added comedi.h
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David Schleef
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328
include/comedi.h
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328
include/comedi.h
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/*
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include/comedi.h (installed as /usr/include/comedi.h)
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header file for comedi
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COMEDI - Linux Control and Measurement Device Interface
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Copyright (C) 1998 David A. Schleef <ds@stm.lbl.gov>
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*/
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#ifndef _COMEDI_H
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#define _COMEDI_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* comedi's major device number */
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#define COMEDI_MAJOR 98
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/*
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maximum number of minor devices. This can be increased, although
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kernel structures are currently statically allocated, thus you
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don't want this to be much more than you actually use.
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*/
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#define COMEDI_NDEVICES 4
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/* number of config options in the config structure */
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#define COMEDI_NDEVCONFOPTS 32
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/* max length of device and driver names */
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#define COMEDI_NAMELEN 20
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typedef unsigned int lsampl_t;
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typedef unsigned short sampl_t;
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/* packs and unpacks a channel/range number */
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#define CR_PACK(chan,rng,aref) ( (((aref)&0x3)<<24) | (((rng)&0xff)<<16) | ((chan)&0xffff) )
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#define CR_CHAN(a) ((a)&0xffff)
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#define CR_RANGE(a) (((a)>>16)&0xff)
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#define CR_AREF(a) (((a)>>24)&0x03)
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#define AREF_GROUND 0x00 /* analog ref = analog ground */
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#define AREF_COMMON 0x01 /* analog ref = analog common */
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#define AREF_DIFF 0x02 /* analog ref = differential */
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#define AREF_OTHER 0x03 /* analog ref = other (undefined) */
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/* trigger flags */
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#define TRIG_BOGUS 0x0001 /* do the motions */
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#define TRIG_DITHER 0x0002 /* enable dithering */
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#define TRIG_DEGLITCH 0x0004 /* enable deglitching */
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#define TRIG_RT 0x0008 /* perform op in real time */
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#define TRIG_CONFIG 0x0010 /* perform configuration, not triggering */
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#define TRIG_WAKE_EOS 0x0020 /* wake up on end-of-scan events */
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#define TRIG_WRITE 0x0040 /* write to bidirectional devices */
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#define TRIG_ROUND_MASK 0x00030000
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#define TRIG_ROUND_NEAREST 0x00000000
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#define TRIG_ROUND_DOWN 0x00010000
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#define TRIG_ROUND_UP 0x00020000
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#define TRIG_ROUND_UP_NEXT 0x00030000
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/* trigger sources */
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#define TRIG_ANY 0xffffffff
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#define TRIG_NONE 0x00000001 /* never trigger */
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#define TRIG_NOW 0x00000002 /* trigger now + N ns */
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#define TRIG_FOLLOW 0x00000004 /* trigger on next lower level trig */
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#define TRIG_TIME 0x00000008 /* trigger at time N ns */
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#define TRIG_TIMER 0x00000010 /* trigger at rate N ns */
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#define TRIG_COUNT 0x00000020 /* trigger when count reaches N */
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#define TRIG_EXT 0x00000040 /* trigger on external signal N */
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#define TRIG_INT 0x00000080 /* trigger on comedi-internal signal N */
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#define TRIG_INVAL 0x00000100 /* choice was invalid */
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/* subdevice flags */
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#define SDF_BUSY 0x0001 /* device is busy */
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#define SDF_BUSY_OWNER 0x0002 /* device is busy with your job */
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#define SDF_LOCKED 0x0004 /* subdevice is locked */
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#define SDF_LOCK_OWNER 0x0008 /* you own lock */
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#define SDF_MAXDATA 0x0010 /* maxdata depends on channel */
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#define SDF_FLAGS 0x0020 /* flags depend on channel */
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#define SDF_RANGETYPE 0x0040 /* range type depends on channel */
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#define SDF_MODE0 0x0080 /* can do mode 0 */
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#define SDF_MODE1 0x0100 /* can do mode 1 */
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#define SDF_MODE2 0x0200 /* can do mode 2 */
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#define SDF_MODE3 0x0400 /* can do mode 3 */
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#define SDF_MODE4 0x0800 /* can do mode 4 */
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#define SDF_READABLE 0x00010000 /* subdevice can be read (e.g. analog input) */
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#define SDF_WRITEABLE 0x00020000 /* subdevice can be written (e.g. analog output) */
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#define SDF_INTERNAL 0x00040000 /* subdevice does not have externally visible lines */
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#define SDF_RT 0x00080000 /* subdevice is RT capable */
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#define SDF_GROUND 0x00100000 /* can do aref=ground */
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#define SDF_COMMON 0x00200000 /* can do aref=common */
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#define SDF_DIFF 0x00400000 /* can do aref=diff */
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#define SDF_OTHER 0x00800000 /* can do aref=other */
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#define SDF_DITHER 0x01000000 /* can do dithering */
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#define SDF_DEGLITCH 0x02000000 /* can do deglitching */
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#define SDF_MMAP 0x04000000 /* can do mmap() */
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#define SDF_RUNNING 0x08000000 /* subdevice is acquiring data */
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#define SDF_LSAMPL 0x10000000 /* subdevice uses 32-bit samples */
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/* subdevice types */
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#define COMEDI_SUBD_UNUSED 0 /* unused */
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#define COMEDI_SUBD_AI 1 /* analog input */
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#define COMEDI_SUBD_AO 2 /* analog output */
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#define COMEDI_SUBD_DI 3 /* digital input */
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#define COMEDI_SUBD_DO 4 /* digital output */
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#define COMEDI_SUBD_DIO 5 /* digital input/output */
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#define COMEDI_SUBD_COUNTER 6 /* counter */
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#define COMEDI_SUBD_TIMER 7 /* timer */
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#define COMEDI_SUBD_MEMORY 8 /* memory, EEPROM, DPRAM */
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#define COMEDI_SUBD_CALIB 9 /* calibration DACs */
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#define COMEDI_SUBD_PROC 10 /* processor, DSP */
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#define COMEDI_INPUT 0
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#define COMEDI_OUTPUT 1
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/* ioctls */
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#define CIO 'd'
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#define COMEDI_DEVCONFIG _IOW(CIO,0,comedi_devconfig)
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#define COMEDI_DEVINFO _IOR(CIO,1,comedi_devinfo)
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#define COMEDI_SUBDINFO _IOR(CIO,2,comedi_subdinfo)
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#define COMEDI_CHANINFO _IOR(CIO,3,comedi_chaninfo)
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#define COMEDI_TRIG _IOWR(CIO,4,comedi_trig)
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#define COMEDI_LOCK _IO(CIO,5)
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#define COMEDI_UNLOCK _IO(CIO,6)
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#define COMEDI_CANCEL _IO(CIO,7)
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#define COMEDI_RANGEINFO _IOR(CIO,8,comedi_rangeinfo)
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#define COMEDI_CMD _IOR(CIO,9,comedi_cmd)
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#define COMEDI_CMDTEST _IOR(CIO,10,comedi_cmd)
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/* structures */
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typedef struct comedi_trig_struct comedi_trig;
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typedef struct comedi_cmd_struct comedi_cmd;
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typedef struct comedi_chaninfo_struct comedi_chaninfo;
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typedef struct comedi_subdinfo_struct comedi_subdinfo;
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typedef struct comedi_devinfo_struct comedi_devinfo;
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typedef struct comedi_devconfig_struct comedi_devconfig;
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typedef struct comedi_rangeinfo_struct comedi_rangeinfo;
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typedef struct comedi_krange_struct comedi_krange;
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struct comedi_trig_struct{
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unsigned int subdev; /* subdevice */
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unsigned int mode; /* mode */
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unsigned int flags;
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unsigned int n_chan; /* number of channels */
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unsigned int *chanlist; /* channel/range list */
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sampl_t *data; /* data list, size depends on subd flags */
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unsigned int n; /* number of scans */
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unsigned int trigsrc;
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unsigned int trigvar;
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unsigned int trigvar1;
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unsigned int data_len;
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unsigned int unused[3];
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};
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struct comedi_cmd_struct{
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unsigned int subdev;
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unsigned int flags;
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unsigned int start_src;
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unsigned int start_arg;
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unsigned int scan_begin_src;
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unsigned int scan_begin_arg;
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unsigned int convert_src;
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unsigned int convert_arg;
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unsigned int scan_end_src;
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unsigned int scan_end_arg;
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unsigned int stop_src;
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unsigned int stop_arg;
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unsigned int *chanlist; /* channel/range list */
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unsigned int chanlist_len;
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sampl_t *data; /* data list, size depends on subd flags */
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unsigned int data_len;
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};
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struct comedi_chaninfo_struct{
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unsigned int subdev;
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lsampl_t *maxdata_list;
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unsigned int *flaglist;
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unsigned int *rangelist;
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unsigned int unused[4];
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};
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struct comedi_rangeinfo_struct{
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unsigned int range_type;
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void *range_ptr;
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};
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struct comedi_krange_struct{
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int min; /* fixed point, multiply by 1e-6 */
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int max; /* fixed point, multiply by 1e-6 */
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unsigned int flags;
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};
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struct comedi_subdinfo_struct{
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unsigned int type;
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unsigned int n_chan;
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unsigned int subd_flags;
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unsigned int timer_type;
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unsigned int len_chanlist;
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lsampl_t maxdata;
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unsigned int flags; /* channel flags */
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unsigned int range_type; /* lookup in kernel */
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unsigned int unused[10];
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};
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struct comedi_devinfo_struct{
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unsigned int version_code;
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unsigned int n_subdevs;
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char driver_name[COMEDI_NAMELEN];
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char board_name[COMEDI_NAMELEN];
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int options[COMEDI_NDEVCONFOPTS];
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};
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struct comedi_devconfig_struct{
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char board_name[COMEDI_NAMELEN];
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int options[COMEDI_NDEVCONFOPTS];
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};
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/* range stuff */
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#define __RANGE(a,b) ((((a)&0xffff)<<16)|((b)&0xffff))
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#define RANGE_OFFSET(a) (((a)>>16)&0xffff)
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#define RANGE_LENGTH(b) ((b)&0xffff)
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#define RF_UNIT(flags) ((flags)&0xff)
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#define RF_EXTERNAL (1<<8)
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#define UNIT_volt 0
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#define UNIT_mA 1
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#define UNIT_none 2
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/* Kernel internal stuff. Needed by RTLinux modules and such. */
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#ifdef __KERNEL__
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/* callback stuff */
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#define COMEDI_CB_EOS 1 /* end of scan */
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#define COMEDI_CB_EOA 2 /* end of acquisition */
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#define COMEDI_CB_BLOCK 4 /* convenient block size */
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#define COMEDI_CB_EOBUF 8 /* end of buffer */
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/* exported functions */
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/* these functions may not be called at real-time priority */
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int comedi_open(unsigned int minor);
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void comedi_close(unsigned int minor);
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/* these functions may be called at any priority, but may fail at
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real-time priority */
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int comedi_lock_ioctl(unsigned int minor,unsigned int subdev);
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int comedi_unlock_ioctl(unsigned int minor,unsigned int subdev);
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/* these functions may be called at any priority, but you must hold
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the lock for the subdevice */
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int comedi_cancel_ioctl(unsigned int minor,unsigned int subdev);
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int comedi_register_callback(unsigned int minor,unsigned int subdev,
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unsigned int mask,int (*cb)(unsigned int,void *),void *arg);
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int comedi_trig_ioctl(unsigned int minor,unsigned int subdev,comedi_trig *it);
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int __comedi_trig_ioctl(unsigned int minor,unsigned int subdev,comedi_trig *it);
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int comedi_data_write(unsigned int dev,unsigned int subdev,unsigned int chan,
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unsigned int range,unsigned int aref,lsampl_t data);
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int comedi_data_read(unsigned int dev,unsigned int subdev,unsigned int chan,
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unsigned int range,unsigned int aref,lsampl_t *data);
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int comedi_dio_config(unsigned int dev,unsigned int subdev,unsigned int chan,
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unsigned int io);
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int comedi_dio_read(unsigned int dev,unsigned int subdev,unsigned int chan,
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unsigned int *val);
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int comedi_dio_write(unsigned int dev,unsigned int subdev,unsigned int chan,
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unsigned int val);
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int comedi_dio_bitfield(unsigned int dev,unsigned int subdev,unsigned int mask,
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unsigned int *bits);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* _COMEDI_H */
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