2 include/comedi.h (installed as /usr/include/comedi.h)
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 1998-2001 David A. Schleef <ds@schleef.org>
8 This program is free software; you can redistribute it and/or modify
9 it under the terms of the GNU General Public License as published by
10 the Free Software Foundation; either version 2 of the License, or
11 (at your option) any later version.
13 This program is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 GNU General Public License for more details.
18 You should have received a copy of the GNU General Public License
19 along with this program; if not, write to the Free Software
20 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
32 /* comedi's major device number */
33 #define COMEDI_MAJOR 98
36 maximum number of minor devices. This can be increased, although
37 kernel structures are currently statically allocated, thus you
38 don't want this to be much more than you actually use.
40 #define COMEDI_NDEVICES 16
42 /* number of config options in the config structure */
43 #define COMEDI_NDEVCONFOPTS 32
44 #define COMEDI_DEVCONF_AUX_DATA 30
45 #define COMEDI_DEVCONF_AUX_DATA_LENGTH 31
47 /* max length of device and driver names */
48 #define COMEDI_NAMELEN 20
51 typedef unsigned int lsampl_t;
52 typedef unsigned short sampl_t;
54 /* packs and unpacks a channel/range number */
56 #define CR_PACK(chan,rng,aref) ( (((aref)&0x3)<<24) | (((rng)&0xff)<<16) | (chan) )
57 #define CR_PACK_FLAGS(chan, range, aref, flags) (CR_PACK(chan, range, aref) | ((flags) & CR_FLAGS_MASK))
59 #define CR_CHAN(a) ((a)&0xffff)
60 #define CR_RANGE(a) (((a)>>16)&0xff)
61 #define CR_AREF(a) (((a)>>24)&0x03)
63 #define CR_FLAGS_MASK 0xfc000000
64 #define CR_ALT_FILTER (1<<26)
65 #define CR_DITHER CR_ALT_FILTER
66 #define CR_DEGLITCH CR_ALT_FILTER
67 #define CR_ALT_SOURCE (1<<27)
68 #define CR_EDGE (1<<30)
69 #define CR_INVERT (1<<31)
71 #define AREF_GROUND 0x00 /* analog ref = analog ground */
72 #define AREF_COMMON 0x01 /* analog ref = analog common */
73 #define AREF_DIFF 0x02 /* analog ref = differential */
74 #define AREF_OTHER 0x03 /* analog ref = other (undefined) */
76 /* counters -- these are arbitrary values */
77 #define GPCT_RESET 0x0001
78 #define GPCT_SET_SOURCE 0x0002
79 #define GPCT_SET_GATE 0x0004
80 #define GPCT_SET_DIRECTION 0x0008
81 #define GPCT_SET_OPERATION 0x0010
82 #define GPCT_ARM 0x0020
83 #define GPCT_DISARM 0x0040
84 #define GPCT_GET_INT_CLK_FRQ 0x0080
86 #define GPCT_INT_CLOCK 0x0001
87 #define GPCT_EXT_PIN 0x0002
88 #define GPCT_NO_GATE 0x0004
89 #define GPCT_UP 0x0008
90 #define GPCT_DOWN 0x0010
91 #define GPCT_HWUD 0x0020
92 #define GPCT_SIMPLE_EVENT 0x0040
93 #define GPCT_SINGLE_PERIOD 0x0080
94 #define GPCT_SINGLE_PW 0x0100
95 #define GPCT_CONT_PULSE_OUT 0x0200
96 #define GPCT_SINGLE_PULSE_OUT 0x0400
100 #define INSN_MASK_WRITE 0x8000000
101 #define INSN_MASK_READ 0x4000000
102 #define INSN_MASK_SPECIAL 0x2000000
104 #define INSN_READ ( 0 | INSN_MASK_READ)
105 #define INSN_WRITE ( 1 | INSN_MASK_WRITE)
106 #define INSN_BITS ( 2 | INSN_MASK_READ|INSN_MASK_WRITE)
107 #define INSN_CONFIG ( 3 | INSN_MASK_READ|INSN_MASK_WRITE)
108 #define INSN_GTOD ( 4 | INSN_MASK_READ|INSN_MASK_SPECIAL)
109 #define INSN_WAIT ( 5 | INSN_MASK_WRITE|INSN_MASK_SPECIAL)
110 #define INSN_INTTRIG ( 6 | INSN_MASK_WRITE|INSN_MASK_SPECIAL)
113 /* These flags are used in comedi_trig structures */
115 #define TRIG_BOGUS 0x0001 /* do the motions */
116 #define TRIG_DITHER 0x0002 /* enable dithering */
117 #define TRIG_DEGLITCH 0x0004 /* enable deglitching */
118 //#define TRIG_RT 0x0008 /* perform op in real time */
119 #define TRIG_CONFIG 0x0010 /* perform configuration, not triggering */
120 #define TRIG_WAKE_EOS 0x0020 /* wake up on end-of-scan events */
121 //#define TRIG_WRITE 0x0040 /* write to bidirectional devices */
124 /* These flags are used in comedi_cmd structures */
126 #define CMDF_PRIORITY 0x00000008 /* try to use a real-time interrupt while performing command */
128 #define TRIG_RT CMDF_PRIORITY /* compatibility definition */
130 #define CMDF_WRITE 0x00000040
131 #define TRIG_WRITE CMDF_WRITE /* compatibility definition */
133 #define CMDF_RAWDATA 0x00000080
135 #define COMEDI_EV_START 0x00040000
136 #define COMEDI_EV_SCAN_BEGIN 0x00080000
137 #define COMEDI_EV_CONVERT 0x00100000
138 #define COMEDI_EV_SCAN_END 0x00200000
139 #define COMEDI_EV_STOP 0x00400000
141 #define TRIG_ROUND_MASK 0x00030000
142 #define TRIG_ROUND_NEAREST 0x00000000
143 #define TRIG_ROUND_DOWN 0x00010000
144 #define TRIG_ROUND_UP 0x00020000
145 #define TRIG_ROUND_UP_NEXT 0x00030000
147 /* trigger sources */
149 #define TRIG_ANY 0xffffffff
150 #define TRIG_INVALID 0x00000000
152 #define TRIG_NONE 0x00000001 /* never trigger */
153 #define TRIG_NOW 0x00000002 /* trigger now + N ns */
154 #define TRIG_FOLLOW 0x00000004 /* trigger on next lower level trig */
155 #define TRIG_TIME 0x00000008 /* trigger at time N ns */
156 #define TRIG_TIMER 0x00000010 /* trigger at rate N ns */
157 #define TRIG_COUNT 0x00000020 /* trigger when count reaches N */
158 #define TRIG_EXT 0x00000040 /* trigger on external signal N */
159 #define TRIG_INT 0x00000080 /* trigger on comedi-internal signal N */
160 #define TRIG_OTHER 0x00000100 /* driver defined */
162 /* subdevice flags */
164 #define SDF_BUSY 0x0001 /* device is busy */
165 #define SDF_BUSY_OWNER 0x0002 /* device is busy with your job */
166 #define SDF_LOCKED 0x0004 /* subdevice is locked */
167 #define SDF_LOCK_OWNER 0x0008 /* you own lock */
168 #define SDF_MAXDATA 0x0010 /* maxdata depends on channel */
169 #define SDF_FLAGS 0x0020 /* flags depend on channel */
170 #define SDF_RANGETYPE 0x0040 /* range type depends on channel */
171 #define SDF_MODE0 0x0080 /* can do mode 0 */
172 #define SDF_MODE1 0x0100 /* can do mode 1 */
173 #define SDF_MODE2 0x0200 /* can do mode 2 */
174 #define SDF_MODE3 0x0400 /* can do mode 3 */
175 #define SDF_MODE4 0x0800 /* can do mode 4 */
176 #define SDF_CMD 0x1000 /* can do commands */
178 #define SDF_READABLE 0x00010000 /* subdevice can be read (e.g. analog input) */
179 #define SDF_WRITABLE 0x00020000 /* subdevice can be written (e.g. analog output) */
180 #define SDF_WRITEABLE SDF_WRITABLE /* spelling error in API */
181 #define SDF_INTERNAL 0x00040000 /* subdevice does not have externally visible lines */
182 #define SDF_RT 0x00080000 /* DEPRECATED: subdevice is RT capable */
183 #define SDF_GROUND 0x00100000 /* can do aref=ground */
184 #define SDF_COMMON 0x00200000 /* can do aref=common */
185 #define SDF_DIFF 0x00400000 /* can do aref=diff */
186 #define SDF_OTHER 0x00800000 /* can do aref=other */
187 #define SDF_DITHER 0x01000000 /* can do dithering */
188 #define SDF_DEGLITCH 0x02000000 /* can do deglitching */
189 #define SDF_MMAP 0x04000000 /* can do mmap() */
190 #define SDF_RUNNING 0x08000000 /* subdevice is acquiring data */
191 #define SDF_LSAMPL 0x10000000 /* subdevice uses 32-bit samples */
192 #define SDF_PACKED 0x20000000 /* subdevice can do packed DIO */
194 /* subdevice types */
196 #define COMEDI_SUBD_UNUSED 0 /* unused */
197 #define COMEDI_SUBD_AI 1 /* analog input */
198 #define COMEDI_SUBD_AO 2 /* analog output */
199 #define COMEDI_SUBD_DI 3 /* digital input */
200 #define COMEDI_SUBD_DO 4 /* digital output */
201 #define COMEDI_SUBD_DIO 5 /* digital input/output */
202 #define COMEDI_SUBD_COUNTER 6 /* counter */
203 #define COMEDI_SUBD_TIMER 7 /* timer */
204 #define COMEDI_SUBD_MEMORY 8 /* memory, EEPROM, DPRAM */
205 #define COMEDI_SUBD_CALIB 9 /* calibration DACs */
206 #define COMEDI_SUBD_PROC 10 /* processor, DSP */
207 #define COMEDI_SUBD_SERIAL 11 /* serial IO */
209 /* configuration instructions */
211 enum configuration_ids
213 INSN_CONFIG_DIO_INPUT = 0,
214 INSN_CONFIG_DIO_OUTPUT = 1,
215 INSN_CONFIG_DIO_OPENDRAIN = 2,
216 COMEDI_INPUT = INSN_CONFIG_DIO_INPUT,
217 COMEDI_OUTPUT = INSN_CONFIG_DIO_OUTPUT,
218 COMEDI_OPENDRAIN = INSN_CONFIG_DIO_OPENDRAIN,
219 INSN_CONFIG_ANALOG_TRIG = 16,
220 // INSN_CONFIG_WAVEFORM = 17,
221 // INSN_CONFIG_TRIG = 18,
222 // INSN_CONFIG_COUNTER = 19,
223 INSN_CONFIG_ALT_SOURCE = 20,
224 INSN_CONFIG_DIGITAL_TRIG = 21,
225 INSN_CONFIG_BLOCK_SIZE = 22,
226 INSN_CONFIG_TIMER_1 = 23,
227 INSN_CONFIG_FILTER = 24,
228 INSN_CONFIG_CHANGE_NOTIFY = 25,
231 INSN_CONFIG_SERIAL_CLOCK = 26,
232 INSN_CONFIG_BIDIRECTIONAL_DATA = 27,
233 INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR = 1001, // Use CTR as single pulsegenerator
234 INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR = 1002, // Use CTR as pulsetraingenerator
235 INSN_CONFIG_GPCT_QUADRATURE_ENCODER = 1003, // Use the counter as encoder
236 INSN_CONFIG_8254_SET_MODE = 4097,
237 INSN_CONFIG_8254_READ_STATUS = 4098
243 #define COMEDI_DEVCONFIG _IOW(CIO,0,comedi_devconfig)
244 #define COMEDI_DEVINFO _IOR(CIO,1,comedi_devinfo)
245 #define COMEDI_SUBDINFO _IOR(CIO,2,comedi_subdinfo)
246 #define COMEDI_CHANINFO _IOR(CIO,3,comedi_chaninfo)
247 #define COMEDI_TRIG _IOWR(CIO,4,comedi_trig)
248 #define COMEDI_LOCK _IO(CIO,5)
249 #define COMEDI_UNLOCK _IO(CIO,6)
250 #define COMEDI_CANCEL _IO(CIO,7)
251 #define COMEDI_RANGEINFO _IOR(CIO,8,comedi_rangeinfo)
252 #define COMEDI_CMD _IOR(CIO,9,comedi_cmd)
253 #define COMEDI_CMDTEST _IOR(CIO,10,comedi_cmd)
254 #define COMEDI_INSNLIST _IOR(CIO,11,comedi_insnlist)
255 #define COMEDI_INSN _IOR(CIO,12,comedi_insn)
256 #define COMEDI_BUFCONFIG _IOR(CIO,13,comedi_bufconfig)
257 #define COMEDI_BUFINFO _IOWR(CIO,14,comedi_bufinfo)
258 #define COMEDI_POLL _IO(CIO,15)
263 typedef struct comedi_trig_struct comedi_trig;
264 typedef struct comedi_cmd_struct comedi_cmd;
265 typedef struct comedi_insn_struct comedi_insn;
266 typedef struct comedi_insnlist_struct comedi_insnlist;
267 typedef struct comedi_chaninfo_struct comedi_chaninfo;
268 typedef struct comedi_subdinfo_struct comedi_subdinfo;
269 typedef struct comedi_devinfo_struct comedi_devinfo;
270 typedef struct comedi_devconfig_struct comedi_devconfig;
271 typedef struct comedi_rangeinfo_struct comedi_rangeinfo;
272 typedef struct comedi_krange_struct comedi_krange;
273 typedef struct comedi_bufconfig_struct comedi_bufconfig;
274 typedef struct comedi_bufinfo_struct comedi_bufinfo;
276 struct comedi_trig_struct{
277 unsigned int subdev; /* subdevice */
278 unsigned int mode; /* mode */
280 unsigned int n_chan; /* number of channels */
281 unsigned int *chanlist; /* channel/range list */
282 sampl_t *data; /* data list, size depends on subd flags */
283 unsigned int n; /* number of scans */
284 unsigned int trigsrc;
285 unsigned int trigvar;
286 unsigned int trigvar1;
287 unsigned int data_len;
288 unsigned int unused[3];
291 struct comedi_insn_struct{
296 unsigned int chanspec;
297 unsigned int unused[3];
300 struct comedi_insnlist_struct{
301 unsigned int n_insns;
305 struct comedi_cmd_struct{
309 unsigned int start_src;
310 unsigned int start_arg;
312 unsigned int scan_begin_src;
313 unsigned int scan_begin_arg;
315 unsigned int convert_src;
316 unsigned int convert_arg;
318 unsigned int scan_end_src;
319 unsigned int scan_end_arg;
321 unsigned int stop_src;
322 unsigned int stop_arg;
324 unsigned int *chanlist; /* channel/range list */
325 unsigned int chanlist_len;
327 sampl_t *data; /* data list, size depends on subd flags */
328 unsigned int data_len;
331 struct comedi_chaninfo_struct{
333 lsampl_t *maxdata_list;
334 unsigned int *flaglist;
335 unsigned int *rangelist;
336 unsigned int unused[4];
339 struct comedi_rangeinfo_struct{
340 unsigned int range_type;
344 struct comedi_krange_struct{
345 int min; /* fixed point, multiply by 1e-6 */
346 int max; /* fixed point, multiply by 1e-6 */
350 struct comedi_subdinfo_struct{
353 unsigned int subd_flags;
354 unsigned int timer_type;
355 unsigned int len_chanlist;
357 unsigned int flags; /* channel flags */
358 unsigned int range_type; /* lookup in kernel */
359 unsigned int settling_time_0;
360 unsigned int unused[9];
363 struct comedi_devinfo_struct{
364 unsigned int version_code;
365 unsigned int n_subdevs;
366 char driver_name[COMEDI_NAMELEN];
367 char board_name[COMEDI_NAMELEN];
373 struct comedi_devconfig_struct{
374 char board_name[COMEDI_NAMELEN];
375 int options[COMEDI_NDEVCONFOPTS];
378 struct comedi_bufconfig_struct{
379 unsigned int subdevice;
382 unsigned int maximum_size;
385 unsigned int unused[4];
388 struct comedi_bufinfo_struct{
389 unsigned int subdevice;
390 unsigned int bytes_read;
392 unsigned int buf_int_ptr;
393 unsigned int buf_user_ptr;
394 unsigned int buf_int_count;
395 unsigned int buf_user_count;
397 unsigned int bytes_written;
399 unsigned int unused[4];
404 #define __RANGE(a,b) ((((a)&0xffff)<<16)|((b)&0xffff))
406 #define RANGE_OFFSET(a) (((a)>>16)&0xffff)
407 #define RANGE_LENGTH(b) ((b)&0xffff)
409 #define RF_UNIT(flags) ((flags)&0xff)
410 #define RF_EXTERNAL (1<<8)
416 #define COMEDI_MIN_SPEED ((unsigned int)0xffffffff)
419 /* only relevant to kernel modules. */
421 #define COMEDI_CB_EOS 1 /* end of scan */
422 #define COMEDI_CB_EOA 2 /* end of acquisition */
423 #define COMEDI_CB_BLOCK 4 /* DEPRECATED: convenient block size */
424 #define COMEDI_CB_EOBUF 8 /* DEPRECATED: end of buffer */
425 #define COMEDI_CB_ERROR 16 /* card error during acquisition */
426 #define COMEDI_CB_OVERFLOW 32 /* buffer overflow/underflow */
428 /**********************************************************/
429 /* everything after this line is ALPHA */
430 /**********************************************************/
433 Added by Klaas Gadeyne after implementation of driver for comedi NI
436 <http://people.mech.kuleuven.ac.be/~kgadeyne/linux/> for more
437 information about their use
440 #define GPCT_X1 0x01 // X1 encoding
441 #define GPCT_X2 0x02 // X2 encoding
442 #define GPCT_X4 0x04 // X3 encoding
443 // When to take into account the indexpulse:
444 #define GPCT_IndexPhaseHighHigh 0
445 #define GPCT_IndexPhaseLowHigh 1
446 #define GPCT_IndexPhaseLowLow 2
447 #define GPCT_IndexPhaseHighLow 3
448 // Reset when index pulse arrives?
449 #define GPCT_RESET_COUNTER_ON_INDEX 1
452 8254 specific configuration.
454 It supports two config commands:
456 0 ID: INSN_CONFIG_8254_SET_MODE
458 I8254_MODE0, I8254_MODE1, ..., I8254_MODE5
460 I8254_BCD, I8254_BINARY
462 0 ID: INSN_CONFIG_8254_READ_STATUS
463 1 <-- Status byte returned here.
472 I8254_MODE0 = (0<<1), /* Interrupt on terminal count */
473 I8254_MODE1 = (1<<1), /* Hardware retriggerable one-shot */
474 I8254_MODE2 = (2<<1), /* Rate generator */
475 I8254_MODE3 = (3<<1), /* Square wave mode */
476 I8254_MODE4 = (4<<1), /* Software triggered strobe */
477 I8254_MODE5 = (5<<1), /* Hardware triggered strobe (retriggerable) */
478 I8254_BCD = 1, /* use binary-coded decimal instead of binary (pretty useless) */
485 #endif /* _COMEDI_H */