comedi.h revision bd52efbbcc9f5d70c736b9b73c82aee149da1fe5
1/* 2 include/comedi.h (installed as /usr/include/comedi.h) 3 header file for comedi 4 5 COMEDI - Linux Control and Measurement Device Interface 6 Copyright (C) 1998-2001 David A. Schleef <ds@schleef.org> 7 8 This program is free software; you can redistribute it and/or modify 9 it under the terms of the GNU Lesser 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. 12 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. 17 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. 21 22*/ 23 24#ifndef _COMEDI_H 25#define _COMEDI_H 26 27#ifdef __cplusplus 28extern "C" { 29#endif 30 31#define COMEDI_MAJORVERSION 0 32#define COMEDI_MINORVERSION 7 33#define COMEDI_MICROVERSION 76 34#define VERSION "0.7.76" 35 36/* comedi's major device number */ 37#define COMEDI_MAJOR 98 38 39/* 40 maximum number of minor devices. This can be increased, although 41 kernel structures are currently statically allocated, thus you 42 don't want this to be much more than you actually use. 43 */ 44#define COMEDI_NDEVICES 16 45 46/* number of config options in the config structure */ 47#define COMEDI_NDEVCONFOPTS 32 48/*length of nth chunk of firmware data*/ 49#define COMEDI_DEVCONF_AUX_DATA3_LENGTH 25 50#define COMEDI_DEVCONF_AUX_DATA2_LENGTH 26 51#define COMEDI_DEVCONF_AUX_DATA1_LENGTH 27 52#define COMEDI_DEVCONF_AUX_DATA0_LENGTH 28 53#define COMEDI_DEVCONF_AUX_DATA_HI 29 /* most significant 32 bits of pointer address (if needed) */ 54#define COMEDI_DEVCONF_AUX_DATA_LO 30 /* least significant 32 bits of pointer address */ 55#define COMEDI_DEVCONF_AUX_DATA_LENGTH 31 /* total data length */ 56 57/* max length of device and driver names */ 58#define COMEDI_NAMELEN 20 59 60/* packs and unpacks a channel/range number */ 61 62#define CR_PACK(chan, rng, aref) ((((aref)&0x3)<<24) | (((rng)&0xff)<<16) | (chan)) 63#define CR_PACK_FLAGS(chan, range, aref, flags) (CR_PACK(chan, range, aref) | ((flags) & CR_FLAGS_MASK)) 64 65#define CR_CHAN(a) ((a)&0xffff) 66#define CR_RANGE(a) (((a)>>16)&0xff) 67#define CR_AREF(a) (((a)>>24)&0x03) 68 69#define CR_FLAGS_MASK 0xfc000000 70#define CR_ALT_FILTER (1<<26) 71#define CR_DITHER CR_ALT_FILTER 72#define CR_DEGLITCH CR_ALT_FILTER 73#define CR_ALT_SOURCE (1<<27) 74#define CR_EDGE (1<<30) 75#define CR_INVERT (1<<31) 76 77#define AREF_GROUND 0x00 /* analog ref = analog ground */ 78#define AREF_COMMON 0x01 /* analog ref = analog common */ 79#define AREF_DIFF 0x02 /* analog ref = differential */ 80#define AREF_OTHER 0x03 /* analog ref = other (undefined) */ 81 82/* counters -- these are arbitrary values */ 83#define GPCT_RESET 0x0001 84#define GPCT_SET_SOURCE 0x0002 85#define GPCT_SET_GATE 0x0004 86#define GPCT_SET_DIRECTION 0x0008 87#define GPCT_SET_OPERATION 0x0010 88#define GPCT_ARM 0x0020 89#define GPCT_DISARM 0x0040 90#define GPCT_GET_INT_CLK_FRQ 0x0080 91 92#define GPCT_INT_CLOCK 0x0001 93#define GPCT_EXT_PIN 0x0002 94#define GPCT_NO_GATE 0x0004 95#define GPCT_UP 0x0008 96#define GPCT_DOWN 0x0010 97#define GPCT_HWUD 0x0020 98#define GPCT_SIMPLE_EVENT 0x0040 99#define GPCT_SINGLE_PERIOD 0x0080 100#define GPCT_SINGLE_PW 0x0100 101#define GPCT_CONT_PULSE_OUT 0x0200 102#define GPCT_SINGLE_PULSE_OUT 0x0400 103 104/* instructions */ 105 106#define INSN_MASK_WRITE 0x8000000 107#define INSN_MASK_READ 0x4000000 108#define INSN_MASK_SPECIAL 0x2000000 109 110#define INSN_READ (0 | INSN_MASK_READ) 111#define INSN_WRITE (1 | INSN_MASK_WRITE) 112#define INSN_BITS (2 | INSN_MASK_READ|INSN_MASK_WRITE) 113#define INSN_CONFIG (3 | INSN_MASK_READ|INSN_MASK_WRITE) 114#define INSN_GTOD (4 | INSN_MASK_READ|INSN_MASK_SPECIAL) 115#define INSN_WAIT (5 | INSN_MASK_WRITE|INSN_MASK_SPECIAL) 116#define INSN_INTTRIG (6 | INSN_MASK_WRITE|INSN_MASK_SPECIAL) 117 118/* trigger flags */ 119/* These flags are used in comedi_trig structures */ 120 121#define TRIG_BOGUS 0x0001 /* do the motions */ 122#define TRIG_DITHER 0x0002 /* enable dithering */ 123#define TRIG_DEGLITCH 0x0004 /* enable deglitching */ 124/*#define TRIG_RT 0x0008 */ /* perform op in real time */ 125#define TRIG_CONFIG 0x0010 /* perform configuration, not triggering */ 126#define TRIG_WAKE_EOS 0x0020 /* wake up on end-of-scan events */ 127/*#define TRIG_WRITE 0x0040*/ /* write to bidirectional devices */ 128 129/* command flags */ 130/* These flags are used in comedi_cmd structures */ 131 132#define CMDF_PRIORITY 0x00000008 /* try to use a real-time interrupt while performing command */ 133 134#define TRIG_RT CMDF_PRIORITY /* compatibility definition */ 135 136#define CMDF_WRITE 0x00000040 137#define TRIG_WRITE CMDF_WRITE /* compatibility definition */ 138 139#define CMDF_RAWDATA 0x00000080 140 141#define COMEDI_EV_START 0x00040000 142#define COMEDI_EV_SCAN_BEGIN 0x00080000 143#define COMEDI_EV_CONVERT 0x00100000 144#define COMEDI_EV_SCAN_END 0x00200000 145#define COMEDI_EV_STOP 0x00400000 146 147#define TRIG_ROUND_MASK 0x00030000 148#define TRIG_ROUND_NEAREST 0x00000000 149#define TRIG_ROUND_DOWN 0x00010000 150#define TRIG_ROUND_UP 0x00020000 151#define TRIG_ROUND_UP_NEXT 0x00030000 152 153/* trigger sources */ 154 155#define TRIG_ANY 0xffffffff 156#define TRIG_INVALID 0x00000000 157 158#define TRIG_NONE 0x00000001 /* never trigger */ 159#define TRIG_NOW 0x00000002 /* trigger now + N ns */ 160#define TRIG_FOLLOW 0x00000004 /* trigger on next lower level trig */ 161#define TRIG_TIME 0x00000008 /* trigger at time N ns */ 162#define TRIG_TIMER 0x00000010 /* trigger at rate N ns */ 163#define TRIG_COUNT 0x00000020 /* trigger when count reaches N */ 164#define TRIG_EXT 0x00000040 /* trigger on external signal N */ 165#define TRIG_INT 0x00000080 /* trigger on comedi-internal signal N */ 166#define TRIG_OTHER 0x00000100 /* driver defined */ 167 168/* subdevice flags */ 169 170#define SDF_BUSY 0x0001 /* device is busy */ 171#define SDF_BUSY_OWNER 0x0002 /* device is busy with your job */ 172#define SDF_LOCKED 0x0004 /* subdevice is locked */ 173#define SDF_LOCK_OWNER 0x0008 /* you own lock */ 174#define SDF_MAXDATA 0x0010 /* maxdata depends on channel */ 175#define SDF_FLAGS 0x0020 /* flags depend on channel */ 176#define SDF_RANGETYPE 0x0040 /* range type depends on channel */ 177#define SDF_MODE0 0x0080 /* can do mode 0 */ 178#define SDF_MODE1 0x0100 /* can do mode 1 */ 179#define SDF_MODE2 0x0200 /* can do mode 2 */ 180#define SDF_MODE3 0x0400 /* can do mode 3 */ 181#define SDF_MODE4 0x0800 /* can do mode 4 */ 182#define SDF_CMD 0x1000 /* can do commands (deprecated) */ 183#define SDF_SOFT_CALIBRATED 0x2000 /* subdevice uses software calibration */ 184#define SDF_CMD_WRITE 0x4000 /* can do output commands */ 185#define SDF_CMD_READ 0x8000 /* can do input commands */ 186 187#define SDF_READABLE 0x00010000 /* subdevice can be read (e.g. analog input) */ 188#define SDF_WRITABLE 0x00020000 /* subdevice can be written (e.g. analog output) */ 189#define SDF_WRITEABLE SDF_WRITABLE /* spelling error in API */ 190#define SDF_INTERNAL 0x00040000 /* subdevice does not have externally visible lines */ 191#define SDF_RT 0x00080000 /* DEPRECATED: subdevice is RT capable */ 192#define SDF_GROUND 0x00100000 /* can do aref=ground */ 193#define SDF_COMMON 0x00200000 /* can do aref=common */ 194#define SDF_DIFF 0x00400000 /* can do aref=diff */ 195#define SDF_OTHER 0x00800000 /* can do aref=other */ 196#define SDF_DITHER 0x01000000 /* can do dithering */ 197#define SDF_DEGLITCH 0x02000000 /* can do deglitching */ 198#define SDF_MMAP 0x04000000 /* can do mmap() */ 199#define SDF_RUNNING 0x08000000 /* subdevice is acquiring data */ 200#define SDF_LSAMPL 0x10000000 /* subdevice uses 32-bit samples */ 201#define SDF_PACKED 0x20000000 /* subdevice can do packed DIO */ 202/* re recyle these flags for PWM */ 203#define SDF_PWM_COUNTER SDF_MODE0 /* PWM can automatically switch off */ 204#define SDF_PWM_HBRIDGE SDF_MODE1 /* PWM is signed (H-bridge) */ 205 206 207 208/* subdevice types */ 209 210enum comedi_subdevice_type { 211 COMEDI_SUBD_UNUSED, /* unused by driver */ 212 COMEDI_SUBD_AI, /* analog input */ 213 COMEDI_SUBD_AO, /* analog output */ 214 COMEDI_SUBD_DI, /* digital input */ 215 COMEDI_SUBD_DO, /* digital output */ 216 COMEDI_SUBD_DIO, /* digital input/output */ 217 COMEDI_SUBD_COUNTER, /* counter */ 218 COMEDI_SUBD_TIMER, /* timer */ 219 COMEDI_SUBD_MEMORY, /* memory, EEPROM, DPRAM */ 220 COMEDI_SUBD_CALIB, /* calibration DACs */ 221 COMEDI_SUBD_PROC, /* processor, DSP */ 222 COMEDI_SUBD_SERIAL, /* serial IO */ 223 COMEDI_SUBD_PWM /* PWM */ 224}; 225 226/* configuration instructions */ 227 228enum configuration_ids { 229 INSN_CONFIG_DIO_INPUT = 0, 230 INSN_CONFIG_DIO_OUTPUT = 1, 231 INSN_CONFIG_DIO_OPENDRAIN = 2, 232 INSN_CONFIG_ANALOG_TRIG = 16, 233/* INSN_CONFIG_WAVEFORM = 17, */ 234/* INSN_CONFIG_TRIG = 18, */ 235/* INSN_CONFIG_COUNTER = 19, */ 236 INSN_CONFIG_ALT_SOURCE = 20, 237 INSN_CONFIG_DIGITAL_TRIG = 21, 238 INSN_CONFIG_BLOCK_SIZE = 22, 239 INSN_CONFIG_TIMER_1 = 23, 240 INSN_CONFIG_FILTER = 24, 241 INSN_CONFIG_CHANGE_NOTIFY = 25, 242 243 /*ALPHA*/ INSN_CONFIG_SERIAL_CLOCK = 26, 244 INSN_CONFIG_BIDIRECTIONAL_DATA = 27, 245 INSN_CONFIG_DIO_QUERY = 28, 246 INSN_CONFIG_PWM_OUTPUT = 29, 247 INSN_CONFIG_GET_PWM_OUTPUT = 30, 248 INSN_CONFIG_ARM = 31, 249 INSN_CONFIG_DISARM = 32, 250 INSN_CONFIG_GET_COUNTER_STATUS = 33, 251 INSN_CONFIG_RESET = 34, 252 INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR = 1001, /* Use CTR as single pulsegenerator */ 253 INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR = 1002, /* Use CTR as pulsetraingenerator */ 254 INSN_CONFIG_GPCT_QUADRATURE_ENCODER = 1003, /* Use the counter as encoder */ 255 INSN_CONFIG_SET_GATE_SRC = 2001, /* Set gate source */ 256 INSN_CONFIG_GET_GATE_SRC = 2002, /* Get gate source */ 257 INSN_CONFIG_SET_CLOCK_SRC = 2003, /* Set master clock source */ 258 INSN_CONFIG_GET_CLOCK_SRC = 2004, /* Get master clock source */ 259 INSN_CONFIG_SET_OTHER_SRC = 2005, /* Set other source */ 260/* INSN_CONFIG_GET_OTHER_SRC = 2006,*/ /* Get other source */ 261 INSN_CONFIG_GET_HARDWARE_BUFFER_SIZE = 2006, /* Get size in bytes of 262 subdevice's on-board 263 fifos used during 264 streaming 265 input/output */ 266 INSN_CONFIG_SET_COUNTER_MODE = 4097, 267 INSN_CONFIG_8254_SET_MODE = INSN_CONFIG_SET_COUNTER_MODE, /* deprecated */ 268 INSN_CONFIG_8254_READ_STATUS = 4098, 269 INSN_CONFIG_SET_ROUTING = 4099, 270 INSN_CONFIG_GET_ROUTING = 4109, 271/* PWM */ 272 INSN_CONFIG_PWM_SET_PERIOD = 5000, /* sets frequency */ 273 INSN_CONFIG_PWM_GET_PERIOD = 5001, /* gets frequency */ 274 INSN_CONFIG_GET_PWM_STATUS = 5002, /* is it running? */ 275 INSN_CONFIG_PWM_SET_H_BRIDGE = 5003, /* sets H bridge: duty cycle and sign bit for a relay at the same time*/ 276 INSN_CONFIG_PWM_GET_H_BRIDGE = 5004 /* gets H bridge data: duty cycle and the sign bit */ 277}; 278 279enum comedi_io_direction { 280 COMEDI_INPUT = 0, 281 COMEDI_OUTPUT = 1, 282 COMEDI_OPENDRAIN = 2 283}; 284 285enum comedi_support_level { 286 COMEDI_UNKNOWN_SUPPORT = 0, 287 COMEDI_SUPPORTED, 288 COMEDI_UNSUPPORTED 289}; 290 291/* ioctls */ 292 293#define CIO 'd' 294#define COMEDI_DEVCONFIG _IOW(CIO, 0, comedi_devconfig) 295#define COMEDI_DEVINFO _IOR(CIO, 1, comedi_devinfo) 296#define COMEDI_SUBDINFO _IOR(CIO, 2, struct comedi_subdinfo) 297#define COMEDI_CHANINFO _IOR(CIO, 3, struct comedi_chaninfo) 298#define COMEDI_TRIG _IOWR(CIO, 4, comedi_trig) 299#define COMEDI_LOCK _IO(CIO, 5) 300#define COMEDI_UNLOCK _IO(CIO, 6) 301#define COMEDI_CANCEL _IO(CIO, 7) 302#define COMEDI_RANGEINFO _IOR(CIO, 8, comedi_rangeinfo) 303#define COMEDI_CMD _IOR(CIO, 9, struct comedi_cmd) 304#define COMEDI_CMDTEST _IOR(CIO, 10, struct comedi_cmd) 305#define COMEDI_INSNLIST _IOR(CIO, 11, struct comedi_insnlist) 306#define COMEDI_INSN _IOR(CIO, 12, struct comedi_insn) 307#define COMEDI_BUFCONFIG _IOR(CIO, 13, comedi_bufconfig) 308#define COMEDI_BUFINFO _IOWR(CIO, 14, comedi_bufinfo) 309#define COMEDI_POLL _IO(CIO, 15) 310 311/* structures */ 312 313typedef struct comedi_devinfo_struct comedi_devinfo; 314typedef struct comedi_devconfig_struct comedi_devconfig; 315typedef struct comedi_rangeinfo_struct comedi_rangeinfo; 316typedef struct comedi_krange_struct comedi_krange; 317typedef struct comedi_bufconfig_struct comedi_bufconfig; 318typedef struct comedi_bufinfo_struct comedi_bufinfo; 319 320struct comedi_trig { 321 unsigned int subdev; /* subdevice */ 322 unsigned int mode; /* mode */ 323 unsigned int flags; 324 unsigned int n_chan; /* number of channels */ 325 unsigned int *chanlist; /* channel/range list */ 326 short *data; /* data list, size depends on subd flags */ 327 unsigned int n; /* number of scans */ 328 unsigned int trigsrc; 329 unsigned int trigvar; 330 unsigned int trigvar1; 331 unsigned int data_len; 332 unsigned int unused[3]; 333}; 334 335struct comedi_insn { 336 unsigned int insn; 337 unsigned int n; 338 unsigned int *data; 339 unsigned int subdev; 340 unsigned int chanspec; 341 unsigned int unused[3]; 342}; 343 344struct comedi_insnlist { 345 unsigned int n_insns; 346 struct comedi_insn *insns; 347}; 348 349struct comedi_cmd { 350 unsigned int subdev; 351 unsigned int flags; 352 353 unsigned int start_src; 354 unsigned int start_arg; 355 356 unsigned int scan_begin_src; 357 unsigned int scan_begin_arg; 358 359 unsigned int convert_src; 360 unsigned int convert_arg; 361 362 unsigned int scan_end_src; 363 unsigned int scan_end_arg; 364 365 unsigned int stop_src; 366 unsigned int stop_arg; 367 368 unsigned int *chanlist; /* channel/range list */ 369 unsigned int chanlist_len; 370 371 short *data; /* data list, size depends on subd flags */ 372 unsigned int data_len; 373}; 374 375struct comedi_chaninfo { 376 unsigned int subdev; 377 unsigned int *maxdata_list; 378 unsigned int *flaglist; 379 unsigned int *rangelist; 380 unsigned int unused[4]; 381}; 382 383struct comedi_rangeinfo_struct { 384 unsigned int range_type; 385 void *range_ptr; 386}; 387 388struct comedi_krange_struct { 389 int min; /* fixed point, multiply by 1e-6 */ 390 int max; /* fixed point, multiply by 1e-6 */ 391 unsigned int flags; 392}; 393 394 395struct comedi_subdinfo { 396 unsigned int type; 397 unsigned int n_chan; 398 unsigned int subd_flags; 399 unsigned int timer_type; 400 unsigned int len_chanlist; 401 unsigned int maxdata; 402 unsigned int flags; /* channel flags */ 403 unsigned int range_type; /* lookup in kernel */ 404 unsigned int settling_time_0; 405 unsigned insn_bits_support; /* see support_level enum for values*/ 406 unsigned int unused[8]; 407}; 408 409struct comedi_devinfo_struct { 410 unsigned int version_code; 411 unsigned int n_subdevs; 412 char driver_name[COMEDI_NAMELEN]; 413 char board_name[COMEDI_NAMELEN]; 414 int read_subdevice; 415 int write_subdevice; 416 int unused[30]; 417}; 418 419struct comedi_devconfig_struct { 420 char board_name[COMEDI_NAMELEN]; 421 int options[COMEDI_NDEVCONFOPTS]; 422}; 423 424struct comedi_bufconfig_struct { 425 unsigned int subdevice; 426 unsigned int flags; 427 428 unsigned int maximum_size; 429 unsigned int size; 430 431 unsigned int unused[4]; 432}; 433 434struct comedi_bufinfo_struct { 435 unsigned int subdevice; 436 unsigned int bytes_read; 437 438 unsigned int buf_write_ptr; 439 unsigned int buf_read_ptr; 440 unsigned int buf_write_count; 441 unsigned int buf_read_count; 442 443 unsigned int bytes_written; 444 445 unsigned int unused[4]; 446}; 447 448/* range stuff */ 449 450#define __RANGE(a, b) ((((a)&0xffff)<<16)|((b)&0xffff)) 451 452#define RANGE_OFFSET(a) (((a)>>16)&0xffff) 453#define RANGE_LENGTH(b) ((b)&0xffff) 454 455#define RF_UNIT(flags) ((flags)&0xff) 456#define RF_EXTERNAL (1<<8) 457 458#define UNIT_volt 0 459#define UNIT_mA 1 460#define UNIT_none 2 461 462#define COMEDI_MIN_SPEED ((unsigned int)0xffffffff) 463 464/* callback stuff */ 465/* only relevant to kernel modules. */ 466 467#define COMEDI_CB_EOS 1 /* end of scan */ 468#define COMEDI_CB_EOA 2 /* end of acquisition */ 469#define COMEDI_CB_BLOCK 4 /* DEPRECATED: convenient block size */ 470#define COMEDI_CB_EOBUF 8 /* DEPRECATED: end of buffer */ 471#define COMEDI_CB_ERROR 16 /* card error during acquisition */ 472#define COMEDI_CB_OVERFLOW 32 /* buffer overflow/underflow */ 473 474/**********************************************************/ 475/* everything after this line is ALPHA */ 476/**********************************************************/ 477 478/* 479 8254 specific configuration. 480 481 It supports two config commands: 482 483 0 ID: INSN_CONFIG_SET_COUNTER_MODE 484 1 8254 Mode 485 I8254_MODE0, I8254_MODE1, ..., I8254_MODE5 486 OR'ed with: 487 I8254_BCD, I8254_BINARY 488 489 0 ID: INSN_CONFIG_8254_READ_STATUS 490 1 <-- Status byte returned here. 491 B7 = Output 492 B6 = NULL Count 493 B5 - B0 Current mode. 494 495*/ 496 497enum i8254_mode { 498 I8254_MODE0 = (0 << 1), /* Interrupt on terminal count */ 499 I8254_MODE1 = (1 << 1), /* Hardware retriggerable one-shot */ 500 I8254_MODE2 = (2 << 1), /* Rate generator */ 501 I8254_MODE3 = (3 << 1), /* Square wave mode */ 502 I8254_MODE4 = (4 << 1), /* Software triggered strobe */ 503 I8254_MODE5 = (5 << 1), /* Hardware triggered strobe (retriggerable) */ 504 I8254_BCD = 1, /* use binary-coded decimal instead of binary (pretty useless) */ 505 I8254_BINARY = 0 506}; 507 508static inline unsigned NI_USUAL_PFI_SELECT(unsigned pfi_channel) 509{ 510 if (pfi_channel < 10) 511 return 0x1 + pfi_channel; 512 else 513 return 0xb + pfi_channel; 514} 515static inline unsigned NI_USUAL_RTSI_SELECT(unsigned rtsi_channel) 516{ 517 if (rtsi_channel < 7) 518 return 0xb + rtsi_channel; 519 else 520 return 0x1b; 521} 522/* mode bits for NI general-purpose counters, set with 523 * INSN_CONFIG_SET_COUNTER_MODE */ 524#define NI_GPCT_COUNTING_MODE_SHIFT 16 525#define NI_GPCT_INDEX_PHASE_BITSHIFT 20 526#define NI_GPCT_COUNTING_DIRECTION_SHIFT 24 527enum ni_gpct_mode_bits { 528 NI_GPCT_GATE_ON_BOTH_EDGES_BIT = 0x4, 529 NI_GPCT_EDGE_GATE_MODE_MASK = 0x18, 530 NI_GPCT_EDGE_GATE_STARTS_STOPS_BITS = 0x0, 531 NI_GPCT_EDGE_GATE_STOPS_STARTS_BITS = 0x8, 532 NI_GPCT_EDGE_GATE_STARTS_BITS = 0x10, 533 NI_GPCT_EDGE_GATE_NO_STARTS_NO_STOPS_BITS = 0x18, 534 NI_GPCT_STOP_MODE_MASK = 0x60, 535 NI_GPCT_STOP_ON_GATE_BITS = 0x00, 536 NI_GPCT_STOP_ON_GATE_OR_TC_BITS = 0x20, 537 NI_GPCT_STOP_ON_GATE_OR_SECOND_TC_BITS = 0x40, 538 NI_GPCT_LOAD_B_SELECT_BIT = 0x80, 539 NI_GPCT_OUTPUT_MODE_MASK = 0x300, 540 NI_GPCT_OUTPUT_TC_PULSE_BITS = 0x100, 541 NI_GPCT_OUTPUT_TC_TOGGLE_BITS = 0x200, 542 NI_GPCT_OUTPUT_TC_OR_GATE_TOGGLE_BITS = 0x300, 543 NI_GPCT_HARDWARE_DISARM_MASK = 0xc00, 544 NI_GPCT_NO_HARDWARE_DISARM_BITS = 0x000, 545 NI_GPCT_DISARM_AT_TC_BITS = 0x400, 546 NI_GPCT_DISARM_AT_GATE_BITS = 0x800, 547 NI_GPCT_DISARM_AT_TC_OR_GATE_BITS = 0xc00, 548 NI_GPCT_LOADING_ON_TC_BIT = 0x1000, 549 NI_GPCT_LOADING_ON_GATE_BIT = 0x4000, 550 NI_GPCT_COUNTING_MODE_MASK = 0x7 << NI_GPCT_COUNTING_MODE_SHIFT, 551 NI_GPCT_COUNTING_MODE_NORMAL_BITS = 552 0x0 << NI_GPCT_COUNTING_MODE_SHIFT, 553 NI_GPCT_COUNTING_MODE_QUADRATURE_X1_BITS = 554 0x1 << NI_GPCT_COUNTING_MODE_SHIFT, 555 NI_GPCT_COUNTING_MODE_QUADRATURE_X2_BITS = 556 0x2 << NI_GPCT_COUNTING_MODE_SHIFT, 557 NI_GPCT_COUNTING_MODE_QUADRATURE_X4_BITS = 558 0x3 << NI_GPCT_COUNTING_MODE_SHIFT, 559 NI_GPCT_COUNTING_MODE_TWO_PULSE_BITS = 560 0x4 << NI_GPCT_COUNTING_MODE_SHIFT, 561 NI_GPCT_COUNTING_MODE_SYNC_SOURCE_BITS = 562 0x6 << NI_GPCT_COUNTING_MODE_SHIFT, 563 NI_GPCT_INDEX_PHASE_MASK = 0x3 << NI_GPCT_INDEX_PHASE_BITSHIFT, 564 NI_GPCT_INDEX_PHASE_LOW_A_LOW_B_BITS = 565 0x0 << NI_GPCT_INDEX_PHASE_BITSHIFT, 566 NI_GPCT_INDEX_PHASE_LOW_A_HIGH_B_BITS = 567 0x1 << NI_GPCT_INDEX_PHASE_BITSHIFT, 568 NI_GPCT_INDEX_PHASE_HIGH_A_LOW_B_BITS = 569 0x2 << NI_GPCT_INDEX_PHASE_BITSHIFT, 570 NI_GPCT_INDEX_PHASE_HIGH_A_HIGH_B_BITS = 571 0x3 << NI_GPCT_INDEX_PHASE_BITSHIFT, 572 NI_GPCT_INDEX_ENABLE_BIT = 0x400000, 573 NI_GPCT_COUNTING_DIRECTION_MASK = 574 0x3 << NI_GPCT_COUNTING_DIRECTION_SHIFT, 575 NI_GPCT_COUNTING_DIRECTION_DOWN_BITS = 576 0x00 << NI_GPCT_COUNTING_DIRECTION_SHIFT, 577 NI_GPCT_COUNTING_DIRECTION_UP_BITS = 578 0x1 << NI_GPCT_COUNTING_DIRECTION_SHIFT, 579 NI_GPCT_COUNTING_DIRECTION_HW_UP_DOWN_BITS = 580 0x2 << NI_GPCT_COUNTING_DIRECTION_SHIFT, 581 NI_GPCT_COUNTING_DIRECTION_HW_GATE_BITS = 582 0x3 << NI_GPCT_COUNTING_DIRECTION_SHIFT, 583 NI_GPCT_RELOAD_SOURCE_MASK = 0xc000000, 584 NI_GPCT_RELOAD_SOURCE_FIXED_BITS = 0x0, 585 NI_GPCT_RELOAD_SOURCE_SWITCHING_BITS = 0x4000000, 586 NI_GPCT_RELOAD_SOURCE_GATE_SELECT_BITS = 0x8000000, 587 NI_GPCT_OR_GATE_BIT = 0x10000000, 588 NI_GPCT_INVERT_OUTPUT_BIT = 0x20000000 589}; 590 591/* Bits for setting a clock source with 592 * INSN_CONFIG_SET_CLOCK_SRC when using NI general-purpose counters. */ 593enum ni_gpct_clock_source_bits { 594 NI_GPCT_CLOCK_SRC_SELECT_MASK = 0x3f, 595 NI_GPCT_TIMEBASE_1_CLOCK_SRC_BITS = 0x0, 596 NI_GPCT_TIMEBASE_2_CLOCK_SRC_BITS = 0x1, 597 NI_GPCT_TIMEBASE_3_CLOCK_SRC_BITS = 0x2, 598 NI_GPCT_LOGIC_LOW_CLOCK_SRC_BITS = 0x3, 599 NI_GPCT_NEXT_GATE_CLOCK_SRC_BITS = 0x4, 600 NI_GPCT_NEXT_TC_CLOCK_SRC_BITS = 0x5, 601 NI_GPCT_SOURCE_PIN_i_CLOCK_SRC_BITS = 0x6, /* NI 660x-specific */ 602 NI_GPCT_PXI10_CLOCK_SRC_BITS = 0x7, 603 NI_GPCT_PXI_STAR_TRIGGER_CLOCK_SRC_BITS = 0x8, 604 NI_GPCT_ANALOG_TRIGGER_OUT_CLOCK_SRC_BITS = 0x9, 605 NI_GPCT_PRESCALE_MODE_CLOCK_SRC_MASK = 0x30000000, 606 NI_GPCT_NO_PRESCALE_CLOCK_SRC_BITS = 0x0, 607 NI_GPCT_PRESCALE_X2_CLOCK_SRC_BITS = 0x10000000, /* divide source by 2 */ 608 NI_GPCT_PRESCALE_X8_CLOCK_SRC_BITS = 0x20000000, /* divide source by 8 */ 609 NI_GPCT_INVERT_CLOCK_SRC_BIT = 0x80000000 610}; 611static inline unsigned NI_GPCT_SOURCE_PIN_CLOCK_SRC_BITS(unsigned n) 612{ 613 /* NI 660x-specific */ 614 return 0x10 + n; 615} 616static inline unsigned NI_GPCT_RTSI_CLOCK_SRC_BITS(unsigned n) 617{ 618 return 0x18 + n; 619} 620static inline unsigned NI_GPCT_PFI_CLOCK_SRC_BITS(unsigned n) 621{ 622 /* no pfi on NI 660x */ 623 return 0x20 + n; 624} 625 626/* Possibilities for setting a gate source with 627INSN_CONFIG_SET_GATE_SRC when using NI general-purpose counters. 628May be bitwise-or'd with CR_EDGE or CR_INVERT. */ 629enum ni_gpct_gate_select { 630 /* m-series gates */ 631 NI_GPCT_TIMESTAMP_MUX_GATE_SELECT = 0x0, 632 NI_GPCT_AI_START2_GATE_SELECT = 0x12, 633 NI_GPCT_PXI_STAR_TRIGGER_GATE_SELECT = 0x13, 634 NI_GPCT_NEXT_OUT_GATE_SELECT = 0x14, 635 NI_GPCT_AI_START1_GATE_SELECT = 0x1c, 636 NI_GPCT_NEXT_SOURCE_GATE_SELECT = 0x1d, 637 NI_GPCT_ANALOG_TRIGGER_OUT_GATE_SELECT = 0x1e, 638 NI_GPCT_LOGIC_LOW_GATE_SELECT = 0x1f, 639 /* more gates for 660x */ 640 NI_GPCT_SOURCE_PIN_i_GATE_SELECT = 0x100, 641 NI_GPCT_GATE_PIN_i_GATE_SELECT = 0x101, 642 /* more gates for 660x "second gate" */ 643 NI_GPCT_UP_DOWN_PIN_i_GATE_SELECT = 0x201, 644 NI_GPCT_SELECTED_GATE_GATE_SELECT = 0x21e, 645 /* m-series "second gate" sources are unknown, 646 we should add them here with an offset of 0x300 when known. */ 647 NI_GPCT_DISABLED_GATE_SELECT = 0x8000, 648}; 649static inline unsigned NI_GPCT_GATE_PIN_GATE_SELECT(unsigned n) 650{ 651 return 0x102 + n; 652} 653static inline unsigned NI_GPCT_RTSI_GATE_SELECT(unsigned n) 654{ 655 return NI_USUAL_RTSI_SELECT(n); 656} 657static inline unsigned NI_GPCT_PFI_GATE_SELECT(unsigned n) 658{ 659 return NI_USUAL_PFI_SELECT(n); 660} 661static inline unsigned NI_GPCT_UP_DOWN_PIN_GATE_SELECT(unsigned n) 662{ 663 return 0x202 + n; 664} 665 666/* Possibilities for setting a source with 667INSN_CONFIG_SET_OTHER_SRC when using NI general-purpose counters. */ 668enum ni_gpct_other_index { 669 NI_GPCT_SOURCE_ENCODER_A, 670 NI_GPCT_SOURCE_ENCODER_B, 671 NI_GPCT_SOURCE_ENCODER_Z 672}; 673enum ni_gpct_other_select { 674 /* m-series gates */ 675 /* Still unknown, probably only need NI_GPCT_PFI_OTHER_SELECT */ 676 NI_GPCT_DISABLED_OTHER_SELECT = 0x8000, 677}; 678static inline unsigned NI_GPCT_PFI_OTHER_SELECT(unsigned n) 679{ 680 return NI_USUAL_PFI_SELECT(n); 681} 682 683/* start sources for ni general-purpose counters for use with 684INSN_CONFIG_ARM */ 685enum ni_gpct_arm_source { 686 NI_GPCT_ARM_IMMEDIATE = 0x0, 687 NI_GPCT_ARM_PAIRED_IMMEDIATE = 0x1, /* Start both the counter and 688 the adjacent paired counter 689 simultaneously */ 690 /* NI doesn't document bits for selecting hardware arm triggers. If 691 * the NI_GPCT_ARM_UNKNOWN bit is set, we will pass the least 692 * significant bits (3 bits for 660x or 5 bits for m-series) through to 693 * the hardware. This will at least allow someone to figure out what 694 * the bits do later. */ 695 NI_GPCT_ARM_UNKNOWN = 0x1000, 696}; 697 698/* digital filtering options for ni 660x for use with INSN_CONFIG_FILTER. */ 699enum ni_gpct_filter_select { 700 NI_GPCT_FILTER_OFF = 0x0, 701 NI_GPCT_FILTER_TIMEBASE_3_SYNC = 0x1, 702 NI_GPCT_FILTER_100x_TIMEBASE_1 = 0x2, 703 NI_GPCT_FILTER_20x_TIMEBASE_1 = 0x3, 704 NI_GPCT_FILTER_10x_TIMEBASE_1 = 0x4, 705 NI_GPCT_FILTER_2x_TIMEBASE_1 = 0x5, 706 NI_GPCT_FILTER_2x_TIMEBASE_3 = 0x6 707}; 708 709/* PFI digital filtering options for ni m-series for use with 710 * INSN_CONFIG_FILTER. */ 711enum ni_pfi_filter_select { 712 NI_PFI_FILTER_OFF = 0x0, 713 NI_PFI_FILTER_125ns = 0x1, 714 NI_PFI_FILTER_6425ns = 0x2, 715 NI_PFI_FILTER_2550us = 0x3 716}; 717 718/* master clock sources for ni mio boards and INSN_CONFIG_SET_CLOCK_SRC */ 719enum ni_mio_clock_source { 720 NI_MIO_INTERNAL_CLOCK = 0, 721 NI_MIO_RTSI_CLOCK = 1, /* doesn't work for m-series, use 722 NI_MIO_PLL_RTSI_CLOCK() */ 723 /* the NI_MIO_PLL_* sources are m-series only */ 724 NI_MIO_PLL_PXI_STAR_TRIGGER_CLOCK = 2, 725 NI_MIO_PLL_PXI10_CLOCK = 3, 726 NI_MIO_PLL_RTSI0_CLOCK = 4 727}; 728static inline unsigned NI_MIO_PLL_RTSI_CLOCK(unsigned rtsi_channel) 729{ 730 return NI_MIO_PLL_RTSI0_CLOCK + rtsi_channel; 731} 732 733/* Signals which can be routed to an NI RTSI pin with INSN_CONFIG_SET_ROUTING. 734 The numbers assigned are not arbitrary, they correspond to the bits required 735 to program the board. */ 736enum ni_rtsi_routing { 737 NI_RTSI_OUTPUT_ADR_START1 = 0, 738 NI_RTSI_OUTPUT_ADR_START2 = 1, 739 NI_RTSI_OUTPUT_SCLKG = 2, 740 NI_RTSI_OUTPUT_DACUPDN = 3, 741 NI_RTSI_OUTPUT_DA_START1 = 4, 742 NI_RTSI_OUTPUT_G_SRC0 = 5, 743 NI_RTSI_OUTPUT_G_GATE0 = 6, 744 NI_RTSI_OUTPUT_RGOUT0 = 7, 745 NI_RTSI_OUTPUT_RTSI_BRD_0 = 8, 746 NI_RTSI_OUTPUT_RTSI_OSC = 12 /* pre-m-series always have RTSI clock 747 on line 7 */ 748}; 749static inline unsigned NI_RTSI_OUTPUT_RTSI_BRD(unsigned n) 750{ 751 return NI_RTSI_OUTPUT_RTSI_BRD_0 + n; 752} 753 754/* Signals which can be routed to an NI PFI pin on an m-series board with 755 * INSN_CONFIG_SET_ROUTING. These numbers are also returned by 756 * INSN_CONFIG_GET_ROUTING on pre-m-series boards, even though their routing 757 * cannot be changed. The numbers assigned are not arbitrary, they correspond 758 * to the bits required to program the board. */ 759enum ni_pfi_routing { 760 NI_PFI_OUTPUT_PFI_DEFAULT = 0, 761 NI_PFI_OUTPUT_AI_START1 = 1, 762 NI_PFI_OUTPUT_AI_START2 = 2, 763 NI_PFI_OUTPUT_AI_CONVERT = 3, 764 NI_PFI_OUTPUT_G_SRC1 = 4, 765 NI_PFI_OUTPUT_G_GATE1 = 5, 766 NI_PFI_OUTPUT_AO_UPDATE_N = 6, 767 NI_PFI_OUTPUT_AO_START1 = 7, 768 NI_PFI_OUTPUT_AI_START_PULSE = 8, 769 NI_PFI_OUTPUT_G_SRC0 = 9, 770 NI_PFI_OUTPUT_G_GATE0 = 10, 771 NI_PFI_OUTPUT_EXT_STROBE = 11, 772 NI_PFI_OUTPUT_AI_EXT_MUX_CLK = 12, 773 NI_PFI_OUTPUT_GOUT0 = 13, 774 NI_PFI_OUTPUT_GOUT1 = 14, 775 NI_PFI_OUTPUT_FREQ_OUT = 15, 776 NI_PFI_OUTPUT_PFI_DO = 16, 777 NI_PFI_OUTPUT_I_ATRIG = 17, 778 NI_PFI_OUTPUT_RTSI0 = 18, 779 NI_PFI_OUTPUT_PXI_STAR_TRIGGER_IN = 26, 780 NI_PFI_OUTPUT_SCXI_TRIG1 = 27, 781 NI_PFI_OUTPUT_DIO_CHANGE_DETECT_RTSI = 28, 782 NI_PFI_OUTPUT_CDI_SAMPLE = 29, 783 NI_PFI_OUTPUT_CDO_UPDATE = 30 784}; 785static inline unsigned NI_PFI_OUTPUT_RTSI(unsigned rtsi_channel) 786{ 787 return NI_PFI_OUTPUT_RTSI0 + rtsi_channel; 788} 789 790/* Signals which can be routed to output on a NI PFI pin on a 660x board 791 with INSN_CONFIG_SET_ROUTING. The numbers assigned are 792 not arbitrary, they correspond to the bits required 793 to program the board. Lines 0 to 7 can only be set to 794 NI_660X_PFI_OUTPUT_DIO. Lines 32 to 39 can only be set to 795 NI_660X_PFI_OUTPUT_COUNTER. */ 796enum ni_660x_pfi_routing { 797 NI_660X_PFI_OUTPUT_COUNTER = 1, /* counter */ 798 NI_660X_PFI_OUTPUT_DIO = 2, /* static digital output */ 799}; 800 801/* NI External Trigger lines. These values are not arbitrary, but are related 802 * to the bits required to program the board (offset by 1 for historical 803 * reasons). */ 804static inline unsigned NI_EXT_PFI(unsigned pfi_channel) 805{ 806 return NI_USUAL_PFI_SELECT(pfi_channel) - 1; 807} 808static inline unsigned NI_EXT_RTSI(unsigned rtsi_channel) 809{ 810 return NI_USUAL_RTSI_SELECT(rtsi_channel) - 1; 811} 812 813/* status bits for INSN_CONFIG_GET_COUNTER_STATUS */ 814enum comedi_counter_status_flags { 815 COMEDI_COUNTER_ARMED = 0x1, 816 COMEDI_COUNTER_COUNTING = 0x2, 817 COMEDI_COUNTER_TERMINAL_COUNT = 0x4, 818}; 819 820/* Clock sources for CDIO subdevice on NI m-series boards. Used as the 821 * scan_begin_arg for a comedi_command. These sources may also be bitwise-or'd 822 * with CR_INVERT to change polarity. */ 823enum ni_m_series_cdio_scan_begin_src { 824 NI_CDIO_SCAN_BEGIN_SRC_GROUND = 0, 825 NI_CDIO_SCAN_BEGIN_SRC_AI_START = 18, 826 NI_CDIO_SCAN_BEGIN_SRC_AI_CONVERT = 19, 827 NI_CDIO_SCAN_BEGIN_SRC_PXI_STAR_TRIGGER = 20, 828 NI_CDIO_SCAN_BEGIN_SRC_G0_OUT = 28, 829 NI_CDIO_SCAN_BEGIN_SRC_G1_OUT = 29, 830 NI_CDIO_SCAN_BEGIN_SRC_ANALOG_TRIGGER = 30, 831 NI_CDIO_SCAN_BEGIN_SRC_AO_UPDATE = 31, 832 NI_CDIO_SCAN_BEGIN_SRC_FREQ_OUT = 32, 833 NI_CDIO_SCAN_BEGIN_SRC_DIO_CHANGE_DETECT_IRQ = 33 834}; 835static inline unsigned NI_CDIO_SCAN_BEGIN_SRC_PFI(unsigned pfi_channel) 836{ 837 return NI_USUAL_PFI_SELECT(pfi_channel); 838} 839static inline unsigned NI_CDIO_SCAN_BEGIN_SRC_RTSI(unsigned rtsi_channel) 840{ 841 return NI_USUAL_RTSI_SELECT(rtsi_channel); 842} 843 844/* scan_begin_src for scan_begin_arg==TRIG_EXT with analog output command on NI 845 * boards. These scan begin sources can also be bitwise-or'd with CR_INVERT to 846 * change polarity. */ 847static inline unsigned NI_AO_SCAN_BEGIN_SRC_PFI(unsigned pfi_channel) 848{ 849 return NI_USUAL_PFI_SELECT(pfi_channel); 850} 851static inline unsigned NI_AO_SCAN_BEGIN_SRC_RTSI(unsigned rtsi_channel) 852{ 853 return NI_USUAL_RTSI_SELECT(rtsi_channel); 854} 855 856/* Bits for setting a clock source with 857 * INSN_CONFIG_SET_CLOCK_SRC when using NI frequency output subdevice. */ 858enum ni_freq_out_clock_source_bits { 859 NI_FREQ_OUT_TIMEBASE_1_DIV_2_CLOCK_SRC, /* 10 MHz */ 860 NI_FREQ_OUT_TIMEBASE_2_CLOCK_SRC /* 100 KHz */ 861}; 862 863/* Values for setting a clock source with INSN_CONFIG_SET_CLOCK_SRC for 864 * 8254 counter subdevices on Amplicon DIO boards (amplc_dio200 driver). */ 865 enum amplc_dio_clock_source { 866 AMPLC_DIO_CLK_CLKN, /* per channel external clock 867 input/output pin (pin is only an 868 input when clock source set to this 869 value, otherwise it is an output) */ 870 AMPLC_DIO_CLK_10MHZ, /* 10 MHz internal clock */ 871 AMPLC_DIO_CLK_1MHZ, /* 1 MHz internal clock */ 872 AMPLC_DIO_CLK_100KHZ, /* 100 kHz internal clock */ 873 AMPLC_DIO_CLK_10KHZ, /* 10 kHz internal clock */ 874 AMPLC_DIO_CLK_1KHZ, /* 1 kHz internal clock */ 875 AMPLC_DIO_CLK_OUTNM1, /* output of preceding counter channel 876 (for channel 0, preceding counter 877 channel is channel 2 on preceding 878 counter subdevice, for first counter 879 subdevice, preceding counter 880 subdevice is the last counter 881 subdevice) */ 882 AMPLC_DIO_CLK_EXT /* per chip external input pin */ 883 }; 884 885/* Values for setting a gate source with INSN_CONFIG_SET_GATE_SRC for 886 * 8254 counter subdevices on Amplicon DIO boards (amplc_dio200 driver). */ 887 enum amplc_dio_gate_source { 888 AMPLC_DIO_GAT_VCC, /* internal high logic level */ 889 AMPLC_DIO_GAT_GND, /* internal low logic level */ 890 AMPLC_DIO_GAT_GATN, /* per channel external gate input */ 891 AMPLC_DIO_GAT_NOUTNM2, /* negated output of counter channel 892 minus 2 (for channels 0 or 1, 893 channel minus 2 is channel 1 or 2 on 894 the preceding counter subdevice, for 895 the first counter subdevice the 896 preceding counter subdevice is the 897 last counter subdevice) */ 898 AMPLC_DIO_GAT_RESERVED4, 899 AMPLC_DIO_GAT_RESERVED5, 900 AMPLC_DIO_GAT_RESERVED6, 901 AMPLC_DIO_GAT_RESERVED7 902 }; 903 904#ifdef __cplusplus 905} 906#endif 907 908#endif /* _COMEDI_H */ 909