Module: xenomai-3
Branch: master
Commit: e3c818fee687fcf07c448c462cbba5ce29100e0b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e3c818fee687fcf07c448c462cbba5ce29100e0b
Author: Jorge Ramirez-Ortiz <j...@xenomai.org>
Date: Tue Oct 14 21:53:25 2014 -0400
utils/analogy: calibration - generating the calibration file is not a user API
---
include/rtdm/analogy.h | 4 --
lib/analogy/calibration.c | 103 +++++++++++++++++++++----------------
lib/analogy/calibration.h | 3 ++
lib/analogy/math.c | 51 +++++++++++++++++-
utils/analogy/analogy_calibrate.c | 6 +++
utils/analogy/calibration_ni_m.c | 15 +++---
6 files changed, 125 insertions(+), 57 deletions(-)
diff --git a/include/rtdm/analogy.h b/include/rtdm/analogy.h
index c03d2b1..a87ce54 100644
--- a/include/rtdm/analogy.h
+++ b/include/rtdm/analogy.h
@@ -230,10 +230,6 @@ 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);
int a4l_math_polyfit(unsigned order, double *r,double orig,
diff --git a/lib/analogy/calibration.c b/lib/analogy/calibration.c
index 85860d1..dcec16d 100644
--- a/lib/analogy/calibration.c
+++ b/lib/analogy/calibration.c
@@ -103,6 +103,64 @@ static inline void write_calibration(FILE *file, char
*fmt, ...)
va_end(ap);
}
+void
+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;
+}
+
+/*!
+ * @ingroup analogy_lib_level2
+ * @defgroup analogy_lib_calibration Software calibration API
+ * @{
+ */
+
+/**
+ * @brief Read the analogy generated calibration file
+ *
+ * @param[in] name Name of the calibration file
+ * @param[out] data Pointer to the calibration file contents
+ *
+ */
+
int a4l_read_calibration_file(char *name, struct a4l_calibration_data *data)
{
const char *subdevice[2] = { AI_SUBD_STR, AO_SUBD_STR };
@@ -186,48 +244,5 @@ int a4l_read_calibration_file(char *name, struct
a4l_calibration_data *data)
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;
-}
-
+/** @} Calibration API */
diff --git a/lib/analogy/calibration.h b/lib/analogy/calibration.h
index 4080c60..50e898c 100644
--- a/lib/analogy/calibration.h
+++ b/lib/analogy/calibration.h
@@ -61,5 +61,8 @@ struct subdevice_calibration_node {
unsigned range;
};
+void write_calibration_file(FILE *dst, struct list *l,
+ struct a4l_calibration_subdev *subd,
+ a4l_desc_t *desc);
#endif
diff --git a/lib/analogy/math.c b/lib/analogy/math.c
index e85464d..a6d3c31 100644
--- a/lib/analogy/math.c
+++ b/lib/analogy/math.c
@@ -325,7 +325,27 @@ static int mat_qr(struct mat *r, struct vec *y)
return rc;
}
-/*
+
+/*!
+ * @ingroup analogy_lib_level2
+ * @defgroup analogy_lib_math Math API
+ * @{
+ */
+
+
+/**
+ * @brief Calculate the polynomial fit
+ *
+ * @param[in] order Order of the resulting polynomial
+ * @param[out] r Polynomial
+ * @param[in] orig
+ * @param[in] dim Number of elements in the polynomials
+ * @param[in] x Polynomial
+ * @param[in] y Polynomial
+ *
+ *
+ * Operation:
+ *
* We are looking for Res such that A.Res = Y, with A the Vandermonde
* matrix made from the X vector.
*
@@ -340,6 +360,7 @@ static int mat_qr(struct mat *r, struct vec *y)
*
* We can then obtain Res by back substitution using
* mat_upper_triangular_backsub() with R upper triangular.
+ *
*/
int a4l_math_polyfit(unsigned order, double *r, double orig, const unsigned
dim,
double *x, double *y)
@@ -375,6 +396,14 @@ int a4l_math_polyfit(unsigned order, double *r, double
orig, const unsigned dim,
return rc;
}
+/**
+ * @brief Calculate the aritmetic mean of an array of values
+ *
+ * @param[out] pmean Pointer to the resulting value
+ * @param[in] val Array of input values
+ * @param[in] nr Number of array elements
+ *
+ */
void a4l_math_mean(double *pmean, double *val, unsigned nr)
{
double sum;
@@ -386,6 +415,15 @@ void a4l_math_mean(double *pmean, double *val, unsigned nr)
*pmean = sum / nr;
}
+/**
+ * @brief Calculate the standard deviation of an array of values
+ *
+ * @param[out] pstddevm Pointer to the resulting value
+ * @param[in] mean Mean value
+ * @param[in] val Array of input values
+ * @param[in] nr Number of array elements
+ *
+ */
void a4l_math_stddev(double *pstddev, double mean, double *val, unsigned nr)
{
double sum, sum_sq;
@@ -400,6 +438,15 @@ void a4l_math_stddev(double *pstddev, double mean, double
*val, unsigned nr)
*pstddev = sqrt((sum_sq - (sum * sum) / nr) / (nr - 1));
}
+/**
+ * @brief Calculate the standard deviation of the mean
+ *
+ * @param[out] pstddevm Pointer to the resulting value
+ * @param[in] mean Mean value
+ * @param[in] val Array of input values
+ * @param[in] nr Number of array elements
+ *
+ */
void a4l_math_stddev_of_mean(double *pstddevm, double mean, double *val,
unsigned nr)
{
double sum, sum_sq;
@@ -415,4 +462,4 @@ void a4l_math_stddev_of_mean(double *pstddevm, double mean,
double *val, unsigne
}
-
+/** @} Math API */
diff --git a/utils/analogy/analogy_calibrate.c
b/utils/analogy/analogy_calibrate.c
index f9add4d..1b87e39 100644
--- a/utils/analogy/analogy_calibrate.c
+++ b/utils/analogy/analogy_calibrate.c
@@ -74,6 +74,12 @@ static void __attribute__ ((constructor))
__analogy_calibrate_init(void)
clock_gettime(CLOCK_MONOTONIC, &calibration_start_time);
}
+/*
+ *
+ * the calibration file generated by the Analogy software calibrate utility is
+ * not compatible with Comedi's despite holding the exact same information.
+ *
+ */
int main(int argc, char *argv[])
{
char *device = NULL, *file = NULL;
diff --git a/utils/analogy/calibration_ni_m.c b/utils/analogy/calibration_ni_m.c
index dc2f667..55f5a3b 100644
--- a/utils/analogy/calibration_ni_m.c
+++ b/utils/analogy/calibration_ni_m.c
@@ -121,7 +121,8 @@ static int eeprom_read_reference_voltage(float *val)
/*
* subdevice operations
*/
-static int data_read_hint(struct a4l_calibration_subdev *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;
@@ -141,8 +142,8 @@ static int data_read_hint(struct a4l_calibration_subdev *s,
int channel, int ran
return 0;
}
-static int data_read(unsigned *data, struct a4l_calibration_subdev *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;
@@ -161,8 +162,8 @@ static int data_read(unsigned *data, struct
a4l_calibration_subdev *s, int chann
return 0;
}
-static int data_write(long int *data, struct a4l_calibration_subdev *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;
@@ -1256,7 +1257,7 @@ int ni_m_software_calibrate(FILE *p)
if (err)
error(EXIT, 0, "ai calibration error (%d)", err);
- a4l_write_calibration_file(p, &ai_calibration_list, &ai_subd,
&descriptor);
+ write_calibration_file(p, &ai_calibration_list, &ai_subd, &descriptor);
/* only calibrate the analog output subdevice if present */
if (ao_subd.idx < 0) {
@@ -1268,7 +1269,7 @@ int ni_m_software_calibrate(FILE *p)
if (err)
error(EXIT, 0, "ao calibration error (%d)", err);
- a4l_write_calibration_file(p, &ao_calibration_list, &ao_subd, NULL);
+ write_calibration_file(p, &ao_calibration_list, &ao_subd, NULL);
return 0;
}
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