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- /*
- * Labjack Tools
- * Copyright (c) 2003-2007 Jim Paris <jim@jtan.com>
- *
- * This is free software; you can redistribute it and/or modify it and
- * it is provided under the terms of version 2 of the GNU General Public
- * License as published by the Free Software Foundation; see COPYING.
- */
-
- #include <errno.h>
- #include <stdint.h>
- #include <stdlib.h>
- #include <unistd.h>
- #include <stdio.h>
- #include <string.h>
- #include <sys/types.h>
- #include <math.h>
-
- #include "netutil.h"
- #include "compat.h"
-
- #include "debug.h"
- #include "ue9.h"
- #include "ue9error.h"
- #include "util.h"
- #include "netutil.h"
-
- #define UE9_TIMEOUT 5 /* Timeout for connect/send/recv, in seconds */
-
- /* Fill checksums in data buffers, with "normal" checksum format */
- void
- ue9_checksum_normal (uint8_t * buffer, size_t len)
- {
- uint16_t sum = 0;
-
- if (len < 1)
- {
- fprintf (stderr, "ue9_checksum_normal: len too short\n");
- exit (1);
- }
-
- while (--len >= 1)
- sum += (uint16_t) buffer[len];
- sum = (sum / 256) + (sum % 256);
- sum = (sum / 256) + (sum % 256);
- buffer[0] = (uint8_t) sum;
- }
-
- /* Fill checksums in data buffers, with "extended" checksum format */
- void
- ue9_checksum_extended (uint8_t * buffer, size_t len)
- {
- uint16_t sum = 0;
-
- if (len < 6)
- {
- fprintf (stderr, "ue9_checksum_extended: len too short\n");
- exit (1);
- }
-
- /* 16-bit extended checksum */
- while (--len >= 6)
- sum += (uint16_t) buffer[len];
- buffer[4] = (uint8_t) (sum & 0xff);
- buffer[5] = (uint8_t) (sum >> 8);
-
- /* 8-bit normal checksum over first 6 bytes */
- ue9_checksum_normal (buffer, 6);
- }
-
- /* Verify checksums in data buffers, with "normal" checksum format. */
- int
- ue9_verify_normal (uint8_t * buffer, size_t len)
- {
- uint8_t saved, new;
-
- if (len < 1)
- {
- fprintf (stderr, "ue9_verify_normal: len too short\n");
- exit (1);
- }
-
- saved = buffer[0];
- ue9_checksum_normal (buffer, len);
- new = buffer[0];
- buffer[0] = saved;
-
- if (new != saved)
- {
- verb ("got %02x, expected %02x\n", saved, new);
- return 0;
- }
-
- return 1;
- }
-
- /* Verify checksums in data buffers, with "extended" checksum format. */
- int
- ue9_verify_extended (uint8_t * buffer, size_t len)
- {
- uint8_t saved[3], new[3];
-
- if (len < 6)
- {
- fprintf (stderr, "ue9_verify_extended: len too short\n");
- exit (1);
- }
-
- saved[0] = buffer[0];
- saved[1] = buffer[4];
- saved[2] = buffer[5];
- ue9_checksum_extended (buffer, len);
- new[0] = buffer[0];
- new[1] = buffer[4];
- new[2] = buffer[5];
- buffer[0] = saved[0];
- buffer[4] = saved[1];
- buffer[5] = saved[2];
-
- if (saved[0] != new[0] || saved[1] != new[1] || saved[2] != new[2])
- {
- verb ("got %02x %02x %02x, expected %02x %02x %02x\n",
- saved[0], saved[1], saved[2], new[0], new[1], new[2]);
- return 0;
- }
-
- return 1;
- }
-
- /* Data conversion. If calib is NULL, use uncalibrated conversions. */
- double
- ue9_binary_to_analog (struct ue9Calibration *calib,
- uint8_t gain, uint8_t resolution, uint16_t data)
- {
- double slope = 0, offset;
-
- if (calib == NULL)
- {
- double uncal[9] = { 5.08, 2.54, 1.27, 0.63, 0, 0, 0, 0, 10.25 };
- if (gain >= ARRAY_SIZE (uncal) || uncal[gain] == 0)
- {
- fprintf (stderr, "ue9_binary_to_analog: bad gain\n");
- exit (1);
- }
- return data * uncal[gain] / 65536.0;
- }
-
- if (resolution < 18)
- {
- if (gain <= 3)
- {
- slope = calib->unipolarSlope[gain];
- offset = calib->unipolarOffset[gain];
- }
- else if (gain == 8)
- {
- slope = calib->bipolarSlope;
- offset = calib->bipolarOffset;
- }
- }
- else
- {
- if (gain == 0)
- {
- slope = calib->hiResUnipolarSlope;
- offset = calib->hiResUnipolarOffset;
- }
- else if (gain == 8)
- {
- slope = calib->hiResBipolarSlope;
- offset = calib->hiResBipolarOffset;
- }
- }
-
- if (slope == 0)
- {
- fprintf (stderr, "ue9_binary_to_analog: bad gain\n");
- exit (1);
- }
-
- return data * slope + offset;
- }
-
- /* Execute a command on the UE9. Returns -1 on error. Fills the
- checksums on the outgoing packets, and verifies them on the
- incoming packets. Data in "out" is transmitted, data in "in" is
- received. */
- int
- ue9_command (int fd, uint8_t * out, uint8_t * in, int inlen)
- {
- int extended = 0, outlen;
- uint8_t saved_1, saved_3;
- ssize_t ret;
-
- if ((out[1] & 0x78) == 0x78)
- extended = 1;
-
- /* Figure out length of data payload, and fill checksums. */
- if (extended)
- {
- outlen = 6 + (out[2]) * 2;
- ue9_checksum_extended (out, outlen);
- }
- else
- {
- outlen = 2 + (out[1] & 7) * 2;
- ue9_checksum_normal (out, outlen);
- }
-
- /* Send request */
- ret = send_all_timeout (fd, out, outlen, 0, &(struct timeval)
- {
- .tv_sec = UE9_TIMEOUT});
- if (ret < 0 || ret != outlen)
- {
- verb ("short send %d\n", (int) ret);
- return -1;
- }
-
- /* Save a few bytes that we'll want to compare against later,
- in case the caller passed the same buffer twice. */
- saved_1 = out[1];
- if (extended)
- saved_3 = out[3];
-
- /* Receive result */
- ret = recv_all_timeout (fd, in, inlen, 0, &(struct timeval)
- {
- .tv_sec = UE9_TIMEOUT});
- if (ret < 0 || ret != inlen)
- {
- verb ("short recv %d\n", (int) ret);
- return -1;
- }
-
- /* Verify it */
- if ((in[1] & 0xF8) != (saved_1 & 0xF8))
- verb ("returned command doesn't match\n");
- else if (extended && (in[3] != saved_3))
- verb ("extended command doesn't match\n");
- else if (extended && (inlen != (6 + (in[2]) * 2)))
- verb ("returned extended data is the wrong len\n");
- else if (!extended && (inlen != (2 + (in[1] & 7) * 2)))
- verb ("returned data is the wrong len\n");
- else if (extended && !ue9_verify_extended (in, inlen))
- verb ("extended checksum is invalid\n");
- else if (!ue9_verify_normal (in, extended ? 6 : inlen))
- verb ("normal checksum is invalid\n");
- else
- return 0; /* looks good */
-
- return -1;
- }
-
-
- /* Read a memory block from the device. Returns -1 on error. */
- int
- ue9_memory_read (int fd, int blocknum, uint8_t * buffer, int len)
- {
- uint8_t sendbuf[8], recvbuf[136];
-
- if (len != 128)
- {
- fprintf (stderr, "ue9_memory_read: buffer length must be 128\n");
- exit (1);
- }
-
- /* Request memory block */
- sendbuf[1] = 0xf8;
- sendbuf[2] = 0x01;
- sendbuf[3] = 0x2a;
- sendbuf[6] = 0x00;
- sendbuf[7] = blocknum;
-
- if (ue9_command (fd, sendbuf, recvbuf, sizeof (recvbuf)) < 0)
- {
- verb ("command failed\n");
- return -1;
- }
-
- /* Got it */
- memcpy (buffer, recvbuf + 8, len);
-
- return 0;
- }
-
- /* Convert 64-bit fixed point to double type */
- double
- ue9_fp64_to_double (uint8_t * data)
- {
- int32_t a;
- uint32_t b;
-
- a = (data[7] << 24) | (data[6] << 16) | (data[5] << 8) | data[4];
- b = (data[3] << 24) | (data[2] << 16) | (data[1] << 8) | data[0];
-
- return (double) a + (double) b / (double) 4294967296.0L;
- }
-
- /* Retrieve calibration data from the device. Returns -1 on error. */
- int
- ue9_get_calibration (int fd, struct ue9Calibration *calib)
- {
- uint8_t buf[128];
-
- /* Block 0 */
- if (ue9_memory_read (fd, 0, buf, 128) < 0)
- return -1;
- calib->unipolarSlope[0] = ue9_fp64_to_double (buf + 0);
- calib->unipolarOffset[0] = ue9_fp64_to_double (buf + 8);
- calib->unipolarSlope[1] = ue9_fp64_to_double (buf + 16);
- calib->unipolarOffset[1] = ue9_fp64_to_double (buf + 24);
- calib->unipolarSlope[2] = ue9_fp64_to_double (buf + 32);
- calib->unipolarOffset[2] = ue9_fp64_to_double (buf + 40);
- calib->unipolarSlope[3] = ue9_fp64_to_double (buf + 48);
- calib->unipolarOffset[3] = ue9_fp64_to_double (buf + 56);
-
- /* Block 1 */
- if (ue9_memory_read (fd, 1, buf, 128) < 0)
- return -1;
- calib->bipolarSlope = ue9_fp64_to_double (buf + 0);
- calib->bipolarOffset = ue9_fp64_to_double (buf + 8);
-
- /* Block 2 */
- if (ue9_memory_read (fd, 2, buf, 128) < 0)
- return -1;
- calib->DACSlope[0] = ue9_fp64_to_double (buf + 0);
- calib->DACOffset[0] = ue9_fp64_to_double (buf + 8);
- calib->DACSlope[1] = ue9_fp64_to_double (buf + 16);
- calib->DACOffset[1] = ue9_fp64_to_double (buf + 24);
- calib->tempSlope = ue9_fp64_to_double (buf + 32);
- calib->tempSlopeLow = ue9_fp64_to_double (buf + 48);
- calib->calTemp = ue9_fp64_to_double (buf + 64);
- calib->Vref = ue9_fp64_to_double (buf + 72);
- calib->VrefDiv2 = ue9_fp64_to_double (buf + 88);
- calib->VsSlope = ue9_fp64_to_double (buf + 96);
-
- /* Block 3 */
- if (ue9_memory_read (fd, 3, buf, 128) < 0)
- return -1;
- calib->hiResUnipolarSlope = ue9_fp64_to_double (buf + 0);
- calib->hiResUnipolarOffset = ue9_fp64_to_double (buf + 8);
-
- /* Block 4 */
- if (ue9_memory_read (fd, 4, buf, 128) < 0)
- return -1;
- calib->hiResBipolarSlope = ue9_fp64_to_double (buf + 0);
- calib->hiResBipolarOffset = ue9_fp64_to_double (buf + 8);
-
- /* All done */
- return 1;
- }
-
- /* Retrieve comm config, returns -1 on error */
- int
- ue9_get_comm_config (int fd, struct ue9CommConfig *config)
- {
- uint8_t sendbuf[18];
- uint8_t recvbuf[24];
-
- memset (sendbuf, 0, sizeof (sendbuf));
- memset (config, 0, sizeof (struct ue9CommConfig));
-
- sendbuf[1] = 0xf8;
- sendbuf[2] = 0x09;
- sendbuf[3] = 0x08;
- if (ue9_command (fd, sendbuf, recvbuf, sizeof (recvbuf)) < 0)
- {
- verb ("command failed\n");
- return -1;
- }
- verb ("todo\n");
- return -1;
- }
-
- /* Retrieve control config, returns -1 on error */
- int
- ue9_get_control_config (int fd, struct ue9ControlConfig *config)
- {
- uint8_t sendbuf[18];
- uint8_t recvbuf[24];
-
- memset (sendbuf, 0, sizeof (sendbuf));
- memset (config, 0, sizeof (struct ue9ControlConfig));
-
- sendbuf[1] = 0xf8;
- sendbuf[2] = 0x06;
- sendbuf[3] = 0x08;
- if (ue9_command (fd, sendbuf, recvbuf, sizeof (recvbuf)) < 0)
- {
- verb ("command failed\n");
- return -1;
- }
- verb ("todo\n");
- return -1;
- }
-
- /* Open TCP/IP connection to the UE9 */
- int
- ue9_open (const char *host, int port)
- {
- int fd;
- struct sockaddr_in address;
- struct hostent *he;
- int window_size = 128 * 1024;
-
- net_init ();
-
- /* Create socket */
- fd = socket (PF_INET, SOCK_STREAM, IPPROTO_TCP);
- if (fd < 0)
- {
- verb ("socket returned %d\n", fd);
- return -1;
- }
-
- /* Set nonblocking */
- if (soblock (fd, 0) < 0)
- {
- verb ("can't set nonblocking\n");
- return -1;
- }
-
- /* Set initial window size hint to workaround LabJack firmware bug */
- setsockopt (fd, SOL_SOCKET, SO_SNDBUF, (void *) &window_size,
- sizeof (window_size));
- setsockopt (fd, SOL_SOCKET, SO_RCVBUF, (void *) &window_size,
- sizeof (window_size));
-
- /* Resolve host */
- address.sin_family = AF_INET;
- address.sin_port = htons (port);
- he = gethostbyname (host);
- if (he == NULL)
- {
- verb ("gethostbyname(\"%s\") failed\n", host);
- return -1;
- }
- address.sin_addr = *((struct in_addr *) he->h_addr);
-
- debug ("Resolved %s -> %s\n", host, inet_ntoa (address.sin_addr));
-
- /* Connect */
- if (connect_timeout (fd, (struct sockaddr *) &address, sizeof (address),
- &(struct timeval)
- {
- .tv_sec = UE9_TIMEOUT}) < 0)
- {
- verb ("connection to %s:%d failed: %s\n",
- inet_ntoa (address.sin_addr), port, compat_strerror (errno));
- return -1;
- }
-
- return fd;
- }
-
- /* Close connection to the UE9 */
- void
- ue9_close (int fd)
- {
- /* does anyone actually call shutdown these days? */
- shutdown (fd, 2 /* SHUT_RDWR */ );
- close (fd);
- }
-
- /* Compute scanrate based on the provided values. */
- double
- ue9_compute_rate (uint8_t scanconfig, uint16_t scaninterval)
- {
- double clock;
-
- /* A "scan" is across all channels. Each scan is triggered at
- a fixed rate, and not affected by the number of channels.
- Channels are scanned as quickly as possible. */
-
- switch ((scanconfig >> 3) & 3)
- {
- case 0:
- clock = 4e6;
- break;
- case 1:
- clock = 48e6;
- break;
- case 2:
- clock = 750e3;
- break;
- case 3:
- clock = 24e6;
- break;
- }
-
- if (scanconfig & 0x2)
- clock /= 256;
-
- if (scaninterval == 0)
- return 0;
-
- return clock / scaninterval;
- }
-
- /* Choose the best ScanConfig and ScanInterval parameters for the
- desired scanrate. Returns -1 if no valid config found */
- int
- ue9_choose_scan (double desired_rate, double *actual_rate,
- uint8_t * scanconfig, uint16_t * scaninterval)
- {
- int i;
- struct
- {
- double clock;
- uint8_t config;
- } valid[] =
- {
- {
- 48e6, 0x08},
- {
- 24e6, 0x18},
- {
- 4e6, 0x00},
- {
- 750e3, 0x10},
- {
- 48e6 / 256, 0x0a},
- {
- 24e6 / 256, 0x1a},
- {
- 4e6 / 256, 0x02},
- {
- 750e3 / 256, 0x12},
- {
- 0, 0}};
-
- /* Start with the fastest clock frequency. If the
- scaninterval would be too large, knock it down until it
- fits. */
- for (i = 0; valid[i].clock != 0; i++)
- {
- double interval = valid[i].clock / desired_rate;
-
- debug ("Considering clock %lf (interval %lf)\n",
- valid[i].clock, interval);
-
- if (interval >= 0.5 && interval < 65535.5)
- {
-
- *scaninterval = floor (interval + 0.5);
-
- *scanconfig = valid[i].config;
- *actual_rate = ue9_compute_rate (*scanconfig, *scaninterval);
-
- debug ("Config 0x%02x, desired %lf, actual %lf\n",
- *scanconfig, desired_rate, *actual_rate);
-
- return 0;
- }
- }
-
- return -1;
- }
-
- /* Flush data buffers */
- void
- ue9_buffer_flush (int fd)
- {
- uint8_t sendbuf[2], recvbuf[2];
-
- sendbuf[1] = 0x08; /* FlushBuffer */
-
- if (ue9_command (fd, sendbuf, recvbuf, sizeof (recvbuf)) < 0)
- {
- verb ("command failed\n");
- }
- }
-
- /* Stop stream. Returns < 0 on failure. */
- int
- ue9_stream_stop (int fd)
- {
- uint8_t sendbuf[2], recvbuf[4];
-
- sendbuf[1] = 0xB0;
-
- if (ue9_command (fd, sendbuf, recvbuf, sizeof (recvbuf)) < 0)
- {
- verb ("command failed\n");
- return -1;
- }
-
- if (recvbuf[2] == STREAM_NOT_RUNNING || recvbuf[2] == 0)
- return 0;
-
- debug ("error %s\n", ue9_error (recvbuf[2]));
- return -recvbuf[2];
- }
-
- /* Start stream. Returns < 0 on failure. */
- int
- ue9_stream_start (int fd)
- {
- uint8_t sendbuf[2], recvbuf[4];
-
- sendbuf[1] = 0xA8;
-
- if (ue9_command (fd, sendbuf, recvbuf, sizeof (recvbuf)) < 0)
- {
- verb ("command failed\n");
- return -1;
- }
-
- if (recvbuf[2] == 0)
- return 0;
-
- debug ("error %s\n", ue9_error (recvbuf[2]));
- return -recvbuf[2];
- }
-
- /* "Simple" stream configuration, assumes the channels are all
- configured with the same gain. */
- int
- ue9_streamconfig_simple (int fd, int *channel_list, int channel_count,
- uint8_t scanconfig, uint16_t scaninterval,
- uint8_t gain)
- {
- int i;
- uint8_t buf[256];
-
- /* Set up StreamConfig command with channels and scan options */
- buf[1] = 0xF8; /* Extended command */
- buf[2] = channel_count + 3; /* Command data words */
- buf[3] = 0x11; /* StreamConfig */
- buf[6] = channel_count; /* Number of channels */
- buf[7] = 12; /* Bit resolution */
- buf[8] = 0; /* Extra settling time */
- buf[9] = scanconfig;
- buf[10] = scaninterval & 0xff;
- buf[11] = scaninterval >> 8;
-
- for (i = 0; i < channel_count; i++)
- {
- buf[12 + 2 * i] = channel_list[i]; /* Channel number */
- buf[13 + 2 * i] = gain; /* Gain/bipolar setup */
- }
-
- /* Send StreamConfig */
- if (ue9_command (fd, buf, buf, 8) < 0)
- {
- debug ("command failed\n");
- return -1;
- }
-
- if (buf[6] != 0)
- {
- verb ("returned error %s\n", ue9_error (buf[6]));
- return -1;
- }
-
- return 0;
- }
-
- /* Stream data and pass it to the data callback. If callback returns
- negative, stops reading and returns 0. Returns < 0 on error. */
- int
- ue9_stream_data (int fd, int channels,
- ue9_stream_cb_t callback, void *context)
- {
- int ret;
- uint8_t buf[46];
- uint8_t packet = 0;
- int channel = 0;
- int i;
- uint16_t data[channels];
-
- for (;;)
- {
- /* Receive data */
- ret = recv_all_timeout (fd, buf, 46, 0, &(struct timeval)
- {
- .tv_sec = UE9_TIMEOUT});
-
- /* Verify packet format */
- if (ret != 46)
- {
- verb ("short recv %d\n", (int) ret);
- return -1;
- }
-
- if (!ue9_verify_extended (buf, 46) || !ue9_verify_normal (buf, 6))
- {
- verb ("bad checksum\n");
- return -2;
- }
-
- if (buf[1] != 0xF9 || buf[2] != 0x14 || buf[3] != 0xC0)
- {
- verb ("bad command bytes\n");
- return -3;
- }
-
- if (buf[11] != 0)
- {
- verb ("stream error: %s\n", ue9_error (buf[11]));
- return -4;
- }
-
- /* Check for dropped packets. */
- if (buf[10] != packet)
- {
- verb ("expected packet %d, but received packet %d\n",
- packet, buf[10]);
- return -5;
- }
- packet++;
-
- /* Check comm processor backlog (up to 512 kB) */
- if (buf[45] & 0x80)
- {
- verb ("buffer overflow in CommBacklog, aborting\n");
- return -6;
- }
- if ((buf[45] & 0x7f) > 112)
- debug ("warning: CommBacklog is high (%d bytes)\n",
- (buf[45] & 0x7f) * 4096);
-
- /* Check control processor backlog (up to 256 bytes). */
- if (buf[44] == 255)
- {
- verb ("ControlBacklog is maxed out, aborting\n");
- return -7;
- }
- if (buf[44] > 224)
- debug ("warning: ControlBacklog is high (%d bytes)\n", buf[44]);
-
- /* Read samples from the buffer */
- for (i = 12; i <= 42; i += 2)
- {
- data[channel++] = buf[i] + (buf[i + 1] << 8);
- if (channel < channels)
- continue;
-
- /* Received a full scan, send to callback */
- channel = 0;
- if ((*callback) (channels, data, context) < 0)
- {
- /* We're done */
- return 0;
- }
- }
- }
- }
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