/* 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];}; /**

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