16 - max data value: 4095 - -... - - -The overall info gives information about the device -- basically -the same information as /proc/comedi. - -This board has 7 subdevices. Devices are separated into -subdevices that each have a distinct purpose -- e.g., analog -input, analog output, digital input/output. This board also -has an EEPROM and calibration DACs that are also subdevices. - -Subdevice 0 is the analog input subdevice. You would have -known this from the 'type: 1 (unknown)' line, if I've updated -demo/info recently, because it would say 'type: 1 (analog input)' -instead. The other lines should be self-explanitory. Comedi -has more information about the device, but demo/info doesn't -currently display this. - -

-Individual drivers -

- -This section contains information that is specific to each -hardware driver. The most current information about a driver -is included in the comedi source. - -National Instruments AT-MIO E series -

- - -Data Translation -

- - - -Writing programs that use comedi and comedilib -

- -Your first comedi program -

- -This example requires a card that has analog or -digital input. Right to the source: - - -#include /* for printf() */ -#include - -int subdev = 0; /* change this to your input subdevice */ -int chan = 0; /* change this to your channel */ -int range = 0; /* more on this later */ -int aref = AREF_GROUND; /* more on this later */ - -int main(int argc,char *argv[]) -{ - comedi_t *it; - lsampl_t data; - - it=comedi_open("/dev/comedi0"); - - comedi_data_read(it,subdev,chan,range,aref,&data); - - printf("%d\n",data); - - return 0; -} - - - -Should be understandable: open the device, get the data, -print it out. This is basically the guts of demo/inp.c, -without error checking or fancy options. -Compile it using - - -cc tut1.c -lcomedi -o tut1 - - -A few notes: The range variable tells comedi which gain -to use when measuring an analog voltage. Since we don't -know (yet) which numbers are valid, or what each means, -we'll use 0, because it won't cause errors. Likewise with -aref, which determines the analog reference used. - - -

-Converting samples to voltages -

- -If you selected an analog input subdevice, you probably noticed -that the output of tut1 is a number between -0 and 4095, or 0 and 65535, depending on the number of bits -in the A/D converter. Comedi samples are always unsigned, -with 0 representing the lowest voltage of the ADC, and 4095 -the highest. Comedi compensates for -anything else the manual for your device says. However, -you probably prefer to have this number translated to -a voltage. Naturally, as a good programmer, your first -question is: "How do I do this in a device-independent -manner?" - -Most devices give you a choice of gain and unipolar/bipolar -input, and Comedi allows you to select which of these to -use. This parameter is called the "range parameter", since -it specifies the "input range" for analog input (or "output range" -for analog output.) The range parameter represents both the gain -and the unipolar/bipolar aspects. - -Comedi keeps the number of available ranges and the largest -sample value for each subdevice/channel combination. (Some -devices allow different input/output ranges for different -channels in a subdevice.) - -The largest sample value can be found using the function: - - comedi_get_maxdata() - -The number of available ranges can be found using the function: - - comedi_get_n_ranges() - -For each value of the range parameter for a particular -subdevice/channel, you can get range information using the -function: - - ptr=comedi_get_range(comedi_file,subdevice,channel, - range) - -which returns a pointer to a comedi_range structure. -The comedi_range structure looks like - -

- -typedef struct{ - double min; - double max; - unsigned int unit; -}comedi_range; - - -The structure element 'min' represents -the voltage corresponding to comedi_data_read() returning 0, -and 'max' represents comedi_data_read() returning 'maxdata', -(i.e., 4095 for 12 bit A/C converters, 65535 for 16 bit, -or, 1 for digital input -- more on this in a bit.) The -'unit' entry tells you if min and -max refer to voltage, current, etc. - -"Could it get easier?", you say. Well, yes. Use -the function comedi_to_phys(), which converts data -values to physical units. Call it using something like - - -volts=comedi_to_phys(it,data,range,maxdata); - - -and the opposite - - -data=comedi_from_phys(it,volts,range,maxdata); - - - -

-Another section -

- - -In addition to providing low level routines for data -access, the comedi library provides higher-level access, -much like the standard C library provides fopen(), etc. -as a high-level (and portable) alternative to the direct -UNIX system calls open(), etc. Similarily to fopen(), -we have comedi_open(): - -

- -file=comedi_open("/dev/comedi0"); - - -where file is of type (comedi_t *). This function -calls open(), like we did explicitly in a previous -section, but also fills the comedi_t structure with -lots of goodies -- information that we will need to use -soon. - -Specifically, we needed to know maxdata for a specific -subdevice/channel. How about: - - -maxdata=comedi_get_maxdata(file,subdevice,channel); - - -Wow. How easy. And the range type? - - -range_type=comedi_get_rangetype(file,subdevice,channel); - - -Cool. Other information you need to know about a channel -can be gotten in a similar way. - - - -Your second comedi program -

- - -Actually, this is the first comedi program again, just -that we've added what we've learned. - - - -#include /* for printf() */ -#include /* also included by comedilib.h */ -#include /* 'cuz we're using comedilib */ - -int subdev = 0; /* change this to your input subdevice */ -int chan = 0; /* change this to your channel */ -int range = 0; /* more on this later */ -int aref = 0; /* more on this later */ - -int main(int argc,char *argv[]) -{ - comedi_t *cf; - int chan=0; - lsampl_t data; - int maxdata,rangetype; - double volts; - - cf=comedi_open("/dev/comedi0"); - - maxdata=comedi_get_maxdata(cf,subdev,chan); - - rangetype=comedi_get_rangetype(cf,subdev,chan); - - comedi_data_read(cf->fd,subdev,chan,range,aref,&data); - - volts=comedi_to_phys(data,rangetype,range,maxdata); - - printf("%d %g\n",data,volts); - - return 0; -} - - - -

-Application-specific functions -

- -Digital Input/Output -

- -Many boards supported by comedi have digital input and output -channels. Some boards allow the direction of a channel to be -specified in software. - -Comedi groups digital channels into subdevice, which is a group -of digital channels that have the same characteristics. For -example, digital output lines will be grouped into a digital -output subdevice, bidirectional digital lines will be grouped -into a digital I/O subdevice. Thus, there can be multiple -digital subdevices on a particular board. - -Individual digital lines can be read and written using the -functions - - -Slowly-varying inputs -

- - -Sometimes, your input channels change slowly enough that -you are able to average many sucessive input values to get a -more accurate measurement of the actual value. In general, -the more samples you average, the better your estimate -gets, roughly by a factor of sqrt(number_of_samples). -Obviously, there are limitations to this: - -

- - -you are ultimately limited by "spurious free dynamic range" - - -you need to have _some_ noise on the input channel, -otherwise you will be averaging the same number N times. - - -the more noise you have, the greater your SFDR, but it -takes many more samples to compensate for the increased -noise - - -if you feel the need to average samples for 2 seconds, -your signal will need to be _very_ slowly-varying, i.e., -not varying more than your target uncertainty for the -entire 2 seconds. - - - -As you might have guessed, the comedi library has functions -to help you in your quest to accurately measure slowly varying -inputs. I use these functions to measure thermocouple voltages --- actually, the library functions came from a section of code -that was previously part of the thermocouple reading program. - -The comedi self-calibration utility also uses these functions. -On some hardware, it is possible to tell it to measure an -internal stable voltage reference, which is typically going -to be very slowly varying -- on the kilosecond time scale -or more. So it is reasonable to measure millions of samples, -to get a very accurate measurement of the A/D converter output -value that corresponds to the voltage reference. Sometimes, -however, this is overkill, since there is no need to -perform a part-per-million calibration to a standard that -is only accurate to part-per-thousand. - - -

-Commands -

- - -Many data acquisition devices have the capability to directly -control acquisition using either an on-board timer or an external -triggering input. Comedi commands are used to control this kind -of acquisition. The structure is -used to control acquisition and query the capabilities of a device -(see also , -, and -). - -Commands specify a particular data acquisition sequence, which -is comprised of a number of scans. Each scan is comprised of -a number of conversions, which usually corresponds to a single -A/D or D/A conversion. The start and end of the sequence, and -the start and end of each scan, and each conversion is called an -event. - -Each of these 5 types of events are caused by a triggering -source, specified through the structure. The source types are: - - -TRIG_NONE: don't ever cause an event -TRIG_NOW: cause event to occur immediately -TRIG_FOLLOW: see notes below -TRIG_TIME: cause event to occur at a particular time -TRIG_TIMER: cause event to occur repeatedly at a specific rate -TRIG_COUNT: cause event when count reaches specific value -TRIG_EXT: external signal causes event -TRIG_INT: internal signal causes event -TRIG_OTHER: driver-specific meaning - - -Not all triggers are applicable to all events. Supported triggers -for specific events depend significantly on your particular -device. The -function is useful for determining what triggers a subdevice supports. - -For every trigger, there is a corresponding -argument (the -structure) whose meaning depends on the type of trigger. The meanings -of the arguments are as follows: - -TRIG_NONE is typically used only as a -structure is the index of the subdevice the command is intended for. The - -function can be useful in discovering the index of your desired subdevice. - -The -structure should point to an array whose number of elements is specificed by macro. - -The structure is -TRIG_BOGUS: do the motions?? -TRIG_DITHER: enable dithering?? -TRIG_DEGLITCH: enable deglitching?? -TRIG_RT: ask driver to use a hard real-time interrupt handler. This will -reduce latency in handling interrupts from your data aquisition hardware. It can -be useful if you are sampling at high frequency, or if your hardware has a small onboard -fifo. You must have a real-time kernel (RTAI or RTLinux) and must compile -comedi with real-time support or this flag will do nothing. -TRIG_CONFIG: perform configuration, not triggering. This is a legacy of the -deprecated comedi_trig_struct, and has no function at present. -TRIG_WAKE_EOS: some drivers will change their behaviour when this flag is set, -trying to transfer data at the end of every scan (instead of, for example, passing -data in chunks whenever the board's onboard fifo is half full). This flag -may degrade a driver's performance at high frequencies. -TRIG_WRITE: write to bidirectional devices. Could be useful in principle, if someone -wrote a driver that supported commands for a digital i/o device that could do either -input or output. - -There are also a few flags that indicate how timing arguments should be rounded -if the hardware cannot achieve the exact timing requested. - -TRIG_ROUND_NEAREST: round to nearest supported timing period, the default. -TRIG_ROUND_DOWN: round period down. -TRIG_ROUND_UP: round period up. -TRIG_ROUND_UP_NEXT: this one doesn't do anything, and I don't know what it was intended -to do?? - - -

- -The typical sequence for executing a command is to first send -the command through - -once or twice. The test will check that the command is valid for the particular -device, and often makes some adjustments to the command arguments, which -can then be read back by the user to see the actual values used. The -command is executed with -. For input/output commands, data -is read from or written to the device file /dev/comedi[0..3] you are using. - -Libcomedi Reference -

- -Constants and Macros -

- -CR_PACK() -

- - structure, and the structure. - -The and - functions -are useful in discovering information about the available ranges. - -The -AREF_GROUND is for inputs/outputs referenced to ground -AREF_COMMON is for a `common' reference (the low inputs of all the channels are tied -together, but are isolated from ground) -AREF_DIFF is for differential inputs/outputs -AREF_OTHER is for any reference that does not fit into the above categories - -Particular drivers may or may not use the AREF flags. If they are not supported, they -are silently ignored. - -

-Source: /include/comedi.h - - -RANGE_LENGTH() -

-The RANGE_LENGTH() macro returns the length of the array that is -specified by the rangetype token. - -

-The RANGE_LENGTH() macro is deprecated, and should not be used in -new applications. It is scheduled to be removed from the header -file at version 1.0. Binary compatibility may be broken for version -1.1. - - -

-Data Types and Structures - -

-comedi_t -

-The data type Source: /include/comedi.h - -

-sampl_t -

-The data type -Most drivers represent data trasferred by Source: /include/comedi.h - -

-lsampl_t -

-The data type Source: /include/comedi.h - -

-comedi_trig_struct -

- -The -struct comedi_trig_struct{ - unsigned int subdev; /* subdevice */ - unsigned int mode; /* mode */ - unsigned int flags; - unsigned int n_chan; /* number of channels */ - unsigned int *chanlist; /* channel/range list */ - sampl_t *data; /* data list, size depends on subd flags */ - unsigned int n; /* number of scans */ - unsigned int trigsrc; - unsigned int trigvar; - unsigned int trigvar1; - unsigned int data_len; - unsigned int unused[3]; -} - - -The Source: /include/comedi.h - -

-comedi_sv_t -

- - -struct comedi_sv_struct{ - comedi_t *dev; - unsigned int subdevice; - unsigned int chan; - - /* range policy */ - int range; - int aref; - - /* number of measurements to average (for ai) */ - int n; - - lsampl_t maxdata; -} - - -The Source: comedilib.h - -

-comedi_cmd -

- - -typedef struct comedi_cmd_struct comedi_cmd; - -struct comedi_cmd_struct{ - unsigned int subdev; - unsigned int flags; - - unsigned int start_src; - unsigned int start_arg; - - unsigned int scan_begin_src; - unsigned int scan_begin_arg; - - unsigned int convert_src; - unsigned int convert_arg; - - unsigned int scan_end_src; - unsigned int scan_end_arg; - - unsigned int stop_src; - unsigned int stop_arg; - - unsigned int *chanlist; - unsigned int chanlist_len; - - sampl_t *data; - unsigned int data_len; -}; - - -

-More information on using commands can be found in the - section. - -

Source: comedilib.h - -

-comedi_insn -

- - -typedef struct comedi_insn_struct comedi_insn; - -struct comedi_insn_struct{ - unsigned int insn; - unsigned int n; - lsampl_t *data; - unsigned int subdev; - unsigned int chanspec; - unsigned int unused[3]; -}; - - -

-Comedi instructions are described by the -The field -INSN_READ read values from an input channel -INSN_WRITE write values to an output channel -INSN_BITS read/write values on multiple digital I/O channels -INSN_CONFIG configure a subdevice -INSN_GTOD read a timestamp, identical to INSN_WAIT wait a specified number of nanoseconds - - -

-The number of samples to read or write, or the size of the configuration -structure is specified by the field -Instructions can be sent to drivers using Source: comedi.h - -

-comedi_range -

- - -typedef struct{ - double min; - double max; - unsigned int unit; -}comedi_range; - - -

-The -XXX RF_EXTERNAL - -

Source: comedilib.h - - -

-comedi_krange -

- - -struct comedi_krange_struct{ - int min; - int max; - unsigned int flags; -}; - - -

-The Source: comedi.h - -Functions -

- -comedi_close() -

- -void comedi_close(comedi_t *it); - -

-Closes a device previously opened by comedi_open(). - -

-The return type of this function will change to -Source: /lib/comedi.c - - -comedi_command() -

- -int comedi_command(comedi_t *it, comedi_cmd *cmd); -

-Issues the command pointed at by to -fix up the command before it can be successfully executed with - for more information. - -

-Source: /lib/comedi.c - - -comedi_command_test() -

- -int comedi_command_test(comedi_t *it, comedi_cmd *cmd); -

- -Tests and fixes up the command pointed at by -0: the command passed the test and can be successfully executed - by . The one exception - to this rule is that the test will allow a NULL chanlist for the command. -1: invalid trigger. One or more of the trigger sources (the *_src members - of the structure) is not - supported by the driver. -2: incompatible triggers. Two or more of the triggers selected are - incompatible with each other. For example, a driver might allow either - the scan_begin_src or the convert_src to be TRIG_TIMER, but not both. -3: argument invalid. One or more argument is invalid, for example - a timing argument might be in excess of the card's maximum speed. The - command test will correct the arguments by modifying the command pointed - at by 4: argument fix up. The command underwent minor adjustment and should - now be valid. For example, a timing argument might not be exactly achievable - by the card so the timing argument will be adjusted to the actual timing - the card will use. -negative: some other error has occured. - -See - for more information. - -

-Source: /lib/comedi.c - - -comedi_data_read() -

- -int comedi_data_read(comedi_t *it,unsigned int subd,unsigned int chan, - unsigned int range,unsigned int aref,lsampl_t *data); - -

-Reads a single sample on the channel that -is specified by the comedi device it, the -subdevice subd, and the channel chan. -For the A/D conversion (if appropriate), -the device is configured to use range specification -range and (if appropriate) analog reference type -aref. Analog reference types that are not supported -by the device are silently ignored. - -

-comedi_data_read() reads one data value from -the specified channel and places the -data value that is read in the location pointed to by -data. - -

-On sucess, comedi_data_read() returns 0. If there is an -error, -1 is returned. - -

-Valid analog reference numbers are: - - -AREF_GROUND Reference to analog ground -AREF_COMMON Reference to analog common -AREF_DIFF Differential reference -AREF_OTHER Board-specific meaning - - -Valid data values returned by these function is an unsigned integer -less than or equal to maxdata, which is channel-dependent. -Conversion of these data value to physical units can be performed -by . - -Source: /lib/data.c - - -comedi_data_write() -

- -int comedi_data_write(comedi_t *it,unsigned int subd,unsigned int chan, - unsigned int range,unsigned int aref,lsampl_t data); - -

-Writes a single sample on the channel that -is specified by the comedi device comedi_data_write() returns 0. If there is an error, -1 is -returned. - -Valid analog reference numbers are: - - -AREF_GROUND Reference to analog ground -AREF_COMMON Reference to analog common -AREF_DIFF Differential reference -AREF_OTHER Board-specific meaning - - -Valid data values used by these functions is an unsigned integer -less than or equal to maxdata, which is channel-dependent. -Conversion of physical units to these data value can be performed -by . - -Source: /lib/data.c - - -

-comedi_dio_bitfield(); - -

- -The function -It should be noted that it is not possible to access channels -greater than 31 using this function. - -

-Source: /lib/dio.c - - -

-comedi_dio_config() -

- -The function - COMEDI_INPUT - COMEDI_OUTPUT - - -Source: /lib/dio.c - - -

-comedi_dio_read() -

- -The function reads the status of channel -This function is equivalent to /lib/dio.c - -

-comedi_dio_write() -

- -The function writes the value of -This function is equivalent to -Source: /lib/dio.c - -

-comedi_fileno() -

- - - -The function dev is an invalid comedi_t -pointer, the function returns -1 and sets the appropriate -libcomedi error value. - -Source: /lib/comedi.c - - -

-comedi_find_range() -

- - -The function chan -belonging to a subdevice of the comedi device it, -that includes both min and max in units. -If a matching range is found, the index of the matching range is -returned. If no matching range is available, the function returns --1. - -

-Valid units are: - - -UNIT_volt -UNIT_mA -UNIT_none - - -Source: /lib/range.c - - -

-comedi_errno() -

- -The function comedi_errno() -returns an integer describing the most recent comedilib error. This -integer may be used as the errnum parameter for -. - -When a libcomedi function fails, it usually returns -1 or -NULL, depending on the return type. An internal library -variable stores an error number, which can be retrieved with -comedi_errno(). This error number can be -converted to a human-readable form by the functions - - and . - -These functions are intended to mimic the behavior of the -standard C library functions perror(), -strerror, and errno(). In particular, -libcomedi functions sometimes return an error that is generated -by the C library; the Comedi error message in this case -is the same as the C library. - -Source: /lib/error.c - - -

-comedi_find_subdevice_by_type() -

- -int comedi_find_subdevice_by_type(comedi_t *it,int type,unsigned int -start_subdevice); - -

-The function comedi_find_subdevice_by_type tries to -locate a subdevice belonging to comedi device it, -having type type, starting with the subdevice -start_subdevice. If it finds the requested subdevice, -it returns its index. If it does not locate the requested -subdevice, it returns -1 and sets the comedi error number to -"subdevice not found". If there is an error, the function -returns -1 and sets the appropriate error. - -

-For subdevice types, see the manual page for the function -. - -Source: /lib/get.c - - -

-comedi_from_phys()

- -rng -represents the conversion information to use, and the parameter -maxdata represents the maximum possible data value for the -channel that the data will be written to. - - -Source: /lib/range.c - - -

-comedi_get_board_name() -

- -/lib/get.c - - -comedi_get_cmd_src_mask() -

- -int comedi_get_cmd_src_mask(comedi_t *dev, unsigned int subdevice, -comedi_cmd *cmd); - -undocumented - -Source: /lib/cmd.c - - -comedi_get_driver_name() -

- -/lib/get.c - - -

-comedi_get_maxdata() -

- - -The function /lib/get.c - - -

-comedi_get_n_channels() -

- -comedi_get_n_channels() returns the number -of channels of the subdevice belonging to the comedi device it -and having index subdevice. This function returns -1 on error. - -Source: /lib/get.c - - -

-comedi_get_n_ranges() -

- -int comedi_get_n_ranges(comedi_t *it,unsigned int subdevice, unsigned int -chan); - -The function comedi_get_n_ranges() returns the number -of ranges of the channel chan belonging to the subdevice -of the comedi device it. This function returns -1 on error. - -Source: /lib/range.c - - -

-comedi_get_n_subdevices() -

- -int comedi_get_n_subdevices(comedi_t *it); - -The function comedi_get_n_subdevices returns the -number of subdevices associated with the comedi descriptor -it, or -1 if there is an error. - -Source: /lib/get.c - - -

-comedi_get_range() -

- -comedi_range * comedi_get_range(comedi_t *it,unsigned int subdevice,unsigned int chan,unsigned int -range); - -The function comedi_get_range returns a pointer to a -comedi_range structure that contains information that can be used to -convert sample values to or from physical units. The pointer is valid -until the comedi device it is closed. If there is an -error, NULL is returned. - -Source: /lib/get.c - -

-comedi_get_rangetype() - -int comedi_get_rangetype(comedi_t *it,unsigned int subdevice,unsigned int -chan); - -The function comedi_get_rangetype() returns an integer -that represents the number of range specifications available for a -particular channel RANGE_LENGTH(rangetype) -can be used to determine the number of range specifications for a given -range type. - -

-This function is deprecated and should not be used in new code. - -Source: /lib/get.c - -

-comedi_get_subdevice_type()

- -int comedi_get_subdevice_type(comedi_t *it,unsigned int subdevice); - -The function comedi_get_subdevice_type() returns an -integer describing the type of subdevice that belongs to the comedi -device it and has the index subdevice. The -function returns -1 is there is an error. - -Valid subdevice types are: - - -COMEDI_SUBD_UNUSED -Subdevice has no functionality, i.e., a place-holder. -COMEDI_SUBD_AI Analog input -COMEDI_SUBD_AO Analog output -COMEDI_SUBD_DI Digital input -COMEDI_SUBD_DO Digital output -COMEDI_SUBD_DIO -Digital input/output. Channels are configurable as to whether they -are inputs or outputs. -COMEDI_SUBD_COUNTER Counter -COMEDI_SUBD_TIMER Timer -COMEDI_SUBD_MEMORY -Memory, e.g., EEPROM or dual-ported RAM -COMEDI_SUBD_CALIB -Calibration DACs -COMEDI_SUBD_PROC -Processor or DSP - - -Source: /lib/get.c - -

-comedi_get_timer() - - -The function comedi_get_timer converts the frequency -This function is deprecated and should not be used in new applications. - -

-Source: /lib/timer.c - -

-comedi_get_version_code() -

- - -The function -This function is of limited usefulness. A typical mis-application -of this function is to use it to determine if a certain feature is -supported. If the application needs -to know of the existence of a particular feature, an existence -test function should be written and put in the libcomedi source. - -Source: /lib/get.c - -

-comedi_loglevel() -

- -int comedi_loglevel(int loglevel); - -

-This function affects the output of debugging and error messages -from libcomedi. By increasing the loglevel, additional debugging -information will be printed. This function returns the previous -loglevel. Error messages and debugging are printed to the -stream -In order to conserve resources, some debugging information is -disabled when libcomedi is compiled. - -

The meaning of the loglevels is as follows: - - - - -Bugs: Libcomedi doesn't currently have much debugging information. - -Source: /lib/error.c - -

-comedi_open() -

- - -You are not supposed to have access to the internals of the -/lib/comedi.c - - -

-comedi_perror()

- -void comedi_perror(const char *s); - -When a comedilib function fails, it usually returns -1 or -NULL, depending on the return type. An internal library -variable stores an error number, which can be retrieved with -. - This error number can be - converted to a human-readable form by the functions -comedi_perror() - and . - -These functions are intended to mimic the behavior of the -standard C library functions perror(), -strerror, and errno(). In particular, -comedilib functions sometimes return an error that is generated -inside the C library; the comedi error message in this case -is the same as the C library. - -The function comedi_perror() prints an error -message to stderr. The error message consists of the -argument string, a colon, a space, a description of the error -condition, and a new line. - -Bugs: Does not support internationalization. - -Source: /lib/error.c - - -

-comedi_strerror()

- -*comedi_strerror(int errnum); - -When a comedilib function fails, it usually returns -1 or -NULL, depending on the return type. An internal library -variable stores an error number, which can be retrieved with -. This error number can be -converted to a human-readable form by the functions - - and comedi_strerror(). - -These functions are intended to mimic the behavior of the -standard C library functions perror(), -strerror, and errno(). In particular, -comedilib functions sometimes return an error that is generated -inside the C library; the comedi error message in this case -is the same as the C library. - -The function comedi_strerror() returns a pointer to a -character string -describing the comedilib error errnum. The persistence -of the returned pointer is undefined, and should not be trusted -after the next libcomedi call. An unrecognized error number will -return a pointer to the string "undefined error", or similar. - -Bugs: Does not support internationalization. - -Source: /lib/error.c - - -

-comedi_sv_init() -

- - -specifies the signal measurement. The default number of averaged -samples is 100. Returns zero on success, -1 on error. - -Bugs: comedi_sv_* was very poorly designed. - -Source: /lib/sv.c - - -

-comedi_sv_update() -

- -/lib/sv.c - - -

-int comedi_sv_measure() -

- -int comedi_sv_measure(comedi_sv_t *it,double *data); - -/lib/sv.c - - -

-comedi_to_phys()

- -/lib/range.c - - -

-comedi_trigger() - - /lib/comedi.c - - -

-comedi_get_subdevice_flags() -

- - -This function returns a bitfield describing the capabilities of the -specified subdevice. If there is an error, -1 is returned. - -

The bits are: - - -SDF_BUSY subdevice is running a command -SDF_BUSY_OWNER subdevice is running a command started by -the file descriptor used by SDF_LOCKED subdevice is locked -SDF_LOCKED_OWNER subdevice is locked by the file descriptor used -by SDF_MAXDATA maximum data values are channel dependent -SDF_FLAGS channel flags are channel dependent -SDF_RANGETYPE range types are channel dependent -SDF_MODE0 deprecated -SDF_MODE1 deprecated -SDF_MODE2 deprecated -SDF_MODE3 deprecated -SDF_MODE4 deprecated -SDF_CMD subdevice supports commands -SDF_READABLE subdevice can be read from -SDF_WRITEABLE subdevice can be written to -SDF_RT deprecated -SDF_GROUND subdevice is capable of ground analog reference -SDF_COMMON subdevice is capable of common analog reference -SDF_DIFF subdevice is capable of differential analog reference -SDF_OTHER subdevice is capable of other analog reference -SDF_DITHER subdevice recognizes dither flag -SDF_DEGLITCH subdevice recognizes deglitch flag -SDF_MMAP deprecated -SDF_RUNNING subdevice is acquiring data (i.e., command has not -completed) -SDF_LSAMPL subdevice uses samples of type lsampl_t (otherwise -sampl_t) -SDF_PACKED subdevice uses bitfield samples (otherwise it uses -one sample per channel) - - - - -

-The bit definitions are part of the Comedi kernel interface. - - -

-comedi_range_is_chan_specific() -

- - -If each channel of the specified subdevice has a different range -specification, this function returns 1. Otherwise, this function -returns 0. On error, this function returns -1. - - -

-Undocumented functions -

- - - -comedi_maxdata_is_chan_specific() -comedi_get_buffer_size() -comedi_get_max_buffer_size() -comedi_set_buffer_size() -comedi_set_max_buffer_size() -comedi_do_insnlist() -comedi_do_insn() -comedi_lock() -comedi_unlock() -comedi_get_cmd_src_mask() -comedi_get_cmd_generic_timed() -comedi_cancel() -comedi_poll() -comedi_get_buffer_contents() -comedi_mark_buffer_read() -comedi_get_buffer_offset() -comedi_set_global_oor_behavior() - - - -Interface reference - -

-This chapter is meant to be a reference for some of the advanced -features of Comedi. - -Digital input combining machines - -

-When one or several digital inputs are used to modify an output -value, either an accumulator or a single digital line or bit, -a bitfield structure is typically used in the Comedi interface. -The digital inputs have two properties, "sensitive" inputs and -"modifier" inputs. Edge transitions on sensitive inputs cause -changes in the output signal, whereas modifier inputs change the -effect of edge transitions on sensitive inputs. Note that inputs -can be both modifier inputs and sensitive inputs. - -

-For simplification purposes, it is assumed that multiple digital -inputs do not change simultaneously. - -

-The combined state of the modifier inputs determine a modifier -state. For each combination of modifier state and sensitive -input, there is a set of bits that determine the effect on the -output value due to positive or negative transitions of the -sensitive input. For each transition direction, there are two -bits defined as follows: - - -00 - transition is ignored -01 - accumulator is incremented, or output is set -10 - accumulator is decremented, or output is cleared -11 - reserved - - -

-For example, a simple digital follower is specified by the bit -pattern 01 10, because it sets the output on positive transitions -of the input, and clears the output on negative transitions. A -digital inverter is similarily 10 01. These systems have only -one sensitive input. - -

-As another example, a simple up counter, which increments on -positive transitions of one input, is specified by 01 00. This -system has only one sensitive input. - -

-When multiple digital inputs are used, the inputs are divided -into two types, inputs which cause changes in the accumulator, and -those that only modify the meaning of transitions on other inputs. -Modifier inputs do not require bitfields, but there needs to be -a bitfield of length 4*(2^(N-1)) for each edge sensitive input, -where N is the total number of inputs. Since N is usually 2 or -3, with only one edge sensitive input, the scaling issues are -not significant. - - - -INSN_CONFIG - -

-Configuration instructions are used to access device and driver features -that do not fit well into other parts of the Comedi interface. This -includes changing the direction of configurable digital I/O lines, -configuring complex triggering engines, and counter/timer configuration. - -

-If a specified ID is not supported, the driver must return -EINVAL. - - -Digital I/O configuration - -

Status: Implemented -

ID: COMEDI_INPUT, COMEDI_OUTPUT, COMEDI_OPENDRAIN -

Length: 1 -

Chanspec: used to specify channel - -

-These IDs are used to configure direction of digital I/O lines. -Direction is chosen by the ID. On typical devices, multiple -channels are grouped together in blocks for determining direction. -Configuring one channel in a block configures the entire block. - -

-There should also be a method to read the configuration. - -

-Errors: Should return -EINVAL if the ID is not supported. - - -Analog conversion configuration - -

Status: design -

ID: not assigned -

Length: -

Chanspec: used to specify channel - -

Description: -

-Some devices have the capability to add white noise (dithering) to -analog input measurement. This additional noise can then be averaged -out, to get a more accurate measurement of the input signal. It -should not be assumed that channels can be separately configured. -A simple design can use 1 bit to turn this feature on/off. - -

-Some devices have the capability of changing the glitch characteristics -of analog output subsytems. The default (off) case should be where -the average settling time is lowest. A simple design can use 1 bit -to turn this feature on/off. - -

-Some devices have a configurable analog filters as part of the analog -input stage. A simple designe can use 1 bit to enable/disable the -filter. Default is disabled, i.e., the filter being bypassed, or if -the choice is between two filters, the filter with the largest -bandwidth. - - - -Analog Output Waveform Generation - -

Status: design -

ID: not assigned -

Length: -

Chanspec: ignored - -

-Some devices have the ability to cyclicly loop through samples kept in -an on-board analog output FIFO. This config should allow the user to -enable/disable this mode. - -

-This config should allow the user to configure the number of samples -to loop through. It may be necessary to configure the channels used. - - -Extended Triggering - -

Status: alpha -

ID: not assigned -

Chanspec: ignored - -

-This section covers common information for all extended -triggering configuration, and doesn't describe a particular -type of extended trigger. - -

-Extended triggering is used to configure triggering engines that -do not fit into commands. In a typical programming sequence, the -application will use configuration instructions to configure an -extended trigger, and the issue a command, specifying TRIG_OTHER -as one of the trigger sources. - -

-Extended trigger configuration should be designed in such a way -that the user can probe for valid parameters, similar to how -command testing works. An extended trigger config instruction -should not configure the hardware directly, rather, the configuration -should be saved until the subsequent command is issued. This -allows more flexibility for future interface changes. - -

-It has not been decided whether the config stage should return a -token that is then used as the trigger argument in the command. -Using tokens is one method to satisfy the problem that extended -trigger configurations may have subtle compatiblity issues with -other trigger sources/arguments that can only be determined at -command test time. Passing all stages of a command test should -only be allowed with a properly configured extended trigger. - -

-Extended triggers must use data[1] as flags. The upper 16 bits -are reserved and used only for flags that are common to -all extended triggers. The lower 16 bits may be defined by the -particular type of extended trigger. - -

-Various types of extended triggers must use data[1] to know which -event the extended trigger will be assigned to in the command -structure. The possible values are an OR'd mask of the following: - - -COMEDI_EV_START -COMEDI_EV_SCAN_BEGIN -COMEDI_EV_CONVERT -COMEDI_EV_SCAN_END -COMEDI_EV_STOP - - - - -Analog Triggering - -

Status: alpha -

ID: not assigned -

Implementation: ni_mio_common -

Chanspec: ignored - - -data 1 - trigger and combining machine configuration -data 2 - analog triggering signal chanspec -data 3 - primary analog level -data 4 - secondary analog level - - -

-Analog triggering is described by a digital combining machine that -has two sensitive digital inputs. The sensitive digital inputs are -generated by configurable analog comparators. The analog comparators -generate a digital 1 when the analog triggering signal is greater -than the comparator level. The digital inputs are not modifier -inputs. Note, however, there is an effective modifier due to the -restriction that the primary analog comparator level must be less -than the secondary analog comparator level. - -

-If only one analog comparator signal is used, the combining machine -for the secondary input should be set to ignored, and the secondary -analog level should be set to 0. - -

-The interpretation of the chanspec and voltage levels is device -dependent, but should correspond to similar values of the analog -input subdevice, if possible. - -

-Notes: Reading range information is not addressed. This makes it -difficult to convert comparator voltages to data values. - -

-Possible extensions: A parameter that specifies the necessary time -that the set condition has to be true before the trigger is generated. -A parameter that specifies the necessary time that the reset condition -has to be true before the state machine is reset. - - -Bitfield Pattern Matching Extended Trigger - -

Status: design -

ID: not assigned -

Chanspec: ignored - -

- -data 1 - trigger flags -data 2 - mask -data 3 - pattern - - -

-The pattern matching trigger issues a trigger when all of a specifed -set of input lines match a specified pattern. If the device allows, -the input lines should correspond to the input lines of a digital input -subdevice, however, this will necessarily be device dependent. Each -possible digital line that can be matched is assigned a bit in the -mask and pattern. A bit set in the mask indicates that the -input line must match the corresponding bit in the pattern. -A bit cleared in the mask indicates that the input line is ignored. - -

-Notes: This only allows 32 bits in the pattern/mask, which may be -too few. Devices may support selecting different sets of lines from -which to match a pattern. - -

-Discovery: The number of bits can be discovered by setting the mask -to all 1's. The driver must modify this value and return -EAGAIN. - - -Counter configuration - -

Status: design -

ID: not assigned -

Chanspec: used to specify counter - -

- -data 1 - trigger configuration -data 2 - primary input chanspec -data 3 - primary combining machine configuration -data 4 - secondary input chanspec -data 5 - secondary combining machine configuration -data 6 - latch configuration - - -

-Counters can be operated either in synchronous mode (using insn_read) -or asynchronous mode (using commands), similar to analog input subdevices. -The input signal for both modes is the accumulator. -Commands on counter subdevices are almost always specified using -scan_begin_src=TRIG_OTHER, with the counter configuration also serving -as the extended configuration for the scan begin source. - -

-Counters are made up of an accumulator and a combining machine that -determines when the accumulator should be incremented or decremented -based on the values of the input signals. The combining machine -optionally determines when the accumulator should be latched and -put into a buffer. This feature is used in asynchronous mode. - - -

-Notes: How to access multiple pieces of data acquired at each event? - - -One source plus auxiliary counter configuration - -

Status: design -

ID: not assigned -

Chanspec: ? - -

-data[1] is flags, including the flags for the command triggering -configuration. If a command is not subsequently issued on the -subdevice, the command triggering portion of the flags are ignored. - -

-data[2] determines the mode of operation. The mode of operation -is actually a bitfield that encodes what to do for various -transitions of the source signals. - -

-data[3] and data[4] determine the primary source for the counter, -similar to _src and _arg used in commands. - - -

-Notes: How to specify which events cause a latch and push, and what -should get latched. diff --git a/doc/docbook/Makefile b/doc/docbook/Makefile deleted file mode 100644 index b6f8212..0000000 --- a/doc/docbook/Makefile +++ /dev/null @@ -1,18 +0,0 @@ - -all: drivers.sgml funcref.sgml - -mkdir -p html - -mkdir -p man - -docbook2html -o html comedilib.sgml - -docbook2man -o man comedilib.sgml - -funcref.sgml: funcref mkref - ./mkref funcref >funcref.sgml - -drivers.sgml: drivers.txt mkdr - ./mkdr drivers.txt >drivers.sgml - -clean: - -rm -rf html - -rm -rf man - -rm -f drivers.sgml funcref.sgml - diff --git a/doc/docbook/comedilib.sgml b/doc/docbook/comedilib.sgml deleted file mode 100644 index ef1bae2..0000000 --- a/doc/docbook/comedilib.sgml +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - -]> - -

- - - - Comedi Documentation - - - David - Schleef - -
- ds@schleef.org -
- - - - Frank - Hess - -
- fmhess@uiuc.edu -
- - - - -&intro - -&install - -&tutorial - -&other - -&drivers - -
- - Comedi Reference - - - Reference for functions, macros, and constants. - - - &reference - - &funcref - -
- - - - -
- diff --git a/doc/docbook/drivers.txt b/doc/docbook/drivers.txt deleted file mode 100644 index d362f40..0000000 --- a/doc/docbook/drivers.txt +++ /dev/null @@ -1,1075 +0,0 @@ -Driver: 8255.o -Description: generic 8255 support -Devices: [standard] 8255 (8255) -Author: ds - -The classic in digital I/O. Three channels of 8 bit digital I/O, -each channel is I/O configurable, channels 0 and 1 in 8 bit units, -channel 2 in 4 bit units. The driver does not support modes 1 or 2 -yet, since I don't really understand how they would potentially be used. -(Send me email if you want to use these modes.) If and when -modes 1 and 2 are supported, there is a strong possibility that the -3rd channel will be split into two 4-bit channels. (Refer to the -8255 spec for clues as to why.) - -You should configure this driver if you plan to use a board that -has an 8255 chip. For multifunction boards, the main driver will -configure the 8255 subdevice automatically. - -This driver also works independently with ISA cards that directly -map the 8255 registers to I/O ports, including cards with multiple -8255 chips. To configure the driver for such a card, the option -list should be a list of the I/O port bases for each of the 8255 -chips. - - - -Driver: adl_pci9118.o -Description: Adlink PCI-9118DG, PCI-9118HG, PCI-9118HR -Author: Michal Dobes -Devices: [ADLink] PCI-9118DG (pci9118dg), PCI-9118HG (pci9118hg), - PCI-9118HR (pci9118hr) -Status: works - -This driver supports AI, AO, DI and DO subdevices. -AI subdevice supports cmd and insn interface, -other subdevices support only insn interface. -For AI: -- If cmd->scan_begin_src=TRIG_EXT then trigger input is TGIN (pin 46). -- If cmd->convert_src=TRIG_EXT then trigger input is EXTTRG (pin 44). -- If cmd->start_src/stop_src=TRIG_EXT then trigger input is TGIN (pin 46). -- It is not neccessary to have cmd.scan_end_arg=cmd.chanlist_len but - cmd.scan_end_arg modulo cmd.chanlist_len must by 0. -- If return value of cmdtest is 5 then you've bad channel list - (it isn't possible mixture S.E. and DIFF inputs or bipolar and unipolar - ranges). -There is know problem with this driver: -- If you use scan_begin_src=TRIG_EXT & convert_src=TRIG_TIMER - then this mode sometimes discards some samples. :-(( - -Configuration options: - [0] - PCI bus of device (optional) - [1] - PCI slot of device (optional) - If bus/slot is not specified, the first available PCI - device will be used. - -If you have an external multiplexer, the third option in the option -list should be used to indicate the number of channels in the -multiplexer. - - - -Driver: adv_pci1710.o -Description: Advantech PCI-1710, PCI-1710HG, PCI-1711, PCI-1713, - Advantech PCI-1720, PCI-1731 -Author: Michal Dobes -Devices: [Advantech] PCI-1710 (pci1710), PCI-1710HG (pci1710hg), - PCI-1711 (pci1711), PCI-1713 (pci1713), PCI-1720 (pci1720), - PCI-1731 (pci1731) -Status: works - -This driver supports AI, AO, DI and DO subdevices. -AI subdevice supports cmd and insn interface, -other subdevices support only insn interface. - -The PCI-1710 and PCI-1710HG have the same PCI device ID, so the -driver cannot distinguish between them, as would be normal for a -PCI driver. - -Configuration options: - [0] - PCI bus of device (optional) - [1] - PCI slot of device (optional) - If bus/slot is not specified, the first available PCI - device will be used. - - - -Driver: amplc_pci230.o -Description: Driver for Amplicom PCI230 and PCI260 Multifunction I/O boards -Author: Allan Willcox -Updated: Mon, 3 Sep 2001 17:37:12 -0700 -Devices: [Amplicon] PCI230 (amplc_pci230), PCI260 - - - -Driver: cb_pcidas.o -Description: Driver for the ComputerBoards/MeasurementComputing cards - of the PCI-DAS series with the AMCC S5933 PCI controller. -Author: Ivan Martinez , - Frank Mori Hess -Status: - - PCI-DAS1602/16: Analog input is tested, works. Analog output untested. - - PCI-DAS1602/16jr: Driver should work, but untested. Please - report usage. - - PCI-DAS1602/12: Same as above. - - PCI-DAS1200, 1200jr: Tested, works. - - PCI-DAS1000, 1001, 1002: Should work, but untested. Please report - usage. - - The boards' autocalibration features are not yet supported. - -Updated: 2002-1-09 -Devices: [Measurement Computing] PCI-DAS1602/16 (cb_pcidas), - PCI-DAS1602/16jr, PCI-DAS1602/12, PCI-DAS1200, PCI-DAS1200jr, - PCI-DAS1000, PCI-DAS1001, PCI_DAS1002 - -Configuration options: - [0] - PCI bus of device (optional) - [1] - PCI slot of device (optional) - If bus/slot is not specified, the first available PCI - device will be used. - -For commands, the scanned channels must be consecutive -(i.e. 4-5-6-7, 2-3-4,...), and must all have the same -range and aref. - - - -Driver: cb_pcidas64.o -Description: Driver for the ComputerBoards/MeasurementComputing - PCI-DAS64xxx series with the PLX 9080 PCI controller. -Author: Frank Mori Hess -Status: Experimental -Updated: 2001-9-19 -Devices: [Measurement Computing] PCI-DAS6402/16 (cb_pcidas64), - PCI-DAS6402/12, PCI-DAS64/M1/16, PCI-DAS64/M2/16, - PCI-DAS64/M3/16, PCI-DAS6402/16/JR, PCI-DAS64/M1/16/JR, - PCI-DAS64/M2/16/JR, PCI-DAS64/M3/16/JR, PCI-DAS64/M1/14, - PCI-DAS64/M2/14, PCI-DAS64/M3/14 -Configuration options: - [0] - PCI bus of device (optional) - [1] - PCI slot of device (optional) - -Basic insn support should work, but untested as far as I know. -Has command support for analog input, which may also work. Support -for pci dma transfers can be enabled by editing the source to #define -PCIDMA instead of #undef'ing it. This driver is in need of stout-hearted -testers who aren't afraid to crash their computers in the name of progress. -Feel free to send and success/failure reports to author. - -Some devices are not identified because the PCI device IDs are not known. - - - -Driver: cb_pcidda.o -Description: ComputerBoards/MeasurementComputing PCI-DDA series -Author: Ivan Martinez , Frank Mori Hess -Status: Supports 08/16, 04/16, 02/16, 08/12, 04/12, and 02/12 -Devices: [Measurement Computing] PCI-DDA08/12 (cb_pcidda), PCI-DDA04/12, - PCI-DDA02/12, PCI-DDA08/16, PCI-DDA04/16, PCI-DDA02/16 - -Configuration options: - [0] - PCI bus of device (optional) - [1] - PCI slot of device (optional) - If bus/slot is not specified, the first available PCI - device will be used. - -Only simple analog output writing is supported. - -SO FAR IT HAS ONLY BEEN TESTED WITH: - - PCI-DDA08/12 -PLEASE REPORT IF YOU ARE USING IT WITH A DIFFERENT CARD -. - - - -Driver: comedi_parport.o -Description: Standard PC parallel port -Author: ds -Status: works in immediate mode -Devices: [standard] parallel port (comedi_parport) - -A cheap and easy way to get a few more digital I/O lines. Steal -additional parallel ports from old computers or your neighbors' -computers. - -Option list: - 0: I/O port base for the parallel port. - 1: IRQ - -Parallel Port Lines: - -pin subdev chan aka ---- ------ ---- --- -1 2 0 strobe -2 0 0 data 0 -3 0 1 data 1 -4 0 2 data 2 -5 0 3 data 3 -6 0 4 data 4 -7 0 5 data 5 -8 0 6 data 6 -9 0 7 data 7 -10 1 3 acknowledge -11 1 4 busy -12 1 2 output -13 1 1 printer selected -14 2 1 auto LF -15 1 0 error -16 2 2 init -17 2 3 select printer -18-25 ground - -Notes: - -Channel 0 and 2 are output, channel 1 is input. I know that it -is possible to change this with ECP/EPP parallel ports, but this -driver is a cheap hack. - -Pins 13 and 14 are inverted once by comedi and once by the -hardware, thus cancelling the effect. - -Pin 1 is a strobe, thus acts like one. There's no way in software -to change this, at least on a standard parallel port. - -Subdevice 3 pretends to be a digital input subdevice, but it always -returns 0 when read. However, if you run a command with -scan_begin_src=TRIG_EXT, it uses pin 13 as a external triggering -pin, which can be used to wake up tasks. (or is that pin 10. --ds) - - - -Driver: comedi_rt_timer.o -Description: Command emulator using real-time tasks -Authors: ds, fmhess -Devices: -Status: works - -This driver requires RTAI or RTLinux to work correctly. It doesn't -actually drive hardware directly, but calls other drivers and uses -a real-time task to emulate commands for drivers and devices that -are incapable of native commands. Thus, you can get accurately -timed I/O on any device. - -Since the timing is all done in software, sampling jitter is much -higher than with a device that has an on-board timer, and maximum -sample rate is much lower. - -Configuration options: - [0] - device index - [1] - subdevice index - - - -Driver: daqboard2000.o -Description: IOTech DAQBoard/2000 -Author: Anders Blomdell -Status: works -Devices: [IOTech] DAQBoard/2000 (daqboard2000) - -Much of the functionality of this driver was determined from reading -the source code for the Windows driver. - -The FPGA on the board requires initialization code, which can either -be compiled into the driver or loaded by comedi_config using the -i -option. The latter is recommended, in order to save a bit of kernel -memory. - -Configuration options: - [0] - pointer to FPGA initialization data - The pointer and size options are handled automatically - by comedi_config when you use the -i option. - [1] - size of FPGA data - - - -Driver: das08.o -Description: DAS-08 compatible boards -Authors: Warren Jasper, ds, Frank Hess -Devices: [ComputerBoards] DAS08 (das08), DAS08-PGM (das08-pgm), - DAS08-PGH (das08-pgh), DAS08-PGL (das08-pgl), DAS08-AOH (das08-aoh), - DAS08-AOL (das08-aol), DAS08-AOM (das08-aom), DAS08/JR-AO (das08/jr-ao), - DAS08/JR-16-AO (das08jr-16-ao), PCI-DAS08 (pci-das08), PCM-DAS08 (pcm-das08), - PC104-DAS08 (pc104-das08), DAS08/JR/16 (das08jr/16) -Status: works - -This is a rewrite of the das08 and das08jr drivers. - -Options (for ISA cards): - [0] - base io address - -Options (for pci-das08): - [0] - bus (optional) - [1] = slot (optional) -Use the name 'pci-das08' for the pci-das08, NOT 'das08'. - -Options (for pcm-das08): - NONE - -The das08 driver doesn't support asynchronous commands, since -the cheap das08 hardware doesn't really support them (except for -pcm-das08). The -comedi_rt_timer driver can be used to emulate commands for this -driver. - - - -Driver: das16.o -Description: DAS16 compatible boards -Authors: Sam Moore, Warren Jasper, ds, Chris Baugher, Frank Hess -Devices: [Keithley Metrabyte] DAS-16 (das-16), DAS-16G (das-16g), - DAS-16F (das-16f), DAS-1201 (das-1201), DAS-1202 (das-1202), - DAS-1401 (das-1401), DAS-1402 (das-1402), DAS-1601 (das-1601), - DAS-1602 (das-1602), - [ComputerBoards] PC104-DAS16/JR (pc104-das16jr), - PC104-DAS16JR/16 (pc104-das16jr/16), - CIO-DAS16/JR (cio-das16/jr), CIO-DAS1401/12 (cio-das1401/12), - CIO-DAS1402/12 (cio-das1402/12), CIO-DAS1402/16 (cio-das1402/16), - CIO-DAS1601/12 (cio-das1601/12), CIO-DAS1602/12 (cio-das1602/12), - CIO-DAS1602/16 (cio-das1602/16), CIO-DAS16/330 (cio-das16/330) -Status: works in das16 mode, das-1600 enhanced mode features untested. -Updated: 2001-8-27 - -A rewrite of the das16 and das1600 drivers. -Options: - [0] - base io address - [1] - irq (optional) - [2] - dma (optional) - [3] - master clock speed in MHz (optional, 1 or 10, ignored if - board can probe clock, defaults to 1) - [4] - analog input range lowest voltage in microvolts (optional, - only useful if your board does not have software - programmable gain) - [5] - analog input range highest voltage in microvolts (optional, - only useful if board does not have software programmable - gain) - [6] - analog output range lowest voltage in microvolts (optional) - [7] - analog output range highest voltage in microvolts (optional) - -Passing a zero for an option is the same as leaving it unspecified. - -Both an irq line and dma channel are required for timed or externally -triggered conversions. - - - -Driver: das16m1.o -Description: CIO-DAS16/M1 -Authors: Frank Mori Hess -Devices: [MeasurementComputing] CIO-DAS16/M1 (cio-das16/m1) -Status: works - -This driver supports a single board - the CIO-DAS16/M1. -As far as I know, there are no other boards that have -the same register layout. Even the CIO-DAS16/M1/16 is -significantly different. - -I was _barely_ able to reach the full 1 MHz capability -of this board, using a hard real-time interrupt -(set the TRIG_RT flag in your comedi_cmd and use -rtlinux or RTAI). The board can't do dma, so the bottleneck is -pulling the data across the ISA bus. I timed the interrupt -handler, and it took my computer ~470 microseconds to pull 512 -samples from the board. So at 1 Mhz sampling rate, -expect your CPU to be spending almost all of its -time in the interrupt handler. - -This board has some unusual restrictions for its channel/gain list. If the -list has 2 or more channels in it, then two conditions must be satisfied: -(1) - even/odd channels must appear at even/odd indices in the list -(2) - the list must have an even number of entries. - -Options: - [0] - base io address - [1] - irq (optional, but you probably want it) - -irq can be omitted, although the cmd interface will not work without it. - - - -Driver: das1800.o -Description: Keithley Metrabyte DAS1800 (& compatibles) -Author: Frank Mori Hess -Devices: [Keithley Metrabyte] DAS-1701ST (das-1701st), - DAS-1701ST-DA (das-1701st-da), DAS-1701/AO (das-1701ao), - DAS-1702ST (das-1702st), DAS-1702ST-DA (das-1702st-da), - DAS-1702HR (das-1702hr), DAS-1702HR-DA (das-1702hr-da), - DAS-1702/AO (das-1702ao), DAS-1801ST (das-1801st), - DAS-1801ST-DA (das-1801st-da), DAS-1801HC (das-1801hc), - DAS-1801AO (das-1801ao), DAS-1802ST (das-1802st), - DAS-1802ST-DA (das-1802st-da), DAS-1802HR (das-1802hr), - DAS-1802HR-DA (das-1802hr-da), DAS-1802HC (das-1802hc), - DAS-1802AO (das-1802ao) -Status: works - -The waveform analog output on the 'ao' cards is not supported. -If you need it, send me (Frank Hess) an email. - -Configuration options: - [0] - I/O port base address - [1] - IRQ (optional, required for timed or externally triggered conversions) - [2] - DMA0 (optional, requires irq) - [3] - DMA1 (optional, requires irq and dma0) - - - -Driver: das6402.o -Description: Keithley Metrabyte DAS6402 (& compatibles) -Author: Oystein Svendsen -Status: unknown -Devices: [Keithley Metrabyte] DAS6402 (das6402) - - - -Driver: das800.o -Description: Keithley Metrabyte DAS800 (& compatibles) -Author: Frank Mori Hess -Devices: [Keithley Metrabyte] DAS-800 (das-800), DAS-801 (das-801), - DAS-802 (das-802), - [Measurement Computing] CIO-DAS800 (cio-das800), - CIO-DAS801 (cio-das801), CIO-DAS802 (cio-das802), - CIO-DAS802/16 (cio-das802/16) -Status: works, cio-das802/16 untested - email me if you have tested it - -Configuration options: - [0] - I/O port base address - [1] - IRQ (optional, required for timed or externally triggered conversions) - - - -Driver: dt2801.o -Description: Data Translation DT2801 series and DT01-EZ -Author: ds -Status: works -Devices: [Data Translation] DT2801 (dt2801), DT2801-A, DT2801/5716A, - DT2805, DT2805/5716A, DT2808, DT2818, DT2809, DT01-EZ - -This driver can autoprobe the type of board. - -Configuration options: - [0] - I/O port base address - [1] - unused - [2] - A/D reference 0=differential, 1=single-ended - [3] - A/D range - 0 = [-10,10] - 1 = [0,10] - [4] - D/A 0 range - 0 = [-10,10] - 1 = [-5,5] - 2 = [-2.5,2.5] - 3 = [0,10] - 4 = [0,5] - [5] - D/A 1 range (same choices) - - - -Driver: dt2811.o -Description: Data Translation DT2811 -Author: ds -Devices: [Data Translation] DT2811-PGL (dt2811-pgl), DT2811-PGH (dt2811-pgh) -Status: works - -Configuration options: - [0] - I/O port base address - [1] - IRQ, although this is currently unused - [2] - A/D reference - 0 = signle-ended - 1 = differential - 2 = pseudo-differential (common reference) - [3] - A/D range - 0 = [-5,5] - 1 = [-2.5,2.5] - 2 = [0,5] - [4] - D/A 0 range (same choices) - [4] - D/A 1 range (same choices) - - - -Driver: dt2814.o -Description: Data Translation DT2814 -Author: ds -Status: complete -Devices: [Data Translation] DT2814 (dt2814) - -Configuration options: - [0] - I/O port base address - [1] - IRQ - -This card has 16 analog inputs multiplexed onto a 12 bit ADC. There -is a minimally useful onboard clock. The base frequency for the -clock is selected by jumpers, and the clock divider can be selected -via programmed I/O. Unfortunately, the clock divider can only be -a power of 10, from 1 to 10^7, of which only 3 or 4 are useful. In -addition, the clock does not seem to be very accurate. - - - -Driver: dt2815.o -Description: Data Translation DT2815 -Author: ds -Status: mostly complete, untested -Devices: [Data Translation] DT2815 (dt2815) - -I'm not sure anyone has ever tested this board. If you have information -contrary, please update. - -Configuration options: - [0] - I/O port base base address - [1] - IRQ (unused) - [2] - Voltage unipolar/bipolar configuration - 0 == unipolar 5V (0V -- +5V) - 1 == bipolar 5V (-5V -- +5V) - [3] - Current offset configuration - 0 == disabled (0mA -- +32mAV) - 1 == enabled (+4mA -- +20mAV) - [4] - Firmware program configuration - 0 == program 1 (see manual table 5-4) - 1 == program 2 (see manual table 5-4) - 2 == program 3 (see manual table 5-4) - 3 == program 4 (see manual table 5-4) - [5] - Analog output 0 range configuration - 0 == voltage - 1 == current - [6] - Analog output 1 range configuration (same options) - [7] - Analog output 2 range configuration (same options) - [8] - Analog output 3 range configuration (same options) - [9] - Analog output 4 range configuration (same options) - [10] - Analog output 5 range configuration (same options) - [11] - Analog output 6 range configuration (same options) - [12] - Analog output 7 range configuration (same options) - - - -Driver: dt2817.o -Description: Data Translation DT2817 -Author: ds -Status: complete -Devices: [Data Translation] DT2817 (dt2817) - -A very simple digital I/O card. Four banks of 8 lines, each bank -is configurable for input or output. One wonders why it takes a -50 page manual to describe this thing. - -The driver (which, btw, is much less than 50 pages) has 1 subdevice -with 32 channels, configurable in groups of 8. - -Configuration options: - [0] - I/O port base base address - - - -Driver: dt282x.o -Description: Data Translation DT2821 series (including DT-EZ) -Author: ds -Devices: [Data Translation] DT2821 (dt2821), DT2823 (dt2823), - DT2824-PGH (dt2824-pgh), DT2824-PGL (dt2824-pgl), DT2825 (dt2825), - DT2827 (dt2827), DT2828 (dt2828), DT21-EZ (dt21-ez), DT23-EZ (dt23-ez), - DT24-EZ (dt24-ez), DT24-EZ-PGL (dt24-ez-pgl) -Status: complete -Updated: Wed, 22 Aug 2001 17:11:34 -0700 - -Configuration options: - [0] - I/O port base address - [1] - IRQ - [2] - DMA 1 - [3] - DMA 2 - [4] - AI jumpered for 0=single ended, 1=differential - [5] - AI jumpered for 0=straight binary, 1=2's complement - [6] - AO 0 jumpered for 0=straight binary, 1=2's complement - [7] - AO 1 jumpered for 0=straight binary, 1=2's complement - [8] - AI jumpered for 0=[-10,10]V, 1=[0,10], 2=[-5,5], 3=[0,5] - [9] - AO 0 jumpered for 0=[-10,10]V, 1=[0,10], 2=[-5,5], 3=[0,5], - 4=[-2.5,2.5] - [10]- A0 1 jumpered for 0=[-10,10]V, 1=[0,10], 2=[-5,5], 3=[0,5], - 4=[-2.5,2.5] - -Notes: - - AO commands might be broken. - - If you try to run a command on both the AI and AO subdevices - simultaneously, bad things will happen. The driver needs to - be fixed to check for this situation and return an error. - - - -Driver: dt3000.o -Description: Data Translation DT3000 series -Author: ds -Devices: [Data Translation] DT3001 (dt3000), DT3001-PGL, DT3002, DT3003, - DT3003-PGL, DT3004, DT3005, DT3004-200 -Status: untested - - - -Driver: fl512.o -Description: unknown -Author: unknown -Devices: [unknown] FL512 (fl512) - -Digital I/O is not supported. - -Configuration options: - [0] - I/O port base address - - - -Driver: icp_multi.o -Description: Inova ICP Multi -Author: Anne Smorthit -Devices: [Inova] ICP Multi (icp_multi) - - - - -Driver: ii_pci20kc.o -Description: Intelligent Instruments PCI-20001C carrier board -Author: Markus Kempf -Devices: [Intelligent Instrumentation] PCI-20001C (ii_pci20kc) -Status: works - -Supports the PCI-20001 C-2a Carrier board, and could probably support -the other carrier boards with small modifications. Modules supported -are: - PCI-20006 M-2 16-bit analog output module - PCI-20341 M-1A 16-bit analog input module - -Options: - 0 Board base address - 1 IRQ - 2 first option for module 1 - 3 second option for module 1 - 4 first option for module 2 - 5 second option for module 2 - 6 first option for module 3 - 7 second option for module 3 - -options for PCI-20006M: - first: Analog output channel 0 range configuration - 0 bipolar 10 (-10V -- +10V) - 1 unipolar 10 (0V -- +10V) - 2 bipolar 5 (-5V -- 5V) - second: Analog output channel 1 range configuration - -options for PCI-20341M: - first: Analog input gain configuration - 0 1 - 1 10 - 2 100 - 3 200 - - - -Driver: mpc8260cpm.o -Description: MPC8260 CPM module generic digital I/O lines -Devices: [Motorola] MPC8260 CPM (mpc8260cpm) -Author: ds - -This driver is specific to the Motorola MPC8260 processor, allowing -you to access the processor's generic digital I/O lines. - - - -Driver: multiq3.o -Description: Quanser Consulting MultiQ-3 -Author: Anders Blomdell -Status: works -Devices: [Quanser Consulting] MultiQ-3 (multiq3) - - - - -Driver: ni_670x.o -Description: National Instruments 670x -Author: Bart Joris -Updated: Wed, 22 Aug 2001 22:47:32 -0700 -Devices: [National Instruments] PCI-6703 (ni_670x), PCI-6704 - -The driver currently does not recognize the 6704, because the PCI -ID is not known. - - - -Driver: ni_at_a2150.o -Description: National Instruments AT-A2150 -Author: Frank Mori Hess -Status: works -Devices: [National Instruments] AT-A2150C (at_a2150c), AT-2150S (at_a2150s) - -If you want to ac couple the board's inputs, use AREF_OTHER. - -Configuration options: - [0] - I/O port base address - [1] - IRQ (optional, required for timed conversions) - [2] - DMA (optional, required for timed conversions) - - - - -Driver: ni_atmio.o -Description: National Instruments AT-MIO-E series -Author: ds -Devices: [National Instruments] AT-MIO-16E-1 (ni_atmio), - AT-MIO-16E-2, AT-MIO-16E-10, AT-MIO-16DE-10, AT-MIO-64E-3, - AT-MIO-16XE-50, AT-MIO-16XE-10, AT-AI-16XE-10 - -The isapnptools package is required to use this board. Use isapnp to -configure the I/O base for the board, and then pass the same value as -a parameter in comedi_config. A sample isapnp.conf file is included -in the etc/ directory. - -Assuming that the NI spec is correct, the driver should correctly -identify every board in the series. Each channel should have the -appropriate parameters, i.e., input/output ranges, number of bits, -etc. If the driver fails to recognize your card or does not have -the correct parameters, please contact me. - -Comedilib includes a utility to autocalibrate these boards. The -boards seem to boot into a state where the all calibration DACs -are at one extreme of their range, thus the default calibration -is terrible. Calibration at boot is strongly encouraged. - -External triggering is supported for some events. The channel index -(scan_begin_arg, etc.) maps to PFI0 - PFI9. - - - -Driver: ni_atmio16d.o -Description: National Instruments AT-MIO-16D -Author: Chris R. Baugher -Status: unknown -Devices: [National Instruments] AT-MIO-16 (atmio16), AT-MIO-16D (atmio16d) - - - -Driver: ni_labpc.o -Description: National Instruments Lab-PC (& compatibles) -Author: Frank Mori Hess -Devices: [National Instruments] DAQCard-1200 (daqcard-1200), Lab-PC-1200 (labpc-1200), - Lab-PC-1200AI (labpc-1200ai), Lab-PC+ (lab-pc+), PCI-1200 (pci-1200) -Status: Works (tested with lab-pc-1200). For the older Lab-PC+, not all input - ranges and analog references will work, the available - ranges/arefs will depend on how you have configured - the jumpers on your board (see your owner's manual). - -Configuration options - ISA boards: - [0] - I/O port base address - [1] - IRQ (optional, required for timed or externally triggered conversions) - [2] - DMA channel (optional) - -Configuration options - PCI boards: - [0] - bus (optional) - [1] - slot (optional) - -Configuration options - PCMCIA boards: - none - -Lab-pc+ has quirky chanlist when scanning multiple channels. Scan sequence must start -at highest channel, then decrement down to channel 0. 1200 series cards can scan down -like lab-pc+ or scan up from channel zero. - - - - -Driver: ni_mio_cs.o -Description: National Instruments DAQCard E series -Author: ds -Status: works -Devices: [National Instruments] DAQCard-AI-16XE-50 (ni_mio_cs), - DAQCard-AI-16E-4, DAQCard-6062E, DAQCard-6024E - -See the notes in the ni_atmio.o driver. - - - -Driver: ni_pcidio.o -Description: National Instruments PCI-DIO32HS, PCI-DIO96, PCI-6533, PCI-6503 -Author: ds -Status: works in immediate mode -Devices: [National Instruments] PCI-DIO-32HS (ni_pcidio), PXI-6533, - PCI-DIO-96, PCI-DIO-96B, PXI-6508, PCI-6503, PCI-6503B, PCI-6503X, - PXI-6503 - -The DIO-96 appears as four 8255 subdevices. See the 8255 -driver notes for details. - -The DIO32HS board appears as one subdevice, with 32 channels. -Each channel is individually I/O configurable. The channel order, -as one might guess, is 0=A0, 1=A1, 2=A2, ... 8=B0, 16=C0, 24=D0. - -DMA is halfway completed, but not operational, for the PCI-DIO32HS. - -This driver could be easily modified to support AT-MIO32HS and -AT-MIO96. - - - -Driver: ni_pcimio.o -Description: National Instruments PCI-MIO-E series (all boards) -Author: ds -Status: mainly limited by Comedi infrastructure -Devices: [National Instruments] PCI-MIO-16XE-50 (ni_pcimio), - PCI-MIO-16XE-10, PXI-6030E, PCI-MIO-16E-1, PCI-MIO-16E-4, PCI-6040E, - PXI-6040E, PCI-6031E, PCI-6032E, PCI-6033E, PCI-6071E, PCI-6023E, - PCI-6024E, PCI-6025E, PXI-6025E, PCI-6034E, PCI-6035E, PCI-6052E, - PCI-6110E, PCI-6111E, PCI-6711, PCI-6713, PXI-6071E, PXI-6070E, - PXI-6052E, PCI-6036E - -These boards are almost identical to the AT-MIO E series, except that -they use the PCI bus instead of ISA (i.e., AT). See the notes above for -ni_atmio.o for additional information about these boards. - -Comedi knows the PCI ID codes for many of the boards in this series, -but the NI documentation is incomplete in this matter. If you have -a PCI-MIO board that Comedi doesn't recognize, send me the PCI device -ID, as can be found in /proc/pci or the output of lspci. The vendor -code for National Instruments is 0x1093. I will include the ID in -the next version. - -DMA is halfway completed, but not yet operational. - - - -Driver: pcl711.o -Description: Advantech PCL-711 and 711b, ADLink ACL-8112 -Authors: ds, Janne Jalkanen , Eric Bunn -Status: mostly complete -Devices: [Advantech] PCL-711 (pcl711), PCL-711B (pcl711b), - [AdLink] ACL-8112HG (acl8112hg), ACL-8112DG (acl8112dg) - -Since these boards do not have DMA or FIFOs, only immediate mode is -supported. - - - - -Driver: pcl724.o -Description: Advantech PCL-724, PCL-722, PCL-731 ADLink ACL-7122, ACL-7124, - PET-48DIO -Author: Michal Dobes -Devices: [Advantech] PCL-724 (pcl724), PCL-722 (pcl722), PCL-731 (pcl731), - [ADLink] ACL-7122 (acl7122), ACL-7124 (acl7124), PET-48DIO (pet48dio) -Status: untested - -This is driver for digital I/O boards PCL-722/724/731 with 144/24/48 DIO -and for digital I/O boards ACL-7122/7124/PET-48DIO with 144/24/48 DIO. -It need 8255.o for operations and only immediate mode is supported. -See the source for configuration details. - - - -Driver: pcl725.o -Description: Advantech PCL-725 (& compatibles) -Author: ds -Status: unknown -Devices: [Advantech] PCL-725 (pcl725) - - - -Driver: pcl726.o -Description: Advantech PCL-726 & compatibles -Author: ds -Status: untested -Devices: [Advantech] PCL-726 (pcl726), PCL-727 (pcl727), PCL-728 (pcl728), - [ADLink] ACL-6126 (acl6126), ACL-6128 (acl6128) - -Interrupts are not supported. - - Options for PCL-726: - [0] - IO Base - [2]...[7] - D/A output range for channel 1-6: - 0: 0-5V, 1: 0-10V, 2: +/-5V, 3: +/-10V, - 4: 4-20mA, 5: unknown (external reference) - - Options for PCL-727: - [0] - IO Base - [2]...[13] - D/A output range for channel 1-12: - 0: 0-5V, 1: 0-10V, 2: +/-5V, - 3: 4-20mA - - Options for PCL-728 and ACL-6128: - [0] - IO Base - [2], [3] - D/A output range for channel 1 and 2: - 0: 0-5V, 1: 0-10V, 2: +/-5V, 3: +/-10V, - 4: 4-20mA, 5: 0-20mA - - Options for ACL-6126: - [0] - IO Base - [1] - IRQ (0=disable, 3, 5, 6, 7, 9, 10, 11, 12, 15) - [2]...[7] - D/A output range for channel 1-6: - 0: 0-5V, 1: 0-10V, 2: +/-5V, 3: +/-10V, - 4: 4-20mA - NOTE: IRQ operations isn't now supported. - - - -Driver: pcl812.o -Description: Advantech PCL-812/PG, PCL-813/B, - ADLink ACL-8112DG/HG/PG, ACL-8113, ACL-8216, - ICP DAS A-821PGH/PGL/PGL-NDA, A-822PGH/PGL, A-823PGH/PGL, A-826PG, - ICP DAS ISO-813 -Author: Michal Dobes -Devices: [Advantech] PCL-812 (pcl812), PCL-812PG (pcl812pg), - PCL-813 (pcl813), PCL-813B (pcl813b), [ADLink] ACL-8112DG (acl8112dg), - ACL-8112HG (acl8112hg), ACL-8113 (acl-8113), ACL-8216 (acl8216), - [ICP] ISO-813 (iso813), A-821PGH (a821pgh), A-821PGL (a821pgl), - A-821PGL-NDA (a821pclnda), A-822PGH (a822pgh), A-822PGL (a822pgl), - A-823PGH (a823pgh), A-823PGL (a823pgl), A-826PG (a826pg) -Status: works (I hope. My board fire up under my hands - and I cann't test all features.) - -This driver supports insn and cmd interfaces. Some boards support only insn -becouse their hardware don't allow more (PCL-813/B, ACL-8113, ISO-813). -Data transfer over DMA is supported only when you measure only one -channel, this is too hardware limitation of these boards. -See the head of the source file pcl812.c for configuration options. - - - -Driver: pcl818.o -Description: Advantech PCL-818 cards, PCL-718 -Author: Michal Dobes -Devices: [Advantech] PCL-818L (pcl818l), PCL-818H (pcl818h), - PCL-818HD (pcl818hd), PCL-818HG (pcl818hg), PCL-818 (pcl818), - PCL-718 (pcl718) -Status: works - -All cards have 16 SE/8 DIFF ADCs, one or two DACs, 16 DI and 16 DO. -Differences are only at maximal sample speed, range list and FIFO -support. -The driver support AI mode 0, 1, 3 other subdevices (AO, DI, DO) support -only mode 0. If DMA/FIFO/INT are disabled then AI support only mode 0. -PCL-818HD and PCL-818HG support 1kword FIFO. Driver support this FIFO -but this code is untested. -A word or two about DMA. Driver support DMA operations at two ways: -1) DMA uses two buffers and after one is filled then is generated - INT and DMA restart with second buffer. With this mode I'm unable run - more that 80Ksamples/secs without data dropouts on K6/233. -2) DMA uses one buffer and run in autoinit mode and the data are - from DMA buffer moved on the fly with 2kHz interrupts from RTC. - This mode is used if the interrupt 8 is available for allocation. - If not, then first DMA mode is used. With this I can run at - full speed one card (100ksamples/secs) or two cards with - 60ksamples/secs each (more is problem on account of ISA limitations). - To use this mode you must have compiled kernel with disabled - "Enhanced Real Time Clock Support". - Maybe you can have problems if you use xntpd or similar. - If you've data dropouts with DMA mode 2 then: - a) disable IDE DMA - b) switch text mode console to fb. -See the head of the source file pcl818.c for configuration options. - - - -Driver: pcm3730.o -Description: PCM3730 -Author: Blaine Lee -Devices: [Advantech] PCM-3730 (pcm3730) - -Configuration options: - [0] - I/O port base - - - -Driver: pcmad.o -Description: Winsystems PCM-A/D12, PCM-A/D16 -Author: ds -Devices: [Winsystems] PCM-A/D12 (pcmad12), PCM-A/D16 (pcmad16) -Status: untested - -This driver was written on a bet that I couldn't write a driver -in less than 2 hours. I won the bet, but never got paid. =( - -Configuration options: - [0] - I/O port base - [1] - unused - [2] - Analog input reference - 0 = single ended - 1 = differential - [3] - Analog input encoding (must match jumpers) - 0 = straight binary - 1 = two's complement - - - -Driver: poc.o -Description: Generic driver for very simple devices -Device names: dac02 -Author: ds -Devices: [Keithley Metrabyte] DAC-02 (dac02) - -This driver is indended to support very simple ISA-based devices, -including: - dac02 - Keithley DAC-02 analog output board - -Configuration options: - [0] - I/O port base - - - -Driver: quatech_daqp_cs.o -Description: Quatech DAQP PCMCIA data capture cards -Author: Brent Baccala -Status: unkown -Devices: [Quatech] DAQP-208 (daqp), DAQP-308 - - - -Driver: rtd520.o -Description: Real Time Devices PCI4520/DM7520 -Author: Dan Christian -Devices: [Real Time Devices] DM7520HR-1 (DM7520), DM7520HR-8 (DM7520-8), - PCI4520 (PCI4520), PCI4520-8 (PCI4520-8) - -Configuration options: - [0] - PCI bus of device (optional) - If bus/slot is not specified, the first available PCI - device will be used. - [1] - PCI slot of device (optional) - - - -Driver: rti800.o -Description: Analog Devices RTI-800/815 -Author: ds -Status: unknown -Devices: [Analog Devices] RTI-800 (rti800), RTI-815 (rti815) - -Configuration options: - [0] - I/O port base address - [1] - IRQ - [2] - A/D reference - 0 = differential - 1 = pseudodifferential (common) - 2 = single-ended - [3] - A/D range - 0 = [-10,10] - 1 = [-5,5] - 2 = [0,10] - [4] - A/D encoding - 0 = two's complement - 1 = straight binary - [5] - DAC 0 range - 0 = [-10,10] - 1 = [0,10] - [5] - DAC 0 encoding - 0 = two's complement - 1 = straight binary - [6] - DAC 1 range (same as DAC 0) - [7] - DAC 1 encoding (same as DAC 0) - - - -Driver: rti802.o -Description: Analog Devices RTI-802 -Author: Anders Blomdell -Devices: [Analog Devices] RTI-802 (rti802) -Status: works - - - -Driver: skel.o -Description: Skeleton driver, an example for driver writers -Devices: -Author: ds - -This driver is a documented example on how Comedi drivers are -written. - - - -Driver: ssv_dnp.o -Description: SSV Embedded Systems DIL/Net-PC -Author: Robert Schwebel -Devices: [SSV Embedded Systems] DIL/Net-PC 1486 (dnp-1486) - - - diff --git a/doc/docbook/funcref b/doc/funcref similarity index 100% rename from doc/docbook/funcref rename to doc/funcref diff --git a/doc/docbook/install.sgml b/doc/install.sgml similarity index 100% rename from doc/docbook/install.sgml rename to doc/install.sgml diff --git a/doc/docbook/intro.sgml b/doc/intro.sgml similarity index 100% rename from doc/docbook/intro.sgml rename to doc/intro.sgml diff --git a/doc/docbook/mkdr b/doc/mkdr similarity index 100% rename from doc/docbook/mkdr rename to doc/mkdr diff --git a/doc/docbook/mkref b/doc/mkref similarity index 100% rename from doc/docbook/mkref rename to doc/mkref diff --git a/doc/docbook/other.sgml b/doc/other.sgml similarity index 100% rename from doc/docbook/other.sgml rename to doc/other.sgml diff --git a/doc/docbook/reference.sgml b/doc/reference.sgml similarity index 100% rename from doc/docbook/reference.sgml rename to doc/reference.sgml diff --git a/doc/tutorial b/doc/tutorial deleted file mode 100644 index 503582f..0000000 --- a/doc/tutorial +++ /dev/null @@ -1,430 +0,0 @@ - -Comedi tutorial - -0. Compiling and Installing -0. Insmod'ding the kernel module -0. Configuring comedi to use your hardware -0. Getting information from comedi -0. Your first comedi program -0. Converting samples to voltages - - - -0. Compiling and Installing - -needs to be written - - - - -0. Insmod'ding the kernel module - -needs to be written - - - -0. Configuring comedi to use your hardware - - -I assume that your hardware device is in your computer, and that -you know the relevant details about it, i.e., what kind of card -it is, the I/O base, the IRQ, jumper settings related to input -ranges, etc. - -To tell the comedi kernel module that you have a particular device, and -some information about it, you will be running the 'comedi_config' -command. Perhaps you should read the man page now. - -For this tutorial, I have two devices, a National Instruments AT-MIO-16E-10 -and a Data Translation DT2821-F-8DI. - -The NI board is plug-and-play, and the man page tells me that I need -to configure the PnP part of the board with isapnptools. The isapnptools -package is a little cryptic, but the concepts are simple. Once I -learned how to use it, I settled on a /etc/isapnp.conf file that -contained the lines: - - -# ANSI string -->National Instruments, AT-MIO-16E-10<-- -(CONFIGURE NIC2400/10725401 (LD 0 - (IO 0 (BASE 0x0260)) - (INT 0 (IRQ 3 (MODE +E))) -# (DMA 0 (CHANNEL 5)) -# (DMA 1 (CHANNEL 6)) - (ACT Y) -)) - - -It also contains a few lines about overall configuration and about my -sound card. I found out after a bit of trial-and-error that the NI -board does not always work with interrupts other than IRQ 3. YMMV. -Currently, the driver doesn't use DMA, but it may in the future, so -I commented out the DMA lines. It is a curious fact that the device -ignores the IRQ and DMA information given here, however, I keep the -information here to remind myself that the numbers aren't arbitrary. - -When I run comedi_config (as root, of course), I provide the same -information. Since I want to have the board configured every time -I boot, I put the line - - /usr/sbin/comedi_config /dev/comedi0 atmio-E 0x260,3 - -into /etc/rc.d/rc.local. You can, of course, run this command at -a command prompt. The man page tells me that the option list -is supposed to be ",", so I used the same numbers -as I put in /etc/isapnp.conf, i.e., 0x260,3. - -For the Data Translation board, I need to have a list of the -jumper settings. Fortunately, I wrote them all down in the -manual -- I hope they are still correct. However, I had to -open the case to figure out which board in the series I had. -It is a DT2821-f-8di. The man page of comedi_config tells -me that I need to know the I/O base, IRQ, DMA 1, DMA 2. However, -since I wrote the driver, I know that it also recognizes the -differential/single-ended and unipolar/bipolar jumpers. As always, -the source is the final authority, and looking in module/dt282x.c -tells me that the options list is interpreted as: - - i/o base - irq - 1=differential, 0=single ended - ai 0=unipolar, 1=bipolar - ao0 0=unipolar, 1=bipolar - ao1 0=unipolar, 1=bipolar - dma1 - dma2 - -(ai=analog input, ao=analog output.) From this, I decide that -the appropriate options list is - - 0x200,4,,1,1,1 - -I left the differential/single-ended number blank, since the -driver already knowns (from the board name), that it is -differential. I also left the DMA numbers blank, since I -don't want the driver to use DMA. (Don't want it to interfere -with my sound card -- life is full of difficult choices.) -Keep in mind that things commented in the source, but not in -the documentation are about as likely to change as the weather, -so I put good comments next to the following line when I put -it in rc.local. - - /usr/sbin/comedi_config /dev/comedi1 dt2821-f-8di 0x200,4,,1,1,1 - -So now I think that I have my boards configured correctly. -Since data acquisition boards are not typically well-engineered, -comedi sometimes can't figure out if the board is actually there. -If it can't, it assumes you are right. Both of these boards -are well-made, so comedi will give me an error message if it -can't find them. The comedi kernel module, since it is a part -of the kernel, prints messages to the kernel logs, which you -can access through the command 'dmesg' or /var/log/messages. -Here is a configuration failure (from dmesg): - - comedi0: ni_E: 0x0200 can't find board - -When it does work, I get: - - comedi0: ni_E: 0x0260 at-mio-16e-10 ( irq = 3 ) - -Note that it also correctly identified my board. - - - - -0. Getting information from comedi - - -So now that we have comedi talking to the hardware, we want to -talk to comedi. Here's some pretty low-level information -- -it's sometimes useful for debugging: - - cat /proc/comedi - -Right now, on my computer, this command gives: - - comedi version 0.6.4 - format string - 0: atmio-E at-mio-16e-10 7 - 1: dt282x dt2821-f-8di 4 - -This is a feature that is not well-developed yet. Basically, it -currently tells you driver name, device name, and number of -subdevices. - -In the demo/ directory, there is a command called -'info', which provides information about each subdevice on the -board. The output of it is rather long, since I have 7 -subdevices (4 or fewer is more common.) -Here's part of the output of the NI board (which -is on /dev/comedi0.) ('demo/info /dev/comedi0') - -overall info: - version code: 0x000604 - driver name: atmio-E - board name: at-mio-16e-10 - number of subdevices: 7 -subdevice 0: - type: 1 (unknown) - number of channels: 16 - max data value: 4095 - - -The overall info gives information about the device -- basically -the same information as /proc/comedi. - -This board has 7 subdevices. Devices are separated into -subdevices that each have a distinct purpose -- e.g., analog -input, analog output, digital input/output. This board also -has an EEPROM and calibration DACs that are also subdevices. - -Subdevice 0 is the analog input subdevice. You would have -known this from the 'type: 1 (unknown)' line, if I've updated -demo/info recently, because it would say 'type: 1 (analog input)' -instead. The other lines should be self-explanitory. Comedi -has more information about the device, but demo/info doesn't -currently display this. - - - -0. Your first comedi program - -This example requires a card that has analog or -digital input. Right to the source: - -#include /* for printf() */ -#include - -int subdev = 0; /* change this to your input subdevice */ -int chan = 0; /* change this to your channel */ -int range = 0; /* more on this later */ -int aref = AREF_GROUND; /* more on this later */ - -int main(int argc,char *argv[]) -{ - comedi_t *it; - int chan=0; - lsampl_t data; - - it=comedi_open("/dev/comedi0"); - - comedi_data_read(it,subdev,chan,range,aref,&data); - - printf("%d\n",data); - - return 0; -} - - -Should be understandable. Open the device, get the data, -print it out. This is basically the guts of demo/inp.c, -without error checking or fancy options. Including all -the appropriate headers is sometimes a little tricky. -Compile it using 'cc tut1.c -lcomedi -o tut1'. Hopefully -it works. - -A few notes: The range variable tells comedi which gain -to use when measuring an analog voltage. Since we don't -know (yet) which numbers are valid, or what each means, -we'll use 0, because it won't cause errors. Likewise with -aref, which determines the analog reference used. - - -0. Converting samples to voltages - - -If you selected an analog input subdevice, you should notice -that the output of tut1 is a number between -0 and 4095, or 0 and 65535, depending on the number of bits -in the A/D converter. Comedi samples are *always* unsigned, -with 0 representing the lowest voltage of the ADC, and 4095 -the highest. The hardware driver compensates for -anything else the manual for your device says. However, -you probably prefer to have this number translated to -a voltage. Naturally, as a good programmer, your first -question is: "How do I do this in a device-independent -manner?" - -For each subdevice, the comedi kernel module keeps a -'range_type' variable. This variable contains the number -of available ranges (i.e., gains) that you can select, -along with an offset in a list of range information -structures. If you know the range_type variable, you -can use these macros: - - RANGE_OFFSET(range_type) - RANGE_LENGTH(range_type) - -to extract such information. However, you want the -actual voltage information, not some integer offset -in a table. Rather than messing with the library -internals, use the function - - ptr=comedi_get_range(comedi_file,subdevice,channel, - range) - -which returns a pointer to a comedi_range structure. -The comedi_range structure looks like - - typedef struct{ - double min; - double max; - unsigned int unit; - }comedi_range; - -The element 'min' represents the voltage corresponding to -comedi_data_read() returning 0, and 'max' represents -comedi_data_read() returning 'maxdata', (i.e., 4095 for 12 -bit A/C converters, 65535 for 16 bit, or, 1 for digital input --- more on this in a bit.) The 'unit' entry tells you if min and -max refer to voltage, current, etc. - -"Could it get easier?", you say. Well, yes. Use -the function comedi_to_phys(), which converts data -values to physical units. Call it using something like - - volts=comedi_to_phys(it,data,range,maxdata); - -and the opposite - - data=comedi_from_phys(it,volts,range,maxdata); - -You probably noticed (and were worried) that we haven't -discussed how to determine maxdata and range_type. Well, -you could ask the kernel this information each time you need -it, but since there are other variables, special cases, -and several subdevices to worry about, it would be nice -if the library could take care of this... (read on...) - - - -0. - - -In addition to providing low level routines for data -access, the comedi library provides higher-level access, -much like the standard C library provides fopen(), etc. -as a high-level (and portable) alternative to the direct -UNIX system calls open(), etc. Similarily to fopen(), -we have comedi_open(): - - file=comedi_open("/dev/comedi0"); - -where file is of type (comedi_t *). This function -calls open(), like we did explicitly in a previous -section, but also fills the comedi_t structure with -lots of goodies -- information that we will need to use -soon. - -Specifically, we needed to know maxdata for a specific -subdevice/channel. How about: - - maxdata=comedi_get_maxdata(file,subdevice,channel); - -Wow. How easy. And the range type? - - range_type=comedi_get_rangetype(file,subdevice,channel); - -Cool. Other information you need to know about a channel -can be gotten in a similar way. - - - -0. Your second comedi program - - -Actually, this is the first comedi program again, just -that we've added what we've learned. - - -#include /* for printf() */ -#include /* also included by comedilib.h */ -#include /* for comedi_get() */ - -int subdev = 0; /* change this to your input subdevice */ -int chan = 0; /* change this to your channel */ -int range = 0; /* more on this later */ -int aref = 0; /* more on this later */ - -int main(int argc,char *argv[]) -{ - comedi_t *cf; - int chan=0; - int data; - int maxdata,rangetype; - double volts; - - cf=comedi_open("/dev/comedi0"); - - maxdata=comedi_get_maxdata(cf,subdev,chan); - - rangetype=comedi_get_rangetype(cf,subdev,chan); - - data=comedi_get(cf->fd,subdev,chan,range,aref); - - volts=comedi_to_phys(data,rangetype,range,maxdata); - - printf("%d %g\n",data,volts); - - return 0; -} - - -By now, the comedi_read_data() line looks a little archaic, using -the UNIX file descriptor cf->fd instead of just cf. (By the -way, somewhere in the heart of comedi_open() is the line -cf->fd=open(filename,O_RDWR).) Well, there isn't one good -replacement, since it highly depends on your application -what additional features you might want in a comedi_get() -replacement. But this is the topic of a different section. - - -0. stuff - - - -0. Slowly-varying inputs - - -Sometimes, your input channels change slowly enough that -you are able to average many sucessive input values to get a -more accurate measurement of the actual value. In general, -the more samples you average, the better your estimate -gets, roughly by a factor of sqrt(number_of_samples). -Obviously, there are limitations to this: - - - you are ultimately limited by "spurious free dynamic range" - - - you need to have _some_ noise on the input channel, - otherwise you will be averaging the same number N times. - - - the more noise you have, the greater your SFDR, but it - takes many more samples to compensate for the increased - noise - - - if you feel the need to average samples for 2 seconds, - your signal will need to be _very_ slowly-varying, i.e., - not varying more than your target uncertainty for the - entire 2 seconds. - -As you might have guessed, the comedi library has functions -to help you in your quest to accurately measure slowly varying -inputs. I use these functions to measure thermocouple voltages --- actually, the library functions came from a section of code -that was previously part of the thermocouple reading program. - -The comedi self-calibration utility also uses these functions. -On some hardware, it is possible to tell it to measure an -internal stable voltage reference, which is typically going -to be very slowly varying -- on the kilosecond time scale -or more. So it is reasonable to measure millions of samples, -to get a very accurate measurement of the A/D converter output -value that corresponds to the voltage reference. Sometimes, -however, this is overkill, since there is no need to -perform a part-per-million calibration to a standard that -is only accurate to part-per-thousand. - - - - - diff --git a/doc/docbook/tutorial.sgml b/doc/tutorial.sgml similarity index 100% rename from doc/docbook/tutorial.sgml rename to doc/tutorial.sgml -- 2.26.2