diff options
Diffstat (limited to 'include')
| -rw-r--r-- | include/linux/comedi/comedi_pci.h | 56 | ||||
| -rw-r--r-- | include/linux/comedi/comedi_pcmcia.h | 48 | ||||
| -rw-r--r-- | include/linux/comedi/comedi_usb.h | 41 | ||||
| -rw-r--r-- | include/linux/comedi/comedidev.h | 1053 | ||||
| -rw-r--r-- | include/linux/comedi/comedilib.h | 26 | ||||
| -rw-r--r-- | include/uapi/linux/comedi.h | 1528 |
6 files changed, 2752 insertions, 0 deletions
diff --git a/include/linux/comedi/comedi_pci.h b/include/linux/comedi/comedi_pci.h new file mode 100644 index 000000000000..2fb50663e3ed --- /dev/null +++ b/include/linux/comedi/comedi_pci.h @@ -0,0 +1,56 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* + * comedi_pci.h + * header file for Comedi PCI drivers + * + * COMEDI - Linux Control and Measurement Device Interface + * Copyright (C) 1997-2000 David A. Schleef <ds@schleef.org> + */ + +#ifndef _COMEDI_PCI_H +#define _COMEDI_PCI_H + +#include <linux/pci.h> +#include <linux/comedi/comedidev.h> + +/* + * PCI Vendor IDs not in <linux/pci_ids.h> + */ +#define PCI_VENDOR_ID_KOLTER 0x1001 +#define PCI_VENDOR_ID_ICP 0x104c +#define PCI_VENDOR_ID_DT 0x1116 +#define PCI_VENDOR_ID_IOTECH 0x1616 +#define PCI_VENDOR_ID_CONTEC 0x1221 +#define PCI_VENDOR_ID_RTD 0x1435 +#define PCI_VENDOR_ID_HUMUSOFT 0x186c + +struct pci_dev *comedi_to_pci_dev(struct comedi_device *dev); + +int comedi_pci_enable(struct comedi_device *dev); +void comedi_pci_disable(struct comedi_device *dev); +void comedi_pci_detach(struct comedi_device *dev); + +int comedi_pci_auto_config(struct pci_dev *pcidev, struct comedi_driver *driver, + unsigned long context); +void comedi_pci_auto_unconfig(struct pci_dev *pcidev); + +int comedi_pci_driver_register(struct comedi_driver *comedi_driver, + struct pci_driver *pci_driver); +void comedi_pci_driver_unregister(struct comedi_driver *comedi_driver, + struct pci_driver *pci_driver); + +/** + * module_comedi_pci_driver() - Helper macro for registering a comedi PCI driver + * @__comedi_driver: comedi_driver struct + * @__pci_driver: pci_driver struct + * + * Helper macro for comedi PCI drivers which do not do anything special + * in module init/exit. This eliminates a lot of boilerplate. Each + * module may only use this macro once, and calling it replaces + * module_init() and module_exit() + */ +#define module_comedi_pci_driver(__comedi_driver, __pci_driver) \ + module_driver(__comedi_driver, comedi_pci_driver_register, \ + comedi_pci_driver_unregister, &(__pci_driver)) + +#endif /* _COMEDI_PCI_H */ diff --git a/include/linux/comedi/comedi_pcmcia.h b/include/linux/comedi/comedi_pcmcia.h new file mode 100644 index 000000000000..a33dfb65b869 --- /dev/null +++ b/include/linux/comedi/comedi_pcmcia.h @@ -0,0 +1,48 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* + * comedi_pcmcia.h + * header file for Comedi PCMCIA drivers + * + * COMEDI - Linux Control and Measurement Device Interface + * Copyright (C) 1997-2000 David A. Schleef <ds@schleef.org> + */ + +#ifndef _COMEDI_PCMCIA_H +#define _COMEDI_PCMCIA_H + +#include <pcmcia/cistpl.h> +#include <pcmcia/ds.h> +#include <linux/comedi/comedidev.h> + +struct pcmcia_device *comedi_to_pcmcia_dev(struct comedi_device *dev); + +int comedi_pcmcia_enable(struct comedi_device *dev, + int (*conf_check)(struct pcmcia_device *p_dev, + void *priv_data)); +void comedi_pcmcia_disable(struct comedi_device *dev); + +int comedi_pcmcia_auto_config(struct pcmcia_device *link, + struct comedi_driver *driver); +void comedi_pcmcia_auto_unconfig(struct pcmcia_device *link); + +int comedi_pcmcia_driver_register(struct comedi_driver *comedi_driver, + struct pcmcia_driver *pcmcia_driver); +void comedi_pcmcia_driver_unregister(struct comedi_driver *comedi_driver, + struct pcmcia_driver *pcmcia_driver); + +/** + * module_comedi_pcmcia_driver() - Helper macro for registering a comedi + * PCMCIA driver + * @__comedi_driver: comedi_driver struct + * @__pcmcia_driver: pcmcia_driver struct + * + * Helper macro for comedi PCMCIA drivers which do not do anything special + * in module init/exit. This eliminates a lot of boilerplate. Each + * module may only use this macro once, and calling it replaces + * module_init() and module_exit() + */ +#define module_comedi_pcmcia_driver(__comedi_driver, __pcmcia_driver) \ + module_driver(__comedi_driver, comedi_pcmcia_driver_register, \ + comedi_pcmcia_driver_unregister, &(__pcmcia_driver)) + +#endif /* _COMEDI_PCMCIA_H */ diff --git a/include/linux/comedi/comedi_usb.h b/include/linux/comedi/comedi_usb.h new file mode 100644 index 000000000000..5d17dd425bd2 --- /dev/null +++ b/include/linux/comedi/comedi_usb.h @@ -0,0 +1,41 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* comedi_usb.h + * header file for USB Comedi drivers + * + * COMEDI - Linux Control and Measurement Device Interface + * Copyright (C) 1997-2000 David A. Schleef <ds@schleef.org> + */ + +#ifndef _COMEDI_USB_H +#define _COMEDI_USB_H + +#include <linux/usb.h> +#include <linux/comedi/comedidev.h> + +struct usb_interface *comedi_to_usb_interface(struct comedi_device *dev); +struct usb_device *comedi_to_usb_dev(struct comedi_device *dev); + +int comedi_usb_auto_config(struct usb_interface *intf, + struct comedi_driver *driver, unsigned long context); +void comedi_usb_auto_unconfig(struct usb_interface *intf); + +int comedi_usb_driver_register(struct comedi_driver *comedi_driver, + struct usb_driver *usb_driver); +void comedi_usb_driver_unregister(struct comedi_driver *comedi_driver, + struct usb_driver *usb_driver); + +/** + * module_comedi_usb_driver() - Helper macro for registering a comedi USB driver + * @__comedi_driver: comedi_driver struct + * @__usb_driver: usb_driver struct + * + * Helper macro for comedi USB drivers which do not do anything special + * in module init/exit. This eliminates a lot of boilerplate. Each + * module may only use this macro once, and calling it replaces + * module_init() and module_exit() + */ +#define module_comedi_usb_driver(__comedi_driver, __usb_driver) \ + module_driver(__comedi_driver, comedi_usb_driver_register, \ + comedi_usb_driver_unregister, &(__usb_driver)) + +#endif /* _COMEDI_USB_H */ diff --git a/include/linux/comedi/comedidev.h b/include/linux/comedi/comedidev.h new file mode 100644 index 000000000000..0a1150900ef3 --- /dev/null +++ b/include/linux/comedi/comedidev.h @@ -0,0 +1,1053 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* + * comedidev.h + * header file for kernel-only structures, variables, and constants + * + * COMEDI - Linux Control and Measurement Device Interface + * Copyright (C) 1997-2000 David A. Schleef <ds@schleef.org> + */ + +#ifndef _COMEDIDEV_H +#define _COMEDIDEV_H + +#include <linux/dma-mapping.h> +#include <linux/mutex.h> +#include <linux/spinlock_types.h> +#include <linux/rwsem.h> +#include <linux/kref.h> +#include <linux/comedi.h> + +#define COMEDI_VERSION(a, b, c) (((a) << 16) + ((b) << 8) + (c)) +#define COMEDI_VERSION_CODE COMEDI_VERSION(COMEDI_MAJORVERSION, \ + COMEDI_MINORVERSION, COMEDI_MICROVERSION) +#define COMEDI_RELEASE VERSION + +#define COMEDI_NUM_BOARD_MINORS 0x30 + +/** + * struct comedi_subdevice - Working data for a COMEDI subdevice + * @device: COMEDI device to which this subdevice belongs. (Initialized by + * comedi_alloc_subdevices().) + * @index: Index of this subdevice within device's array of subdevices. + * (Initialized by comedi_alloc_subdevices().) + * @type: Type of subdevice from &enum comedi_subdevice_type. (Initialized by + * the low-level driver.) + * @n_chan: Number of channels the subdevice supports. (Initialized by the + * low-level driver.) + * @subdev_flags: Various "SDF" flags indicating aspects of the subdevice to + * the COMEDI core and user application. (Initialized by the low-level + * driver.) + * @len_chanlist: Maximum length of a channel list if the subdevice supports + * asynchronous acquisition commands. (Optionally initialized by the + * low-level driver, or changed from 0 to 1 during post-configuration.) + * @private: Private data pointer which is either set by the low-level driver + * itself, or by a call to comedi_alloc_spriv() which allocates storage. + * In the latter case, the storage is automatically freed after the + * low-level driver's "detach" handler is called for the device. + * (Initialized by the low-level driver.) + * @async: Pointer to &struct comedi_async id the subdevice supports + * asynchronous acquisition commands. (Allocated and initialized during + * post-configuration if needed.) + * @lock: Pointer to a file object that performed a %COMEDI_LOCK ioctl on the + * subdevice. (Initially NULL.) + * @busy: Pointer to a file object that is performing an asynchronous + * acquisition command on the subdevice. (Initially NULL.) + * @runflags: Internal flags for use by COMEDI core, mostly indicating whether + * an asynchronous acquisition command is running. + * @spin_lock: Generic spin-lock for use by the COMEDI core and the low-level + * driver. (Initialized by comedi_alloc_subdevices().) + * @io_bits: Bit-mask indicating the channel directions for a DIO subdevice + * with no more than 32 channels. A '1' at a bit position indicates the + * corresponding channel is configured as an output. (Initialized by the + * low-level driver for a DIO subdevice. Forced to all-outputs during + * post-configuration for a digital output subdevice.) + * @maxdata: If non-zero, this is the maximum raw data value of each channel. + * If zero, the maximum data value is channel-specific. (Initialized by + * the low-level driver.) + * @maxdata_list: If the maximum data value is channel-specific, this points + * to an array of maximum data values indexed by channel index. + * (Initialized by the low-level driver.) + * @range_table: If non-NULL, this points to a COMEDI range table for the + * subdevice. If NULL, the range table is channel-specific. (Initialized + * by the low-level driver, will be set to an "invalid" range table during + * post-configuration if @range_table and @range_table_list are both + * NULL.) + * @range_table_list: If the COMEDI range table is channel-specific, this + * points to an array of pointers to COMEDI range tables indexed by + * channel number. (Initialized by the low-level driver.) + * @chanlist: Not used. + * @insn_read: Optional pointer to a handler for the %INSN_READ instruction. + * (Initialized by the low-level driver, or set to a default handler + * during post-configuration.) + * @insn_write: Optional pointer to a handler for the %INSN_WRITE instruction. + * (Initialized by the low-level driver, or set to a default handler + * during post-configuration.) + * @insn_bits: Optional pointer to a handler for the %INSN_BITS instruction + * for a digital input, digital output or digital input/output subdevice. + * (Initialized by the low-level driver, or set to a default handler + * during post-configuration.) + * @insn_config: Optional pointer to a handler for the %INSN_CONFIG + * instruction. (Initialized by the low-level driver, or set to a default + * handler during post-configuration.) + * @do_cmd: If the subdevice supports asynchronous acquisition commands, this + * points to a handler to set it up in hardware. (Initialized by the + * low-level driver.) + * @do_cmdtest: If the subdevice supports asynchronous acquisition commands, + * this points to a handler used to check and possibly tweak a prospective + * acquisition command without setting it up in hardware. (Initialized by + * the low-level driver.) + * @poll: If the subdevice supports asynchronous acquisition commands, this + * is an optional pointer to a handler for the %COMEDI_POLL ioctl which + * instructs the low-level driver to synchronize buffers. (Initialized by + * the low-level driver if needed.) + * @cancel: If the subdevice supports asynchronous acquisition commands, this + * points to a handler used to terminate a running command. (Initialized + * by the low-level driver.) + * @buf_change: If the subdevice supports asynchronous acquisition commands, + * this is an optional pointer to a handler that is called when the data + * buffer for handling asynchronous commands is allocated or reallocated. + * (Initialized by the low-level driver if needed.) + * @munge: If the subdevice supports asynchronous acquisition commands and + * uses DMA to transfer data from the hardware to the acquisition buffer, + * this points to a function used to "munge" the data values from the + * hardware into the format expected by COMEDI. (Initialized by the + * low-level driver if needed.) + * @async_dma_dir: If the subdevice supports asynchronous acquisition commands + * and uses DMA to transfer data from the hardware to the acquisition + * buffer, this sets the DMA direction for the buffer. (initialized to + * %DMA_NONE by comedi_alloc_subdevices() and changed by the low-level + * driver if necessary.) + * @state: Handy bit-mask indicating the output states for a DIO or digital + * output subdevice with no more than 32 channels. (Initialized by the + * low-level driver.) + * @class_dev: If the subdevice supports asynchronous acquisition commands, + * this points to a sysfs comediX_subdY device where X is the minor device + * number of the COMEDI device and Y is the subdevice number. The minor + * device number for the sysfs device is allocated dynamically in the + * range 48 to 255. This is used to allow the COMEDI device to be opened + * with a different default read or write subdevice. (Allocated during + * post-configuration if needed.) + * @minor: If @class_dev is set, this is its dynamically allocated minor + * device number. (Set during post-configuration if necessary.) + * @readback: Optional pointer to memory allocated by + * comedi_alloc_subdev_readback() used to hold the values written to + * analog output channels so they can be read back. The storage is + * automatically freed after the low-level driver's "detach" handler is + * called for the device. (Initialized by the low-level driver.) + * + * This is the main control structure for a COMEDI subdevice. If the subdevice + * supports asynchronous acquisition commands, additional information is stored + * in the &struct comedi_async pointed to by @async. + * + * Most of the subdevice is initialized by the low-level driver's "attach" or + * "auto_attach" handlers but parts of it are initialized by + * comedi_alloc_subdevices(), and other parts are initialized during + * post-configuration on return from that handler. + * + * A low-level driver that sets @insn_bits for a digital input, digital output, + * or DIO subdevice may leave @insn_read and @insn_write uninitialized, in + * which case they will be set to a default handler during post-configuration + * that uses @insn_bits to emulate the %INSN_READ and %INSN_WRITE instructions. + */ +struct comedi_subdevice { + struct comedi_device *device; + int index; + int type; + int n_chan; + int subdev_flags; + int len_chanlist; /* maximum length of channel/gain list */ + + void *private; + + struct comedi_async *async; + + void *lock; + void *busy; + unsigned int runflags; + spinlock_t spin_lock; /* generic spin-lock for COMEDI and drivers */ + + unsigned int io_bits; + + unsigned int maxdata; /* if maxdata==0, use list */ + const unsigned int *maxdata_list; /* list is channel specific */ + + const struct comedi_lrange *range_table; + const struct comedi_lrange *const *range_table_list; + + unsigned int *chanlist; /* driver-owned chanlist (not used) */ + + int (*insn_read)(struct comedi_device *dev, struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data); + int (*insn_write)(struct comedi_device *dev, struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data); + int (*insn_bits)(struct comedi_device *dev, struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data); + int (*insn_config)(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data); + + int (*do_cmd)(struct comedi_device *dev, struct comedi_subdevice *s); + int (*do_cmdtest)(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_cmd *cmd); + int (*poll)(struct comedi_device *dev, struct comedi_subdevice *s); + int (*cancel)(struct comedi_device *dev, struct comedi_subdevice *s); + + /* called when the buffer changes */ + int (*buf_change)(struct comedi_device *dev, + struct comedi_subdevice *s); + + void (*munge)(struct comedi_device *dev, struct comedi_subdevice *s, + void *data, unsigned int num_bytes, + unsigned int start_chan_index); + enum dma_data_direction async_dma_dir; + + unsigned int state; + + struct device *class_dev; + int minor; + + unsigned int *readback; +}; + +/** + * struct comedi_buf_page - Describe a page of a COMEDI buffer + * @virt_addr: Kernel address of page. + * @dma_addr: DMA address of page if in DMA coherent memory. + */ +struct comedi_buf_page { + void *virt_addr; + dma_addr_t dma_addr; +}; + +/** + * struct comedi_buf_map - Describe pages in a COMEDI buffer + * @dma_hw_dev: Low-level hardware &struct device pointer copied from the + * COMEDI device's hw_dev member. + * @page_list: Pointer to array of &struct comedi_buf_page, one for each + * page in the buffer. + * @n_pages: Number of pages in the buffer. + * @dma_dir: DMA direction used to allocate pages of DMA coherent memory, + * or %DMA_NONE if pages allocated from regular memory. + * @refcount: &struct kref reference counter used to free the buffer. + * + * A COMEDI data buffer is allocated as individual pages, either in + * conventional memory or DMA coherent memory, depending on the attached, + * low-level hardware device. (The buffer pages also get mapped into the + * kernel's contiguous virtual address space pointed to by the 'prealloc_buf' + * member of &struct comedi_async.) + * + * The buffer is normally freed when the COMEDI device is detached from the + * low-level driver (which may happen due to device removal), but if it happens + * to be mmapped at the time, the pages cannot be freed until the buffer has + * been munmapped. That is what the reference counter is for. (The virtual + * address space pointed by 'prealloc_buf' is freed when the COMEDI device is + * detached.) + */ +struct comedi_buf_map { + struct device *dma_hw_dev; + struct comedi_buf_page *page_list; + unsigned int n_pages; + enum dma_data_direction dma_dir; + struct kref refcount; +}; + +/** + * struct comedi_async - Control data for asynchronous COMEDI commands + * @prealloc_buf: Kernel virtual address of allocated acquisition buffer. + * @prealloc_bufsz: Buffer size (in bytes). + * @buf_map: Map of buffer pages. + * @max_bufsize: Maximum allowed buffer size (in bytes). + * @buf_write_count: "Write completed" count (in bytes, modulo 2**32). + * @buf_write_alloc_count: "Allocated for writing" count (in bytes, + * modulo 2**32). + * @buf_read_count: "Read completed" count (in bytes, modulo 2**32). + * @buf_read_alloc_count: "Allocated for reading" count (in bytes, + * modulo 2**32). + * @buf_write_ptr: Buffer position for writer. + * @buf_read_ptr: Buffer position for reader. + * @cur_chan: Current position in chanlist for scan (for those drivers that + * use it). + * @scans_done: The number of scans completed. + * @scan_progress: Amount received or sent for current scan (in bytes). + * @munge_chan: Current position in chanlist for "munging". + * @munge_count: "Munge" count (in bytes, modulo 2**32). + * @munge_ptr: Buffer position for "munging". + * @events: Bit-vector of events that have occurred. + * @cmd: Details of comedi command in progress. + * @wait_head: Task wait queue for file reader or writer. + * @cb_mask: Bit-vector of events that should wake waiting tasks. + * @inttrig: Software trigger function for command, or NULL. + * + * Note about the ..._count and ..._ptr members: + * + * Think of the _Count values being integers of unlimited size, indexing + * into a buffer of infinite length (though only an advancing portion + * of the buffer of fixed length prealloc_bufsz is accessible at any + * time). Then: + * + * Buf_Read_Count <= Buf_Read_Alloc_Count <= Munge_Count <= + * Buf_Write_Count <= Buf_Write_Alloc_Count <= + * (Buf_Read_Count + prealloc_bufsz) + * + * (Those aren't the actual members, apart from prealloc_bufsz.) When the + * buffer is reset, those _Count values start at 0 and only increase in value, + * maintaining the above inequalities until the next time the buffer is + * reset. The buffer is divided into the following regions by the inequalities: + * + * [0, Buf_Read_Count): + * old region no longer accessible + * + * [Buf_Read_Count, Buf_Read_Alloc_Count): + * filled and munged region allocated for reading but not yet read + * + * [Buf_Read_Alloc_Count, Munge_Count): + * filled and munged region not yet allocated for reading + * + * [Munge_Count, Buf_Write_Count): + * filled region not yet munged + * + * [Buf_Write_Count, Buf_Write_Alloc_Count): + * unfilled region allocated for writing but not yet written + * + * [Buf_Write_Alloc_Count, Buf_Read_Count + prealloc_bufsz): + * unfilled region not yet allocated for writing + * + * [Buf_Read_Count + prealloc_bufsz, infinity): + * unfilled region not yet accessible + * + * Data needs to be written into the buffer before it can be read out, + * and may need to be converted (or "munged") between the two + * operations. Extra unfilled buffer space may need to allocated for + * writing (advancing Buf_Write_Alloc_Count) before new data is written. + * After writing new data, the newly filled space needs to be released + * (advancing Buf_Write_Count). This also results in the new data being + * "munged" (advancing Munge_Count). Before data is read out of the + * buffer, extra space may need to be allocated for reading (advancing + * Buf_Read_Alloc_Count). After the data has been read out, the space + * needs to be released (advancing Buf_Read_Count). + * + * The actual members, buf_read_count, buf_read_alloc_count, + * munge_count, buf_write_count, and buf_write_alloc_count take the + * value of the corresponding capitalized _Count values modulo 2^32 + * (UINT_MAX+1). Subtracting a "higher" _count value from a "lower" + * _count value gives the same answer as subtracting a "higher" _Count + * value from a lower _Count value because prealloc_bufsz < UINT_MAX+1. + * The modulo operation is done implicitly. + * + * The buf_read_ptr, munge_ptr, and buf_write_ptr members take the value + * of the corresponding capitalized _Count values modulo prealloc_bufsz. + * These correspond to byte indices in the physical buffer. The modulo + * operation is done by subtracting prealloc_bufsz when the value + * exceeds prealloc_bufsz (assuming prealloc_bufsz plus the increment is + * less than or equal to UINT_MAX). + */ +struct comedi_async { + void *prealloc_buf; + unsigned int prealloc_bufsz; + struct comedi_buf_map *buf_map; + unsigned int max_bufsize; + unsigned int buf_write_count; + unsigned int buf_write_alloc_count; + unsigned int buf_read_count; + unsigned int buf_read_alloc_count; + unsigned int buf_write_ptr; + unsigned int buf_read_ptr; + unsigned int cur_chan; + unsigned int scans_done; + unsigned int scan_progress; + unsigned int munge_chan; + unsigned int munge_count; + unsigned int munge_ptr; + unsigned int events; + struct comedi_cmd cmd; + wait_queue_head_t wait_head; + unsigned int cb_mask; + int (*inttrig)(struct comedi_device *dev, struct comedi_subdevice *s, + unsigned int x); +}; + +/** + * enum comedi_cb - &struct comedi_async callback "events" + * @COMEDI_CB_EOS: end-of-scan + * @COMEDI_CB_EOA: end-of-acquisition/output + * @COMEDI_CB_BLOCK: data has arrived, wakes up read() / write() + * @COMEDI_CB_EOBUF: DEPRECATED: end of buffer + * @COMEDI_CB_ERROR: card error during acquisition + * @COMEDI_CB_OVERFLOW: buffer overflow/underflow + * @COMEDI_CB_ERROR_MASK: events that indicate an error has occurred + * @COMEDI_CB_CANCEL_MASK: events that will cancel an async command + */ +enum comedi_cb { + COMEDI_CB_EOS = BIT(0), + COMEDI_CB_EOA = BIT(1), + COMEDI_CB_BLOCK = BIT(2), + COMEDI_CB_EOBUF = BIT(3), + COMEDI_CB_ERROR = BIT(4), + COMEDI_CB_OVERFLOW = BIT(5), + /* masks */ + COMEDI_CB_ERROR_MASK = (COMEDI_CB_ERROR | COMEDI_CB_OVERFLOW), + COMEDI_CB_CANCEL_MASK = (COMEDI_CB_EOA | COMEDI_CB_ERROR_MASK) +}; + +/** + * struct comedi_driver - COMEDI driver registration + * @driver_name: Name of driver. + * @module: Owning module. + * @attach: The optional "attach" handler for manually configured COMEDI + * devices. + * @detach: The "detach" handler for deconfiguring COMEDI devices. + * @auto_attach: The optional "auto_attach" handler for automatically + * configured COMEDI devices. + * @num_names: Optional number of "board names" supported. + * @board_name: Optional pointer to a pointer to a board name. The pointer + * to a board name is embedded in an element of a driver-defined array + * of static, read-only board type information. + * @offset: Optional size of each element of the driver-defined array of + * static, read-only board type information, i.e. the offset between each + * pointer to a board name. + * + * This is used with comedi_driver_register() and comedi_driver_unregister() to + * register and unregister a low-level COMEDI driver with the COMEDI core. + * + * If @num_names is non-zero, @board_name should be non-NULL, and @offset + * should be at least sizeof(*board_name). These are used by the handler for + * the %COMEDI_DEVCONFIG ioctl to match a hardware device and its driver by + * board name. If @num_names is zero, the %COMEDI_DEVCONFIG ioctl matches a + * hardware device and its driver by driver name. This is only useful if the + * @attach handler is set. If @num_names is non-zero, the driver's @attach + * handler will be called with the COMEDI device structure's board_ptr member + * pointing to the matched pointer to a board name within the driver's private + * array of static, read-only board type information. + * + * The @detach handler has two roles. If a COMEDI device was successfully + * configured by the @attach or @auto_attach handler, it is called when the + * device is being deconfigured (by the %COMEDI_DEVCONFIG ioctl, or due to + * unloading of the driver, or due to device removal). It is also called when + * the @attach or @auto_attach handler returns an error. Therefore, the + * @attach or @auto_attach handlers can defer clean-up on error until the + * @detach handler is called. If the @attach or @auto_attach handlers free + * any resources themselves, they must prevent the @detach handler from + * freeing the same resources. The @detach handler must not assume that all + * resources requested by the @attach or @auto_attach handler were + * successfully allocated. + */ +struct comedi_driver { + /* private: */ + struct comedi_driver *next; /* Next in list of COMEDI drivers. */ + /* public: */ + const char *driver_name; + struct module *module; + int (*attach)(struct comedi_device *dev, struct comedi_devconfig *it); + void (*detach)(struct comedi_device *dev); + int (*auto_attach)(struct comedi_device *dev, unsigned long context); + unsigned int num_names; + const char *const *board_name; + int offset; +}; + +/** + * struct comedi_device - Working data for a COMEDI device + * @use_count: Number of open file objects. + * @driver: Low-level COMEDI driver attached to this COMEDI device. + * @pacer: Optional pointer to a dynamically allocated acquisition pacer + * control. It is freed automatically after the COMEDI device is + * detached from the low-level driver. + * @private: Optional pointer to private data allocated by the low-level + * driver. It is freed automatically after the COMEDI device is + * detached from the low-level driver. + * @class_dev: Sysfs comediX device. + * @minor: Minor device number of COMEDI char device (0-47). + * @detach_count: Counter incremented every time the COMEDI device is detached. + * Used for checking a previous attachment is still valid. + * @hw_dev: Optional pointer to the low-level hardware &struct device. It is + * required for automatically configured COMEDI devices and optional for + * COMEDI devices configured by the %COMEDI_DEVCONFIG ioctl, although + * the bus-specific COMEDI functions only work if it is set correctly. + * It is also passed to dma_alloc_coherent() for COMEDI subdevices that + * have their 'async_dma_dir' member set to something other than + * %DMA_NONE. + * @board_name: Pointer to a COMEDI board name or a COMEDI driver name. When + * the low-level driver's "attach" handler is called by the handler for + * the %COMEDI_DEVCONFIG ioctl, it either points to a matched board name + * string if the 'num_names' member of the &struct comedi_driver is + * non-zero, otherwise it points to the low-level driver name string. + * When the low-lever driver's "auto_attach" handler is called for an + * automatically configured COMEDI device, it points to the low-level + * driver name string. The low-level driver is free to change it in its + * "attach" or "auto_attach" handler if it wishes. + * @board_ptr: Optional pointer to private, read-only board type information in + * the low-level driver. If the 'num_names' member of the &struct + * comedi_driver is non-zero, the handler for the %COMEDI_DEVCONFIG ioctl + * will point it to a pointer to a matched board name string within the + * driver's private array of static, read-only board type information when + * calling the driver's "attach" handler. The low-level driver is free to + * change it. + * @attached: Flag indicating that the COMEDI device is attached to a low-level + * driver. + * @ioenabled: Flag used to indicate that a PCI device has been enabled and + * its regions requested. + * @spinlock: Generic spin-lock for use by the low-level driver. + * @mutex: Generic mutex for use by the COMEDI core module. + * @attach_lock: &struct rw_semaphore used to guard against the COMEDI device + * being detached while an operation is in progress. The down_write() + * operation is only allowed while @mutex is held and is used when + * changing @attached and @detach_count and calling the low-level driver's + * "detach" handler. The down_read() operation is generally used without + * holding @mutex. + * @refcount: &struct kref reference counter for freeing COMEDI device. + * @n_subdevices: Number of COMEDI subdevices allocated by the low-level + * driver for this device. + * @subdevices: Dynamically allocated array of COMEDI subdevices. + * @mmio: Optional pointer to a remapped MMIO region set by the low-level + * driver. + * @iobase: Optional base of an I/O port region requested by the low-level + * driver. + * @iolen: Length of I/O port region requested at @iobase. + * @irq: Optional IRQ number requested by the low-level driver. + * @read_subdev: Optional pointer to a default COMEDI subdevice operated on by + * the read() file operation. Set by the low-level driver. + * @write_subdev: Optional pointer to a default COMEDI subdevice operated on by + * the write() file operation. Set by the low-level driver. + * @async_queue: Storage for fasync_helper(). + * @open: Optional pointer to a function set by the low-level driver to be + * called when @use_count changes from 0 to 1. + * @close: Optional pointer to a function set by the low-level driver to be + * called when @use_count changed from 1 to 0. + * @insn_device_config: Optional pointer to a handler for all sub-instructions + * except %INSN_DEVICE_CONFIG_GET_ROUTES of the %INSN_DEVICE_CONFIG + * instruction. If this is not initialized by the low-level driver, a + * default handler will be set during post-configuration. + * @get_valid_routes: Optional pointer to a handler for the + * %INSN_DEVICE_CONFIG_GET_ROUTES sub-instruction of the + * %INSN_DEVICE_CONFIG instruction set. If this is not initialized by the + * low-level driver, a default handler that copies zero routes back to the + * user will be used. + * + * This is the main control data structure for a COMEDI device (as far as the + * COMEDI core is concerned). There are two groups of COMEDI devices - + * "legacy" devices that are configured by the handler for the + * %COMEDI_DEVCONFIG ioctl, and automatically configured devices resulting + * from a call to comedi_auto_config() as a result of a bus driver probe in + * a low-level COMEDI driver. The "legacy" COMEDI devices are allocated + * during module initialization if the "comedi_num_legacy_minors" module + * parameter is non-zero and use minor device numbers from 0 to + * comedi_num_legacy_minors minus one. The automatically configured COMEDI + * devices are allocated on demand and use minor device numbers from + * comedi_num_legacy_minors to 47. + */ +struct comedi_device { + int use_count; + struct comedi_driver *driver; + struct comedi_8254 *pacer; + void *private; + + struct device *class_dev; + int minor; + unsigned int detach_count; + struct device *hw_dev; + + const char *board_name; + const void *board_ptr; + unsigned int attached:1; + unsigned int ioenabled:1; + spinlock_t spinlock; /* generic spin-lock for low-level driver */ + struct mutex mutex; /* generic mutex for COMEDI core */ + struct rw_semaphore attach_lock; + struct kref refcount; + + int n_subdevices; + struct comedi_subdevice *subdevices; + + /* dumb */ + void __iomem *mmio; + unsigned long iobase; + unsigned long iolen; + unsigned int irq; + + struct comedi_subdevice *read_subdev; + struct comedi_subdevice *write_subdev; + + struct fasync_struct *async_queue; + + int (*open)(struct comedi_device *dev); + void (*close)(struct comedi_device *dev); + int (*insn_device_config)(struct comedi_device *dev, + struct comedi_insn *insn, unsigned int *data); + unsigned int (*get_valid_routes)(struct comedi_device *dev, + unsigned int n_pairs, + unsigned int *pair_data); +}; + +/* + * function prototypes + */ + +void comedi_event(struct comedi_device *dev, struct comedi_subdevice *s); + +struct comedi_device *comedi_dev_get_from_minor(unsigned int minor); +int comedi_dev_put(struct comedi_device *dev); + +bool comedi_is_subdevice_running(struct comedi_subdevice *s); + +void *comedi_alloc_spriv(struct comedi_subdevice *s, size_t size); +void comedi_set_spriv_auto_free(struct comedi_subdevice *s); + +int comedi_check_chanlist(struct comedi_subdevice *s, + int n, + unsigned int *chanlist); + +/* range stuff */ + +#define RANGE(a, b) {(a) * 1e6, (b) * 1e6, 0} +#define RANGE_ext(a, b) {(a) * 1e6, (b) * 1e6, RF_EXTERNAL} +#define RANGE_mA(a, b) {(a) * 1e6, (b) * 1e6, UNIT_mA} +#define RANGE_unitless(a, b) {(a) * 1e6, (b) * 1e6, 0} +#define BIP_RANGE(a) {-(a) * 1e6, (a) * 1e6, 0} +#define UNI_RANGE(a) {0, (a) * 1e6, 0} + +extern const struct comedi_lrange range_bipolar10; +extern const struct comedi_lrange range_bipolar5; +extern const struct comedi_lrange range_bipolar2_5; +extern const struct comedi_lrange range_unipolar10; +extern const struct comedi_lrange range_unipolar5; +extern const struct comedi_lrange range_unipolar2_5; +extern const struct comedi_lrange range_0_20mA; +extern const struct comedi_lrange range_4_20mA; +extern const struct comedi_lrange range_0_32mA; +extern const struct comedi_lrange range_unknown; + +#define range_digital range_unipolar5 + +/** + * struct comedi_lrange - Describes a COMEDI range table + * @length: Number of entries in the range table. + * @range: Array of &struct comedi_krange, one for each range. + * + * Each element of @range[] describes the minimum and maximum physical range + * and the type of units. Typically, the type of unit is %UNIT_volt + * (i.e. volts) and the minimum and maximum are in millionths of a volt. + * There may also be a flag that indicates the minimum and maximum are merely + * scale factors for an unknown, external reference. + */ +struct comedi_lrange { + int length; + struct comedi_krange range[]; +}; + +/** + * comedi_range_is_bipolar() - Test if subdevice range is bipolar + * @s: COMEDI subdevice. + * @range: Index of range within a range table. + * + * Tests whether a range is bipolar by checking whether its minimum value + * is negative. + * + * Assumes @range is valid. Does not work for subdevices using a + * channel-specific range table list. + * + * Return: + * %true if the range is bipolar. + * %false if the range is unipolar. + */ +static inline bool comedi_range_is_bipolar(struct comedi_subdevice *s, + unsigned int range) +{ + return s->range_table->range[range].min < 0; +} + +/** + * comedi_range_is_unipolar() - Test if subdevice range is unipolar + * @s: COMEDI subdevice. + * @range: Index of range within a range table. + * + * Tests whether a range is unipolar by checking whether its minimum value + * is at least 0. + * + * Assumes @range is valid. Does not work for subdevices using a + * channel-specific range table list. + * + * Return: + * %true if the range is unipolar. + * %false if the range is bipolar. + */ +static inline bool comedi_range_is_unipolar(struct comedi_subdevice *s, + unsigned int range) +{ + return s->range_table->range[range].min >= 0; +} + +/** + * comedi_range_is_external() - Test if subdevice range is external + * @s: COMEDI subdevice. + * @range: Index of range within a range table. + * + * Tests whether a range is externally reference by checking whether its + * %RF_EXTERNAL flag is set. + * + * Assumes @range is valid. Does not work for subdevices using a + * channel-specific range table list. + * + * Return: + * %true if the range is external. + * %false if the range is internal. + */ +static inline bool comedi_range_is_external(struct comedi_subdevice *s, + unsigned int range) +{ + return !!(s->range_table->range[range].flags & RF_EXTERNAL); +} + +/** + * comedi_chan_range_is_bipolar() - Test if channel-specific range is bipolar + * @s: COMEDI subdevice. + * @chan: The channel number. + * @range: Index of range within a range table. + * + * Tests whether a range is bipolar by checking whether its minimum value + * is negative. + * + * Assumes @chan and @range are valid. Only works for subdevices with a + * channel-specific range table list. + * + * Return: + * %true if the range is bipolar. + * %false if the range is unipolar. + */ +static inline bool comedi_chan_range_is_bipolar(struct comedi_subdevice *s, + unsigned int chan, + unsigned int range) +{ + return s->range_table_list[chan]->range[range].min < 0; +} + +/** + * comedi_chan_range_is_unipolar() - Test if channel-specific range is unipolar + * @s: COMEDI subdevice. + * @chan: The channel number. + * @range: Index of range within a range table. + * + * Tests whether a range is unipolar by checking whether its minimum value + * is at least 0. + * + * Assumes @chan and @range are valid. Only works for subdevices with a + * channel-specific range table list. + * + * Return: + * %true if the range is unipolar. + * %false if the range is bipolar. + */ +static inline bool comedi_chan_range_is_unipolar(struct comedi_subdevice *s, + unsigned int chan, + unsigned int range) +{ + return s->range_table_list[chan]->range[range].min >= 0; +} + +/** + * comedi_chan_range_is_external() - Test if channel-specific range is external + * @s: COMEDI subdevice. + * @chan: The channel number. + * @range: Index of range within a range table. + * + * Tests whether a range is externally reference by checking whether its + * %RF_EXTERNAL flag is set. + * + * Assumes @chan and @range are valid. Only works for subdevices with a + * channel-specific range table list. + * + * Return: + * %true if the range is bipolar. + * %false if the range is unipolar. + */ +static inline bool comedi_chan_range_is_external(struct comedi_subdevice *s, + unsigned int chan, + unsigned int range) +{ + return !!(s->range_table_list[chan]->range[range].flags & RF_EXTERNAL); +} + +/** + * comedi_offset_munge() - Convert between offset binary and 2's complement + * @s: COMEDI subdevice. + * @val: Value to be converted. + * + * Toggles the highest bit of a sample value to toggle between offset binary + * and 2's complement. Assumes that @s->maxdata is a power of 2 minus 1. + * + * Return: The converted value. + */ +static inline unsigned int comedi_offset_munge(struct comedi_subdevice *s, + unsigned int val) +{ + return val ^ s->maxdata ^ (s->maxdata >> 1); +} + +/** + * comedi_bytes_per_sample() - Determine subdevice sample size + * @s: COMEDI subdevice. + * + * The sample size will be 4 (sizeof int) or 2 (sizeof short) depending on + * whether the %SDF_LSAMPL subdevice flag is set or not. + * + * Return: The subdevice sample size. + */ +static inline unsigned int comedi_bytes_per_sample(struct comedi_subdevice *s) +{ + return s->subdev_flags & SDF_LSAMPL ? sizeof(int) : sizeof(short); +} + +/** + * comedi_sample_shift() - Determine log2 of subdevice sample size + * @s: COMEDI subdevice. + * + * The sample size will be 4 (sizeof int) or 2 (sizeof short) depending on + * whether the %SDF_LSAMPL subdevice flag is set or not. The log2 of the + * sample size will be 2 or 1 and can be used as the right operand of a + * bit-shift operator to multiply or divide something by the sample size. + * + * Return: log2 of the subdevice sample size. + */ +static inline unsigned int comedi_sample_shift(struct comedi_subdevice *s) +{ + return s->subdev_flags & SDF_LSAMPL ? 2 : 1; +} + +/** + * comedi_bytes_to_samples() - Convert a number of bytes to a number of samples + * @s: COMEDI subdevice. + * @nbytes: Number of bytes + * + * Return: The number of bytes divided by the subdevice sample size. + */ +static inline unsigned int comedi_bytes_to_samples(struct comedi_subdevice *s, + unsigned int nbytes) +{ + return nbytes >> comedi_sample_shift(s); +} + +/** + * comedi_samples_to_bytes() - Convert a number of samples to a number of bytes + * @s: COMEDI subdevice. + * @nsamples: Number of samples. + * + * Return: The number of samples multiplied by the subdevice sample size. + * (Does not check for arithmetic overflow.) + */ +static inline unsigned int comedi_samples_to_bytes(struct comedi_subdevice *s, + unsigned int nsamples) +{ + return nsamples << comedi_sample_shift(s); +} + +/** + * comedi_check_trigger_src() - Trivially validate a comedi_cmd trigger source + * @src: Pointer to the trigger source to validate. + * @flags: Bitmask of valid %TRIG_* for the trigger. + * + * This is used in "step 1" of the do_cmdtest functions of comedi drivers + * to validate the comedi_cmd triggers. The mask of the @src against the + * @flags allows the userspace comedilib to pass all the comedi_cmd + * triggers as %TRIG_ANY and get back a bitmask of the valid trigger sources. + * + * Return: + * 0 if trigger sources in *@src are all supported. + * -EINVAL if any trigger source in *@src is unsupported. + */ +static inline int comedi_check_trigger_src(unsigned int *src, + unsigned int flags) +{ + unsigned int orig_src = *src; + + *src = orig_src & flags; + if (*src == TRIG_INVALID || *src != orig_src) + return -EINVAL; + return 0; +} + +/** + * comedi_check_trigger_is_unique() - Make sure a trigger source is unique + * @src: The trigger source to check. + * + * Return: + * 0 if no more than one trigger source is set. + * -EINVAL if more than one trigger source is set. + */ +static inline int comedi_check_trigger_is_unique(unsigned int src) +{ + /* this test is true if more than one _src bit is set */ + if ((src & (src - 1)) != 0) + return -EINVAL; + return 0; +} + +/** + * comedi_check_trigger_arg_is() - Trivially validate a trigger argument + * @arg: Pointer to the trigger arg to validate. + * @val: The value the argument should be. + * + * Forces *@arg to be @val. + * + * Return: + * 0 if *@arg was already @val. + * -EINVAL if *@arg differed from @val. + */ +static inline int comedi_check_trigger_arg_is(unsigned int *arg, + unsigned int val) +{ + if (*arg != val) { + *arg = val; + return -EINVAL; + } + return 0; +} + +/** + * comedi_check_trigger_arg_min() - Trivially validate a trigger argument min + * @arg: Pointer to the trigger arg to validate. + * @val: The minimum value the argument should be. + * + * Forces *@arg to be at least @val, setting it to @val if necessary. + * + * Return: + * 0 if *@arg was already at least @val. + * -EINVAL if *@arg was less than @val. + */ +static inline int comedi_check_trigger_arg_min(unsigned int *arg, + unsigned int val) +{ + if (*arg < val) { + *arg = val; + return -EINVAL; + } + return 0; +} + +/** + * comedi_check_trigger_arg_max() - Trivially validate a trigger argument max + * @arg: Pointer to the trigger arg to validate. + * @val: The maximum value the argument should be. + * + * Forces *@arg to be no more than @val, setting it to @val if necessary. + * + * Return: + * 0 if*@arg was already no more than @val. + * -EINVAL if *@arg was greater than @val. + */ +static inline int comedi_check_trigger_arg_max(unsigned int *arg, + unsigned int val) +{ + if (*arg > val) { + *arg = val; + return -EINVAL; + } + return 0; +} + +/* + * Must set dev->hw_dev if you wish to dma directly into comedi's buffer. + * Also useful for retrieving a previously configured hardware device of + * known bus type. Set automatically for auto-configured devices. + * Automatically set to NULL when detaching hardware device. + */ +int comedi_set_hw_dev(struct comedi_device *dev, struct device *hw_dev); + +/** + * comedi_buf_n_bytes_ready - Determine amount of unread data in buffer + * @s: COMEDI subdevice. + * + * Determines the number of bytes of unread data in the asynchronous + * acquisition data buffer for a subdevice. The data in question might not + * have been fully "munged" yet. + * + * Returns: The amount of unread data in bytes. + */ +static inline unsigned int comedi_buf_n_bytes_ready(struct comedi_subdevice *s) +{ + return s->async->buf_write_count - s->async->buf_read_count; +} + +unsigned int comedi_buf_write_alloc(struct comedi_subdevice *s, unsigned int n); +unsigned int comedi_buf_write_free(struct comedi_subdevice *s, unsigned int n); + +unsigned int comedi_buf_read_n_available(struct comedi_subdevice *s); +unsigned int comedi_buf_read_alloc(struct comedi_subdevice *s, unsigned int n); +unsigned int comedi_buf_read_free(struct comedi_subdevice *s, unsigned int n); + +unsigned int comedi_buf_write_samples(struct comedi_subdevice *s, + const void *data, unsigned int nsamples); +unsigned int comedi_buf_read_samples(struct comedi_subdevice *s, + void *data, unsigned int nsamples); + +/* drivers.c - general comedi driver functions */ + +#define COMEDI_TIMEOUT_MS 1000 + +int comedi_timeout(struct comedi_device *dev, struct comedi_subdevice *s, + struct comedi_insn *insn, + int (*cb)(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned long context), + unsigned long context); + +unsigned int comedi_handle_events(struct comedi_device *dev, + struct comedi_subdevice *s); + +int comedi_dio_insn_config(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data, + unsigned int mask); +unsigned int comedi_dio_update_state(struct comedi_subdevice *s, + unsigned int *data); +unsigned int comedi_bytes_per_scan_cmd(struct comedi_subdevice *s, + struct comedi_cmd *cmd); +unsigned int comedi_bytes_per_scan(struct comedi_subdevice *s); +unsigned int comedi_nscans_left(struct comedi_subdevice *s, + unsigned int nscans); +unsigned int comedi_nsamples_left(struct comedi_subdevice *s, + unsigned int nsamples); +void comedi_inc_scan_progress(struct comedi_subdevice *s, + unsigned int num_bytes); + +void *comedi_alloc_devpriv(struct comedi_device *dev, size_t size); +int comedi_alloc_subdevices(struct comedi_device *dev, int num_subdevices); +int comedi_alloc_subdev_readback(struct comedi_subdevice *s); + +int comedi_readback_insn_read(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data); + +int comedi_load_firmware(struct comedi_device *dev, struct device *hw_dev, + const char *name, + int (*cb)(struct comedi_device *dev, + const u8 *data, size_t size, + unsigned long context), + unsigned long context); + +int __comedi_request_region(struct comedi_device *dev, + unsigned long start, unsigned long len); +int comedi_request_region(struct comedi_device *dev, + unsigned long start, unsigned long len); +void comedi_legacy_detach(struct comedi_device *dev); + +int comedi_auto_config(struct device *hardware_device, + struct comedi_driver *driver, unsigned long context); +void comedi_auto_unconfig(struct device *hardware_device); + +int comedi_driver_register(struct comedi_driver *driver); +void comedi_driver_unregister(struct comedi_driver *driver); + +/** + * module_comedi_driver() - Helper macro for registering a comedi driver + * @__comedi_driver: comedi_driver struct + * + * Helper macro for comedi drivers which do not do anything special in module + * init/exit. This eliminates a lot of boilerplate. Each module may only use + * this macro once, and calling it replaces module_init() and module_exit(). + */ +#define module_comedi_driver(__comedi_driver) \ + module_driver(__comedi_driver, comedi_driver_register, \ + comedi_driver_unregister) + +#endif /* _COMEDIDEV_H */ diff --git a/include/linux/comedi/comedilib.h b/include/linux/comedi/comedilib.h new file mode 100644 index 000000000000..0223c9cd9215 --- /dev/null +++ b/include/linux/comedi/comedilib.h @@ -0,0 +1,26 @@ +/* SPDX-License-Identifier: GPL-2.0+ */ +/* + * comedilib.h + * Header file for kcomedilib + * + * COMEDI - Linux Control and Measurement Device Interface + * Copyright (C) 1998-2001 David A. Schleef <ds@schleef.org> + */ + +#ifndef _LINUX_COMEDILIB_H +#define _LINUX_COMEDILIB_H + +struct comedi_device *comedi_open(const char *path); +int comedi_close(struct comedi_device *dev); +int comedi_dio_get_config(struct comedi_device *dev, unsigned int subdev, + unsigned int chan, unsigned int *io); +int comedi_dio_config(struct comedi_device *dev, unsigned int subdev, + unsigned int chan, unsigned int io); +int comedi_dio_bitfield2(struct comedi_device *dev, unsigned int subdev, + unsigned int mask, unsigned int *bits, + unsigned int base_channel); +int comedi_find_subdevice_by_type(struct comedi_device *dev, int type, + unsigned int subd); +int comedi_get_n_channels(struct comedi_device *dev, unsigned int subdevice); + +#endif diff --git a/include/uapi/linux/comedi.h b/include/uapi/linux/comedi.h new file mode 100644 index 000000000000..7314e5ee0a1e --- /dev/null +++ b/include/uapi/linux/comedi.h @@ -0,0 +1,1528 @@ +/* SPDX-License-Identifier: LGPL-2.0+ WITH Linux-syscall-note */ +/* + * comedi.h + * header file for COMEDI user API + * + * COMEDI - Linux Control and Measurement Device Interface + * Copyright (C) 1998-2001 David A. Schleef <ds@schleef.org> + */ + +#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 + * NI select registers anyways, we'll identify all values >= (1<<15) as being an + * abstracted NI signal/terminal name. + * These values are also used/returned by INSN_DEVICE_CONFIG_TEST_ROUTE, + * INSN_DEVICE_CONFIG_CONNECT_ROUTE, INSN_DEVICE_CONFIG_DISCONNECT_ROUTE, + * and INSN_DEVICE_CONFIG_GET_ROUTES. + */ +#define NI_NAMES_BASE 0x8000u + +#define _TERM_N(base, n, x) ((base) + ((x) & ((n) - 1))) + +/* + * not necessarily all allowed 64 PFIs are valid--certainly not for all devices + */ +#define NI_PFI(x) _TERM_N(NI_NAMES_BASE, 64, x) +/* 8 trigger lines by standard, Some devices cannot talk to all eight. */ +#define TRIGGER_LINE(x) _TERM_N(NI_PFI(-1) + 1, 8, x) +/* 4 RTSI shared MUXes to route signals to/from TRIGGER_LINES on NI hardware */ +#define NI_RTSI_BRD(x) _TERM_N(TRIGGER_LINE(-1) + 1, 4, x) + +/* *** Counter/timer names : 8 counters max *** */ +#define NI_MAX_COUNTERS 8 +#define NI_COUNTER_NAMES_BASE (NI_RTSI_BRD(-1) + 1) +#define NI_CtrSource(x) _TERM_N(NI_COUNTER_NAMES_BASE, NI_MAX_COUNTERS, x) +/* Gate, Aux, A,B,Z are all treated, at times as gates */ +#define NI_GATES_NAMES_BASE (NI_CtrSource(-1) + 1) +#define NI_CtrGate(x) _TERM_N(NI_GATES_NAMES_BASE, NI_MAX_COUNTERS, x) +#define NI_CtrAux(x) _TERM_N(NI_CtrGate(-1) + 1, NI_MAX_COUNTERS, x) +#define NI_CtrA(x) _TERM_N(NI_CtrAux(-1) + 1, NI_MAX_COUNTERS, x) +#define NI_CtrB(x) _TERM_N(NI_CtrA(-1) + 1, NI_MAX_COUNTERS, x) +#define NI_CtrZ(x) _TERM_N(NI_CtrB(-1) + 1, NI_MAX_COUNTERS, x) +#define NI_GATES_NAMES_MAX NI_CtrZ(-1) +#define NI_CtrArmStartTrigger(x) _TERM_N(NI_CtrZ(-1) + 1, NI_MAX_COUNTERS, x) +#define NI_CtrInternalOutput(x) \ + _TERM_N(NI_CtrArmStartTrigger(-1) + 1, NI_MAX_COUNTERS, x) +/** external pin(s) labeled conveniently as Ctr<i>Out. */ +#define NI_CtrOut(x) _TERM_N(NI_CtrInternalOutput(-1) + 1, NI_MAX_COUNTERS, x) +/** For Buffered sampling of ctr -- x series capability. */ +#define NI_CtrSampleClock(x) _TERM_N(NI_CtrOut(-1) + 1, NI_MAX_COUNTERS, x) +#define NI_COUNTER_NAMES_MAX NI_CtrSampleClock(-1) + +enum ni_common_signal_names { + /* PXI_Star: this is a non-NI-specific signal */ + PXI_Star = NI_COUNTER_NAMES_MAX + 1, + PXI_Clk10, + PXIe_Clk100, + NI_AI_SampleClock, + NI_AI_SampleClockTimebase, + NI_AI_StartTrigger, + NI_AI_ReferenceTrigger, + NI_AI_ConvertClock, + NI_AI_ConvertClockTimebase, + NI_AI_PauseTrigger, + NI_AI_HoldCompleteEvent, + NI_AI_HoldComplete, + NI_AI_ExternalMUXClock, + NI_AI_STOP, /* pulse signal that occurs when a update is finished(?) */ + NI_AO_SampleClock, + NI_AO_SampleClockTimebase, + NI_AO_StartTrigger, + NI_AO_PauseTrigger, + NI_DI_SampleClock, + NI_DI_SampleClockTimebase, + NI_DI_StartTrigger, + NI_DI_ReferenceTrigger, + NI_DI_PauseTrigger, + NI_DI_InputBufferFull, + NI_DI_ReadyForStartEvent, + NI_DI_ReadyForTransferEventBurst, + NI_DI_ReadyForTransferEventPipelined, + NI_DO_SampleClock, + NI_DO_SampleClockTimebase, + NI_DO_StartTrigger, + NI_DO_PauseTrigger, + NI_DO_OutputBufferFull, + NI_DO_DataActiveEvent, + NI_DO_ReadyForStartEvent, + NI_DO_ReadyForTransferEvent, + NI_MasterTimebase, + NI_20MHzTimebase, + NI_80MHzTimebase, + NI_100MHzTimebase, + NI_200MHzTimebase, + NI_100kHzTimebase, + NI_10MHzRefClock, + NI_FrequencyOutput, + NI_ChangeDetectionEvent, + NI_AnalogComparisonEvent, + NI_WatchdogExpiredEvent, + NI_WatchdogExpirationTrigger, + NI_SCXI_Trig1, + NI_LogicLow, + NI_LogicHigh, + NI_ExternalStrobe, + NI_PFI_DO, + NI_CaseGround, + /* special internal signal used as variable source for RTSI bus: */ + NI_RGOUT0, + + /* just a name to make the next more convenient, regardless of above */ + _NI_NAMES_MAX_PLUS_1, + NI_NUM_NAMES = _NI_NAMES_MAX_PLUS_1 - NI_NAMES_BASE, +}; + +/* *** END GLOBALLY-NAMED NI TERMINALS/SIGNALS *** */ + +#define NI_USUAL_PFI_SELECT(x) (((x) < 10) ? (0x1 + (x)) : (0xb + (x))) +#define NI_USUAL_RTSI_SELECT(x) (((x) < 7) ? (0xb + (x)) : 0x1b) + +/* + * mode bits for NI general-purpose counters, set with + * INSN_CONFIG_SET_COUNTER_MODE + */ +#define NI_GPCT_COUNTING_MODE_SHIFT 16 +#define NI_GPCT_INDEX_PHASE_BITSHIFT 20 +#define NI_GPCT_COUNTING_DIRECTION_SHIFT 24 +enum ni_gpct_mode_bits { + NI_GPCT_GATE_ON_BOTH_EDGES_BIT = 0x4, + NI_GPCT_EDGE_GATE_MODE_MASK = 0x18, + NI_GPCT_EDGE_GATE_STARTS_STOPS_BITS = 0x0, + NI_GPCT_EDGE_GATE_STOPS_STARTS_BITS = 0x8, + NI_GPCT_EDGE_GATE_STARTS_BITS = 0x10, + NI_GPCT_EDGE_GATE_NO_STARTS_NO_STOPS_BITS = 0x18, + NI_GPCT_STOP_MODE_MASK = 0x60, + NI_GPCT_STOP_ON_GATE_BITS = 0x00, + NI_GPCT_STOP_ON_GATE_OR_TC_BITS = 0x20, + NI_GPCT_STOP_ON_GATE_OR_SECOND_TC_BITS = 0x40, + NI_GPCT_LOAD_B_SELECT_BIT = 0x80, + NI_GPCT_OUTPUT_MODE_MASK = 0x300, + NI_GPCT_OUTPUT_TC_PULSE_BITS = 0x100, + NI_GPCT_OUTPUT_TC_TOGGLE_BITS = 0x200, + NI_GPCT_OUTPUT_TC_OR_GATE_TOGGLE_BITS = 0x300, + NI_GPCT_HARDWARE_DISARM_MASK = 0xc00, + NI_GPCT_NO_HARDWARE_DISARM_BITS = 0x000, + NI_GPCT_DISARM_AT_TC_BITS = 0x400, + NI_GPCT_DISARM_AT_GATE_BITS = 0x800, + NI_GPCT_DISARM_AT_TC_OR_GATE_BITS = 0xc00, + NI_GPCT_LOADING_ON_TC_BIT = 0x1000, + NI_GPCT_LOADING_ON_GATE_BIT = 0x4000, + NI_GPCT_COUNTING_MODE_MASK = 0x7 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_COUNTING_MODE_NORMAL_BITS = + 0x0 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_COUNTING_MODE_QUADRATURE_X1_BITS = + 0x1 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_COUNTING_MODE_QUADRATURE_X2_BITS = + 0x2 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_COUNTING_MODE_QUADRATURE_X4_BITS = + 0x3 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_COUNTING_MODE_TWO_PULSE_BITS = + 0x4 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_COUNTING_MODE_SYNC_SOURCE_BITS = + 0x6 << NI_GPCT_COUNTING_MODE_SHIFT, + NI_GPCT_INDEX_PHASE_MASK = 0x3 << NI_GPCT_INDEX_PHASE_BITSHIFT, + NI_GPCT_INDEX_PHASE_LOW_A_LOW_B_BITS = + 0x0 << NI_GPCT_INDEX_PHASE_BITSHIFT, + NI_GPCT_INDEX_PHASE_LOW_A_HIGH_B_BITS = + 0x1 << NI_GPCT_INDEX_PHASE_BITSHIFT, + NI_GPCT_INDEX_PHASE_HIGH_A_LOW_B_BITS = + 0x2 << NI_GPCT_INDEX_PHASE_BITSHIFT, + NI_GPCT_INDEX_PHASE_HIGH_A_HIGH_B_BITS = + 0x3 << NI_GPCT_INDEX_PHASE_BITSHIFT, + NI_GPCT_INDEX_ENABLE_BIT = 0x400000, + NI_GPCT_COUNTING_DIRECTION_MASK = + 0x3 << NI_GPCT_COUNTING_DIRECTION_SHIFT, + NI_GPCT_COUNTING_DIRECTION_DOWN_BITS = + 0x00 << NI_GPCT_COUNTING_DIRECTION_SHIFT, + NI_GPCT_COUNTING_DIRECTION_UP_BITS = + 0x1 << NI_GPCT_COUNTING_DIRECTION_SHIFT, + NI_GPCT_COUNTING_DIRECTION_HW_UP_DOWN_BITS = + 0x2 << NI_GPCT_COUNTING_DIRECTION_SHIFT, + NI_GPCT_COUNTING_DIRECTION_HW_GATE_BITS = + 0x3 << NI_GPCT_COUNTING_DIRECTION_SHIFT, + NI_GPCT_RELOAD_SOURCE_MASK = 0xc000000, + NI_GPCT_RELOAD_SOURCE_FIXED_BITS = 0x0, + NI_GPCT_RELOAD_SOURCE_SWITCHING_BITS = 0x4000000, + NI_GPCT_RELOAD_SOURCE_GATE_SELECT_BITS = 0x8000000, + NI_GPCT_OR_GATE_BIT = 0x10000000, + NI_GPCT_INVERT_OUTPUT_BIT = 0x20000000 +}; + +/* + * Bits for setting a clock source with + * INSN_CONFIG_SET_CLOCK_SRC when using NI general-purpose counters. + */ +enum ni_gpct_clock_source_bits { + NI_GPCT_CLOCK_SRC_SELECT_MASK = 0x3f, + NI_GPCT_TIMEBASE_1_CLOCK_SRC_BITS = 0x0, + NI_GPCT_TIMEBASE_2_CLOCK_SRC_BITS = 0x1, + NI_GPCT_TIMEBASE_3_CLOCK_SRC_BITS = 0x2, + NI_GPCT_LOGIC_LOW_CLOCK_SRC_BITS = 0x3, + NI_GPCT_NEXT_GATE_CLOCK_SRC_BITS = 0x4, + NI_GPCT_NEXT_TC_CLOCK_SRC_BITS = 0x5, + /* NI 660x-specific */ + NI_GPCT_SOURCE_PIN_i_CLOCK_SRC_BITS = 0x6, + NI_GPCT_PXI10_CLOCK_SRC_BITS = 0x7, + NI_GPCT_PXI_STAR_TRIGGER_CLOCK_SRC_BITS = 0x8, + NI_GPCT_ANALOG_TRIGGER_OUT_CLOCK_SRC_BITS = 0x9, + NI_GPCT_PRESCALE_MODE_CLOCK_SRC_MASK = 0x30000000, + NI_GPCT_NO_PRESCALE_CLOCK_SRC_BITS = 0x0, + /* divide source by 2 */ + NI_GPCT_PRESCALE_X2_CLOCK_SRC_BITS = 0x10000000, + /* divide source by 8 */ + NI_GPCT_PRESCALE_X8_CLOCK_SRC_BITS = 0x20000000, + NI_GPCT_INVERT_CLOCK_SRC_BIT = 0x80000000 +}; + +/* NI 660x-specific */ +#define NI_GPCT_SOURCE_PIN_CLOCK_SRC_BITS(x) (0x10 + (x)) + +#define NI_GPCT_RTSI_CLOCK_SRC_BITS(x) (0x18 + (x)) + +/* no pfi on NI 660x */ +#define NI_GPCT_PFI_CLOCK_SRC_BITS(x) (0x20 + (x)) + +/* + * Possibilities for setting a gate source with + * INSN_CONFIG_SET_GATE_SRC when using NI general-purpose counters. + * May be bitwise-or'd with CR_EDGE or CR_INVERT. + */ +enum ni_gpct_gate_select { + /* m-series gates */ + NI_GPCT_TIMESTAMP_MUX_GATE_SELECT = 0x0, + NI_GPCT_AI_START2_GATE_SELECT = 0x12, + NI_GPCT_PXI_STAR_TRIGGER_GATE_SELECT = 0x13, + NI_GPCT_NEXT_OUT_GATE_SELECT = 0x14, + NI_GPCT_AI_START1_GATE_SELECT = 0x1c, + NI_GPCT_NEXT_SOURCE_GATE_SELECT = 0x1d, + NI_GPCT_ANALOG_TRIGGER_OUT_GATE_SELECT = 0x1e, + NI_GPCT_LOGIC_LOW_GATE_SELECT = 0x1f, + /* more gates for 660x */ + NI_GPCT_SOURCE_PIN_i_GATE_SELECT = 0x100, + NI_GPCT_GATE_PIN_i_GATE_SELECT = 0x101, + /* more gates for 660x "second gate" */ + NI_GPCT_UP_DOWN_PIN_i_GATE_SELECT = 0x201, + NI_GPCT_SELECTED_GATE_GATE_SELECT = 0x21e, + /* + * m-series "second gate" sources are unknown, + * we should add them here with an offset of 0x300 when + * known. + */ + NI_GPCT_DISABLED_GATE_SELECT = 0x8000, +}; + +#define NI_GPCT_GATE_PIN_GATE_SELECT(x) (0x102 + (x)) +#define NI_GPCT_RTSI_GATE_SELECT(x) NI_USUAL_RTSI_SELECT(x) +#define NI_GPCT_PFI_GATE_SELECT(x) NI_USUAL_PFI_SELECT(x) +#define NI_GPCT_UP_DOWN_PIN_GATE_SELECT(x) (0x202 + (x)) + +/* + * Possibilities for setting a source with + * INSN_CONFIG_SET_OTHER_SRC when using NI general-purpose counters. + */ +enum ni_gpct_other_index { + NI_GPCT_SOURCE_ENCODER_A, + NI_GPCT_SOURCE_ENCODER_B, + NI_GPCT_SOURCE_ENCODER_Z +}; + +enum ni_gpct_other_select { + /* m-series gates */ + /* Still unknown, probably only need NI_GPCT_PFI_OTHER_SELECT */ + NI_GPCT_DISABLED_OTHER_SELECT = 0x8000, +}; + +#define NI_GPCT_PFI_OTHER_SELECT(x) NI_USUAL_PFI_SELECT(x) + +/* + * start sources for ni general-purpose counters for use with + * INSN_CONFIG_ARM + */ +enum ni_gpct_arm_source { + NI_GPCT_ARM_IMMEDIATE = 0x0, + /* + * Start both the counter and the adjacent paired counter simultaneously + */ + NI_GPCT_ARM_PAIRED_IMMEDIATE = 0x1, + /* + * If the NI_GPCT_HW_ARM bit is set, we will pass the least significant + * bits (3 bits for 660x or 5 bits for m-series) through to the + * hardware. To select a hardware trigger, pass the appropriate select + * bit, e.g., + * NI_GPCT_HW_ARM | NI_GPCT_AI_START1_GATE_SELECT or + * NI_GPCT_HW_ARM | NI_GPCT_PFI_GATE_SELECT(pfi_number) + */ + NI_GPCT_HW_ARM = 0x1000, + NI_GPCT_ARM_UNKNOWN = NI_GPCT_HW_ARM, /* for backward compatibility */ +}; + +/* digital filtering options for ni 660x for use with INSN_CONFIG_FILTER. */ +enum ni_gpct_filter_select { + NI_GPCT_FILTER_OFF = 0x0, + NI_GPCT_FILTER_TIMEBASE_3_SYNC = 0x1, + NI_GPCT_FILTER_100x_TIMEBASE_1 = 0x2, + NI_GPCT_FILTER_20x_TIMEBASE_1 = 0x3, + NI_GPCT_FILTER_10x_TIMEBASE_1 = 0x4, + NI_GPCT_FILTER_2x_TIMEBASE_1 = 0x5, + NI_GPCT_FILTER_2x_TIMEBASE_3 = 0x6 +}; + +/* + * PFI digital filtering options for ni m-series for use with + * INSN_CONFIG_FILTER. + */ +enum ni_pfi_filter_select { + NI_PFI_FILTER_OFF = 0x0, + NI_PFI_FILTER_125ns = 0x1, + NI_PFI_FILTER_6425ns = 0x2, + NI_PFI_FILTER_2550us = 0x3 +}; + +/* master clock sources for ni mio boards and INSN_CONFIG_SET_CLOCK_SRC */ +enum ni_mio_clock_source { + NI_MIO_INTERNAL_CLOCK = 0, + /* + * Doesn't work for m-series, use NI_MIO_PLL_RTSI_CLOCK() + * the NI_MIO_PLL_* sources are m-series only + */ + NI_MIO_RTSI_CLOCK = 1, + NI_MIO_PLL_PXI_STAR_TRIGGER_CLOCK = 2, + NI_MIO_PLL_PXI10_CLOCK = 3, + NI_MIO_PLL_RTSI0_CLOCK = 4 +}; + +#define NI_MIO_PLL_RTSI_CLOCK(x) (NI_MIO_PLL_RTSI0_CLOCK + (x)) + +/* + * Signals which can be routed to an NI RTSI pin with INSN_CONFIG_SET_ROUTING. + * The numbers assigned are not arbitrary, they correspond to the bits required + * to program the board. + */ +enum ni_rtsi_routing { + NI_RTSI_OUTPUT_ADR_START1 = 0, + NI_RTSI_OUTPUT_ADR_START2 = 1, + NI_RTSI_OUTPUT_SCLKG = 2, + NI_RTSI_OUTPUT_DACUPDN = 3, + NI_RTSI_OUTPUT_DA_START1 = 4, + NI_RTSI_OUTPUT_G_SRC0 = 5, + NI_RTSI_OUTPUT_G_GATE0 = 6, + NI_RTSI_OUTPUT_RGOUT0 = 7, + NI_RTSI_OUTPUT_RTSI_BRD_0 = 8, + /* Pre-m-series always have RTSI clock on line 7 */ + NI_RTSI_OUTPUT_RTSI_OSC = 12 +}; + +#define NI_RTSI_OUTPUT_RTSI_BRD(x) (NI_RTSI_OUTPUT_RTSI_BRD_0 + (x)) + +/* + * Signals which can be routed to an NI PFI pin on an m-series board with + * INSN_CONFIG_SET_ROUTING. These numbers are also returned by + * INSN_CONFIG_GET_ROUTING on pre-m-series boards, even though their routing + * cannot be changed. The numbers assigned are not arbitrary, they correspond + * to the bits required to program the board. + */ +enum ni_pfi_routing { + NI_PFI_OUTPUT_PFI_DEFAULT = 0, + NI_PFI_OUTPUT_AI_START1 = 1, + NI_PFI_OUTPUT_AI_START2 = 2, + NI_PFI_OUTPUT_AI_CONVERT = 3, + NI_PFI_OUTPUT_G_SRC1 = 4, + NI_PFI_OUTPUT_G_GATE1 = 5, + NI_PFI_OUTPUT_AO_UPDATE_N = 6, + NI_PFI_OUTPUT_AO_START1 = 7, + NI_PFI_OUTPUT_AI_START_PULSE = 8, + NI_PFI_OUTPUT_G_SRC0 = 9, + NI_PFI_OUTPUT_G_GATE0 = 10, + NI_PFI_OUTPUT_EXT_STROBE = 11, + NI_PFI_OUTPUT_AI_EXT_MUX_CLK = 12, + NI_PFI_OUTPUT_GOUT0 = 13, + NI_PFI_OUTPUT_GOUT1 = 14, + NI_PFI_OUTPUT_FREQ_OUT = 15, + NI_PFI_OUTPUT_PFI_DO = 16, + NI_PFI_OUTPUT_I_ATRIG = 17, + NI_PFI_OUTPUT_RTSI0 = 18, + NI_PFI_OUTPUT_PXI_STAR_TRIGGER_IN = 26, + NI_PFI_OUTPUT_SCXI_TRIG1 = 27, + NI_PFI_OUTPUT_DIO_CHANGE_DETECT_RTSI = 28, + NI_PFI_OUTPUT_CDI_SAMPLE = 29, + NI_PFI_OUTPUT_CDO_UPDATE = 30 +}; + +#define NI_PFI_OUTPUT_RTSI(x) (NI_PFI_OUTPUT_RTSI0 + (x)) + +/* + * Signals which can be routed to output on a NI PFI pin on a 660x board + * with INSN_CONFIG_SET_ROUTING. The numbers assigned are + * not arbitrary, they correspond to the bits required + * to program the board. Lines 0 to 7 can only be set to + * NI_660X_PFI_OUTPUT_DIO. Lines 32 to 39 can only be set to + * NI_660X_PFI_OUTPUT_COUNTER. + */ +enum ni_660x_pfi_routing { + NI_660X_PFI_OUTPUT_COUNTER = 1, /* counter */ + NI_660X_PFI_OUTPUT_DIO = 2, /* static digital output */ +}; + +/* + * NI External Trigger lines. These values are not arbitrary, but are related + * to the bits required to program the board (offset by 1 for historical + * reasons). + */ +#define NI_EXT_PFI(x) (NI_USUAL_PFI_SELECT(x) - 1) +#define NI_EXT_RTSI(x) (NI_USUAL_RTSI_SELECT(x) - 1) + +/* + * Clock sources for CDIO subdevice on NI m-series boards. Used as the + * scan_begin_arg for a comedi_command. These sources may also be bitwise-or'd + * with CR_INVERT to change polarity. + */ +enum ni_m_series_cdio_scan_begin_src { + NI_CDIO_SCAN_BEGIN_SRC_GROUND = 0, + NI_CDIO_SCAN_BEGIN_SRC_AI_START = 18, + NI_CDIO_SCAN_BEGIN_SRC_AI_CONVERT = 19, + NI_CDIO_SCAN_BEGIN_SRC_PXI_STAR_TRIGGER = 20, + NI_CDIO_SCAN_BEGIN_SRC_G0_OUT = 28, + NI_CDIO_SCAN_BEGIN_SRC_G1_OUT = 29, + NI_CDIO_SCAN_BEGIN_SRC_ANALOG_TRIGGER = 30, + NI_CDIO_SCAN_BEGIN_SRC_AO_UPDATE = 31, + NI_CDIO_SCAN_BEGIN_SRC_FREQ_OUT = 32, + NI_CDIO_SCAN_BEGIN_SRC_DIO_CHANGE_DETECT_IRQ = 33 +}; + +#define NI_CDIO_SCAN_BEGIN_SRC_PFI(x) NI_USUAL_PFI_SELECT(x) +#define NI_CDIO_SCAN_BEGIN_SRC_RTSI(x) NI_USUAL_RTSI_SELECT(x) + +/* + * scan_begin_src for scan_begin_arg==TRIG_EXT with analog output command on NI + * boards. These scan begin sources can also be bitwise-or'd with CR_INVERT to + * change polarity. + */ +#define NI_AO_SCAN_BEGIN_SRC_PFI(x) NI_USUAL_PFI_SELECT(x) +#define NI_AO_SCAN_BEGIN_SRC_RTSI(x) NI_USUAL_RTSI_SELECT(x) + +/* + * Bits for setting a clock source with + * INSN_CONFIG_SET_CLOCK_SRC when using NI frequency output subdevice. + */ +enum ni_freq_out_clock_source_bits { + NI_FREQ_OUT_TIMEBASE_1_DIV_2_CLOCK_SRC, /* 10 MHz */ + NI_FREQ_OUT_TIMEBASE_2_CLOCK_SRC /* 100 KHz */ +}; + +/* + * Values for setting a clock source with INSN_CONFIG_SET_CLOCK_SRC for + * 8254 counter subdevices on Amplicon DIO boards (amplc_dio200 driver). + */ +enum amplc_dio_clock_source { + /* + * Per channel external clock + * input/output pin (pin is only an + * input when clock source set to this value, + * otherwise it is an output) + */ + AMPLC_DIO_CLK_CLKN, + AMPLC_DIO_CLK_10MHZ, /* 10 MHz internal clock */ + AMPLC_DIO_CLK_1MHZ, /* 1 MHz internal clock */ + AMPLC_DIO_CLK_100KHZ, /* 100 kHz internal clock */ + AMPLC_DIO_CLK_10KHZ, /* 10 kHz internal clock */ + AMPLC_DIO_CLK_1KHZ, /* 1 kHz internal clock */ + /* + * Output of preceding counter channel + * (for channel 0, preceding counter + * channel is channel 2 on preceding + * counter subdevice, for first counter + * subdevice, preceding counter + * subdevice is the last counter + * subdevice) + */ + AMPLC_DIO_CLK_OUTNM1, + AMPLC_DIO_CLK_EXT, /* per chip external input pin */ + /* the following are "enhanced" clock sources for PCIe models */ + AMPLC_DIO_CLK_VCC, /* clock input HIGH */ + AMPLC_DIO_CLK_GND, /* clock input LOW */ + AMPLC_DIO_CLK_PAT_PRESENT, /* "pattern present" signal */ + AMPLC_DIO_CLK_20MHZ /* 20 MHz internal clock */ +}; + +/* + * Values for setting a clock source with INSN_CONFIG_SET_CLOCK_SRC for + * timer subdevice on some Amplicon DIO PCIe boards (amplc_dio200 driver). + */ +enum amplc_dio_ts_clock_src { + AMPLC_DIO_TS_CLK_1GHZ, /* 1 ns period with 20 ns granularity */ + AMPLC_DIO_TS_CLK_1MHZ, /* 1 us period */ + AMPLC_DIO_TS_CLK_1KHZ /* 1 ms period */ +}; + +/* + * Values for setting a gate source with INSN_CONFIG_SET_GATE_SRC for + * 8254 counter subdevices on Amplicon DIO boards (amplc_dio200 driver). + */ +enum amplc_dio_gate_source { + AMPLC_DIO_GAT_VCC, /* internal high logic level */ + AMPLC_DIO_GAT_GND, /* internal low logic level */ + AMPLC_DIO_GAT_GATN, /* per channel external gate input */ + /* + * negated output of counter channel minus 2 + * (for channels 0 or 1, channel minus 2 is channel 1 or 2 on + * the preceding counter subdevice, for the first counter subdevice + * the preceding counter subdevice is the last counter subdevice) + */ + AMPLC_DIO_GAT_NOUTNM2, + AMPLC_DIO_GAT_RESERVED4, + AMPLC_DIO_GAT_RESERVED5, + AMPLC_DIO_GAT_RESERVED6, + AMPLC_DIO_GAT_RESERVED7, + /* the following are "enhanced" gate sources for PCIe models */ + AMPLC_DIO_GAT_NGATN = 6, /* negated per channel gate input */ + /* non-negated output of counter channel minus 2 */ + AMPLC_DIO_GAT_OUTNM2, + AMPLC_DIO_GAT_PAT_PRESENT, /* "pattern present" signal */ + AMPLC_DIO_GAT_PAT_OCCURRED, /* "pattern occurred" latched */ + AMPLC_DIO_GAT_PAT_GONE, /* "pattern gone away" latched */ + AMPLC_DIO_GAT_NPAT_PRESENT, /* negated "pattern present" */ + AMPLC_DIO_GAT_NPAT_OCCURRED, /* negated "pattern occurred" */ + AMPLC_DIO_GAT_NPAT_GONE /* negated "pattern gone away" */ +}; + +/* + * Values for setting a clock source with INSN_CONFIG_SET_CLOCK_SRC for + * the counter subdevice on the Kolter Electronic PCI-Counter board + * (ke_counter driver). + */ +enum ke_counter_clock_source { + KE_CLK_20MHZ, /* internal 20MHz (default) */ + KE_CLK_4MHZ, /* internal 4MHz (option) */ + KE_CLK_EXT /* external clock on pin 21 of D-Sub */ +}; + +#endif /* _COMEDI_H */ |