comedi_calibrate/ni.c

   1 /*
   2    A little auto-calibration utility, for boards
   3    that support it.
   4
   5    Right now, it only supports NI E series boards,
   6    but it should be easily portable.
   7
   8    A few things need improvement here:
   9     - current system gets "close", but doesn't
  10       do any fine-tuning
  11     - no pre/post gain discrimination for the
  12       A/D zero offset.
  13     - should read (and use) the actual reference
  14       voltage value from eeprom
  15     - statistics would be nice, to show how good
  16       the calibration is.
  17     - doesn't check unipolar ranges
  18     - "alternate calibrations" would be cool--to
  19       accurately measure 0 in a unipolar range
  20     - more portable
  21  */
  22
  23 #define _GNU_SOURCE
  24
  25 #include <stdio.h>
  26 #include <comedilib.h>
  27 #include <fcntl.h>
  28 #include <unistd.h>
  29 #include <errno.h>
  30 #include <getopt.h>
  31 #include <ctype.h>
  32 #include <math.h>
  33 #include <stdlib.h>
  34 #include <string.h>
  35
  36 #include "calib.h"
  37
  38
  39 struct board_struct{
  40         char *name;
  41         int status;
  42         void (*cal)(void);
  43 };
  44
  45 void ni_setup_board(void);
  46 void ni_setup_observables(void);
  47
  48 void cal_ni_at_mio_16e_2(void);
  49 void cal_ni_daqcard_ai_16xe_50(void);
  50 void cal_ni_at_mio_16e_1(void);
  51 void cal_ni_pci_mio_16e_1(void);
  52 void cal_ni_pci_6035e(void);
  53 void cal_ni_pci_6071e(void);
  54 void cal_ni_pxi_6071e(void);
  55 void cal_ni_at_mio_16e_10(void);
  56 void cal_ni_pci_mio_16xe_50(void);
  57 void cal_ni_pci_6023e(void);
  58
  59 struct board_struct boards[]={
  60         { "at-mio-16e-2",       STATUS_DONE,    cal_ni_at_mio_16e_2 },
  61         { "DAQCard-ai-16xe-50", STATUS_DONE,    cal_ni_daqcard_ai_16xe_50 },
  62         { "at-mio-16e-1",       STATUS_SOME,    cal_ni_at_mio_16e_1 },
  63         { "pci-mio-16e-1",      STATUS_SOME,    cal_ni_pci_mio_16e_1 },
  64         { "pci-6035e",          STATUS_GUESS,   cal_ni_pci_6035e },
  65         { "pci-6071e",          STATUS_GUESS,   cal_ni_pci_6071e },
  66         { "pxi-6071e",          STATUS_GUESS,   cal_ni_pxi_6071e },
  67         { "at-mio-16e-10",      STATUS_GUESS,   cal_ni_at_mio_16e_10 },
  68         { "pci-mio-16xe-50",    STATUS_GUESS,   cal_ni_pci_mio_16xe_50 },
  69         { "pci-6023e",          STATUS_GUESS,   cal_ni_pci_6023e },
  70 #if 0
  71 //      { "at-mio-16de-10",     cal_ni_unknown },
  72         { "at-mio-64e-3",       cal_ni_16e_1 },
  73 //      { "at-mio-16xe-50",     cal_ni_unknown },
  74 //      { "at-mio-16xe-10",     cal_ni_unknown },
  75 //      { "at-ai-16xe-10",      cal_ni_unknown },
  76         { "pci-mio-16xe-10",    cal_ni_16xe_10 },
  77 //      { "pxi-6030e",          cal_ni_unknown },
  78 //      { "pci-mio-16e-4",      cal_ni_unknown },
  79 //      { "pxi-6040e",          cal_ni_unknown },
  80 //      { "pci-6031e",          cal_ni_unknown },
  81 //      { "pci-6032e",          cal_ni_unknown },
  82 //      { "pci-6033e",          cal_ni_unknown },
  83 //      { "pci-6071e",          cal_ni_unknown },
  84         { "pci-6024e",          cal_ni_6023e }, // guess
  85         { "pci-6025e",          cal_ni_6023e }, // guess
  86         { "pxi-6025e",          cal_ni_6023e }, // guess
  87         { "pci-6034e",          cal_ni_6023e }, // guess
  88         { "pci-6035e",          cal_ni_6023e },
  89 //      { "pci-6052e",          cal_ni_unknown },
  90 //      { "pci-6110e",          cal_ni_unknown },
  91 //      { "pci-6111e",          cal_ni_unknown },
  92 //      { "pci-6711",           cal_ni_unknown },
  93 //      { "pci-6713",           cal_ni_unknown },
  94 //      { "pxi-6070e",          cal_ni_unknown },
  95 //      { "pxi-6052e",          cal_ni_unknown },
  96 //      { "DAQCard-ai-16e-4",   cal_ni_unknown },
  97 //      { "DAQCard-6062e",      cal_ni_unknown },
  98 //      { "DAQCard-6024e",      cal_ni_unknown },
  99 #endif
 100 };
 101 #define n_boards (sizeof(boards)/sizeof(boards[0]))
 102
 103 enum {
 104         ni_zero_offset_low = 0,
 105         ni_zero_offset_high,
 106         ni_reference_low,
 107         ni_unip_offset_low,
 108         ni_ao0_zero_offset,
 109         ni_ao0_reference,
 110         ni_ao1_zero_offset,
 111         ni_ao1_reference,
 112 };
 113
 114 void ni_setup(void)
 115 {
 116         ni_setup_board();
 117         ni_setup_observables();
 118         setup_caldacs();
 119 }
 120
 121 void ni_setup_board(void)
 122 {
 123         int i;
 124
 125         for(i=0;i<n_boards;i++){
 126                 if(!strcmp(devicename,boards[i].name)){
 127                         device_status = boards[i].status;
 128                         do_cal = boards[i].cal;
 129                         return;
 130                 }
 131         }
 132
 133 }
 134
 135 void ni_setup_observables(void)
 136 {
 137         comedi_insn tmpl;
 138         int bipolar_lowgain;
 139         int bipolar_highgain;
 140         int unipolar_lowgain;
 141         double voltage_reference;
 142         observable *o;
 143
 144         bipolar_lowgain = get_bipolar_lowgain(dev,ad_subdev);
 145         bipolar_highgain = get_bipolar_highgain(dev,ad_subdev);
 146         unipolar_lowgain = get_unipolar_lowgain(dev,ad_subdev);
 147
 148         voltage_reference = 5.000;
 149
 150         memset(&tmpl,0,sizeof(tmpl));
 151         tmpl.insn = INSN_READ;
 152         tmpl.n = 1;
 153         tmpl.subdev = ad_subdev;
 154
 155         /* 0 offset, low gain */
 156         o = observables + ni_zero_offset_low;
 157         o->name = "ai, bipolar zero offset, low gain";
 158         o->observe_insn = tmpl;
 159         o->observe_insn.chanspec = CR_PACK(0,bipolar_lowgain,AREF_OTHER);
 160         o->target = 0;
 161
 162         /* 0 offset, high gain */
 163         o = observables + ni_zero_offset_high;
 164         o->name = "ai, bipolar zero offset, high gain";
 165         o->observe_insn = tmpl;
 166         o->observe_insn.chanspec = CR_PACK(0,bipolar_highgain,AREF_OTHER);
 167         o->target = 0;
 168
 169         /* voltage reference */
 170         o = observables + ni_reference_low;
 171         o->name = "ai, bipolar voltage reference, low gain";
 172         o->observe_insn = tmpl;
 173         o->observe_insn.chanspec = CR_PACK(5,bipolar_lowgain,AREF_OTHER);
 174         o->target = voltage_reference;
 175
 176         n_observables = ni_reference_low + 1;
 177
 178         if(unipolar_lowgain>=0){
 179                 /* unip/bip offset */
 180                 o = observables + ni_unip_offset_low;
 181                 o->name = "ai, unipolar zero offset, low gain";
 182                 o->observe_insn = tmpl;
 183                 o->observe_insn.chanspec =
 184                         CR_PACK(0,unipolar_lowgain,AREF_OTHER);
 185                 o->target = 0;
 186
 187 #if 0
 188                 /* unip gain */
 189                 o = observables + ni_unip_reference_low;
 190                 o->name = "ai, unipolar voltage reference, low gain";
 191                 o->observe_insn = tmpl;
 192                 o->observe_insn.chanspec =
 193                         CR_PACK(5,unipolar_lowgain,AREF_OTHER);
 194                 o->target = voltage_reference;
 195                 i++;
 196 #endif
 197                 n_observables = ni_unip_offset_low + 1;
 198         }
 199
 200         if(da_subdev>=0){
 201                 comedi_insn po_tmpl;
 202
 203                 memset(&po_tmpl,0,sizeof(po_tmpl));
 204                 po_tmpl.insn = INSN_WRITE;
 205                 po_tmpl.n = 1;
 206                 po_tmpl.subdev = da_subdev;
 207
 208                 /* ao 0, zero offset */
 209                 o = observables + ni_ao0_zero_offset;
 210                 o->name = "ao 0, zero offset, low gain";
 211                 o->preobserve_insn = po_tmpl;
 212                 o->preobserve_insn.chanspec = CR_PACK(0,0,0);
 213                 o->preobserve_insn.data = &o->preobserve_data;
 214                 o->observe_insn = tmpl;
 215                 o->observe_insn.chanspec =
 216                         CR_PACK(2,bipolar_lowgain,AREF_OTHER);
 217                 set_target(ni_ao0_zero_offset,0.0);
 218
 219                 /* ao 0, gain */
 220                 o = observables + ni_ao0_reference;
 221                 o->name = "ao 0, reference voltage, low gain";
 222                 o->preobserve_insn = po_tmpl;
 223                 o->preobserve_insn.chanspec = CR_PACK(0,0,0);
 224                 o->preobserve_insn.data = &o->preobserve_data;
 225                 o->observe_insn = tmpl;
 226                 o->observe_insn.chanspec =
 227                         CR_PACK(6,bipolar_lowgain,AREF_OTHER);
 228                 set_target(ni_ao0_reference,5.0);
 229                 o->target -= voltage_reference;
 230
 231                 /* ao 1, zero offset */
 232                 o = observables + ni_ao1_zero_offset;
 233                 o->name = "ao 1, zero offset, low gain";
 234                 o->preobserve_insn = po_tmpl;
 235                 o->preobserve_insn.chanspec = CR_PACK(1,0,0);
 236                 o->preobserve_insn.data = &o->preobserve_data;
 237                 o->observe_insn = tmpl;
 238                 o->observe_insn.chanspec =
 239                         CR_PACK(3,bipolar_lowgain,AREF_OTHER);
 240                 set_target(ni_ao1_zero_offset,0.0);
 241
 242                 /* ao 1, gain */
 243                 o = observables + ni_ao1_reference;
 244                 o->name = "ao 1, reference voltage, low gain";
 245                 o->preobserve_insn = po_tmpl;
 246                 o->preobserve_insn.chanspec = CR_PACK(1,0,0);
 247                 o->preobserve_insn.data = &o->preobserve_data;
 248                 o->observe_insn = tmpl;
 249                 o->observe_insn.chanspec =
 250                         CR_PACK(7,bipolar_lowgain,AREF_OTHER);
 251                 set_target(ni_ao1_reference,5.0);
 252                 o->target -= voltage_reference;
 253
 254                 n_observables = ni_ao1_reference + 1;
 255         }
 256 }
 257
 258 void cal_ni_at_mio_16e_2(void)
 259 {
 260         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 261         cal1(ni_zero_offset_high,0);
 262         cal1(ni_reference_low,3);
 263         cal1(ni_unip_offset_low,2);
 264         if(do_output){
 265                 cal1(ni_ao0_zero_offset,5);
 266                 cal1(ni_ao0_reference,6);
 267                 cal1(ni_ao1_zero_offset,8);
 268                 cal1(ni_ao1_reference,9);
 269         }
 270 }
 271
 272 /*
 273  * Device name: DAQCard-ai-16xe-50
 274  * Comedi version: 0.7.60
 275  * ai, bipolar zero offset, low gain
 276  * offset 5.87(63)e-3, target 0
 277  * caldac[0] gain=-2.243(21)e-6 V/bit S_min=208.079 dof=254
 278  * caldac[2] gain=1.56378(22)e-4 V/bit S_min=1782.91 dof=254
 279  * caldac[8] gain=2.499(14)e-7 V/bit S_min=234.915 dof=254
 280  * ai, bipolar zero offset, high gain
 281  * offset 4.251(49)e-5, target 0
 282  * caldac[0] gain=-2.396(30)e-8 V/bit S_min=231.387 dof=254
 283  * caldac[2] gain=1.56428(28)e-6 V/bit S_min=829.096 dof=254
 284  * caldac[8] gain=2.61244(18)e-7 V/bit S_min=773.092 dof=254
 285  * ai, bipolar voltage reference, low gain
 286  * offset 4.99650(81), target 5
 287  * caldac[0] gain=-3.78250(23)e-4 V/bit S_min=12207.6 dof=254
 288  * caldac[1] gain=-9.878(22)e-6 V/bit S_min=346.795 dof=254
 289  * caldac[2] gain=1.57172(23)e-4 V/bit S_min=969.526 dof=254
 290  * caldac[8] gain=2.795(14)e-7 V/bit S_min=245.703 dof=254
 291  * ai, unipolar zero offset, low gain
 292  * offset 0.0133(14), target 0
 293  * caldac[0] gain=3.73923(29)e-4 V/bit S_min=2855.79 dof=151
 294  * caldac[1] gain=9.784(11)e-6 V/bit S_min=727.295 dof=254
 295  * caldac[2] gain=7.8670(11)e-5 V/bit S_min=903.291 dof=254
 296  * caldac[8] gain=2.7732(74)e-7 V/bit S_min=415.399 dof=254
 297  */
 298 void cal_ni_daqcard_ai_16xe_50(void)
 299 {
 300         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,2);
 301         cal1(ni_zero_offset_high,8);
 302         cal1(ni_reference_low,0);
 303 }
 304
 305 void cal_ni_at_mio_16e_1(void)
 306 {
 307         cal_ni_at_mio_16e_2();
 308 }
 309
 310 void cal_ni_pci_mio_16e_1(void)
 311 {
 312         cal_ni_at_mio_16e_2();
 313 }
 314
 315 void cal_ni_pci_6035e(void)
 316 {
 317         // 6035e (old)
 318         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 319         cal1(ni_zero_offset_high,0);
 320         cal1(ni_reference_low,3);
 321         if(do_output){
 322                 // unknown
 323         }
 324 }
 325
 326 void cal_ni_pci_6071e(void)
 327 {
 328         // 6071e (old)
 329         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 330         cal1(ni_zero_offset_high,0);
 331         cal1(ni_reference_low,3);
 332         if(do_output){
 333                 // unknown
 334         }
 335 }
 336
 337 void cal_ni_pxi_6071e(void)
 338 {
 339         // 6071e (old)
 340         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 341         cal1(ni_zero_offset_high,0);
 342         cal1(ni_reference_low,3);
 343         if(do_output){
 344                 // unknown
 345         }
 346 }
 347
 348 void cal_ni_at_mio_16e_10(void)
 349 {
 350         // 16e-10 (old)
 351         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,1);
 352         cal1(ni_zero_offset_high,10);
 353         cal1(ni_zero_offset_high,0);
 354         cal1(ni_reference_low,3);
 355         cal1(ni_unip_offset_low,2);
 356         if(do_output){
 357                 cal1(ni_ao0_zero_offset,5); // guess
 358                 cal1(ni_ao0_reference,6); // guess
 359                 cal1(ni_ao0_zero_offset,8); // guess
 360                 cal1(ni_ao0_reference,9); // guess
 361         }
 362 }
 363
 364 void cal_ni_pci_mio_16xe_50(void)
 365 {
 366         // 16xe-50 (old) (same as daqcard?)
 367         postgain_cal(ni_zero_offset_low,ni_zero_offset_high,2);
 368         cal1(ni_zero_offset_high,8);
 369         cal1(ni_reference_low,0);
 370         if(do_output){
 371                 // unknown
 372         }
 373 }
 374
 375 void cal_ni_pci_6023e(void)
 376 {
 377         cal_ni_pci_6035e();
 378 }
 379
 380 double ni_get_reference(int lsb_loc,int msb_loc)
 381 {
 382         int lsb,msb;
 383         int uv;
 384         double ref;
 385
 386         lsb=read_eeprom(lsb_loc);
 387         msb=read_eeprom(msb_loc);
 388         printf("lsb=%d msb=%d\n",read_eeprom(425),read_eeprom(426));
 389
 390         uv=lsb | (msb<<8);
 391         if(uv>=0x8000)uv-=0x10000;
 392         ref=5.000+1.0e-6*uv;
 393         printf("ref=%g\n",ref);
 394
 395         return ref;
 396 }
 397
 398 #if 0
 399 void cal_ni_results(void)
 400 {
 401         comedi_range *range;
 402         int bipolar_lowgain;
 403         int bipolar_highgain;
 404         int unipolar_lowgain;
 405         //int have_ao;
 406         char s[32];
 407
 408         bipolar_lowgain = get_bipolar_lowgain(dev,ad_subdev);
 409         bipolar_highgain = get_bipolar_highgain(dev,ad_subdev);
 410         unipolar_lowgain = get_unipolar_lowgain(dev,ad_subdev);
 411
 412         /* 0 offset, low gain */
 413         range = comedi_get_range(dev,ad_subdev,0,bipolar_lowgain);
 414         read_chan2(s,0,bipolar_lowgain);
 415         DPRINT(0,"bipolar zero offset, low gain [%g,%g]: %s\n",
 416                 range->min,range->max,s);
 417
 418         /* 0 offset, high gain */
 419         range = comedi_get_range(dev,ad_subdev,0,bipolar_highgain);
 420         read_chan2(s,0,bipolar_highgain);
 421         DPRINT(0,"bipolar zero offset, high gain [%g,%g]: %s\n",
 422                 range->min,range->max,s);
 423
 424         /* unip/bip offset */
 425         range = comedi_get_range(dev,ad_subdev,0,unipolar_lowgain);
 426         read_chan2(s,0,unipolar_lowgain);
 427         DPRINT(0,"unipolar zero offset, low gain [%g,%g]: %s\n",
 428                 range->min,range->max,s);
 429
 430 }
 431
 432 void ni_mio_ai_postgain_cal(void)
 433 {
 434         linear_fit_t l;
 435         double offset_r0;
 436         double offset_r7;
 437         double gain;
 438         double a;
 439
 440         check_gain_chan_x(&l,CR_PACK(0,0,AREF_OTHER),1);
 441         offset_r0=linear_fit_func_y(&l,caldacs[1].current);
 442         printf("offset r0 %g\n",offset_r0);
 443
 444         check_gain_chan_x(&l,CR_PACK(0,7,AREF_OTHER),1);
 445         offset_r7=linear_fit_func_y(&l,caldacs[1].current);
 446         printf("offset r7 %g\n",offset_r7);
 447
 448         gain=l.slope;
 449
 450         a=(offset_r0-offset_r7)/(200.0-1.0);
 451         a=caldacs[1].current-a/gain;
 452
 453         printf("%g\n",a);
 454
 455         caldacs[1].current=rint(a);
 456         update_caldac(1);
 457 }
 458
 459 void ni_mio_ai_postgain_cal_2(int chan,int dac,int range_lo,int range_hi,double gain)
 460 {
 461         double offset_lo,offset_hi;
 462         linear_fit_t l;
 463         double slope;
 464         double a;
 465
 466         check_gain_chan_x(&l,CR_PACK(chan,range_lo,AREF_OTHER),dac);
 467         offset_lo=linear_fit_func_y(&l,caldacs[dac].current);
 468         printf("offset lo %g\n",offset_lo);
 469
 470         check_gain_chan_x(&l,CR_PACK(chan,range_hi,AREF_OTHER),dac);
 471         offset_hi=linear_fit_func_y(&l,caldacs[dac].current);
 472         printf("offset hi %g\n",offset_hi);
 473
 474         slope=l.slope;
 475
 476         a=(offset_lo-offset_hi)/(gain-1.0);
 477         a=caldacs[dac].current-a/slope;
 478
 479         printf("%g\n",a);
 480
 481         caldacs[dac].current=rint(a);
 482         update_caldac(dac);
 483 }
 484 #endif
 485