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header file for kernel-only structures, variables, and constants
COMEDI - Linux Control and Measurement Device Interface
Copyright (C) 1997-2000 David A. Schleef <>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#ifndef _COMEDIDEV_H
#define _COMEDIDEV_H
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/kdev_t.h>
#include <linux/slab.h>
#include <linux/delay.h>
#include <linux/errno.h>
#include <linux/spinlock.h>
#include <linux/mutex.h>
#include <linux/wait.h>
#include <linux/mm.h>
#include <linux/init.h>
#include <linux/vmalloc.h>
#include <linux/dma-mapping.h>
#include <linux/uaccess.h>
#include <linux/io.h>
#include <linux/timer.h>
#include "comedi.h"
#define DPRINTK(format, args...) do { \
if (comedi_debug) \
printk(KERN_DEBUG "comedi: " format , ## args); \
} while (0)
#define COMEDI_VERSION(a, b, c) (((a) << 16) + ((b) << 8) + (c))
static int __init x ## _init_module(void) \
{return comedi_driver_register(&(x)); } \
static void __exit x ## _cleanup_module(void) \
{comedi_driver_unregister(&(x)); } \
module_init(x ## _init_module); \
module_exit(x ## _cleanup_module);
MODULE_AUTHOR("Comedi"); \
MODULE_DESCRIPTION("Comedi low-level driver"); \
#define COMEDI_PCI_INITCLEANUP_NOMODULE(comedi_driver, pci_id_table) \
static int __devinit comedi_driver ## _pci_probe(struct pci_dev *dev, \
const struct pci_device_id *ent) \
{ \
return comedi_pci_auto_config(dev, comedi_driver.driver_name); \
} \
static void __devexit comedi_driver ## _pci_remove(\
struct pci_dev *dev) \
{ \
comedi_pci_auto_unconfig(dev); \
} \
static struct pci_driver comedi_driver ## _pci_driver = \
{ \
.id_table = pci_id_table, \
.probe = &comedi_driver ## _pci_probe, \
.remove = __devexit_p(&comedi_driver ## _pci_remove) \
}; \
static int __init comedi_driver ## _init_module(void) \
{ \
int retval; \
retval = comedi_driver_register(&comedi_driver); \
if (retval < 0) \
return retval; \
comedi_driver ## = \
(char *)comedi_driver.driver_name; \
return pci_register_driver(&comedi_driver ## _pci_driver); \
} \
static void __exit comedi_driver ## _cleanup_module(void) \
{ \
pci_unregister_driver(&comedi_driver ## _pci_driver); \
comedi_driver_unregister(&comedi_driver); \
} \
module_init(comedi_driver ## _init_module); \
module_exit(comedi_driver ## _cleanup_module);
#define COMEDI_PCI_INITCLEANUP(comedi_driver, pci_id_table) \
COMEDI_PCI_INITCLEANUP_NOMODULE(comedi_driver, pci_id_table)
#define PCI_VENDOR_ID_ADLINK 0x144a
#define PCI_VENDOR_ID_ICP 0x104c
#define PCI_VENDOR_ID_CONTEC 0x1221
#define COMEDI_NUM_MINORS 0x100
#define COMEDI_DEVICE_CREATE(cs, parent, devt, drvdata, device, fmt...) \
device_create(cs, ((parent) ? (parent) : (device)), devt, drvdata, fmt)
struct comedi_subdevice {
struct comedi_device *device;
int type;
int n_chan;
int subdev_flags;
int len_chanlist; /* maximum length of channel/gain list */
void *private;
struct comedi_async *async;
void *lock;
void *busy;
unsigned runflags;
spinlock_t spin_lock;
int io_bits;
unsigned int maxdata; /* if maxdata==0, use list */
const unsigned int *maxdata_list; /* list is channel specific */
unsigned int flags;
const unsigned int *flaglist;
unsigned int settling_time_0;
const struct comedi_lrange *range_table;
const struct comedi_lrange *const *range_table_list;
unsigned int *chanlist; /* driver-owned chanlist (not used) */
int (*insn_read) (struct comedi_device *, struct comedi_subdevice *,
struct comedi_insn *, unsigned int *);
int (*insn_write) (struct comedi_device *, struct comedi_subdevice *,
struct comedi_insn *, unsigned int *);
int (*insn_bits) (struct comedi_device *, struct comedi_subdevice *,
struct comedi_insn *, unsigned int *);
int (*insn_config) (struct comedi_device *, struct comedi_subdevice *,
struct comedi_insn *, unsigned int *);
int (*do_cmd) (struct comedi_device *, struct comedi_subdevice *);
int (*do_cmdtest) (struct comedi_device *, struct comedi_subdevice *,
struct comedi_cmd *);
int (*poll) (struct comedi_device *, struct comedi_subdevice *);
int (*cancel) (struct comedi_device *, struct comedi_subdevice *);
/* int (*do_lock)(struct comedi_device *, struct comedi_subdevice *); */
/* int (*do_unlock)(struct comedi_device *, \
struct comedi_subdevice *); */
/* called when the buffer changes */
int (*buf_change) (struct comedi_device *dev,
struct comedi_subdevice *s, unsigned long new_size);
void (*munge) (struct comedi_device *dev, struct comedi_subdevice *s,
void *data, unsigned int num_bytes,
unsigned int start_chan_index);
enum dma_data_direction async_dma_dir;
unsigned int state;
struct device *class_dev;
int minor;
struct comedi_buf_page {
void *virt_addr;
dma_addr_t dma_addr;
struct comedi_async {
struct comedi_subdevice *subdevice;
void *prealloc_buf; /* pre-allocated buffer */
unsigned int prealloc_bufsz; /* buffer size, in bytes */
/* virtual and dma address of each page */
struct comedi_buf_page *buf_page_list;
unsigned n_buf_pages; /* num elements in buf_page_list */
unsigned int max_bufsize; /* maximum buffer size, bytes */
/* current number of mmaps of prealloc_buf */
unsigned int mmap_count;
/* byte count for writer (write completed) */
unsigned int buf_write_count;
/* byte count for writer (allocated for writing) */
unsigned int buf_write_alloc_count;
/* byte count for reader (read completed) */
unsigned int buf_read_count;
/* byte count for reader (allocated for reading) */
unsigned int buf_read_alloc_count;
unsigned int buf_write_ptr; /* buffer marker for writer */
unsigned int buf_read_ptr; /* buffer marker for reader */
unsigned int cur_chan; /* useless channel marker for interrupt */
/* number of bytes that have been received for current scan */
unsigned int scan_progress;
/* keeps track of where we are in chanlist as for munging */
unsigned int munge_chan;
/* number of bytes that have been munged */
unsigned int munge_count;
/* buffer marker for munging */
unsigned int munge_ptr;
unsigned int events; /* events that have occurred */
struct comedi_cmd cmd;
wait_queue_head_t wait_head;
/* callback stuff */
unsigned int cb_mask;
int (*cb_func) (unsigned int flags, void *);
void *cb_arg;
int (*inttrig) (struct comedi_device *dev, struct comedi_subdevice *s,
unsigned int x);
struct comedi_driver {
struct comedi_driver *next;
const char *driver_name;
struct module *module;
int (*attach) (struct comedi_device *, struct comedi_devconfig *);
int (*detach) (struct comedi_device *);
/* number of elements in board_name and board_id arrays */
unsigned int num_names;
const char *const *board_name;
/* offset in bytes from one board name pointer to the next */
int offset;
struct comedi_device {
int use_count;
struct comedi_driver *driver;
void *private;
struct device *class_dev;
int minor;
/* hw_dev is passed to dma_alloc_coherent when allocating async buffers
* for subdevices that have async_dma_dir set to something other than
struct device *hw_dev;
const char *board_name;
const void *board_ptr;
int attached;
spinlock_t spinlock;
struct mutex mutex;
int in_request_module;
int n_subdevices;
struct comedi_subdevice *subdevices;
/* dumb */
unsigned long iobase;
unsigned int irq;
struct comedi_subdevice *read_subdev;
struct comedi_subdevice *write_subdev;
struct fasync_struct *async_queue;
void (*open) (struct comedi_device *dev);
void (*close) (struct comedi_device *dev);
struct comedi_device_file_info {
struct comedi_device *device;
struct comedi_subdevice *read_subdevice;
struct comedi_subdevice *write_subdevice;
extern int comedi_debug;
static const int comedi_debug;
* function prototypes
void comedi_event(struct comedi_device *dev, struct comedi_subdevice *s);
void comedi_error(const struct comedi_device *dev, const char *s);
/* we can expand the number of bits used to encode devices/subdevices into
the minor number soon, after more distros support > 8 bit minor numbers
(like after Debian Etch gets released) */
enum comedi_minor_bits {
static const unsigned COMEDI_SUBDEVICE_MINOR_SHIFT = 4;
static const unsigned COMEDI_SUBDEVICE_MINOR_OFFSET = 1;
struct comedi_device_file_info *comedi_get_device_file_info(unsigned minor);
static inline struct comedi_subdevice *comedi_get_read_subdevice(
const struct comedi_device_file_info *info)
if (info->read_subdevice)
return info->read_subdevice;
if (info->device == NULL)
return NULL;
return info->device->read_subdev;
static inline struct comedi_subdevice *comedi_get_write_subdevice(
const struct comedi_device_file_info *info)
if (info->write_subdevice)
return info->write_subdevice;
if (info->device == NULL)
return NULL;
return info->device->write_subdev;
void comedi_device_detach(struct comedi_device *dev);
int comedi_device_attach(struct comedi_device *dev,
struct comedi_devconfig *it);
int comedi_driver_register(struct comedi_driver *);
int comedi_driver_unregister(struct comedi_driver *);
void init_polling(void);
void cleanup_polling(void);
void start_polling(struct comedi_device *);
void stop_polling(struct comedi_device *);
void comedi_proc_init(void);
void comedi_proc_cleanup(void);
static inline void comedi_proc_init(void)
static inline void comedi_proc_cleanup(void)
/* subdevice runflags */
enum subdevice_runflags {
SRF_USER = 0x00000001,
SRF_RT = 0x00000002,
/* indicates an COMEDI_CB_ERROR event has occurred since the last
* command was started */
SRF_ERROR = 0x00000004,
SRF_RUNNING = 0x08000000
int comedi_check_chanlist(struct comedi_subdevice *s,
int n,
unsigned int *chanlist);
unsigned comedi_get_subdevice_runflags(struct comedi_subdevice *s);
/* range stuff */
#define RANGE(a, b) {(a)*1e6, (b)*1e6, 0}
#define RANGE_ext(a, b) {(a)*1e6, (b)*1e6, RF_EXTERNAL}
#define RANGE_mA(a, b) {(a)*1e6, (b)*1e6, UNIT_mA}
#define RANGE_unitless(a, b) {(a)*1e6, (b)*1e6, 0}
#define BIP_RANGE(a) {-(a)*1e6, (a)*1e6, 0}
#define UNI_RANGE(a) {0, (a)*1e6, 0}
extern const struct comedi_lrange range_bipolar10;
extern const struct comedi_lrange range_bipolar5;
extern const struct comedi_lrange range_bipolar2_5;
extern const struct comedi_lrange range_unipolar10;
extern const struct comedi_lrange range_unipolar5;
extern const struct comedi_lrange range_unknown;
#define range_digital range_unipolar5
#if __GNUC__ >= 3
struct comedi_lrange {
int length;
struct comedi_krange range[GCC_ZERO_LENGTH_ARRAY];
/* some silly little inline functions */
static inline int alloc_subdevices(struct comedi_device *dev,
unsigned int num_subdevices)
unsigned i;
dev->n_subdevices = num_subdevices;
dev->subdevices =
kcalloc(num_subdevices, sizeof(struct comedi_subdevice),
if (!dev->subdevices)
return -ENOMEM;
for (i = 0; i < num_subdevices; ++i) {
dev->subdevices[i].device = dev;
dev->subdevices[i].async_dma_dir = DMA_NONE;
dev->subdevices[i].minor = -1;
return 0;
static inline int alloc_private(struct comedi_device *dev, int size)
dev->private = kzalloc(size, GFP_KERNEL);
if (!dev->private)
return -ENOMEM;
return 0;
static inline unsigned int bytes_per_sample(const struct comedi_subdevice *subd)
if (subd->subdev_flags & SDF_LSAMPL)
return sizeof(unsigned int);
return sizeof(short);
/* must be used in attach to set dev->hw_dev if you wish to dma directly
into comedi's buffer */
static inline void comedi_set_hw_dev(struct comedi_device *dev,
struct device *hw_dev)
if (dev->hw_dev)
dev->hw_dev = hw_dev;
if (dev->hw_dev) {
dev->hw_dev = get_device(dev->hw_dev);
BUG_ON(dev->hw_dev == NULL);
int comedi_buf_put(struct comedi_async *async, short x);
int comedi_buf_get(struct comedi_async *async, short *x);
unsigned int comedi_buf_write_n_available(struct comedi_async *async);
unsigned int comedi_buf_write_alloc(struct comedi_async *async,
unsigned int nbytes);
unsigned int comedi_buf_write_alloc_strict(struct comedi_async *async,
unsigned int nbytes);
unsigned comedi_buf_write_free(struct comedi_async *async, unsigned int nbytes);
unsigned comedi_buf_read_alloc(struct comedi_async *async, unsigned nbytes);
unsigned comedi_buf_read_free(struct comedi_async *async, unsigned int nbytes);
unsigned int comedi_buf_read_n_available(struct comedi_async *async);
void comedi_buf_memcpy_to(struct comedi_async *async, unsigned int offset,
const void *source, unsigned int num_bytes);
void comedi_buf_memcpy_from(struct comedi_async *async, unsigned int offset,
void *destination, unsigned int num_bytes);
static inline unsigned comedi_buf_write_n_allocated(struct comedi_async *async)
return async->buf_write_alloc_count - async->buf_write_count;
static inline unsigned comedi_buf_read_n_allocated(struct comedi_async *async)
return async->buf_read_alloc_count - async->buf_read_count;
static inline void *comedi_aux_data(int options[], int n)
unsigned long address;
unsigned long addressLow;
int bit_shift;
if (sizeof(int) >= sizeof(void *))
address = options[COMEDI_DEVCONF_AUX_DATA_LO];
else {
address = options[COMEDI_DEVCONF_AUX_DATA_HI];
bit_shift = sizeof(int) * 8;
address <<= bit_shift;
addressLow = options[COMEDI_DEVCONF_AUX_DATA_LO];
addressLow &= (1UL << bit_shift) - 1;
address |= addressLow;
if (n >= 1)
address += options[COMEDI_DEVCONF_AUX_DATA0_LENGTH];
if (n >= 2)
address += options[COMEDI_DEVCONF_AUX_DATA1_LENGTH];
if (n >= 3)
address += options[COMEDI_DEVCONF_AUX_DATA2_LENGTH];
BUG_ON(n > 3);
return (void *)address;
int comedi_alloc_subdevice_minor(struct comedi_device *dev,
struct comedi_subdevice *s);
void comedi_free_subdevice_minor(struct comedi_subdevice *s);
int comedi_pci_auto_config(struct pci_dev *pcidev, const char *board_name);
void comedi_pci_auto_unconfig(struct pci_dev *pcidev);
struct usb_device; /* forward declaration */
int comedi_usb_auto_config(struct usb_device *usbdev, const char *board_name);
void comedi_usb_auto_unconfig(struct usb_device *usbdev);
#endif /* _COMEDIDEV_H */