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comedi.h
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/* SPDX-License-Identifier: LGPL-2.0+ */
/*
* comedi.h
* header file for COMEDI user API
*
* COMEDI - Linux Control and Measurement Device Interface
* Copyright (C) 1998-2001 David A. Schleef <[email protected]>
*/
#ifndef _COMEDI_H
#define _COMEDI_H
#define COMEDI_MAJORVERSION 0
#define COMEDI_MINORVERSION 7
#define COMEDI_MICROVERSION 76
#define VERSION "0.7.76"
/* comedi's major device number */
#define COMEDI_MAJOR 98
/*
* maximum number of minor devices. This can be increased, although
* kernel structures are currently statically allocated, thus you
* don't want this to be much more than you actually use.
*/
#define COMEDI_NDEVICES 16
/* number of config options in the config structure */
#define COMEDI_NDEVCONFOPTS 32
/*
* NOTE: 'comedi_config --init-data' is deprecated
*
* The following indexes in the config options were used by
* comedi_config to pass firmware blobs from user space to the
* comedi drivers. The request_firmware() hotplug interface is
* now used by all comedi drivers instead.
*/
/* length of nth chunk of firmware data -*/
#define COMEDI_DEVCONF_AUX_DATA3_LENGTH 25
#define COMEDI_DEVCONF_AUX_DATA2_LENGTH 26
#define COMEDI_DEVCONF_AUX_DATA1_LENGTH 27
#define COMEDI_DEVCONF_AUX_DATA0_LENGTH 28
/* most significant 32 bits of pointer address (if needed) */
#define COMEDI_DEVCONF_AUX_DATA_HI 29
/* least significant 32 bits of pointer address */
#define COMEDI_DEVCONF_AUX_DATA_LO 30
#define COMEDI_DEVCONF_AUX_DATA_LENGTH 31 /* total data length */
/* max length of device and driver names */
#define COMEDI_NAMELEN 20
/* packs and unpacks a channel/range number */
#define CR_PACK(chan, rng, aref) \
((((aref) & 0x3) << 24) | (((rng) & 0xff) << 16) | (chan))
#define CR_PACK_FLAGS(chan, range, aref, flags) \
(CR_PACK(chan, range, aref) | ((flags) & CR_FLAGS_MASK))
#define CR_CHAN(a) ((a) & 0xffff)
#define CR_RANGE(a) (((a) >> 16) & 0xff)
#define CR_AREF(a) (((a) >> 24) & 0x03)
#define CR_FLAGS_MASK 0xfc000000
#define CR_ALT_FILTER 0x04000000
#define CR_DITHER CR_ALT_FILTER
#define CR_DEGLITCH CR_ALT_FILTER
#define CR_ALT_SOURCE 0x08000000
#define CR_EDGE 0x40000000
#define CR_INVERT 0x80000000
#define AREF_GROUND 0x00 /* analog ref = analog ground */
#define AREF_COMMON 0x01 /* analog ref = analog common */
#define AREF_DIFF 0x02 /* analog ref = differential */
#define AREF_OTHER 0x03 /* analog ref = other (undefined) */
/* counters -- these are arbitrary values */
#define GPCT_RESET 0x0001
#define GPCT_SET_SOURCE 0x0002
#define GPCT_SET_GATE 0x0004
#define GPCT_SET_DIRECTION 0x0008
#define GPCT_SET_OPERATION 0x0010
#define GPCT_ARM 0x0020
#define GPCT_DISARM 0x0040
#define GPCT_GET_INT_CLK_FRQ 0x0080
#define GPCT_INT_CLOCK 0x0001
#define GPCT_EXT_PIN 0x0002
#define GPCT_NO_GATE 0x0004
#define GPCT_UP 0x0008
#define GPCT_DOWN 0x0010
#define GPCT_HWUD 0x0020
#define GPCT_SIMPLE_EVENT 0x0040
#define GPCT_SINGLE_PERIOD 0x0080
#define GPCT_SINGLE_PW 0x0100
#define GPCT_CONT_PULSE_OUT 0x0200
#define GPCT_SINGLE_PULSE_OUT 0x0400
/* instructions */
#define INSN_MASK_WRITE 0x8000000
#define INSN_MASK_READ 0x4000000
#define INSN_MASK_SPECIAL 0x2000000
#define INSN_READ (0 | INSN_MASK_READ)
#define INSN_WRITE (1 | INSN_MASK_WRITE)
#define INSN_BITS (2 | INSN_MASK_READ | INSN_MASK_WRITE)
#define INSN_CONFIG (3 | INSN_MASK_READ | INSN_MASK_WRITE)
#define INSN_DEVICE_CONFIG (INSN_CONFIG | INSN_MASK_SPECIAL)
#define INSN_GTOD (4 | INSN_MASK_READ | INSN_MASK_SPECIAL)
#define INSN_WAIT (5 | INSN_MASK_WRITE | INSN_MASK_SPECIAL)
#define INSN_INTTRIG (6 | INSN_MASK_WRITE | INSN_MASK_SPECIAL)
/* command flags */
/* These flags are used in comedi_cmd structures */
#define CMDF_BOGUS 0x00000001 /* do the motions */
/* try to use a real-time interrupt while performing command */
#define CMDF_PRIORITY 0x00000008
/* wake up on end-of-scan events */
#define CMDF_WAKE_EOS 0x00000020
#define CMDF_WRITE 0x00000040
#define CMDF_RAWDATA 0x00000080
/* timer rounding definitions */
#define CMDF_ROUND_MASK 0x00030000
#define CMDF_ROUND_NEAREST 0x00000000
#define CMDF_ROUND_DOWN 0x00010000
#define CMDF_ROUND_UP 0x00020000
#define CMDF_ROUND_UP_NEXT 0x00030000
#define COMEDI_EV_START 0x00040000
#define COMEDI_EV_SCAN_BEGIN 0x00080000
#define COMEDI_EV_CONVERT 0x00100000
#define COMEDI_EV_SCAN_END 0x00200000
#define COMEDI_EV_STOP 0x00400000
/* compatibility definitions */
#define TRIG_BOGUS CMDF_BOGUS
#define TRIG_RT CMDF_PRIORITY
#define TRIG_WAKE_EOS CMDF_WAKE_EOS
#define TRIG_WRITE CMDF_WRITE
#define TRIG_ROUND_MASK CMDF_ROUND_MASK
#define TRIG_ROUND_NEAREST CMDF_ROUND_NEAREST
#define TRIG_ROUND_DOWN CMDF_ROUND_DOWN
#define TRIG_ROUND_UP CMDF_ROUND_UP
#define TRIG_ROUND_UP_NEXT CMDF_ROUND_UP_NEXT
/* trigger sources */
#define TRIG_ANY 0xffffffff
#define TRIG_INVALID 0x00000000
#define TRIG_NONE 0x00000001 /* never trigger */
#define TRIG_NOW 0x00000002 /* trigger now + N ns */
#define TRIG_FOLLOW 0x00000004 /* trigger on next lower level trig */
#define TRIG_TIME 0x00000008 /* trigger at time N ns */
#define TRIG_TIMER 0x00000010 /* trigger at rate N ns */
#define TRIG_COUNT 0x00000020 /* trigger when count reaches N */
#define TRIG_EXT 0x00000040 /* trigger on external signal N */
#define TRIG_INT 0x00000080 /* trigger on comedi-internal signal N */
#define TRIG_OTHER 0x00000100 /* driver defined */
/* subdevice flags */
#define SDF_BUSY 0x0001 /* device is busy */
#define SDF_BUSY_OWNER 0x0002 /* device is busy with your job */
#define SDF_LOCKED 0x0004 /* subdevice is locked */
#define SDF_LOCK_OWNER 0x0008 /* you own lock */
#define SDF_MAXDATA 0x0010 /* maxdata depends on channel */
#define SDF_FLAGS 0x0020 /* flags depend on channel */
#define SDF_RANGETYPE 0x0040 /* range type depends on channel */
#define SDF_PWM_COUNTER 0x0080 /* PWM can automatically switch off */
#define SDF_PWM_HBRIDGE 0x0100 /* PWM is signed (H-bridge) */
#define SDF_CMD 0x1000 /* can do commands (deprecated) */
#define SDF_SOFT_CALIBRATED 0x2000 /* subdevice uses software calibration */
#define SDF_CMD_WRITE 0x4000 /* can do output commands */
#define SDF_CMD_READ 0x8000 /* can do input commands */
/* subdevice can be read (e.g. analog input) */
#define SDF_READABLE 0x00010000
/* subdevice can be written (e.g. analog output) */
#define SDF_WRITABLE 0x00020000
#define SDF_WRITEABLE SDF_WRITABLE /* spelling error in API */
/* subdevice does not have externally visible lines */
#define SDF_INTERNAL 0x00040000
#define SDF_GROUND 0x00100000 /* can do aref=ground */
#define SDF_COMMON 0x00200000 /* can do aref=common */
#define SDF_DIFF 0x00400000 /* can do aref=diff */
#define SDF_OTHER 0x00800000 /* can do aref=other */
#define SDF_DITHER 0x01000000 /* can do dithering */
#define SDF_DEGLITCH 0x02000000 /* can do deglitching */
#define SDF_MMAP 0x04000000 /* can do mmap() */
#define SDF_RUNNING 0x08000000 /* subdevice is acquiring data */
#define SDF_LSAMPL 0x10000000 /* subdevice uses 32-bit samples */
#define SDF_PACKED 0x20000000 /* subdevice can do packed DIO */
/* subdevice types */
/**
* enum comedi_subdevice_type - COMEDI subdevice types
* @COMEDI_SUBD_UNUSED: Unused subdevice.
* @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.
* @COMEDI_SUBD_COUNTER: Counter.
* @COMEDI_SUBD_TIMER: Timer.
* @COMEDI_SUBD_MEMORY: Memory, EEPROM, DPRAM.
* @COMEDI_SUBD_CALIB: Calibration DACs.
* @COMEDI_SUBD_PROC: Processor, DSP.
* @COMEDI_SUBD_SERIAL: Serial I/O.
* @COMEDI_SUBD_PWM: Pulse-Width Modulation output.
*/
enum comedi_subdevice_type {
COMEDI_SUBD_UNUSED,
COMEDI_SUBD_AI,
COMEDI_SUBD_AO,
COMEDI_SUBD_DI,
COMEDI_SUBD_DO,
COMEDI_SUBD_DIO,
COMEDI_SUBD_COUNTER,
COMEDI_SUBD_TIMER,
COMEDI_SUBD_MEMORY,
COMEDI_SUBD_CALIB,
COMEDI_SUBD_PROC,
COMEDI_SUBD_SERIAL,
COMEDI_SUBD_PWM
};
/* configuration instructions */
/**
* enum comedi_io_direction - COMEDI I/O directions
* @COMEDI_INPUT: Input.
* @COMEDI_OUTPUT: Output.
* @COMEDI_OPENDRAIN: Open-drain (or open-collector) output.
*
* These are used by the %INSN_CONFIG_DIO_QUERY configuration instruction to
* report a direction. They may also be used in other places where a direction
* needs to be specified.
*/
enum comedi_io_direction {
COMEDI_INPUT = 0,
COMEDI_OUTPUT = 1,
COMEDI_OPENDRAIN = 2
};
/**
* enum configuration_ids - COMEDI configuration instruction codes
* @INSN_CONFIG_DIO_INPUT: Configure digital I/O as input.
* @INSN_CONFIG_DIO_OUTPUT: Configure digital I/O as output.
* @INSN_CONFIG_DIO_OPENDRAIN: Configure digital I/O as open-drain (or open
* collector) output.
* @INSN_CONFIG_ANALOG_TRIG: Configure analog trigger.
* @INSN_CONFIG_ALT_SOURCE: Configure alternate input source.
* @INSN_CONFIG_DIGITAL_TRIG: Configure digital trigger.
* @INSN_CONFIG_BLOCK_SIZE: Configure block size for DMA transfers.
* @INSN_CONFIG_TIMER_1: Configure divisor for external clock.
* @INSN_CONFIG_FILTER: Configure a filter.
* @INSN_CONFIG_CHANGE_NOTIFY: Configure change notification for digital
* inputs. (New drivers should use
* %INSN_CONFIG_DIGITAL_TRIG instead.)
* @INSN_CONFIG_SERIAL_CLOCK: Configure clock for serial I/O.
* @INSN_CONFIG_BIDIRECTIONAL_DATA: Send and receive byte over serial I/O.
* @INSN_CONFIG_DIO_QUERY: Query direction of digital I/O channel.
* @INSN_CONFIG_PWM_OUTPUT: Configure pulse-width modulator output.
* @INSN_CONFIG_GET_PWM_OUTPUT: Get pulse-width modulator output configuration.
* @INSN_CONFIG_ARM: Arm a subdevice or channel.
* @INSN_CONFIG_DISARM: Disarm a subdevice or channel.
* @INSN_CONFIG_GET_COUNTER_STATUS: Get counter status.
* @INSN_CONFIG_RESET: Reset a subdevice or channel.
* @INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR: Configure counter/timer as
* single pulse generator.
* @INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR: Configure counter/timer as
* pulse train generator.
* @INSN_CONFIG_GPCT_QUADRATURE_ENCODER: Configure counter as a quadrature
* encoder.
* @INSN_CONFIG_SET_GATE_SRC: Set counter/timer gate source.
* @INSN_CONFIG_GET_GATE_SRC: Get counter/timer gate source.
* @INSN_CONFIG_SET_CLOCK_SRC: Set counter/timer master clock source.
* @INSN_CONFIG_GET_CLOCK_SRC: Get counter/timer master clock source.
* @INSN_CONFIG_SET_OTHER_SRC: Set counter/timer "other" source.
* @INSN_CONFIG_GET_HARDWARE_BUFFER_SIZE: Get size (in bytes) of subdevice's
* on-board FIFOs used during streaming
* input/output.
* @INSN_CONFIG_SET_COUNTER_MODE: Set counter/timer mode.
* @INSN_CONFIG_8254_SET_MODE: (Deprecated) Same as
* %INSN_CONFIG_SET_COUNTER_MODE.
* @INSN_CONFIG_8254_READ_STATUS: Read status of 8254 counter channel.
* @INSN_CONFIG_SET_ROUTING: Set routing for a channel.
* @INSN_CONFIG_GET_ROUTING: Get routing for a channel.
* @INSN_CONFIG_PWM_SET_PERIOD: Set PWM period in nanoseconds.
* @INSN_CONFIG_PWM_GET_PERIOD: Get PWM period in nanoseconds.
* @INSN_CONFIG_GET_PWM_STATUS: Get PWM status.
* @INSN_CONFIG_PWM_SET_H_BRIDGE: Set PWM H bridge duty cycle and polarity for
* a relay simultaneously.
* @INSN_CONFIG_PWM_GET_H_BRIDGE: Get PWM H bridge duty cycle and polarity.
* @INSN_CONFIG_GET_CMD_TIMING_CONSTRAINTS: Get the hardware timing restraints,
* regardless of trigger sources.
*/
enum configuration_ids {
INSN_CONFIG_DIO_INPUT = COMEDI_INPUT,
INSN_CONFIG_DIO_OUTPUT = COMEDI_OUTPUT,
INSN_CONFIG_DIO_OPENDRAIN = COMEDI_OPENDRAIN,
INSN_CONFIG_ANALOG_TRIG = 16,
/* INSN_CONFIG_WAVEFORM = 17, */
/* INSN_CONFIG_TRIG = 18, */
/* INSN_CONFIG_COUNTER = 19, */
INSN_CONFIG_ALT_SOURCE = 20,
INSN_CONFIG_DIGITAL_TRIG = 21,
INSN_CONFIG_BLOCK_SIZE = 22,
INSN_CONFIG_TIMER_1 = 23,
INSN_CONFIG_FILTER = 24,
INSN_CONFIG_CHANGE_NOTIFY = 25,
INSN_CONFIG_SERIAL_CLOCK = 26, /*ALPHA*/
INSN_CONFIG_BIDIRECTIONAL_DATA = 27,
INSN_CONFIG_DIO_QUERY = 28,
INSN_CONFIG_PWM_OUTPUT = 29,
INSN_CONFIG_GET_PWM_OUTPUT = 30,
INSN_CONFIG_ARM = 31,
INSN_CONFIG_DISARM = 32,
INSN_CONFIG_GET_COUNTER_STATUS = 33,
INSN_CONFIG_RESET = 34,
INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR = 1001,
INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR = 1002,
INSN_CONFIG_GPCT_QUADRATURE_ENCODER = 1003,
INSN_CONFIG_SET_GATE_SRC = 2001,
INSN_CONFIG_GET_GATE_SRC = 2002,
INSN_CONFIG_SET_CLOCK_SRC = 2003,
INSN_CONFIG_GET_CLOCK_SRC = 2004,
INSN_CONFIG_SET_OTHER_SRC = 2005,
INSN_CONFIG_GET_HARDWARE_BUFFER_SIZE = 2006,
INSN_CONFIG_SET_COUNTER_MODE = 4097,
INSN_CONFIG_8254_SET_MODE = INSN_CONFIG_SET_COUNTER_MODE,
INSN_CONFIG_8254_READ_STATUS = 4098,
INSN_CONFIG_SET_ROUTING = 4099,
INSN_CONFIG_GET_ROUTING = 4109,
INSN_CONFIG_PWM_SET_PERIOD = 5000,
INSN_CONFIG_PWM_GET_PERIOD = 5001,
INSN_CONFIG_GET_PWM_STATUS = 5002,
INSN_CONFIG_PWM_SET_H_BRIDGE = 5003,
INSN_CONFIG_PWM_GET_H_BRIDGE = 5004,
INSN_CONFIG_GET_CMD_TIMING_CONSTRAINTS = 5005,
};
/**
* enum device_configuration_ids - COMEDI configuration instruction codes global
* to an entire device.
* @INSN_DEVICE_CONFIG_TEST_ROUTE: Validate the possibility of a
* globally-named route
* @INSN_DEVICE_CONFIG_CONNECT_ROUTE: Connect a globally-named route
* @INSN_DEVICE_CONFIG_DISCONNECT_ROUTE:Disconnect a globally-named route
* @INSN_DEVICE_CONFIG_GET_ROUTES: Get a list of all globally-named routes
* that are valid for a particular device.
*/
enum device_config_route_ids {
INSN_DEVICE_CONFIG_TEST_ROUTE = 0,
INSN_DEVICE_CONFIG_CONNECT_ROUTE = 1,
INSN_DEVICE_CONFIG_DISCONNECT_ROUTE = 2,
INSN_DEVICE_CONFIG_GET_ROUTES = 3,
};
/**
* enum comedi_digital_trig_op - operations for configuring a digital trigger
* @COMEDI_DIGITAL_TRIG_DISABLE: Return digital trigger to its default,
* inactive, unconfigured state.
* @COMEDI_DIGITAL_TRIG_ENABLE_EDGES: Set rising and/or falling edge inputs
* that each can fire the trigger.
* @COMEDI_DIGITAL_TRIG_ENABLE_LEVELS: Set a combination of high and/or low
* level inputs that can fire the trigger.
*
* These are used with the %INSN_CONFIG_DIGITAL_TRIG configuration instruction.
* The data for the configuration instruction is as follows...
*
* data[%0] = %INSN_CONFIG_DIGITAL_TRIG
*
* data[%1] = trigger ID
*
* data[%2] = configuration operation
*
* data[%3] = configuration parameter 1
*
* data[%4] = configuration parameter 2
*
* data[%5] = configuration parameter 3
*
* The trigger ID (data[%1]) is used to differentiate multiple digital triggers
* belonging to the same subdevice. The configuration operation (data[%2]) is
* one of the enum comedi_digital_trig_op values. The configuration
* parameters (data[%3], data[%4], and data[%5]) depend on the operation; they
* are not used with %COMEDI_DIGITAL_TRIG_DISABLE.
*
* For %COMEDI_DIGITAL_TRIG_ENABLE_EDGES and %COMEDI_DIGITAL_TRIG_ENABLE_LEVELS,
* configuration parameter 1 (data[%3]) contains a "left-shift" value that
* specifies the input corresponding to bit 0 of configuration parameters 2
* and 3. This is useful if the trigger has more than 32 inputs.
*
* For %COMEDI_DIGITAL_TRIG_ENABLE_EDGES, configuration parameter 2 (data[%4])
* specifies which of up to 32 inputs have rising-edge sensitivity, and
* configuration parameter 3 (data[%5]) specifies which of up to 32 inputs
* have falling-edge sensitivity that can fire the trigger.
*
* For %COMEDI_DIGITAL_TRIG_ENABLE_LEVELS, configuration parameter 2 (data[%4])
* specifies which of up to 32 inputs must be at a high level, and
* configuration parameter 3 (data[%5]) specifies which of up to 32 inputs
* must be at a low level for the trigger to fire.
*
* Some sequences of %INSN_CONFIG_DIGITAL_TRIG instructions may have a (partly)
* accumulative effect, depending on the low-level driver. This is useful
* when setting up a trigger that has more than 32 inputs, or has a combination
* of edge- and level-triggered inputs.
*/
enum comedi_digital_trig_op {
COMEDI_DIGITAL_TRIG_DISABLE = 0,
COMEDI_DIGITAL_TRIG_ENABLE_EDGES = 1,
COMEDI_DIGITAL_TRIG_ENABLE_LEVELS = 2
};
/**
* enum comedi_support_level - support level for a COMEDI feature
* @COMEDI_UNKNOWN_SUPPORT: Unspecified support for feature.
* @COMEDI_SUPPORTED: Feature is supported.
* @COMEDI_UNSUPPORTED: Feature is unsupported.
*/
enum comedi_support_level {
COMEDI_UNKNOWN_SUPPORT = 0,
COMEDI_SUPPORTED,
COMEDI_UNSUPPORTED
};
/**
* enum comedi_counter_status_flags - counter status bits
* @COMEDI_COUNTER_ARMED: Counter is armed.
* @COMEDI_COUNTER_COUNTING: Counter is counting.
* @COMEDI_COUNTER_TERMINAL_COUNT: Counter reached terminal count.
*
* These bitwise values are used by the %INSN_CONFIG_GET_COUNTER_STATUS
* configuration instruction to report the status of a counter.
*/
enum comedi_counter_status_flags {
COMEDI_COUNTER_ARMED = 0x1,
COMEDI_COUNTER_COUNTING = 0x2,
COMEDI_COUNTER_TERMINAL_COUNT = 0x4,
};
/* ioctls */
#define CIO 'd'
#define COMEDI_DEVCONFIG _IOW(CIO, 0, struct comedi_devconfig)
#define COMEDI_DEVINFO _IOR(CIO, 1, struct comedi_devinfo)
#define COMEDI_SUBDINFO _IOR(CIO, 2, struct comedi_subdinfo)
#define COMEDI_CHANINFO _IOR(CIO, 3, struct comedi_chaninfo)
/* _IOWR(CIO, 4, ...) is reserved */
#define COMEDI_LOCK _IO(CIO, 5)
#define COMEDI_UNLOCK _IO(CIO, 6)
#define COMEDI_CANCEL _IO(CIO, 7)
#define COMEDI_RANGEINFO _IOR(CIO, 8, struct comedi_rangeinfo)
#define COMEDI_CMD _IOR(CIO, 9, struct comedi_cmd)
#define COMEDI_CMDTEST _IOR(CIO, 10, struct comedi_cmd)
#define COMEDI_INSNLIST _IOR(CIO, 11, struct comedi_insnlist)
#define COMEDI_INSN _IOR(CIO, 12, struct comedi_insn)
#define COMEDI_BUFCONFIG _IOR(CIO, 13, struct comedi_bufconfig)
#define COMEDI_BUFINFO _IOWR(CIO, 14, struct comedi_bufinfo)
#define COMEDI_POLL _IO(CIO, 15)
#define COMEDI_SETRSUBD _IO(CIO, 16)
#define COMEDI_SETWSUBD _IO(CIO, 17)
/* structures */
/**
* struct comedi_insn - COMEDI instruction
* @insn: COMEDI instruction type (%INSN_xxx).
* @n: Length of @data[].
* @data: Pointer to data array operated on by the instruction.
* @subdev: Subdevice index.
* @chanspec: A packed "chanspec" value consisting of channel number,
* analog range index, analog reference type, and flags.
* @unused: Reserved for future use.
*
* This is used with the %COMEDI_INSN ioctl, and indirectly with the
* %COMEDI_INSNLIST ioctl.
*/
struct comedi_insn {
unsigned int insn;
unsigned int n;
unsigned int __user *data;
unsigned int subdev;
unsigned int chanspec;
unsigned int unused[3];
};
/**
* struct comedi_insnlist - list of COMEDI instructions
* @n_insns: Number of COMEDI instructions.
* @insns: Pointer to array COMEDI instructions.
*
* This is used with the %COMEDI_INSNLIST ioctl.
*/
struct comedi_insnlist {
unsigned int n_insns;
struct comedi_insn __user *insns;
};
/**
* struct comedi_cmd - COMEDI asynchronous acquisition command details
* @subdev: Subdevice index.
* @flags: Command flags (%CMDF_xxx).
* @start_src: "Start acquisition" trigger source (%TRIG_xxx).
* @start_arg: "Start acquisition" trigger argument.
* @scan_begin_src: "Scan begin" trigger source.
* @scan_begin_arg: "Scan begin" trigger argument.
* @convert_src: "Convert" trigger source.
* @convert_arg: "Convert" trigger argument.
* @scan_end_src: "Scan end" trigger source.
* @scan_end_arg: "Scan end" trigger argument.
* @stop_src: "Stop acquisition" trigger source.
* @stop_arg: "Stop acquisition" trigger argument.
* @chanlist: Pointer to array of "chanspec" values, containing a
* sequence of channel numbers packed with analog range
* index, etc.
* @chanlist_len: Number of channels in sequence.
* @data: Pointer to miscellaneous set-up data (not used).
* @data_len: Length of miscellaneous set-up data.
*
* This is used with the %COMEDI_CMD or %COMEDI_CMDTEST ioctl to set-up
* or validate an asynchronous acquisition command. The ioctl may modify
* the &struct comedi_cmd and copy it back to the caller.
*
* Optional command @flags values that can be ORed together...
*
* %CMDF_BOGUS - makes %COMEDI_CMD ioctl return error %EAGAIN instead of
* starting the command.
*
* %CMDF_PRIORITY - requests "hard real-time" processing (which is not
* supported in this version of COMEDI).
*
* %CMDF_WAKE_EOS - requests the command makes data available for reading
* after every "scan" period.
*
* %CMDF_WRITE - marks the command as being in the "write" (to device)
* direction. This does not need to be specified by the caller unless the
* subdevice supports commands in either direction.
*
* %CMDF_RAWDATA - prevents the command from "munging" the data between the
* COMEDI sample format and the raw hardware sample format.
*
* %CMDF_ROUND_NEAREST - requests timing periods to be rounded to nearest
* supported values.
*
* %CMDF_ROUND_DOWN - requests timing periods to be rounded down to supported
* values (frequencies rounded up).
*
* %CMDF_ROUND_UP - requests timing periods to be rounded up to supported
* values (frequencies rounded down).
*
* Trigger source values for @start_src, @scan_begin_src, @convert_src,
* @scan_end_src, and @stop_src...
*
* %TRIG_ANY - "all ones" value used to test which trigger sources are
* supported.
*
* %TRIG_INVALID - "all zeroes" value used to indicate that all requested
* trigger sources are invalid.
*
* %TRIG_NONE - never trigger (often used as a @stop_src value).
*
* %TRIG_NOW - trigger after '_arg' nanoseconds.
*
* %TRIG_FOLLOW - trigger follows another event.
*
* %TRIG_TIMER - trigger every '_arg' nanoseconds.
*
* %TRIG_COUNT - trigger when count '_arg' is reached.
*
* %TRIG_EXT - trigger on external signal specified by '_arg'.
*
* %TRIG_INT - trigger on internal, software trigger specified by '_arg'.
*
* %TRIG_OTHER - trigger on other, driver-defined signal specified by '_arg'.
*/
struct comedi_cmd {
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;
short __user *data;
unsigned int data_len;
};
/**
* struct comedi_chaninfo - used to retrieve per-channel information
* @subdev: Subdevice index.
* @maxdata_list: Optional pointer to per-channel maximum data values.
* @flaglist: Optional pointer to per-channel flags.
* @rangelist: Optional pointer to per-channel range types.
* @unused: Reserved for future use.
*
* This is used with the %COMEDI_CHANINFO ioctl to get per-channel information
* for the subdevice. Use of this requires knowledge of the number of channels
* and subdevice flags obtained using the %COMEDI_SUBDINFO ioctl.
*
* The @maxdata_list member must be %NULL unless the %SDF_MAXDATA subdevice
* flag is set. The @flaglist member must be %NULL unless the %SDF_FLAGS
* subdevice flag is set. The @rangelist member must be %NULL unless the
* %SDF_RANGETYPE subdevice flag is set. Otherwise, the arrays they point to
* must be at least as long as the number of channels.
*/
struct comedi_chaninfo {
unsigned int subdev;
unsigned int __user *maxdata_list;
unsigned int __user *flaglist;
unsigned int __user *rangelist;
unsigned int unused[4];
};
/**
* struct comedi_rangeinfo - used to retrieve the range table for a channel
* @range_type: Encodes subdevice index (bits 27:24), channel index
* (bits 23:16) and range table length (bits 15:0).
* @range_ptr: Pointer to array of @struct comedi_krange to be filled
* in with the range table for the channel or subdevice.
*
* This is used with the %COMEDI_RANGEINFO ioctl to retrieve the range table
* for a specific channel (if the subdevice has the %SDF_RANGETYPE flag set to
* indicate that the range table depends on the channel), or for the subdevice
* as a whole (if the %SDF_RANGETYPE flag is clear, indicating the range table
* is shared by all channels).
*
* The @range_type value is an input to the ioctl and comes from a previous
* use of the %COMEDI_SUBDINFO ioctl (if the %SDF_RANGETYPE flag is clear),
* or the %COMEDI_CHANINFO ioctl (if the %SDF_RANGETYPE flag is set).
*/
struct comedi_rangeinfo {
unsigned int range_type;
void __user *range_ptr;
};
/**
* struct comedi_krange - describes a range in a range table
* @min: Minimum value in millionths (1e-6) of a unit.
* @max: Maximum value in millionths (1e-6) of a unit.
* @flags: Indicates the units (in bits 7:0) OR'ed with optional flags.
*
* A range table is associated with a single channel, or with all channels in a
* subdevice, and a list of one or more ranges. A %struct comedi_krange
* describes the physical range of units for one of those ranges. Sample
* values in COMEDI are unsigned from %0 up to some 'maxdata' value. The
* mapping from sample values to physical units is assumed to be nomimally
* linear (for the purpose of describing the range), with sample value %0
* mapping to @min, and the 'maxdata' sample value mapping to @max.
*
* The currently defined units are %UNIT_volt (%0), %UNIT_mA (%1), and
* %UNIT_none (%2). The @min and @max values are the physical range multiplied
* by 1e6, so a @max value of %1000000 (with %UNIT_volt) represents a maximal
* value of 1 volt.
*
* The only defined flag value is %RF_EXTERNAL (%0x100), indicating that the
* range needs to be multiplied by an external reference.
*/
struct comedi_krange {
int min;
int max;
unsigned int flags;
};
/**
* struct comedi_subdinfo - used to retrieve information about a subdevice
* @type: Type of subdevice from &enum comedi_subdevice_type.
* @n_chan: Number of channels the subdevice supports.
* @subd_flags: A mixture of static and dynamic flags describing
* aspects of the subdevice and its current state.
* @timer_type: Timer type. Always set to %5 ("nanosecond timer").
* @len_chanlist: Maximum length of a channel list if the subdevice
* supports asynchronous acquisition commands.
* @maxdata: Maximum sample value for all channels if the
* %SDF_MAXDATA subdevice flag is clear.
* @flags: Channel flags for all channels if the %SDF_FLAGS
* subdevice flag is clear.
* @range_type: The range type for all channels if the %SDF_RANGETYPE
* subdevice flag is clear. Encodes the subdevice index
* (bits 27:24), a dummy channel index %0 (bits 23:16),
* and the range table length (bits 15:0).
* @settling_time_0: Not used.
* @insn_bits_support: Set to %COMEDI_SUPPORTED if the subdevice supports the
* %INSN_BITS instruction, or to %COMEDI_UNSUPPORTED if it
* does not.
* @unused: Reserved for future use.
*
* This is used with the %COMEDI_SUBDINFO ioctl which copies an array of
* &struct comedi_subdinfo back to user space, with one element per subdevice.
* Use of this requires knowledge of the number of subdevices obtained from
* the %COMEDI_DEVINFO ioctl.
*
* These are the @subd_flags values that may be ORed together...
*
* %SDF_BUSY - the subdevice is busy processing an asynchronous command or a
* synchronous instruction.
*
* %SDF_BUSY_OWNER - the subdevice is busy processing an asynchronous
* acquisition command started on the current file object (the file object
* issuing the %COMEDI_SUBDINFO ioctl).
*
* %SDF_LOCKED - the subdevice is locked by a %COMEDI_LOCK ioctl.
*
* %SDF_LOCK_OWNER - the subdevice is locked by a %COMEDI_LOCK ioctl from the
* current file object.
*
* %SDF_MAXDATA - maximum sample values are channel-specific.
*
* %SDF_FLAGS - channel flags are channel-specific.
*
* %SDF_RANGETYPE - range types are channel-specific.
*
* %SDF_PWM_COUNTER - PWM can switch off automatically.
*
* %SDF_PWM_HBRIDGE - or PWM is signed (H-bridge).
*
* %SDF_CMD - the subdevice supports asynchronous commands.
*
* %SDF_SOFT_CALIBRATED - the subdevice uses software calibration.
*
* %SDF_CMD_WRITE - the subdevice supports asynchronous commands in the output
* ("write") direction.
*
* %SDF_CMD_READ - the subdevice supports asynchronous commands in the input
* ("read") direction.
*
* %SDF_READABLE - the subdevice is readable (e.g. analog input).
*
* %SDF_WRITABLE (aliased as %SDF_WRITEABLE) - the subdevice is writable (e.g.
* analog output).
*
* %SDF_INTERNAL - the subdevice has no externally visible lines.
*
* %SDF_GROUND - the subdevice can use ground as an analog reference.
*
* %SDF_COMMON - the subdevice can use a common analog reference.
*
* %SDF_DIFF - the subdevice can use differential inputs (or outputs).
*
* %SDF_OTHER - the subdevice can use some other analog reference.
*
* %SDF_DITHER - the subdevice can do dithering.
*
* %SDF_DEGLITCH - the subdevice can do deglitching.
*
* %SDF_MMAP - this is never set.
*
* %SDF_RUNNING - an asynchronous command is still running.
*
* %SDF_LSAMPL - the subdevice uses "long" (32-bit) samples (for asynchronous
* command data).
*
* %SDF_PACKED - the subdevice packs several DIO samples into a single sample
* (for asynchronous command data).
*
* No "channel flags" (@flags) values are currently defined.
*/
struct comedi_subdinfo {
unsigned int type;
unsigned int n_chan;
unsigned int subd_flags;
unsigned int timer_type;
unsigned int len_chanlist;
unsigned int maxdata;
unsigned int flags;
unsigned int range_type;
unsigned int settling_time_0;
unsigned int insn_bits_support;
unsigned int unused[8];
};
/**
* struct comedi_devinfo - used to retrieve information about a COMEDI device
* @version_code: COMEDI version code.
* @n_subdevs: Number of subdevices the device has.
* @driver_name: Null-terminated COMEDI driver name.
* @board_name: Null-terminated COMEDI board name.
* @read_subdevice: Index of the current "read" subdevice (%-1 if none).
* @write_subdevice: Index of the current "write" subdevice (%-1 if none).
* @unused: Reserved for future use.
*
* This is used with the %COMEDI_DEVINFO ioctl to get basic information about
* the device.
*/
struct comedi_devinfo {
unsigned int version_code;
unsigned int n_subdevs;
char driver_name[COMEDI_NAMELEN];
char board_name[COMEDI_NAMELEN];
int read_subdevice;
int write_subdevice;
int unused[30];
};
/**
* struct comedi_devconfig - used to configure a legacy COMEDI device
* @board_name: Null-terminated string specifying the type of board
* to configure.
* @options: An array of integer configuration options.
*
* This is used with the %COMEDI_DEVCONFIG ioctl to configure a "legacy" COMEDI
* device, such as an ISA card. Not all COMEDI drivers support this. Those
* that do either expect the specified board name to match one of a list of
* names registered with the COMEDI core, or expect the specified board name
* to match the COMEDI driver name itself. The configuration options are
* handled in a driver-specific manner.
*/
struct comedi_devconfig {
char board_name[COMEDI_NAMELEN];
int options[COMEDI_NDEVCONFOPTS];
};
/**
* struct comedi_bufconfig - used to set or get buffer size for a subdevice
* @subdevice: Subdevice index.
* @flags: Not used.
* @maximum_size: Maximum allowed buffer size.
* @size: Buffer size.
* @unused: Reserved for future use.
*
* This is used with the %COMEDI_BUFCONFIG ioctl to get or configure the
* maximum buffer size and current buffer size for a COMEDI subdevice that
* supports asynchronous commands. If the subdevice does not support
* asynchronous commands, @maximum_size and @size are ignored and set to 0.
*
* On ioctl input, non-zero values of @maximum_size and @size specify a
* new maximum size and new current size (in bytes), respectively. These
* will by rounded up to a multiple of %PAGE_SIZE. Specifying a new maximum
* size requires admin capabilities.
*
* On ioctl output, @maximum_size and @size and set to the current maximum
* buffer size and current buffer size, respectively.
*/
struct comedi_bufconfig {
unsigned int subdevice;
unsigned int flags;
unsigned int maximum_size;
unsigned int size;
unsigned int unused[4];
};
/**
* struct comedi_bufinfo - used to manipulate buffer position for a subdevice
* @subdevice: Subdevice index.
* @bytes_read: Specify amount to advance read position for an
* asynchronous command in the input ("read") direction.
* @buf_write_ptr: Current write position (index) within the buffer.
* @buf_read_ptr: Current read position (index) within the buffer.
* @buf_write_count: Total amount written, modulo 2^32.
* @buf_read_count: Total amount read, modulo 2^32.
* @bytes_written: Specify amount to advance write position for an
* asynchronous command in the output ("write") direction.
* @unused: Reserved for future use.
*
* This is used with the %COMEDI_BUFINFO ioctl to optionally advance the
* current read or write position in an asynchronous acquisition data buffer,
* and to get the current read and write positions in the buffer.
*/
struct comedi_bufinfo {
unsigned int subdevice;
unsigned int bytes_read;
unsigned int buf_write_ptr;
unsigned int buf_read_ptr;
unsigned int buf_write_count;
unsigned int buf_read_count;
unsigned int bytes_written;
unsigned int unused[4];
};
/* range stuff */
#define __RANGE(a, b) ((((a) & 0xffff) << 16) | ((b) & 0xffff))
#define RANGE_OFFSET(a) (((a) >> 16) & 0xffff)
#define RANGE_LENGTH(b) ((b) & 0xffff)
#define RF_UNIT(flags) ((flags) & 0xff)
#define RF_EXTERNAL 0x100
#define UNIT_volt 0
#define UNIT_mA 1
#define UNIT_none 2
#define COMEDI_MIN_SPEED 0xffffffffu
/**********************************************************/
/* everything after this line is ALPHA */
/**********************************************************/
/*
* 8254 specific configuration.
*
* It supports two config commands:
*
* 0 ID: INSN_CONFIG_SET_COUNTER_MODE
* 1 8254 Mode
* I8254_MODE0, I8254_MODE1, ..., I8254_MODE5
* OR'ed with:
* I8254_BCD, I8254_BINARY
*
* 0 ID: INSN_CONFIG_8254_READ_STATUS
* 1 <-- Status byte returned here.
* B7 = Output
* B6 = NULL Count
* B5 - B0 Current mode.
*/
enum i8254_mode {
I8254_MODE0 = (0 << 1), /* Interrupt on terminal count */
I8254_MODE1 = (1 << 1), /* Hardware retriggerable one-shot */
I8254_MODE2 = (2 << 1), /* Rate generator */
I8254_MODE3 = (3 << 1), /* Square wave mode */
I8254_MODE4 = (4 << 1), /* Software triggered strobe */
/* Hardware triggered strobe (retriggerable) */
I8254_MODE5 = (5 << 1),
/* Use binary-coded decimal instead of binary (pretty useless) */
I8254_BCD = 1,
I8254_BINARY = 0
};
/* *** BEGIN GLOBALLY-NAMED NI TERMINALS/SIGNALS *** */
/*
* Common National Instruments Terminal/Signal names.
* Some of these have no NI_ prefix as they are useful for non-NI hardware, such
* as those that utilize the PXI/RTSI trigger lines.
*
* NOTE ABOUT THE CHOICE OF NAMES HERE AND THE CAMELSCRIPT:
* The choice to use CamelScript and the exact names below is for
* maintainability, clarity, similarity to manufacturer's documentation,
* _and_ a mitigation for confusion that has plagued the use of these drivers
* for years!
*
* More detail:
* There have been significant confusions over the past many years for users
* when trying to understand how to connect to/from signals and terminals on
* NI hardware using comedi. The major reason for this is that the actual
* register values were exposed and required to be used by users. Several
* major reasons exist why this caused major confusion for users:
* 1) The register values are _NOT_ in user documentation, but rather in
* arcane locations, such as a few register programming manuals that are
* increasingly hard to find and the NI MHDDK (comments in example code).
* There is no one place to find the various valid values of the registers.
* 2) The register values are _NOT_ completely consistent. There is no way to
* gain any sense of intuition of which values, or even enums one should use
* for various registers. There was some attempt in prior use of comedi to
* name enums such that a user might know which enums should be used for
* varying purposes, but the end-user had to gain a knowledge of register
* values to correctly wield this approach.
* 3) The names for signals and registers found in the various register level
* programming manuals and vendor-provided documentation are _not_ even
* close to the same names that are in the end-user documentation.
*
* Similar, albeit less, confusion plagued NI's previous version of their own
* drivers. Earlier than 2003, NI greatly simplified the situation for users
* by releasing a new API that abstracted the names of signals/terminals to a
* common and intuitive set of names.
*
* The names below mirror the names chosen and well documented by NI. These
* names are exposed to the user via the comedilib user library. By keeping
* the names below, in spite of the use of CamelScript, maintenance will be
* greatly eased and confusion for users _and_ comedi developers will be
* greatly reduced.
*/
/*
* Base of abstracted NI names.
* The first 16 bits of *_arg are reserved for channel selection.
* Since we only actually need the first 4 or 5 bits for all register values on