Module: xenomai-3
Branch: next
Commit: fb962115628721bc52ae05923b67185c4005ee37
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fb962115628721bc52ae05923b67185c4005ee37
Author: Jorge Ramirez-Ortiz <j...@xenomai.org>
Date: Sat Oct 11 14:25:26 2014 -0400
utils/analogy: calibration - use analogy lib to read/write the calibration file
---
include/rtdm/analogy.h | 11 +
include/rtdm/uapi/analogy.h | 28 +++
lib/analogy/Makefile.am | 11 +-
lib/analogy/calibration.c | 211 +++++++++++++++++++
lib/analogy/calibration.h | 44 ++++
utils/analogy/Makefile.am | 5 +-
utils/analogy/analogy_calibrate.c | 73 +------
utils/analogy/analogy_calibrate.h | 131 +-----------
utils/analogy/calibration_ni_m.c | 422 ++++++++++++-------------------------
utils/analogy/calibration_ni_m.h | 36 +---
10 files changed, 456 insertions(+), 516 deletions(-)
diff --git a/include/rtdm/analogy.h b/include/rtdm/analogy.h
index 57f2ec0..fd26f58 100644
--- a/include/rtdm/analogy.h
+++ b/include/rtdm/analogy.h
@@ -21,9 +21,12 @@
#ifndef _RTDM_ANALOGY_H
#define _RTDM_ANALOGY_H
+#include <stdio.h>
#include <sys/types.h>
#include <rtdm/uapi/analogy.h>
+#include "boilerplate/list.h"
+
/*!
@addtogroup analogy_lib_descriptor
@{
@@ -227,6 +230,14 @@ int a4l_ftoraw(a4l_chinfo_t *chan,
int a4l_dtoraw(a4l_chinfo_t *chan,
a4l_rnginfo_t *rng, void *dst, double *src, int cnt);
+void a4l_write_calibration_file(FILE *dst, struct list *l,
+ struct a4l_calibration_subdev *subd,
+ a4l_desc_t *desc);
+
+int a4l_read_calibration_file(char *name, struct a4l_calibration_data *data);
+
+
+
#endif /* !DOXYGEN_CPP */
#ifdef __cplusplus
diff --git a/include/rtdm/uapi/analogy.h b/include/rtdm/uapi/analogy.h
index 9806c82..669ded7 100644
--- a/include/rtdm/uapi/analogy.h
+++ b/include/rtdm/uapi/analogy.h
@@ -706,4 +706,32 @@ typedef struct a4l_instruction_list a4l_insnlst_t;
/*! @} analogy_lib_sync1 */
+struct a4l_calibration_subdev {
+ a4l_sbinfo_t *info;
+ int slen;
+ int idx;
+ char *name;
+};
+
+struct a4l_calibration_subdev_data {
+ int index;
+ int channel;
+ int range;
+ int expansion;
+ int nb_coeff;
+ double *coeff;
+
+};
+
+struct a4l_calibration_data {
+ char *driver_name;
+ char *board_name;
+ int nb_ai;
+ struct a4l_calibration_subdev_data *ai;
+ int nb_ao;
+ struct a4l_calibration_subdev_data *ao;
+};
+
+
+
#endif /* _RTDM_UAPI_ANALOGY_H */
diff --git a/lib/analogy/Makefile.am b/lib/analogy/Makefile.am
index 4d242ff..500453d 100644
--- a/lib/analogy/Makefile.am
+++ b/lib/analogy/Makefile.am
@@ -7,11 +7,16 @@ libanalogy_la_SOURCES = \
descriptor.c \
info.c \
internal.h \
+ calibration.c \
range.c \
root_leaf.h \
sync.c \
sys.c
-libanalogy_la_CPPFLAGS = \
- @XENO_USER_CFLAGS@ \
- -I$(top_srcdir)/include
+libanalogy_la_CPPFLAGS = \
+ @XENO_USER_CFLAGS@ \
+ -I$(top_srcdir)/include \
+ -I$(top_srcdir)/lib/boilerplate
+
+libanalogy_la_LIBADD = \
+ ../boilerplate/libboilerplate.la
diff --git a/lib/analogy/calibration.c b/lib/analogy/calibration.c
new file mode 100644
index 0000000..74b2789
--- /dev/null
+++ b/lib/analogy/calibration.c
@@ -0,0 +1,211 @@
+#include <rtdm/analogy.h>
+#include <stdio.h>
+#include <errno.h>
+#include <wordexp.h>
+#include "iniparser/iniparser.h"
+#include "boilerplate/list.h"
+#include "calibration.h"
+
+#define ARRAY_LEN(a) (sizeof(a) / sizeof((a)[0]))
+
+static inline int read_dbl(double *d, struct _dictionary_ *f,const char *subd,
+ int subd_idx, char *type, int type_idx)
+{
+ char *str;
+ int ret;
+
+ /* if only contains doubles as coefficients */
+ if (strncmp(type, COEFF_STR, strlen(COEFF_STR) != 0))
+ return -ENOENT;
+
+ ret = asprintf(&str, COEFF_FMT, subd, subd_idx, type, type_idx);
+ if (ret < 0)
+ return ret;
+
+ *d = iniparser_getdouble(f, str, -255.0);
+ if (*d == -255.0)
+ ret = -ENOENT;
+ free(str);
+
+ return ret;
+}
+
+static inline int read_int(int *val, struct _dictionary_ *f, const char *subd,
+ int subd_idx, char *type)
+{
+ char *str;
+ int ret;
+
+ ret = (subd_idx >= 0) ?
+ asprintf(&str, ELEMENT_FIELD_FMT, subd, subd_idx, type):
+ asprintf(&str, ELEMENT_FMT, subd, type);
+ if (ret < 0)
+ return ret;
+
+ *val = iniparser_getint(f, str, 0xFFFF);
+ if (*val == 0xFFFF)
+ ret = -ENOENT;
+ free(str);
+
+ return ret;
+}
+
+static inline int read_str(char **val, struct _dictionary_ *f, const char
*subd,
+ const char *type)
+{
+ char *str;
+ int ret;
+
+ ret = asprintf(&str, ELEMENT_FMT, subd, type);
+ if (ret < 0)
+ return ret;
+
+ *val = (char *) iniparser_getstring(f, str, NULL);
+ if (*val == NULL)
+ ret = -ENOENT;
+ free(str);
+
+ return ret;
+}
+
+static inline void write_calibration(FILE *file, char *fmt, ...)
+{
+ va_list ap;
+
+ if (!file)
+ return;
+
+ va_start(ap, fmt);
+ vfprintf(file, fmt, ap);
+ fflush(file);
+ va_end(ap);
+}
+
+int a4l_read_calibration_file(char *name, struct a4l_calibration_data *data)
+{
+ const char *subdevice[2] = { AI_SUBD_STR, AO_SUBD_STR };
+ struct a4l_calibration_subdev_data *p = NULL;
+ int i, j, k, index = -1, nb_elements = -1;
+ struct _dictionary_ *d;
+ const char *filename;
+ wordexp_t exp;
+ int ret = 0;
+
+ ret = wordexp(name, &exp, WRDE_NOCMD|WRDE_UNDEF);
+ if (ret) {
+ /* can't apply calibration */
+ ret = ret == WRDE_NOSPACE ? -ENOMEM : -EINVAL;
+ return ret;
+ }
+
+ if (exp.we_wordc != 1) {
+ /* "weird expansion of %s as rc file \n", params.name */
+ return -1;
+ }
+
+ filename = exp.we_wordv[0];
+ if (access(filename, R_OK)) {
+ /* "cant access %s for reading \n", params.name */
+ return -1;
+ }
+
+ d = iniparser_load(filename);
+ if (d == NULL) {
+ /* "loading error for %s (%d)\n", params.name, errno */
+ return -1;
+ }
+
+ read_str(&data->driver_name, d, PLATFORM_STR, DRIVER_STR);
+ read_str(&data->board_name, d, PLATFORM_STR, BOARD_STR);
+
+ for (k = 0; k < ARRAY_LEN(subdevice); k++) {
+ read_int(&nb_elements, d, subdevice[k], -1, ELEMENTS_STR);
+ read_int(&index, d, subdevice[k], -1, INDEX_STR);
+
+ if (strncmp(subdevice[k], AI_SUBD_STR,
+ strlen(AI_SUBD_STR)) == 0) {
+ data->ai = malloc(nb_elements *
+ sizeof(struct a4l_calibration_subdev_data));
+ data->nb_ai = nb_elements;
+ p = data->ai;
+ }
+
+ if (strncmp(subdevice[k], AO_SUBD_STR,
+ strlen(AO_SUBD_STR)) == 0) {
+ data->ao = malloc(nb_elements *
+ sizeof(struct a4l_calibration_subdev_data));
+ data->nb_ao = nb_elements;
+ p = data->ao;
+ }
+
+ for (i = 0; i < nb_elements; i++) {
+ read_int(&p->expansion, d, subdevice[k], i,
+ EXPANSION_STR);
+ read_int(&p->nb_coeff, d, subdevice[k], i,
+ NBCOEFF_STR);
+ read_int(&p->channel, d, subdevice[k], i,
+ CHANNEL_STR);
+ read_int(&p->range, d, subdevice[k], i,
+ RANGE_STR);
+
+ p->coeff = malloc(p->nb_coeff * sizeof(double));
+
+ for (j = 0; j < p->nb_coeff; j++) {
+ read_dbl(&p->coeff[j], d, subdevice[k], i,
+ COEFF_STR, j);
+ }
+
+ p->index = index;
+ p++;
+ }
+ }
+ wordfree(&exp);
+
+ return 0;
+}
+
+void a4l_write_calibration_file(FILE *dst, struct list *l,
+ struct a4l_calibration_subdev *subd,
+ a4l_desc_t *desc)
+{
+ struct subdevice_calibration_node *e, *t;
+ int i, j = 0;
+
+ if (list_empty(l))
+ return;
+
+ /* TODO: modify the meaning of board/driver in the proc */
+ if (desc) {
+ write_calibration(dst, "[%s] \n",PLATFORM_STR);
+ write_calibration(dst, DRIVER_STR" = %s;\n", desc->board_name);
+ write_calibration(dst, BOARD_STR" = %s;\n", desc->driver_name);
+ }
+
+ write_calibration(dst, "\n[%s] \n", subd->name);
+ write_calibration(dst, INDEX_STR" = %d;\n", subd->idx);
+ list_for_each_entry_safe(e, t, l, node) {
+ j++;
+ }
+ write_calibration(dst, ELEMENTS_STR" = %d;\n", j);
+
+ j = 0;
+ list_for_each_entry_safe(e, t, l, node) {
+ write_calibration(dst, "[%s_%d] \n", subd->name, j);
+ write_calibration(dst, CHANNEL_STR" = %d;\n", e->channel);
+ write_calibration(dst, RANGE_STR" = %d;\n", e->range);
+ write_calibration(dst, EXPANSION_STR" = %g;\n",
+ e->polynomial->expansion_origin);
+ write_calibration(dst, NBCOEFF_STR"= %d;\n",
+ e->polynomial->nb_coefficients);
+
+ for (i = 0; i < e->polynomial->nb_coefficients; i++)
+ write_calibration(dst, COEFF_STR"_%d = %g;\n",
+ i,
+ e->polynomial->coefficients[i]);
+ j++;
+ }
+
+ return;
+}
+
+
diff --git a/lib/analogy/calibration.h b/lib/analogy/calibration.h
new file mode 100644
index 0000000..04a7e72
--- /dev/null
+++ b/lib/analogy/calibration.h
@@ -0,0 +1,44 @@
+#ifndef __ANALOGY_CALIBRATION_H__
+#define __ANALOGY_CALIBRATION_H__
+
+/*
+ * internal definitions between the xenomai utils and the library.
+ * no need to expose them to the USER
+ *
+ */
+#define ELEMENT_FIELD_FMT "%s_%d:%s"
+#define ELEMENT_FMT "%s:%s"
+#define COEFF_FMT ELEMENT_FIELD_FMT"_%d"
+
+#define PLATFORM_STR "platform"
+#define CALIBRATION_SUBD_STR "calibration"
+#define MEMORY_SUBD_STR "memory"
+#define AI_SUBD_STR "analog_input"
+#define AO_SUBD_STR "analog_output"
+
+#define INDEX_STR "index"
+#define ELEMENTS_STR "elements"
+#define CHANNEL_STR "channel"
+#define RANGE_STR "range"
+#define EXPANSION_STR "expansion_origin"
+#define NBCOEFF_STR "nbcoeff"
+#define COEFF_STR "coeff"
+#define BOARD_STR "board_name"
+#define DRIVER_STR "driver_name"
+
+struct polynomial {
+ double expansion_origin;
+ double *coefficients;
+ int nb_coefficients;
+ int order;
+};
+
+struct subdevice_calibration_node {
+ struct holder node;
+ struct polynomial *polynomial;
+ unsigned channel;
+ unsigned range;
+};
+
+
+#endif
diff --git a/utils/analogy/Makefile.am b/utils/analogy/Makefile.am
index 40c09f3..a555260 100644
--- a/utils/analogy/Makefile.am
+++ b/utils/analogy/Makefile.am
@@ -13,8 +13,7 @@ CPPFLAGS = \
@XENO_USER_CFLAGS@ \
-ggdb \
-I$(top_srcdir)/include \
- -I$(top_srcdir)/lib/boilerplate
-
+ -I$(top_srcdir)/lib/analogy
LDFLAGS =
@@ -29,7 +28,7 @@ analogy_config_LDADD = \
../../lib/analogy/libanalogy.la \
../../lib/cobalt/libcobalt.la \
@XENO_USER_LDADD@ \
- -lpthread -lrt
+ -lrt -lpthread
analogy_calibrate_SOURCES = analogy_calibrate.c calibration_ni_m.c
analogy_calibrate.c: git-stamp.h calibration_ni_m.h
diff --git a/utils/analogy/analogy_calibrate.c
b/utils/analogy/analogy_calibrate.c
index 8404811..5963cc4 100644
--- a/utils/analogy/analogy_calibrate.c
+++ b/utils/analogy/analogy_calibrate.c
@@ -31,11 +31,9 @@
#include "analogy_calibrate.h"
#include "calibration_ni_m.h"
-struct apply_calibration_params params = {.name = NULL,} ;
struct timespec calibration_start_time;
static const char *revision = "0.0.1";
a4l_desc_t descriptor;
-FILE *cal = NULL;
static const struct option options[] = {
{
@@ -57,12 +55,6 @@ static const struct option options[] = {
.flag = NULL,
},
{
-#define apply_opt 3
- .name = "apply",
- .has_arg = 1,
- .flag = NULL,
- },
- {
.name = NULL,
}
};
@@ -71,51 +63,22 @@ static void
print_usage(void)
{
fprintf(stderr, "Usage: analogy_calibrate \n"
- " --help : this menu \n"
- " --device /dev/analogyX : analogy
device to calibrate \n"
- " --output filename : calibration
results \n"
- " --apply filename:subd,channel,range,aref : apply the
calibration file \n"
- " ex: /home/foo/calib.rc:0,1,255,255 - use 255 for dont
care \n"
+ " --help : this menu \n"
+ " --device /dev/analogyX : analogy device to calibrate \n"
+ " --output filename : calibration results \n"
);
}
-static int
-apply_calibration_set_globals(char *info)
-{
- char *p;
-
- params.name = strtok(info, ":");
- p = strtok(NULL, ",");
- if (!p)
- error(EXIT, 0, "missing --apply parameter subd \n");
- params.subd = strtol(p, NULL, 0);
-
- p = strtok(NULL, ",");
- if (!p)
- error(EXIT, 0, "missing --apply parameter channel \n");
- params.channel = strtol(p, NULL, 0);
-
- p = strtok(NULL, ",");
- if (!p)
- error(EXIT, 0, "missing --apply parameter range \n");
- params.range = strtol(p, NULL, 0);
-
- p = strtok(NULL, "");
- if (!p)
- error(EXIT, 0, "missing --apply parameter aref \n");
- params.aref = strtol(p, NULL, 0);
-
- return 0;
-}
-
static void __attribute__ ((constructor)) __analogy_calibrate_init(void)
{
clock_gettime(CLOCK_MONOTONIC, &calibration_start_time);
}
+
int main(int argc, char *argv[])
{
- char *device = NULL, *file = NULL, *apply_info = NULL;
+ char *device = NULL, *file = NULL;
int v, i, fd, err = 0;
+ FILE *p = NULL;
__debug("version: git commit %s, revision %s \n", GIT_STAMP, revision);
@@ -133,22 +96,17 @@ int main(int argc, char *argv[])
break;
case output_opt:
file = optarg;
- cal = fopen(file, "w+");
- if (!cal)
- error(EXIT, errno, "calibration file");
+ p = fopen(file, "w+");
__debug("calibration output: %s \n", file);
break;
- case apply_opt:
- apply_info = optarg;
- break;
default:
print_usage();
exit(EXIT_FAILURE);
}
}
- if (apply_info)
- apply_calibration_set_globals(apply_info);
+ if (!p)
+ error(EXIT, errno, "calibration file not present");
fd = a4l_open(&descriptor, device);
if (fd < 0)
@@ -159,21 +117,10 @@ int main(int argc, char *argv[])
error(EXIT, 0, "board %s: driver %s not supported",
descriptor.board_name, descriptor.driver_name);
- /*
- * TODO: modify the meaning of board/driver in the proc
- */
- push_to_cal_file("[%s] \n",PLATFORM_STR);
- push_to_cal_file(DRIVER_STR" = %s;\n", descriptor.board_name);
- push_to_cal_file(BOARD_STR" = %s;\n", descriptor.driver_name);
-
- err = ni_m_software_calibrate();
+ err = ni_m_software_calibrate(p);
if (err)
error(CONT, 0, "software calibration failed (%d)", err);
- err = ni_m_apply_calibration();
- if (err)
- error(CONT, 0, "applying calibration failed (%d)", err);
-
a4l_close(&descriptor);
return err;
diff --git a/utils/analogy/analogy_calibrate.h
b/utils/analogy/analogy_calibrate.h
index 4a30997..09812ae 100644
--- a/utils/analogy/analogy_calibrate.h
+++ b/utils/analogy/analogy_calibrate.h
@@ -31,7 +31,7 @@
#include <unistd.h>
#include <stdlib.h>
-#include "iniparser/iniparser.h"
+
#include "git-stamp.h"
#include "error.h"
@@ -39,16 +39,6 @@ extern struct timespec calibration_start_time;
extern a4l_desc_t descriptor;
extern FILE *cal;
-struct apply_calibration_params {
- int channel;
- char *name;
- int range;
- int subd;
- int aref;
-};
-
-extern struct apply_calibration_params params;
-
#define ARRAY_LEN(a) (sizeof(a) / sizeof((a)[0]))
#define RETURN 1
@@ -124,18 +114,6 @@ static inline void __debug(char *fmt, ...)
va_end(ap);
}
-static inline void __push_to_file(FILE *file, char *fmt, ...)
-{
- va_list ap;
-
- if (!file)
- return;
-
- va_start(ap, fmt);
- vfprintf(file, fmt, ap);
- fflush(file);
- va_end(ap);
-}
static inline int __array_search(char *elem, const char *array[], int len)
{
@@ -148,11 +126,6 @@ static inline int __array_search(char *elem, const char
*array[], int len)
return -1;
}
-#define push_to_cal_file(fmt, ...)
\
- do {
\
- if (cal)
\
- __push_to_file(cal, fmt, ##__VA_ARGS__);
\
- } while(0)
static inline double rng_max(a4l_rnginfo_t *range)
{
@@ -174,108 +147,6 @@ static inline double rng_min(a4l_rnginfo_t *range)
return a;
}
-struct subd_data {
- int index;
- int channel;
- int range;
- int expansion;
- int nb_coeff;
- double *coeff;
-};
-
-struct calibration_data {
- char *driver_name;
- char *board_name;
- int nb_ai;
- struct subd_data *ai;
- int nb_ao;
- struct subd_data *ao;
-};
-
-#define ELEMENT_FIELD_FMT "%s_%d:%s"
-#define ELEMENT_FMT "%s:%s"
-#define COEFF_FMT ELEMENT_FIELD_FMT"_%d"
-
-#define PLATFORM_STR "platform"
-#define CALIBRATION_SUBD_STR "calibration"
-#define MEMORY_SUBD_STR "memory"
-#define AI_SUBD_STR "analog_input"
-#define AO_SUBD_STR "analog_output"
-
-#define INDEX_STR "index"
-#define ELEMENTS_STR "elements"
-#define CHANNEL_STR "channel"
-#define RANGE_STR "range"
-#define EXPANSION_STR "expansion_origin"
-#define NBCOEFF_STR "nbcoeff"
-#define COEFF_STR "coeff"
-#define BOARD_STR "board_name"
-#define DRIVER_STR "driver_name"
-
-static inline int
-read_calfile_str(char ** val, struct _dictionary_ *f, const char *subd, char
*type)
-{
- char *not_found = NULL;
- char *str;
- int err;
-
- err = asprintf(&str, ELEMENT_FMT, subd, type);
- if (err < 0)
- error(EXIT, 0, "asprintf \n");
- *val = (char *) iniparser_getstring(f, str, not_found);
- __debug("%s = %s \n", str, *val);
- free(str);
- if (*val == not_found)
- error(EXIT, 0, "calibration file: str element not found \n");
-
- return 0;
-}
-
-
-static inline int
-read_calfile_integer(int *val, struct _dictionary_ *f,
- const char *subd, int subd_idx, char *type)
-{
- int not_found = 0xFFFF;
- char *str;
- int err;
-
- if (subd_idx < 0)
- err = asprintf(&str, ELEMENT_FMT, subd, type);
- else
- err = asprintf(&str, ELEMENT_FIELD_FMT, subd, subd_idx, type);
- if (err < 0)
- error(EXIT, 0, "asprintf \n");
- *val = iniparser_getint(f, str, not_found);
- __debug("%s = %d \n", str, *val);
- free(str);
- if (*val == not_found)
- error(EXIT, 0, "calibration file: int element not found \n");
-
- return 0;
-}
-
-static inline int
-read_calfile_double(double *d, struct _dictionary_ *f,
- const char *subd, int subd_idx, char *type, int type_idx)
-{
- const double not_found = -255.0;
- char *str;
- int err;
-
- if (strncmp(type, COEFF_STR, strlen(COEFF_STR) != 0))
- error(EXIT, 0, "only contains doubles as coefficients \n");
- err = asprintf(&str, COEFF_FMT, subd, subd_idx, type, type_idx);
- if (err < 0)
- error(EXIT, 0, "asprintf \n");
- *d = iniparser_getdouble(f, str, not_found);
- __debug("%s = %g \n", str, *d);
- free(str);
- if (*d == not_found)
- error(EXIT, 0, "calbration file: double element not found \n");
-
- return 0;
-}
diff --git a/utils/analogy/calibration_ni_m.c b/utils/analogy/calibration_ni_m.c
index 358c395..2115b6d 100644
--- a/utils/analogy/calibration_ni_m.c
+++ b/utils/analogy/calibration_ni_m.c
@@ -25,159 +25,29 @@
#include <gsl/gsl_multifit.h>
#include <gsl/gsl_matrix.h>
#include <gsl/gsl_vector.h>
+#include <rtdm/uapi/analogy.h>
#include <rtdm/analogy.h>
#include <wordexp.h>
#include <math.h>
#include "calibration_ni_m.h"
-
-extern char *apply_name;
-
+#include "calibration.h"
struct list ai_calibration_list;
struct list ao_calibration_list;
static struct references references;
-static struct subdevice mem_subd;
-static struct subdevice cal_subd;
-static struct subdevice ao_subd;
-static struct subdevice ai_subd;
+static struct a4l_calibration_subdev mem_subd;
+static struct a4l_calibration_subdev cal_subd;
+static struct a4l_calibration_subdev ao_subd;
+static struct a4l_calibration_subdev ai_subd;
static struct subdev_ops ops;
static struct eeprom eeprom;
static struct gnumath math;
-static int
-parse_calibration_file(char *name, struct calibration_data *data)
-{
- const char *subdevice[2] = { AI_SUBD_STR, AO_SUBD_STR };
- int i, j, k, index, nb_elements;
- struct subd_data *p = NULL;
- struct _dictionary_ *d;
- const char *filename;
- wordexp_t exp;
- int ret = 0;
-
- ret = wordexp(name, &exp, WRDE_NOCMD|WRDE_UNDEF);
- if (ret) {
- ret = ret == WRDE_NOSPACE ? -ENOMEM : -EINVAL;
- error(EXIT, 0, "cant apply calibration (%d) \n", ret);
- }
-
- if (exp.we_wordc != 1)
- error(EXIT, 0, "weird expansion of %s as rc file \n",
params.name);
-
- filename = exp.we_wordv[0];
- if (access(filename, R_OK))
- error(EXIT, 0, "cant access %s for reading \n", params.name);
-
- __debug("using calibration file: %s \n", params.name);
-
- d = iniparser_load(filename);
- if (d == NULL)
- error(EXIT, 0, "iniparser loading error for %s (%d)\n",
params.name, errno);
-
- read_calfile_str(&data->driver_name, d, PLATFORM_STR, DRIVER_STR);
- read_calfile_str(&data->board_name, d, PLATFORM_STR, BOARD_STR);
- for (k = 0; k < ARRAY_LEN(subdevice); k++) {
- read_calfile_integer(&nb_elements, d, subdevice[k], -1,
- ELEMENTS_STR);
- read_calfile_integer(&index, d, subdevice[k], -1,
- INDEX_STR);
-
- if (strncmp(subdevice[k], AI_SUBD_STR, strlen(AI_SUBD_STR)) ==
0) {
- data->ai = malloc(nb_elements * sizeof(struct
subd_data));
- data->nb_ai = nb_elements;
- p = data->ai;
- }
- if (strncmp(subdevice[k], AO_SUBD_STR, strlen(AO_SUBD_STR)) ==
0) {
- data->ao = malloc(nb_elements * sizeof(struct
subd_data));
- data->nb_ao = nb_elements;
- p = data->ao;
- }
- for (i = 0; i < nb_elements; i++) {
- read_calfile_integer(&p->expansion, d, subdevice[k], i,
- EXPANSION_STR);
- read_calfile_integer(&p->nb_coeff, d, subdevice[k], i,
- NBCOEFF_STR);
- read_calfile_integer(&p->channel, d, subdevice[k], i,
- CHANNEL_STR);
- read_calfile_integer(&p->range, d, subdevice[k], i,
- RANGE_STR);
- p->coeff = malloc(p->nb_coeff * sizeof(double));
- for (j = 0; j < p->nb_coeff; j++) {
- read_calfile_double(&p->coeff[j], d,
subdevice[k],
- i, COEFF_STR, j);
- }
- p->index = index;
- p++;
- }
- }
- wordfree(&exp);
-
- return 0;
-}
-
-
-int
-ni_m_apply_calibration(void)
-{
- struct calibration_data cal_data;
-
- if (params.name == NULL)
- return 0;
-
- parse_calibration_file(params.name, &cal_data);
- /*
- * TODO: apply the calibration file.
- */
-
- return 0;
-}
-
-/*
- * generate the calibration file
- */
-static void
-write_calibration(struct list *calibration_list, struct subdevice *subd)
-{
- struct subdevice_calibration_node *e, *t;
- int i, j = 0;
-
- if (list_empty(calibration_list))
- return;
-
- push_to_cal_file("\n[%s] \n", subd->name);
- push_to_cal_file(INDEX_STR" = %d;\n", subd->idx);
- list_for_each_entry_safe(e, t, calibration_list, node) {
- j++;
- }
- push_to_cal_file(ELEMENTS_STR" = %d;\n", j);
-
- j = 0;
- list_for_each_entry_safe(e, t, calibration_list, node) {
- push_to_cal_file("[%s_%d] \n", subd->name, j);
- push_to_cal_file(CHANNEL_STR" = %d;\n", e->channel);
- push_to_cal_file(RANGE_STR" = %d;\n", e->range);
- push_to_cal_file(EXPANSION_STR" = %g;\n",
- e->polynomial->expansion_origin);
- push_to_cal_file(NBCOEFF_STR"= %d;\n",
- e->polynomial->nb_coefficients);
-
- for (i = 0; i < e->polynomial->nb_coefficients; i++)
- push_to_cal_file(COEFF_STR"_%d = %g;\n",
- i,
- e->polynomial->coefficients[i]);
- j++;
- }
-
- return;
-}
-
-
/*
* eeprom
*/
-static int
-eeprom_read_byte(unsigned address, unsigned *val)
+static int eeprom_read_byte(unsigned address, unsigned *val)
{
ops.data.read(val, &mem_subd, address, 0, 0);
if (*val > 0xff)
@@ -186,8 +56,7 @@ eeprom_read_byte(unsigned address, unsigned *val)
return 0;
}
-static int
-eeprom_read_uint16(unsigned address, unsigned *val)
+static int eeprom_read_uint16(unsigned address, unsigned *val)
{
unsigned a = 0, b = 0;
int err;
@@ -206,16 +75,14 @@ eeprom_read_uint16(unsigned address, unsigned *val)
return 0;
}
-static int
-eeprom_get_calibration_base_address(unsigned *address)
+static int eeprom_get_calibration_base_address(unsigned *address)
{
eeprom_read_uint16(24, address);
return 0;
}
-static int
-eeprom_read_float(unsigned address, float *val)
+static int eeprom_read_float(unsigned address, float *val)
{
union float_converter {
unsigned u;
@@ -241,8 +108,7 @@ eeprom_read_float(unsigned address, float *val)
return 0;
}
-static int
-eeprom_read_reference_voltage(float *val)
+static int eeprom_read_reference_voltage(float *val)
{
unsigned address;
@@ -255,8 +121,7 @@ eeprom_read_reference_voltage(float *val)
/*
* subdevice operations
*/
-static int
-data_read_hint(struct subdevice *s, int channel, int range, int aref)
+static int data_read_hint(struct a4l_calibration_subdev *s, int channel, int
range, int aref)
{
sampl_t dummy_data;
a4l_insn_t insn;
@@ -276,8 +141,8 @@ data_read_hint(struct subdevice *s, int channel, int range,
int aref)
return 0;
}
-static int
-data_read(unsigned *data, struct subdevice *s, int channel, int range, int
aref)
+static int data_read(unsigned *data, struct a4l_calibration_subdev *s, int
channel,
+ int range, int aref)
{
a4l_insn_t insn;
int err;
@@ -296,8 +161,8 @@ data_read(unsigned *data, struct subdevice *s, int channel,
int range, int aref)
return 0;
}
-static int
-data_write(long int *data, struct subdevice *s, int channel, int range, int
aref)
+static int data_write(long int *data, struct a4l_calibration_subdev *s, int
channel,
+ int range, int aref)
{
a4l_insn_t insn;
int err;
@@ -316,9 +181,8 @@ data_write(long int *data, struct subdevice *s, int
channel, int range, int aref
return 0;
}
-static int
-data_read_async(void *dst, struct subdevice *s, unsigned int nb_samples,
- int speriod, int irange)
+static int data_read_async(void *dst, struct a4l_calibration_subdev *s,
+ unsigned int nb_samples, int speriod, int irange)
{
int i, len, err;
a4l_cmd_t cmd;
@@ -373,9 +237,8 @@ data_read_async(void *dst, struct subdevice *s, unsigned
int nb_samples,
* math: uses the gnu statistic library and the math library
*
*/
-static int
-statistics_standard_deviation_of_mean(double *dst, double src[], int len,
- double mean)
+static int statistics_standard_deviation_of_mean(double *dst, double src[],
+ int len, double mean)
{
double a;
@@ -386,8 +249,8 @@ statistics_standard_deviation_of_mean(double *dst, double
src[], int len,
return 0;
}
-static int
-statistics_standard_deviation(double *dst, double src[], int len, double mean)
+static int statistics_standard_deviation(double *dst, double src[], int len,
+ double mean)
{
double a;
@@ -398,16 +261,14 @@ statistics_standard_deviation(double *dst, double src[],
int len, double mean)
return 0;
}
-static int
-statistics_mean(double *dst, double src[], int len)
+static int statistics_mean(double *dst, double src[], int len)
{
*dst = gsl_stats_mean(src, 1, len);
return 0;
}
-static int
-polynomial_fit(struct polynomial *dst, struct codes_info *src)
+static int polynomial_fit(struct polynomial *dst, struct codes_info *src)
{
gsl_multifit_linear_workspace *work;
const int nb_coeff = dst->order + 1;
@@ -457,8 +318,7 @@ polynomial_fit(struct polynomial *dst, struct codes_info
*src)
return 0;
}
-static int
-polynomial_linearize(double *dst, struct polynomial *p, double val)
+static int polynomial_linearize(double *dst, struct polynomial *p, double val)
{
double a = 0.0, b = 1.0;
int i;
@@ -467,7 +327,6 @@ polynomial_linearize(double *dst, struct polynomial *p,
double val)
a = a + p->coefficients[i] * b;
b = b * (val - p->expansion_origin);
}
-
*dst = a;
return 0;
@@ -478,8 +337,7 @@ polynomial_linearize(double *dst, struct polynomial *p,
double val)
* reference
*
*/
-static int
-reference_get_min_sampling_period(int *val)
+static int reference_get_min_sampling_period(int *val)
{
unsigned int chan_descs[] = { 0};
a4l_cmd_t cmd;
@@ -510,8 +368,7 @@ reference_get_min_sampling_period(int *val)
return 0;
}
-static int
-reference_set_bits(unsigned int bits)
+static int reference_set_bits(unsigned int bits)
{
unsigned int data[2] = { A4L_INSN_CONFIG_ALT_SOURCE, bits};
a4l_insn_t insn;
@@ -530,9 +387,8 @@ reference_set_bits(unsigned int bits)
return 0;
}
-static int
-reference_set_pwm(struct subdevice *s, unsigned int h, unsigned int d,
- unsigned int *rh, unsigned int *rd)
+static int reference_set_pwm(struct a4l_calibration_subdev *s, unsigned int h,
+ unsigned int d, unsigned int *rh, unsigned int *rd)
{
unsigned int data[5] = {
[0] = A4L_INSN_CONFIG_PWM_OUTPUT,
@@ -560,9 +416,8 @@ reference_set_pwm(struct subdevice *s, unsigned int h,
unsigned int d,
return 0;
}
-static int
-reference_read_doubles(double dst[], unsigned int nb_samples,
- int speriod, int irange)
+static int reference_read_doubles(double dst[], unsigned int nb_samples,
+ int speriod, int irange)
{
int i, err = 0;
sampl_t *p;
@@ -585,8 +440,8 @@ reference_read_doubles(double dst[], unsigned int
nb_samples,
return 0;
}
-static int
-reference_read_samples(void *dst, unsigned int nb_samples, int speriod, int
irange)
+static int reference_read_samples(void *dst, unsigned int nb_samples,
+ int speriod, int irange)
{
int err;
@@ -618,8 +473,7 @@ const char *ni_m_boards[] = {
const int nr_ni_m_boards = ARRAY_LEN(ni_m_boards);
-static inline
-int pwm_period_ticks(void)
+static inline int pwm_period_ticks(void)
{
int min_speriod, speriod_ticks, ticks;
int err;
@@ -636,8 +490,7 @@ int pwm_period_ticks(void)
return ++ticks;
}
-static inline
-int pwm_rounded_nsamples(void)
+static inline int pwm_rounded_nsamples(void)
{
int pwm_period, total_speriod, min_speriod;
int err;
@@ -654,8 +507,7 @@ int pwm_rounded_nsamples(void)
return total_speriod / min_speriod;
}
-static int
-check_buf_size(int slen)
+static int check_buf_size(int slen)
{
unsigned long blen, req_blen;
int err;
@@ -671,8 +523,7 @@ check_buf_size(int slen)
return 0;
}
-static int
-set_pwm_up_ticks(int t)
+static int set_pwm_up_ticks(int t)
{
unsigned int up_p, down_p, real_up_p, real_down_p;
int err;
@@ -687,8 +538,7 @@ set_pwm_up_ticks(int t)
return 0;
}
-static int
-characterize_pwm(struct pwm_info *dst, int pref, unsigned range)
+static int characterize_pwm(struct pwm_info *dst, int pref, unsigned range)
{
int i, up_ticks, err, speriod, len;
double mean, stddev, stddev_of_mean;
@@ -739,8 +589,7 @@ characterize_pwm(struct pwm_info *dst, int pref, unsigned
range)
return 0;
}
-static void
-print_polynomial(struct polynomial *p)
+static void print_polynomial(struct polynomial *p)
{
int i;
@@ -753,8 +602,8 @@ print_polynomial(struct polynomial *p)
i, p->coefficients[i]);
}
-static int
-calibrate_non_linearity(struct polynomial *poly, struct pwm_info *src)
+static int calibrate_non_linearity(struct polynomial *poly,
+ struct pwm_info *src)
{
unsigned int max_data = (1 << ai_subd.slen * 8) - 2;
unsigned up_ticks, down_ticks, i;
@@ -785,13 +634,14 @@ calibrate_non_linearity(struct polynomial *poly, struct
pwm_info *src)
return 0;
}
-static int
-calibrate_ai_gain_and_offset(struct polynomial *dst, struct polynomial *src,
- unsigned pos_ref, float volt_ref, unsigned range)
+static int calibrate_ai_gain_and_offset(struct polynomial *dst,
+ struct polynomial *src,
+ unsigned pos_ref, float volt_ref,
+ unsigned range)
{
double *p;
- double measured_ground_code, linearized_ground_code;
- double measured_reference_code, linearized_reference_code;
+ double measured_gnd_cde, linearized_gnd_cde;
+ double measured_ref_cde, linearized_ref_cde;
double gain, offset;
int i, len, err, speriod;
double a, b;
@@ -809,9 +659,9 @@ calibrate_ai_gain_and_offset(struct polynomial *dst, struct
polynomial *src,
err = references.read_doubles(p, len/sizeof(*p), speriod, range);
if (err)
error(EXIT, 0, "read_doubles");
- math.stats.mean(&measured_ground_code, p, len/sizeof(*p));
- math.polynomial.linearize(&linearized_ground_code, src,
- measured_ground_code);
+ math.stats.mean(&measured_gnd_cde, p, len/sizeof(*p));
+ math.polynomial.linearize(&linearized_gnd_cde, src,
+ measured_gnd_cde);
/* reference */
references.set_bits(pos_ref | REF_NEG_CAL_GROUND);
@@ -821,11 +671,10 @@ calibrate_ai_gain_and_offset(struct polynomial *dst,
struct polynomial *src,
err = references.read_doubles(p, len/sizeof(*p), speriod, range);
if (err)
error(EXIT, 0, "read_doubles");
- math.stats.mean(&measured_reference_code, p, len/sizeof(*p));
- math.polynomial.linearize(&linearized_reference_code, src,
- measured_reference_code);
+ math.stats.mean(&measured_ref_cde, p, len/sizeof(*p));
+ math.polynomial.linearize(&linearized_ref_cde, src, measured_ref_cde);
- gain = volt_ref / (linearized_reference_code - linearized_ground_code);
+ gain = volt_ref / (linearized_ref_cde - linearized_gnd_cde);
/*
* update output
@@ -841,19 +690,19 @@ calibrate_ai_gain_and_offset(struct polynomial *dst,
struct polynomial *src,
for (i = 0; i < dst->nb_coefficients; i++)
dst->coefficients[i] = src->coefficients[i] * gain;
- math.polynomial.linearize(&offset, dst, measured_ground_code);
+ math.polynomial.linearize(&offset, dst, measured_gnd_cde);
dst->coefficients[0] = dst->coefficients[0] - offset;
__debug("volt_ref = %g \n", volt_ref);
- __debug("measured_ground_code = %g, linearized_ground_code = %g
\n",
- measured_ground_code, linearized_ground_code);
- __debug("measured_reference_code = %g, linearized_reference_code = %g
\n",
- measured_reference_code, linearized_reference_code);
+ __debug("measured_gnd_cde = %g, linearized_gnd_cde = %g \n",
+ measured_gnd_cde, linearized_gnd_cde);
+ __debug("measured_ref_cde = %g, linearized_ref_cde = %g \n",
+ measured_ref_cde, linearized_ref_cde);
- math.polynomial.linearize(&a, dst, measured_ground_code);
- __debug("full_correction(measured_ground_code) = %g \n", a);
- math.polynomial.linearize(&b, dst, measured_reference_code);
- __debug("full_correction(measured_reference_code) = %g \n", b);
+ math.polynomial.linearize(&a, dst, measured_gnd_cde);
+ __debug("full_correction(measured_gnd_cde) = %g \n", a);
+ math.polynomial.linearize(&b, dst, measured_ref_cde);
+ __debug("full_correction(measured_ref_cde) = %g \n", b);
print_polynomial(dst);
@@ -862,8 +711,7 @@ calibrate_ai_gain_and_offset(struct polynomial *dst, struct
polynomial *src,
return 0;
}
-static int
-calibrate_base_range(struct polynomial *dst, struct polynomial *src)
+static int calibrate_base_range(struct polynomial *dst, struct polynomial *src)
{
float volt_ref;
int err;
@@ -878,8 +726,10 @@ calibrate_base_range(struct polynomial *dst, struct
polynomial *src)
}
-static struct subdevice_calibration_node *
-get_calibration_node(struct list *l, unsigned channel, unsigned range) {
+static struct subdevice_calibration_node *get_calibration_node(struct list *l,
+ unsigned channel,
+ unsigned range)
+{
struct subdevice_calibration_node *e, *t;
if (list_empty(l))
@@ -898,9 +748,8 @@ get_calibration_node(struct list *l, unsigned channel,
unsigned range) {
return NULL;
}
-static int
-calibrate_pwm(struct polynomial *dst, struct pwm_info *pwm_info,
- struct subdevice_calibration_node *range_calibration)
+static int calibrate_pwm(struct polynomial *dst, struct pwm_info *pwm_info,
+ struct subdevice_calibration_node *range_calibration)
{
double pwm_cal, adrange_cal, lsb_error;
double aprox_volts_per_bit, a, b;
@@ -946,9 +795,8 @@ calibrate_pwm(struct polynomial *dst, struct pwm_info
*pwm_info,
return 0;
}
-static int
-append_calibration_node(struct list *l, struct polynomial *polynomial,
- unsigned channel, unsigned range)
+static int append_calibration_node(struct list *l, struct polynomial
*polynomial,
+ unsigned channel, unsigned range)
{
struct subdevice_calibration_node *q;
@@ -964,12 +812,13 @@ append_calibration_node(struct list *l, struct polynomial
*polynomial,
return 0;
}
-static int
-calibrate_ai_range(struct polynomial *dst, struct polynomial *pwm_calibration,
- struct polynomial *non_linearity_correction, unsigned
pos_ref,
- unsigned range)
+static int calibrate_ai_range(struct polynomial *dst,
+ struct polynomial *pwm_calibration,
+ struct polynomial *non_linearity_correction,
+ unsigned pos_ref,
+ unsigned range)
{
- struct polynomial inverse_pwm_calibration;
+ struct polynomial inv_pwm_cal;
double reference_voltage;
a4l_rnginfo_t *rng;
unsigned up_ticks;
@@ -979,16 +828,16 @@ calibrate_ai_range(struct polynomial *dst, struct
polynomial *pwm_calibration,
if (pwm_calibration->order != 1)
error(EXIT, -1, "pwm_calibration order \n");
- inverse_pwm_calibration.expansion_origin =
pwm_calibration->coefficients[0];
+ inv_pwm_cal.expansion_origin = pwm_calibration->coefficients[0];
p = malloc((pwm_calibration->order + 1) * sizeof(double));
if (!p)
error(EXIT,0,"malloc\n");
- inverse_pwm_calibration.order = pwm_calibration->order;
- inverse_pwm_calibration.nb_coefficients = pwm_calibration->order + 1;
- inverse_pwm_calibration.coefficients = p;
- inverse_pwm_calibration.coefficients[0] =
pwm_calibration->expansion_origin;
- inverse_pwm_calibration.coefficients[1] = 1.0 /
pwm_calibration->coefficients[1];
+ inv_pwm_cal.order = pwm_calibration->order;
+ inv_pwm_cal.nb_coefficients = pwm_calibration->order + 1;
+ inv_pwm_cal.coefficients = p;
+ inv_pwm_cal.coefficients[0] = pwm_calibration->expansion_origin;
+ inv_pwm_cal.coefficients[1] = 1.0 / pwm_calibration->coefficients[1];
err = a4l_get_rnginfo(&descriptor, ai_subd.idx, 0, range, &rng);
if (err < 0)
@@ -996,7 +845,7 @@ calibrate_ai_range(struct polynomial *dst, struct
polynomial *pwm_calibration,
__debug("adjusted rng_max: %g \n", rng_max(rng) * 0.9);
- math.polynomial.linearize(&val, &inverse_pwm_calibration,
+ math.polynomial.linearize(&val, &inv_pwm_cal,
rng_max(rng) * 0.9);
up_ticks = lrint(val);
free(p);
@@ -1013,13 +862,12 @@ calibrate_ai_range(struct polynomial *dst, struct
polynomial *pwm_calibration,
return 0;
}
-static int
-calibrate_ranges_above_threshold(struct polynomial *pwm_calibration,
- struct polynomial *non_linearity_correction,
- unsigned pos_ref,
- struct list *calibration_list,
- struct calibrated_ranges *calibrated,
- double max_range_threshold )
+static int calibrate_ranges_above_threshold(struct polynomial *pwm_calibration,
+ struct polynomial *non_lin_correct,
+ unsigned pos_ref,
+ struct list *calibration_list,
+ struct calibrated_ranges
*calibrated,
+ double max_range_threshold )
{
struct polynomial *dst;
a4l_rnginfo_t *rnginfo;
@@ -1041,7 +889,7 @@ calibrate_ranges_above_threshold(struct polynomial
*pwm_calibration,
error(EXIT, 0, "malloc");
__debug("calibrating range %d \n", i);
- calibrate_ai_range(dst, pwm_calibration,
non_linearity_correction,
+ calibrate_ai_range(dst, pwm_calibration, non_lin_correct,
pos_ref, i);
append_calibration_node(calibration_list, dst, ALL_CHANNELS, i);
calibrated->ranges[i] = 1;
@@ -1051,8 +899,8 @@ calibrate_ranges_above_threshold(struct polynomial
*pwm_calibration,
return 0;
}
-static int
-get_min_range_containing(struct calibrated_ranges *calibrated, double value)
+static int get_min_range_containing(struct calibrated_ranges *calibrated,
+ double value)
{
a4l_rnginfo_t *rnginfo, *smallest = NULL;
unsigned smallest_range = 0;
@@ -1067,7 +915,8 @@ get_min_range_containing(struct calibrated_ranges
*calibrated, double value)
error(EXIT,0,"a4l_get_rnginfo (%d)\n", err);
if (rng_max(rnginfo) > value &&
- (smallest_range == 0 || rng_max(rnginfo) <
rng_max(smallest))) {
+ (smallest_range == 0 ||
+ rng_max(rnginfo) < rng_max(smallest))) {
smallest_range = i;
smallest = rnginfo;
}
@@ -1078,29 +927,27 @@ get_min_range_containing(struct calibrated_ranges
*calibrated, double value)
return smallest_range;
}
-static int
-ni_m_calibrate_ai(void)
+static int ni_m_calibrate_ai(void)
{
- const unsigned PWM_CAL_POINTS = (NI_M_TARGET_PWM_PERIOD_TICKS /
NI_M_MIN_PWM_PULSE_TICKS);
+ const unsigned PWM_CAL_POINTS = (NI_M_TARGET_PWM_PERIOD_TICKS /
+ NI_M_MIN_PWM_PULSE_TICKS);
const double MEDIUM_RANGE = 0.499;
const double LARGE_RANGE = 1.99;
const double SMALL_RANGE = 0.0;
-
- struct polynomial non_linearity_correction, full_correction;
+ struct polynomial non_lin_correct, full_correct;
struct subdevice_calibration_node *node;
struct calibrated_ranges calibrated;
struct polynomial pwm_calibration;
struct pwm_info pwm_info;
a4l_chinfo_t *chan_info;
int i, err;
-
struct calibration_loop {
const char *message;
unsigned ref_pos;
double threshold;
double item;
int range;
- } calibration_info [] = {
+ } cal_info [] = {
[0] = {
.message = "low gain range ",
.ref_pos = REF_POS_CAL_PWM_10V,
@@ -1122,8 +969,6 @@ ni_m_calibrate_ai(void)
.item = MEDIUM_RANGE,
.range = -1,
},
-
-
};
list_init(&ai_calibration_list);
@@ -1163,15 +1008,15 @@ ni_m_calibrate_ai(void)
if (err)
error(EXIT, 0, "characterize_pwm");
- err = calibrate_non_linearity(&non_linearity_correction, &pwm_info);
+ err = calibrate_non_linearity(&non_lin_correct, &pwm_info);
if (err)
error(EXIT, 0, "calibrate_non_linearity");
- err = calibrate_base_range(&full_correction, &non_linearity_correction);
+ err = calibrate_base_range(&full_correct, &non_lin_correct);
if (err)
error(EXIT, 0, "calibrate_ai_base_range");
- append_calibration_node(&ai_calibration_list, &full_correction,
+ append_calibration_node(&ai_calibration_list, &full_correct,
ALL_CHANNELS, NI_M_BASE_RANGE);
calibrated.ranges[NI_M_BASE_RANGE] = 1;
@@ -1179,26 +1024,26 @@ ni_m_calibrate_ai(void)
/*
* calibrate low, medium and high gain ranges
*/
- for (i = 0; i < ARRAY_LEN(calibration_info); i++) {
- __debug("Calibrating AI: %s \n", calibration_info[i]);
+ for (i = 0; i < ARRAY_LEN(cal_info); i++) {
+ __debug("Calibrating AI: %s \n", cal_info[i]);
- if (calibration_info[i].range >= 0)
+ if (cal_info[i].range >= 0)
goto calibrate;
- calibration_info[i].range =
get_min_range_containing(&calibrated,
-
calibration_info[i].item);
- if (!calibrated.ranges[calibration_info[i].range])
+ cal_info[i].range = get_min_range_containing(&calibrated,
+ cal_info[i].item);
+ if (!calibrated.ranges[cal_info[i].range])
error(EXIT, 0, "not calibrated yet \n" );
err = characterize_pwm(&pwm_info,
- calibration_info[i].ref_pos,
- calibration_info[i].range);
+ cal_info[i].ref_pos,
+ cal_info[i].range);
if (err)
error(EXIT, 0, "characterize_pwm \n");
calibrate:
node = get_calibration_node(&ai_calibration_list, 0,
- calibration_info[i].range);
+ cal_info[i].range);
if (!node)
error(EXIT, 0, "couldnt find node \n");
@@ -1207,11 +1052,11 @@ calibrate:
error(EXIT, 0, "calibrate_pwm \n");
err = calibrate_ranges_above_threshold(&pwm_calibration,
-
&non_linearity_correction,
-
calibration_info[i].ref_pos,
+ &non_lin_correct,
+ cal_info[i].ref_pos,
&ai_calibration_list,
&calibrated,
-
calibration_info[i].threshold);
+ cal_info[i].threshold);
if (err)
error(EXIT, 0, "calibrate_ranges_above_threshold \n");
}
@@ -1219,8 +1064,7 @@ calibrate:
return 0;
}
-static unsigned
-find_ai_range_for_ao(unsigned ao_range)
+static unsigned find_ai_range_for_ao(unsigned ao_range)
{
a4l_rnginfo_t *ao_rng_info, *ai_rng_info, *rng_info = NULL;
a4l_chinfo_t *ai_chan_info;
@@ -1263,8 +1107,7 @@ find_ai_range_for_ao(unsigned ao_range)
return range;
}
-static long int
-get_high_code(unsigned ai_rng, unsigned ao_rng)
+static long int get_high_code(unsigned ai_rng, unsigned ao_rng)
{
unsigned int ao_max_data = (1 << ao_subd.slen * 8) - 2;
a4l_rnginfo_t *ai, *ao;
@@ -1276,15 +1119,17 @@ get_high_code(unsigned ai_rng, unsigned ao_rng)
if (rng_max(ai) > rng_max(ao))
return lrint(ao_max_data * 0.9);
- fractional_code = (0.9 * rng_max(ai) - rng_min(ao)) / (rng_max(ao) -
rng_min(ao));
+ fractional_code = (0.9 * rng_max(ai) - rng_min(ao)) /
+ (rng_max(ao) - rng_min(ao));
+
if (fractional_code < 0.0 || fractional_code > 1.0)
error(EXIT, 0, "error looking for high code");
return lrint(ao_max_data * fractional_code);
}
-static int
-calibrate_ao_channel_and_range(unsigned ai_rng, unsigned ao_channel, unsigned
ao_rng)
+static int calibrate_ao_channel_and_range(unsigned ai_rng, unsigned ao_channel,
+ unsigned ao_rng)
{
unsigned int ao_max_data = (1 << ao_subd.slen * 8) - 2;
double measured_low_code, measured_high_code, tmp;
@@ -1310,7 +1155,8 @@ calibrate_ao_channel_and_range(unsigned ai_rng, unsigned
ao_channel, unsigned ao
if ((ao_channel & 0xf) != ao_channel)
error(EXIT,0, "wrong ao channel (%d)", ao_channel);
- references.set_bits(REF_POS_CAL_AO | REF_NEG_CAL_GROUND | ao_channel
<< 15);
+ references.set_bits(REF_POS_CAL_AO |
+ REF_NEG_CAL_GROUND | ao_channel << 15);
/* low nominals */
data.codes[0].nominal = low_code;
@@ -1341,8 +1187,8 @@ calibrate_ao_channel_and_range(unsigned ai_rng, unsigned
ao_channel, unsigned ao
node->polynomial,
measured_high_code);
- poly.expansion_origin = 0.0;
poly.order = data.nb_codes - 1;
+ poly.expansion_origin = 0.0;
__debug("AO calibration for channel %d, range %d \n", ao_channel,
ao_rng);
for (i = 0; i < data.nb_codes ; i++)
@@ -1369,8 +1215,7 @@ calibrate_ao_channel_and_range(unsigned ai_rng, unsigned
ao_channel, unsigned ao
return 0;
}
-static int
-ni_m_calibrate_ao(void)
+static int ni_m_calibrate_ao(void)
{
a4l_rnginfo_t *range_info;
a4l_chinfo_t *chan_info;
@@ -1391,8 +1236,8 @@ ni_m_calibrate_ao(void)
for (channel = 0; channel < ao_subd.info->nb_chan; channel++) {
for (range = 0 ; range < chan_info->nb_rng; range++) {
- err = a4l_get_rnginfo(&descriptor, ao_subd.idx, 0,
range,
- &range_info);
+ err = a4l_get_rnginfo(&descriptor, ao_subd.idx, 0,
+ range, &range_info);
if (err)
error(EXIT, 0, "a4l_get_rng_info (%d)", err);
@@ -1400,9 +1245,8 @@ ni_m_calibrate_ao(void)
continue;
ai_range = find_ai_range_for_ao(range);
-
- err = calibrate_ao_channel_and_range(ai_range, channel,
- range);
+ err = calibrate_ao_channel_and_range(ai_range,
+ channel, range);
if (err)
error(EXIT, 0, "calibrate_ao");
}
@@ -1414,7 +1258,7 @@ ni_m_calibrate_ao(void)
/*
* main entry
*/
-int ni_m_software_calibrate(void)
+int ni_m_software_calibrate(FILE *p)
{
a4l_sbinfo_t *sbinfo;
int i, err;
@@ -1458,7 +1302,7 @@ int ni_m_software_calibrate(void)
if (err)
error(EXIT, 0, "ai calibration error (%d)", err);
- write_calibration(&ai_calibration_list, &ai_subd);
+ a4l_write_calibration_file(p, &ai_calibration_list, &ai_subd,
&descriptor);
/* only calibrate the analog output subdevice if present */
if (ao_subd.idx < 0) {
@@ -1470,7 +1314,7 @@ int ni_m_software_calibrate(void)
if (err)
error(EXIT, 0, "ao calibration error (%d)", err);
- write_calibration(&ao_calibration_list, &ao_subd);
+ a4l_write_calibration_file(p, &ao_calibration_list, &ao_subd, NULL);
return 0;
}
diff --git a/utils/analogy/calibration_ni_m.h b/utils/analogy/calibration_ni_m.h
index a0cb836..7cbdce3 100644
--- a/utils/analogy/calibration_ni_m.h
+++ b/utils/analogy/calibration_ni_m.h
@@ -23,7 +23,8 @@
#ifndef __NI_M_SOFTWARE_CALIBRATE_H__
#define __NI_M_SOFTWARE_CALIBRATE_H__
-
+#include <rtdm/uapi/analogy.h>
+#include "calibration.h"
#include "analogy_calibrate.h"
#include "boilerplate/list.h"
@@ -32,8 +33,7 @@ extern const int nr_ni_m_boards;
#define ni_m_board_supported(id) __array_search(id, ni_m_boards,
nr_ni_m_boards)
-int ni_m_software_calibrate(void);
-int ni_m_apply_calibration(void);
+int ni_m_software_calibrate(FILE *p);
#define init_interface(a, b) a = ((typeof(a)) INIT_##b);
@@ -56,13 +56,6 @@ int ni_m_apply_calibration(void);
.name = NULL, \
}
-struct subdevice {
- a4l_sbinfo_t *info;
- int slen;
- int idx;
- char *name;
-};
-
/*
* eeprom
*/
@@ -116,10 +109,10 @@ struct eeprom {
.data = INIT_SUBDEV_DATA_OPS \
}
-typedef int (*data_read_async_function)(void *, struct subdevice *, unsigned ,
int , int);
-typedef int (*data_read_hint_function)(struct subdevice *s, int, int, int);
-typedef int (*data_read_function)(unsigned *, struct subdevice *, int, int,
int);
-typedef int (*data_write_function)(long int *, struct subdevice *s, int, int,
int);
+typedef int (*data_read_async_function)(void *, struct a4l_calibration_subdev
*, unsigned , int , int);
+typedef int (*data_read_hint_function)(struct a4l_calibration_subdev *s, int,
int, int);
+typedef int (*data_read_function)(unsigned *, struct a4l_calibration_subdev *,
int, int, int);
+typedef int (*data_write_function)(long int *, struct a4l_calibration_subdev
*s, int, int, int);
struct subdev_ops {
struct data_ops {
@@ -153,12 +146,6 @@ struct subdev_ops {
.polynomial = INIT_GNU_MATH_POLYNOMIAL, \
}
-struct polynomial {
- double expansion_origin;
- double *coefficients;
- int nb_coefficients;
- int order;
-};
struct codes {
double measured;
@@ -220,7 +207,7 @@ struct gnumath {
.read_doubles = reference_read_doubles, \
}
-typedef int (*reference_set_pwm_function)(struct subdevice *s, unsigned,
unsigned, unsigned *, unsigned *);
+typedef int (*reference_set_pwm_function)(struct a4l_calibration_subdev *s,
unsigned, unsigned, unsigned *, unsigned *);
typedef int (*reference_read_reference_doubles_function)(double [], unsigned,
int, int);
typedef int (*reference_read_reference_samples_function)(void *, unsigned,
int, int);
typedef int (*reference_get_min_sampling_period_function)(int *);
@@ -261,13 +248,6 @@ struct pwm_info {
#define NI_M_BASE_RANGE ( 0 )
-struct subdevice_calibration_node {
- struct holder node;
- struct polynomial *polynomial;
- unsigned channel;
- unsigned range;
-};
-
struct calibrated_ranges {
unsigned *ranges;
unsigned nb_ranges;
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