/*
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* Analogy for Linux, NI - M calibration program
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*
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* Copyright (C) 2014 Jorge A. Ramirez-Ortiz <jro@xenomai.org>
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*
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* from original code from the Comedi project
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*
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* Xenomai is free software; you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* Xenomai is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Xenomai; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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#ifndef __NI_M_SOFTWARE_CALIBRATE_H__
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#define __NI_M_SOFTWARE_CALIBRATE_H__
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#include <rtdm/uapi/analogy.h>
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#include "calibration.h"
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#include "analogy_calibrate.h"
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#include "boilerplate/list.h"
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extern const char *ni_m_boards[];
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extern const int nr_ni_m_boards;
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#define ni_m_board_supported(id) __array_search(id, ni_m_boards, nr_ni_m_boards)
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int ni_m_software_calibrate(FILE *p);
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#define init_interface(a, b) a = ((typeof(a)) INIT_##b);
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#define SET_BIT(n,set) do { *(set) |= (1 << n); } while(0)
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/*
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* subdevice
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*/
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#define SET_SUBD(type, a, b, c) \
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do { type##_subd.idx = a; \
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type##_subd.info = b; \
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type##_subd.name = c; \
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} while (0)
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#define INIT_SUBD \
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{ \
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.slen = 0, \
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.idx = -1, \
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.info = NULL, \
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.name = NULL, \
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}
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/*
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* eeprom
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*/
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#define INIT_EEPROM_OPS \
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{ \
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.get_calibration_base_address = eeprom_get_calibration_base_address, \
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.read_reference_voltage = eeprom_read_reference_voltage, \
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.read_uint16 = eeprom_read_uint16, \
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.read_float = eeprom_read_float, \
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.read_byte = eeprom_read_byte, \
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}
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#define INIT_EEPROM \
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{ \
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.ops = INIT_EEPROM_OPS, \
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.voltage_ref_offset = 12, \
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}
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typedef int (*eeprom_get_calibration_base_address_function)(unsigned *);
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typedef int (*eeprom_read_uint16_function)(unsigned, unsigned *);
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typedef int (*eeprom_read_byte_function)(unsigned, unsigned *);
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typedef int (*eeprom_read_reference_voltage_function)(float *);
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typedef int (*eeprom_read_float_function)(unsigned, float *);
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struct eeprom_ops {
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eeprom_get_calibration_base_address_function get_calibration_base_address;
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eeprom_read_reference_voltage_function read_reference_voltage;
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eeprom_read_uint16_function read_uint16;
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eeprom_read_float_function read_float;
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eeprom_read_byte_function read_byte;
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};
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struct eeprom {
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struct eeprom_ops ops;
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int voltage_ref_offset;
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};
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/*
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* subdevice operations
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*/
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#define INIT_SUBDEV_DATA_OPS \
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{ \
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.read_async = data_read_async, \
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.read_hint = data_read_hint, \
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.read = data_read, \
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.write = data_write, \
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}
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#define INIT_SUBDEV_OPS \
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{ \
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.data = INIT_SUBDEV_DATA_OPS \
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}
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typedef int (*data_read_async_function)(void *, struct a4l_calibration_subdev *, unsigned , int , int);
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typedef int (*data_read_hint_function)(struct a4l_calibration_subdev *s, int, int, int);
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typedef int (*data_read_function)(unsigned *, struct a4l_calibration_subdev *, int, int, int);
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typedef int (*data_write_function)(long int *, struct a4l_calibration_subdev *s, int, int, int);
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struct subdev_ops {
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struct data_ops {
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data_read_async_function read_async;
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data_read_hint_function read_hint;
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data_write_function write;
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data_read_function read;
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} data;
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};
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/*
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* gnumath
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*/
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#define INIT_GNU_MATH_STATS \
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{ \
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.stddev_of_mean = statistics_standard_deviation_of_mean, \
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.stddev = statistics_standard_deviation, \
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.mean = statistics_mean, \
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}
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#define INIT_GNU_MATH_POLYNOMIAL \
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{ \
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.fit = polynomial_fit, \
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.linearize = polynomial_linearize, \
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}
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#define INIT_GNU_MATH \
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{ \
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.stats = INIT_GNU_MATH_STATS, \
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.polynomial = INIT_GNU_MATH_POLYNOMIAL, \
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}
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struct codes {
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double measured;
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double nominal;
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};
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struct codes_info {
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struct codes *codes;
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int nb_codes;
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};
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typedef void (*statistics_standard_deviation_of_mean_function)(double *, double [], int, double );
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typedef void (*statistics_standard_deviation_function)(double *, double [], int, double);
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typedef void (*statistics_mean_function)(double *, double [], int);
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struct statistics_ops {
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statistics_standard_deviation_of_mean_function stddev_of_mean;
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statistics_standard_deviation_function stddev;
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statistics_mean_function mean;
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};
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typedef int (*polynomial_linearize_function) (double *, struct polynomial *, double);
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typedef int (*polynomial_fit_function)(struct polynomial *, struct codes_info *);
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struct polynomial_ops {
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polynomial_fit_function fit;
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polynomial_linearize_function linearize;
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};
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struct gnumath {
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struct statistics_ops stats;
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struct polynomial_ops polynomial;
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};
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/*
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* reference
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*/
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#define positive_cal_shift 7
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#define negative_cal_shift 10
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#define REF_POS_CAL (2 << positive_cal_shift)
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#define REF_POS_CAL_PWM_500mV (3 << positive_cal_shift)
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#define REF_POS_CAL_PWM_2V (4 << positive_cal_shift)
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#define REF_POS_CAL_PWM_10V (5 << positive_cal_shift)
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#define REF_POS_CAL_GROUND (6 << positive_cal_shift)
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#define REF_POS_CAL_AO (7 << positive_cal_shift)
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#define REF_NEG_CAL_1V (2 << negative_cal_shift)
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#define REF_NEG_CAL_1mV (3 << negative_cal_shift)
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#define REF_NEG_CAL_GROUND (5 << negative_cal_shift)
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#define REF_NEG_CAL_GROUND2 (6 << negative_cal_shift)
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#define REF_NEG_CAL_PWM_10V (7 << negative_cal_shift)
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#define INIT_REFERENCES \
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{ \
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.get_min_speriod = reference_get_min_sampling_period, \
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.set_bits = reference_set_bits, \
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.set_pwm = reference_set_pwm, \
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.read_samples = reference_read_samples, \
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.read_doubles = reference_read_doubles, \
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}
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typedef int (*reference_set_pwm_function)(struct a4l_calibration_subdev *s, unsigned, unsigned, unsigned *, unsigned *);
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typedef int (*reference_read_reference_doubles_function)(double [], unsigned, int, int);
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typedef int (*reference_read_reference_samples_function)(void *, unsigned, int, int);
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typedef int (*reference_get_min_sampling_period_function)(int *);
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typedef int (*reference_set_reference_channel_function)(void);
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typedef int (*reference_set_reference_src_function)(void);
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typedef int (*reference_set_bits_function)(unsigned);
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struct references {
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reference_set_reference_src_function set_src;
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reference_set_reference_channel_function set_chan;
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reference_set_pwm_function set_pwm;
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reference_read_reference_samples_function read_samples;
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reference_read_reference_doubles_function read_doubles;
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reference_get_min_sampling_period_function get_min_speriod;
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/* private */
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reference_set_bits_function set_bits;
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};
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struct characterization_node {
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double mean;
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int up_tick;
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};
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struct pwm_info {
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struct characterization_node *node;
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unsigned nb_nodes;
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};
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/*
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* NI M calibrator data
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*/
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#define NI_M_MIN_PWM_PULSE_TICKS ( 0x20 )
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#define NI_M_MASTER_CLOCK_PERIOD ( 50 )
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#define NI_M_TARGET_PWM_PERIOD_TICKS ( 20 * NI_M_MIN_PWM_PULSE_TICKS )
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#define NI_M_NR_SAMPLES ( 15000 )
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#define NI_M_BASE_RANGE ( 0 )
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struct calibrated_ranges {
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unsigned *ranges;
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unsigned nb_ranges;
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};
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#define ALL_CHANNELS 0xFFFFFFFF
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#define ALL_RANGES 0xFFFFFFFF
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#endif
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