Module: xenomai-3
Branch: master
Commit: 07b4608034dc1deff8231a3f51ec211609739764
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=07b4608034dc1deff8231a3f51ec211609739764
Author: Jorge Ramirez-Ortiz <j...@xenomai.org>
Date: Wed Sep 17 09:30:13 2014 -0700
utils/analogy: calibration - parse the calibration file
---
lib/boilerplate/iniparser/iniparser.c | 6 +-
utils/analogy/analogy_calibrate.c | 42 ++------
utils/analogy/analogy_calibrate.h | 123 +++++++++++++++++++---
utils/analogy/calibration_ni_m.c | 184 ++++++++++++++++++++-------------
utils/analogy/calibration_ni_m.h | 9 +-
5 files changed, 241 insertions(+), 123 deletions(-)
diff --git a/lib/boilerplate/iniparser/iniparser.c
b/lib/boilerplate/iniparser/iniparser.c
index 0e1621d..5b2094a 100644
--- a/lib/boilerplate/iniparser/iniparser.c
+++ b/lib/boilerplate/iniparser/iniparser.c
@@ -619,11 +619,13 @@ dictionary * iniparser_load(const char * ininame)
case LINE_ERROR:
#if 0
- warning(anon_scope, "iniparser: syntax error in %s (%d):\n",
+ printf("iniparser: syntax error in %s (%d):\n",
ininame,
lineno);
- warning(anon_scope, "-> %s\n", line);
+ printf( "-> %s\n", line);
+
#endif
+
ret = EINVAL;
errs++ ;
break;
diff --git a/utils/analogy/analogy_calibrate.c
b/utils/analogy/analogy_calibrate.c
index b2ac286..8404811 100644
--- a/utils/analogy/analogy_calibrate.c
+++ b/utils/analogy/analogy_calibrate.c
@@ -87,22 +87,22 @@ apply_calibration_set_globals(char *info)
params.name = strtok(info, ":");
p = strtok(NULL, ",");
if (!p)
- error(EXIT, 0, "missing --apply parameter \n");
+ 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 \n");
+ 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 \n");
+ 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 \n");
+ error(EXIT, 0, "missing --apply parameter aref \n");
params.aref = strtol(p, NULL, 0);
return 0;
@@ -114,10 +114,8 @@ static void __attribute__ ((constructor))
__analogy_calibrate_init(void)
}
int main(int argc, char *argv[])
{
- struct sched_param param = {.sched_priority = 99};
char *device = NULL, *file = NULL, *apply_info = NULL;
int v, i, fd, err = 0;
- struct rlimit rl;
__debug("version: git commit %s, revision %s \n", GIT_STAMP, revision);
@@ -152,26 +150,6 @@ int main(int argc, char *argv[])
if (apply_info)
apply_calibration_set_globals(apply_info);
- err = getrlimit(RLIMIT_STACK, &rl);
- if (!err) {
- if (rl.rlim_cur < rl.rlim_max) {
- rl.rlim_cur = rl.rlim_max;
- err = setrlimit(RLIMIT_STACK, &rl);
- if (err)
- __debug("setrlimit errno (%d) \n", errno);
- else
- __debug("Program Stack Size: %ld MB \n\n",
rl.rlim_cur/(1024*1024));
- }
- }
-
- err = mlockall(MCL_CURRENT | MCL_FUTURE);
- if (err < 0)
- error(EXIT, errno, "mlockall error");
-
- err = pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m);
- if (err)
- error(EXIT, 0, "pthread_setschedparam failed (0x%x)", err);
-
fd = a4l_open(&descriptor, device);
if (fd < 0)
error(EXIT, 0, "open %s failed (%d)", device, fd);
@@ -184,17 +162,19 @@ int main(int argc, char *argv[])
/*
* TODO: modify the meaning of board/driver in the proc
*/
- push_to_cal_file("[platform] \n");
- push_to_cal_file("driver_name: %s \n", descriptor.board_name);
- push_to_cal_file("board_name: %s \n", descriptor.driver_name);
+ 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();
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);
- if (cal)
- fclose(cal);
return err;
}
diff --git a/utils/analogy/analogy_calibrate.h
b/utils/analogy/analogy_calibrate.h
index c2b539a..4a30997 100644
--- a/utils/analogy/analogy_calibrate.h
+++ b/utils/analogy/analogy_calibrate.h
@@ -31,6 +31,7 @@
#include <unistd.h>
#include <stdlib.h>
+#include "iniparser/iniparser.h"
#include "git-stamp.h"
#include "error.h"
@@ -132,6 +133,7 @@ static inline void __push_to_file(FILE *file, char *fmt,
...)
va_start(ap, fmt);
vfprintf(file, fmt, ap);
+ fflush(file);
va_end(ap);
}
@@ -152,22 +154,6 @@ static inline int __array_search(char *elem, const char
*array[], int len)
__push_to_file(cal, fmt, ##__VA_ARGS__);
\
} while(0)
-
-static inline void debug_cmd(a4l_cmd_t *cmd)
-{
- __debug(" cmd.start_src :0x%x \n",cmd->start_src);
- __debug(" cmd.scan_begin_src :0x%x \n",cmd->scan_begin_src);
- __debug(" cmd.scan_begin_arg :0x%x \n",cmd->scan_begin_arg);
- __debug(" cmd.convert_src :0x%x \n",cmd->convert_src);
- __debug(" cmd.convert_arg :0x%x \n",cmd->convert_arg);
- __debug(" cmd.scan_end_src :0x%x \n",cmd->scan_end_src);
- __debug(" cmd.scan_end_arg :0x%x \n",cmd->scan_end_arg);
- __debug(" cmd.stop_src :0x%x \n",cmd->stop_src);
- __debug(" cmd.stop_arg :0x%x \n",cmd->stop_arg);
- __debug(" cmd.chan_descs :0x%x \n",cmd->chan_descs);
- __debug(" cmd.nb_chan :0x%x \n",cmd->nb_chan);
-}
-
static inline double rng_max(a4l_rnginfo_t *range)
{
double a, b;
@@ -188,4 +174,109 @@ 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;
+}
+
+
+
#endif
diff --git a/utils/analogy/calibration_ni_m.c b/utils/analogy/calibration_ni_m.c
index fa5b4e6..358c395 100644
--- a/utils/analogy/calibration_ni_m.c
+++ b/utils/analogy/calibration_ni_m.c
@@ -30,7 +30,6 @@
#include <math.h>
#include "calibration_ni_m.h"
-#include "iniparser/iniparser.h"
extern char *apply_name;
@@ -46,19 +45,18 @@ static struct subdev_ops ops;
static struct eeprom eeprom;
static struct gnumath math;
-
static int
-apply_calibration(void)
+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;
- dictionary *d;
wordexp_t exp;
int ret = 0;
- if (params.name == NULL)
- return 0;
-
- ret = wordexp(params.name, &exp, WRDE_NOCMD|WRDE_UNDEF);
+ 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);
@@ -71,13 +69,68 @@ apply_calibration(void)
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);
- if (d == NULL)
- error(EXIT, 0, "iniparser loading error for %s \n",
params.name);
+ return 0;
+}
+
+
+int
+ni_m_apply_calibration(void)
+{
+ struct calibration_data cal_data;
+
+ if (params.name == NULL)
+ return 0;
- return ret;
+ parse_calibration_file(params.name, &cal_data);
+ /*
+ * TODO: apply the calibration file.
+ */
+
+ return 0;
}
/*
@@ -93,31 +146,26 @@ write_calibration(struct list *calibration_list, struct
subdevice *subd)
return;
push_to_cal_file("\n[%s] \n", subd->name);
- push_to_cal_file("index: %d \n", subd->idx);
- list_for_each_entry_safe(e, t, calibration_list, node)
- j++;
- push_to_cal_file("elements: %d \n", j);
+ 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: %d \n", e->channel);
- push_to_cal_file("range: %d \n", e->range);
- push_to_cal_file("expansion_origin: %g \n",
+ 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: %d \n",
+ push_to_cal_file(NBCOEFF_STR"= %d;\n",
e->polynomial->nb_coefficients);
- push_to_cal_file("coefficients: ");
-
- for (i = 0;;) {
- push_to_cal_file("%g", e->polynomial->coefficients[i]);
- i++;
- if (i == e->polynomial->nb_coefficients) {
- push_to_cal_file(" \n");
- break;
- }
- push_to_cal_file(", ");
- }
+
+ for (i = 0; i < e->polynomial->nb_coefficients; i++)
+ push_to_cal_file(COEFF_STR"_%d = %g;\n",
+ i,
+ e->polynomial->coefficients[i]);
j++;
}
@@ -208,8 +256,7 @@ eeprom_read_reference_voltage(float *val)
* subdevice operations
*/
static int
-data_read_hint(struct subdevice *s, int channel, int range, int aref,
- unsigned int delay)
+data_read_hint(struct subdevice *s, int channel, int range, int aref)
{
sampl_t dummy_data;
a4l_insn_t insn;
@@ -434,7 +481,7 @@ polynomial_linearize(double *dst, struct polynomial *p,
double val)
static int
reference_get_min_sampling_period(int *val)
{
- unsigned int chan_descs[] = { 0 };
+ unsigned int chan_descs[] = { 0};
a4l_cmd_t cmd;
int err;
@@ -466,7 +513,7 @@ reference_get_min_sampling_period(int *val)
static int
reference_set_bits(unsigned int bits)
{
- unsigned int data[2] = { A4L_INSN_CONFIG_ALT_SOURCE, bits };
+ unsigned int data[2] = { A4L_INSN_CONFIG_ALT_SOURCE, bits};
a4l_insn_t insn;
int err;
@@ -515,7 +562,7 @@ reference_set_pwm(struct subdevice *s, unsigned int h,
unsigned int d,
static int
reference_read_doubles(double dst[], unsigned int nb_samples,
- int speriod, int irange, unsigned int settle_time)
+ int speriod, int irange)
{
int i, err = 0;
sampl_t *p;
@@ -524,8 +571,7 @@ reference_read_doubles(double dst[], unsigned int
nb_samples,
if (!p)
error(EXIT, 0, "malloc");
- err = references.read_samples(p, nb_samples, speriod, irange,
- settle_time);
+ err = references.read_samples(p, nb_samples, speriod, irange);
if (err) {
free(p);
error(EXIT, 0, "read_samples");
@@ -540,19 +586,15 @@ reference_read_doubles(double dst[], unsigned int
nb_samples,
}
static int
-reference_read_samples(void *dst, unsigned int nb_samples, int speriod,
- int irange, unsigned int settle_time)
+reference_read_samples(void *dst, unsigned int nb_samples, int speriod, int
irange)
{
int err;
- if (settle_time > 1000000000)
- error(EXIT, 0, "invalid argument (%d)", settle_time);
-
if (!nb_samples)
error(EXIT, 0, "invalid nb samples (%d)", nb_samples);
err = ops.data.read_hint(&ai_subd, CR_ALT_SOURCE|CR_ALT_FILTER,
- irange, AREF_DIFF, settle_time);
+ irange, AREF_DIFF);
if (err)
error(EXIT, 0, "read_hint (%d)", err);
@@ -672,8 +714,7 @@ characterize_pwm(struct pwm_info *dst, int pref, unsigned
range)
if (err)
error(EXIT, 0, "get_min_speriod");
- err = references.read_doubles(p, len/sizeof(*p), speriod, range,
- NI_M_SETTLE_TIME);
+ err = references.read_doubles(p, len/sizeof(*p), speriod,
range);
if (err)
error(EXIT, 0, "read_doubles");
@@ -765,8 +806,7 @@ calibrate_ai_gain_and_offset(struct polynomial *dst, struct
polynomial *src,
err = references.get_min_speriod(&speriod);
if (err)
error(EXIT, 0, "get_min_speriod");
- err = references.read_doubles(p, len/sizeof(*p), speriod, range,
- NI_M_SETTLE_TIME);
+ 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));
@@ -778,8 +818,7 @@ calibrate_ai_gain_and_offset(struct polynomial *dst, struct
polynomial *src,
err = references.get_min_speriod(&speriod);
if (err)
error(EXIT, 0, "get_min_speriod");
- err = references.read_doubles(p, len/sizeof(*p), speriod, range,
- NI_M_SETTLE_TIME);
+ 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));
@@ -847,11 +886,9 @@ get_calibration_node(struct list *l, unsigned channel,
unsigned range) {
return NULL;
list_for_each_entry_safe(e, t, l, node) {
- if (e->channel == channel ||
- e->channel == ALL_CHANNELS ||
+ if (e->channel == channel || e->channel == ALL_CHANNELS ||
channel == ALL_CHANNELS) {
- if (e->range == range ||
- e->range == ALL_RANGES ||
+ if (e->range == range || e->range == ALL_RANGES ||
range == ALL_RANGES) {
return e;
}
@@ -1086,6 +1123,7 @@ ni_m_calibrate_ai(void)
.range = -1,
},
+
};
list_init(&ai_calibration_list);
@@ -1142,7 +1180,6 @@ 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]);
if (calibration_info[i].range >= 0)
@@ -1153,7 +1190,8 @@ ni_m_calibrate_ai(void)
if (!calibrated.ranges[calibration_info[i].range])
error(EXIT, 0, "not calibrated yet \n" );
- err = characterize_pwm(&pwm_info, calibration_info[i].ref_pos,
+ err = characterize_pwm(&pwm_info,
+ calibration_info[i].ref_pos,
calibration_info[i].range);
if (err)
error(EXIT, 0, "characterize_pwm \n");
@@ -1176,7 +1214,6 @@ calibrate:
calibration_info[i].threshold);
if (err)
error(EXIT, 0, "calibrate_ranges_above_threshold \n");
-
}
return 0;
@@ -1277,23 +1314,31 @@ calibrate_ao_channel_and_range(unsigned ai_rng,
unsigned ao_channel, unsigned ao
/* low nominals */
data.codes[0].nominal = low_code;
+
ops.data.write(&low_code, &ao_subd, ao_channel, ao_rng, AREF_GROUND);
references.get_min_speriod(&speriod);
- references.read_doubles(readings, NI_M_NR_SAMPLES, speriod, ai_rng,
- NI_M_SETTLE_TIME);
+ references.read_doubles(readings,
+ NI_M_NR_SAMPLES,
+ speriod,
+ ai_rng);
math.stats.mean(&measured_low_code, readings, NI_M_NR_SAMPLES);
- math.polynomial.linearize(&data.codes[0].measured, node->polynomial,
+ math.polynomial.linearize(&data.codes[0].measured,
+ node->polynomial,
measured_low_code);
/* high nominals */
high_code = get_high_code(ai_rng, ao_rng);
data.codes[1].nominal = (1.0) * (double) high_code;
+
ops.data.write(&high_code, &ao_subd, ao_channel, ao_rng, AREF_GROUND);
references.get_min_speriod(&speriod);
- references.read_doubles(readings, NI_M_NR_SAMPLES, speriod, ai_rng,
- NI_M_SETTLE_TIME);
+ references.read_doubles(readings,
+ NI_M_NR_SAMPLES,
+ speriod,
+ ai_rng);
math.stats.mean(&measured_high_code, readings, NI_M_NR_SAMPLES);
- math.polynomial.linearize(&data.codes[1].measured, node->polynomial,
+ math.polynomial.linearize(&data.codes[1].measured,
+ node->polynomial,
measured_high_code);
poly.expansion_origin = 0.0;
@@ -1301,7 +1346,8 @@ calibrate_ao_channel_and_range(unsigned ai_rng, unsigned
ao_channel, unsigned ao
__debug("AO calibration for channel %d, range %d \n", ao_channel,
ao_rng);
for (i = 0; i < data.nb_codes ; i++)
- __debug("set ao to %g, measured %g \n", data.codes[i].nominal,
+ __debug("set ao to %g, measured %g \n",
+ data.codes[i].nominal,
data.codes[i].measured);
/*----------------------------------------------------------------------
@@ -1317,7 +1363,6 @@ calibrate_ao_channel_and_range(unsigned ai_rng, unsigned
ao_channel, unsigned ao
math.polynomial.fit(&poly, &data);
append_calibration_node(&ao_calibration_list, &poly, ao_channel,
ao_rng);
-
print_polynomial(&poly);
free(data.codes);
@@ -1392,16 +1437,16 @@ int ni_m_software_calibrate(void)
switch (sbinfo->flags & A4L_SUBD_TYPES) {
case A4L_SUBD_CALIB:
- SET_SUBD(cal, i, sbinfo, "calibration");
+ SET_SUBD(cal, i, sbinfo, CALIBRATION_SUBD_STR);
break;
case A4L_SUBD_AI:
- SET_SUBD(ai, i, sbinfo, "analog_input");
+ SET_SUBD(ai, i, sbinfo, AI_SUBD_STR);
break;
case A4L_SUBD_AO:
- SET_SUBD(ao, i, sbinfo, "analog_output");
+ SET_SUBD(ao, i, sbinfo, AO_SUBD_STR);
break;
case A4L_SUBD_MEMORY:
- SET_SUBD(mem, i, sbinfo, "memory");
+ SET_SUBD(mem, i, sbinfo, MEMORY_SUBD_STR);
break;
}
}
@@ -1427,8 +1472,6 @@ int ni_m_software_calibrate(void)
write_calibration(&ao_calibration_list, &ao_subd);
- apply_calibration();
-
return 0;
}
@@ -1444,3 +1487,4 @@ static void __attribute__ ((constructor))
__ni_m_calibrate_init(void)
init_interface(ai_subd, SUBD);
}
+
diff --git a/utils/analogy/calibration_ni_m.h b/utils/analogy/calibration_ni_m.h
index c9805bb..a0cb836 100644
--- a/utils/analogy/calibration_ni_m.h
+++ b/utils/analogy/calibration_ni_m.h
@@ -31,7 +31,9 @@ extern const char *ni_m_boards[];
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);
#define init_interface(a, b) a = ((typeof(a)) INIT_##b);
@@ -115,7 +117,7 @@ struct eeprom {
}
typedef int (*data_read_async_function)(void *, struct subdevice *, unsigned ,
int , int);
-typedef int (*data_read_hint_function)(struct subdevice *s, int, int, int,
unsigned);
+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);
@@ -219,8 +221,8 @@ struct gnumath {
}
typedef int (*reference_set_pwm_function)(struct subdevice *s, unsigned,
unsigned, unsigned *, unsigned *);
-typedef int (*reference_read_reference_doubles_function)(double [], unsigned,
int, int, unsigned);
-typedef int (*reference_read_reference_samples_function)(void *, unsigned,
int, int, 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 *);
typedef int (*reference_set_reference_channel_function)(void);
typedef int (*reference_set_reference_src_function)(void);
@@ -257,7 +259,6 @@ struct pwm_info {
#define NI_M_TARGET_PWM_PERIOD_TICKS ( 20 * NI_M_MIN_PWM_PULSE_TICKS )
#define NI_M_NR_SAMPLES ( 15000 )
#define NI_M_BASE_RANGE ( 0 )
-#define NI_M_SETTLE_TIME ( 1000000 )
struct subdevice_calibration_node {
_______________________________________________
Xenomai-git mailing list
Xenomai-git@xenomai.org
http://www.xenomai.org/mailman/listinfo/xenomai-git
