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ethstream-1.1
ethstream/ue9.c
zacharyc 7f79ec8ff3 Ran indent on code to fix inconsistent style. 
git-svn-id: https://bucket.mit.edu/svn/nilm/acquisition/ethstream@7298 ddd99763-3ecb-0310-9145-efcb8ce7c51f
2009-03-18 15:23:10 +00:00

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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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