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labjack_ud.h
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labjack_ud.h
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/** Low-level functions for LabJack UD devices.
* See https://support.labjack.com/docs/low-level-functions-ud-devices-only for
* documentation. Depends on liblabjackusb.
* \warning This is only tested on the U3-HV!
* \todo Many functions are unimplemented.
*/
#ifndef LABJACK_UD_H_
#define LABJACK_UD_H_
#include <stdint.h>
#include "labjackusb.h"
#ifndef static_assert
#define static_assert _Static_assert
#endif
// define these in e.g. labjack_u3.h
typedef uint8_t ljud_pin;
/** Error codes. */
typedef uint8_t ljud_err;
enum {
LJ_SCRATCH_WRT_FAIL = 0x01,
LJ_SCRATCH_ERASE_FAIL = 0x02,
LJ_DATA_BUFFER_OVERFLOW = 0x03,
LJ_ADC0_BUFFER_OVERFLOW = 0x04,
LJ_FUNCTION_INVALID = 0x05,
LJ_SWDT_TIME_INVALID = 0x06,
LJ_XBR_CONFIG_ERROR = 0x07,
LJ_FLASH_WRITE_FAIL = 0x10,
LJ_FLASH_ERASE_FAIL = 0x11,
LJ_FLASH_JMP_FAIL = 0x12,
LJ_FLASH_PSP_TIMEOUT = 0x13,
LJ_FLASH_ABORT_RECIEVED = 0x14,
LJ_FLASH_PAGE_MISMATCH = 0x15,
LJ_FLASH_BLOCK_MISMATCH = 0x16,
LJ_FLASH_PAGE_NOT_IN_CODE_AREA = 0x17,
LJ_MEM_ILLEGAL_ADDRESS = 0x18,
LJ_FLASH_LOCKED = 0x19,
LJ_INVALID_BLOCK = 0x1A,
LJ_FLASH_ILLEGAL_PAGE = 0x1B,
LJ_FLASH_TOO_MANY_BYTES = 0x1C,
LJ_FLASH_INVALID_STRING_NUM = 0x1D,
LJ_SMBUS_INQ_OVERFLOW = 0x20,
LJ_SMBUS_OUTQ_UNDERFLOW = 0x21,
LJ_SMBUS_CRC_FAILED = 0x22,
LJ_SHT1x_COMM_TIME_OUT = 0x28,
LJ_SHT1x_NO_ACK = 0x29,
LJ_SHT1x_CRC_FAILED = 0x2A,
LJ_SHT1X_TOO_MANY_W_BYTES = 0x2B,
LJ_SHT1X_TOO_MANY_R_BYTES = 0x2C,
LJ_SHT1X_INVALID_MODE = 0x2D,
LJ_SHT1X_INVALID_LINE = 0x2E,
LJ_STREAM_IS_ACTIVE = 0x30,
LJ_STREAM_TABLE_INVALID = 0x31,
LJ_STREAM_CONFIG_INVALID = 0x32,
LJ_STREAM_BAD_TRIGGER_SOURCE = 0x33,
LJ_STREAM_NOT_RUNNING = 0x34,
LJ_STREAM_INVALID_TRIGGER = 0x35,
LJ_STREAM_ADC0_BUFFER_OVERFLOW = 0x36,
LJ_STREAM_SCAN_OVERLAP = 0x37,
LJ_STREAM_SAMPLE_NUM_INVALID = 0x38,
LJ_STREAM_BIPOLAR_GAIN_INVALID = 0x39,
LJ_STREAM_SCAN_RATE_INVALID = 0x3A,
LJ_STREAM_AUTORECOVER_ACTIVE = 0x3B,
LJ_STREAM_AUTORECOVER_REPORT = 0x3C,
LJ_STREAM_SOFTPWM_ON = 0x3D,
LJ_STREAM_INVALID_RESOLUTION = 0x3F,
LJ_PCA_INVALID_MODE = 0x40,
LJ_PCA_QUADRATURE_AB_ERROR = 0x41,
LJ_PCA_QUAD_PULSE_SEQUENCE = 0x42,
LJ_PCA_BAD_CLOCK_SOURCE = 0x43,
LJ_PCA_STREAM_ACTIVE = 0x44,
LJ_PCA_PWMSTOP_MODULE_ERROR = 0x45,
LJ_PCA_SEQUENCE_ERROR = 0x46,
LJ_PCA_LINE_SEQUENCE_ERROR = 0x47,
LJ_TMR_SHARING_ERROR = 0x48,
LJ_EXT_OSC_NOT_STABLE = 0x50,
LJ_INVALID_POWER_SETTING = 0x51,
LJ_PLL_NOT_LOCKED = 0x52,
LJ_INVALID_PIN = 0x60,
LJ_PIN_CONFIGURED_FOR_ANALOG = 0x61,
LJ_PIN_CONFIGURED_FOR_DIGITAL = 0x62,
LJ_IOTYPE_SYNCH_ERROR = 0x63,
LJ_INVALID_OFFSET = 0x64,
LJ_IOTYPE_NOT_VALID = 0x65,
LJ_INVALID_CODE = 0x66,
LJ_UART_TIMEOUT = 0x70,
LJ_UART_NOTCONNECTED = 0x71,
LJ_UART_NOTENALBED = 0x72,
LJ_I2C_BUS_BUSY = 0x74,
LJ_TOO_MANY_BYTES = 0x76,
LJ_TOO_FEW_BYTES = 0x77,
LJ_DSP_PERIOD_DETECTION_ERROR = 0x80,
LJ_DSP_SIGNAL_OUT_OF_RANGE = 0x81,
LJ_MODBUS_RSP_OVERFLOW = 0x90,
LJ_MODBUS_CMD_OVERFLOW = 0x91,
};
/** 2-byte normal response given when LJ detects bad checksum. */
#define LJ_BAD_CHECKSUM 0xB8B8
// 32.32 little endian 2's complement
typedef int64_t fp64;
static inline fp64 dbl2fp64(double d)
{
return d * ((uint64_t)1 << 32);
}
static inline double fp642dbl(fp64 f)
{
return (double)f / ((uint64_t)1 << 32);
}
// https://support.labjack.com/docs/general-protocol-ud-devices-only
struct ljud_normal_header {
uint8_t checksum8;
uint8_t command;
}__attribute__((packed));
struct ljud_extended_header {
uint8_t checksum8;
uint8_t command;
uint8_t n_data_words;
uint8_t extended_command;
uint16_t checksum16;
}__attribute__((packed));
typedef uint8_t ljud_i2c_options;
enum {
// bits 7-4: reserved
LJ_I2C_ENABLE_CLOCK_STRETCHING = 1 << 3,
LJ_I2C_NO_STOP_WHEN_RESTART = 1 << 2,
LJ_I2C_RESET_AT_START = 1 << 1,
// bit 0: reserved
};
struct ljud_i2c_header {
struct ljud_extended_header header;
ljud_i2c_options i2c_options;
uint8_t speed_adjust;
uint8_t sda_pin;
uint8_t scl_pin;
uint8_t address_byte;
uint8_t reserved11;
uint8_t n_i2c_bytes_tx;
uint8_t n_i2c_bytes_rx;
}__attribute__((packed));
static_assert(sizeof(struct ljud_i2c_header) == 14, "bad ljud_i2c_header");
struct ljud_i2c_resp_header {
struct ljud_extended_header header;
ljud_err err;
uint8_t reserved7;
uint8_t ackarray0;
uint8_t ackarray1;
uint8_t ackarray2;
uint8_t ackarray3;
}__attribute__((packed));
static_assert(
sizeof(struct ljud_i2c_resp_header) == 12, "bad ljud_i2c_resp_header"
);
/** Perform the LJ UD 8-bit checksum on some data.
* \warning the exodriver example code does this differently.
*/
uint8_t ljud_checksum8(uint8_t *data, uint8_t len);
/** Perform the LJ UD 16-bit checksum on some data. */
uint16_t ljud_checksum16(uint8_t *data, uint8_t len);
#endif