cheetah.h

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/*=========================================================================
| Cheetah Interface Library
|--------------------------------------------------------------------------
| Copyright (c) 2004-2008 Total Phase, Inc.
| All rights reserved.
| www.totalphase.com
|
| Redistribution and use in source and binary forms, with or without
| modification, are permitted provided that the following conditions
| are met:
|
| - Redistributions of source code must retain the above copyright
|   notice, this list of conditions and the following disclaimer.
|
| - Redistributions in binary form must reproduce the above copyright
|   notice, this list of conditions and the following disclaimer in the
|   documentation and/or other materials provided with the distribution.
|
| - Neither the name of Total Phase, Inc. nor the names of its
|   contributors may be used to endorse or promote products derived from
|   this software without specific prior written permission.
|
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
| LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
| FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE
| COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
| INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
| BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
| LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
| ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
| POSSIBILITY OF SUCH DAMAGE.
|--------------------------------------------------------------------------
| To access Total Phase Cheetah devices through the API:
|
| 1) Use one of the following shared objects:
|      cheetah.so       --  Linux shared object
|          or
|      cheetah.dll      --  Windows dynamic link library
|
| 2) Along with one of the following language modules:
|      cheetah.c/h      --  C/C++ API header file and interface module
|      cheetah_py.py    --  Python API
|      cheetah.bas      --  Visual Basic 6 API
|      cheetah.cs       --  C# .NET source
|      cheetah_net.dll  --  Compiled .NET binding
 ========================================================================*/


#ifndef __cheetah_h__
#define __cheetah_h__

#ifdef __cplusplus
extern "C" {
#endif


/*=========================================================================
| TYPEDEFS
 ========================================================================*/
#ifndef TOTALPHASE_DATA_TYPES
#define TOTALPHASE_DATA_TYPES

#ifndef _MSC_VER
/* C99-compliant compilers (GCC) */
#include <stdint.h>
typedef uint8_t   u08;
typedef uint16_t  u16;
typedef uint32_t  u32;
typedef uint64_t  u64;
typedef int8_t    s08;
typedef int16_t   s16;
typedef int32_t   s32;
typedef int64_t   s64;

#else
/* Microsoft compilers (Visual C++) */
typedef unsigned __int8   u08;
typedef unsigned __int16  u16;
typedef unsigned __int32  u32;
typedef unsigned __int64  u64;
typedef signed   __int8   s08;
typedef signed   __int16  s16;
typedef signed   __int32  s32;
typedef signed   __int64  s64;

#endif /* __MSC_VER */

#endif /* TOTALPHASE_DATA_TYPES */


/*=========================================================================
| DEBUG
 ========================================================================*/
/* Set the following macro to '1' for debugging */
#define CH_DEBUG 0


/*=========================================================================
| VERSION
 ========================================================================*/
#define CH_HEADER_VERSION  0x0300   /* v3.00 */


/*=========================================================================
| STATUS CODES
 ========================================================================*/
/*
 * All API functions return an integer which is the result of the
 * transaction, or a status code if negative.  The status codes are
 * defined as follows:
 */
enum CheetahStatus {
    /* General codes (0 to -99) */
    CH_OK                      =    0,
    CH_UNABLE_TO_LOAD_LIBRARY  =   -1,
    CH_UNABLE_TO_LOAD_DRIVER   =   -2,
    CH_UNABLE_TO_LOAD_FUNCTION =   -3,
    CH_INCOMPATIBLE_LIBRARY    =   -4,
    CH_INCOMPATIBLE_DEVICE     =   -5,
    CH_INCOMPATIBLE_DRIVER     =   -6,
    CH_COMMUNICATION_ERROR     =   -7,
    CH_UNABLE_TO_OPEN          =   -8,
    CH_UNABLE_TO_CLOSE         =   -9,
    CH_INVALID_HANDLE          =  -10,
    CH_CONFIG_ERROR            =  -11,
    CH_UNKNOWN_PROTOCOL        =  -12,
    CH_STILL_ACTIVE            =  -13,
    CH_FUNCTION_NOT_AVAILABLE  =  -14,
    CH_OS_ERROR                =  -15,

    /* SPI codes (-100 to -199) */
    CH_SPI_WRITE_ERROR         = -100,
    CH_SPI_BATCH_EMPTY_QUEUE   = -101,
    CH_SPI_BATCH_SHORT_BUFFER  = -102,
    CH_SPI_ASYNC_EMPTY         = -103,
    CH_SPI_ASYNC_PENDING       = -104,
    CH_SPI_ASYNC_MAX_REACHED   = -105,
    CH_SPI_ASYNC_EXCESS_DELAY  = -106
};
#ifndef __cplusplus
typedef enum CheetahStatus CheetahStatus;
#endif


/*=========================================================================
| GENERAL TYPE DEFINITIONS
 ========================================================================*/
/* Cheetah handle type definition */
typedef int Cheetah;

/*
 * Cheetah version matrix.
 * 
 * This matrix describes the various version dependencies
 * of Cheetah components.  It can be used to determine
 * which component caused an incompatibility error.
 * 
 * All version numbers are of the format:
 *   (major << 8) | minor
 * 
 * ex. v1.20 would be encoded as:  0x0114
 */
struct CheetahVersion {
    /* Software, firmware, and hardware versions. */
    u16 software;
    u16 firmware;
    u16 hardware;

    /*
     * Hardware revisions that are compatible with this software version.
     * The top 16 bits gives the maximum accepted hardware revision.
     * The lower 16 bits gives the minimum accepted hardware revision.
     */
    u32 hw_revs_for_sw;

    /*
     * Firmware revisions that are compatible with this software version.
     * The top 16 bits gives the maximum accepted fw revision.
     * The lower 16 bits gives the minimum accepted fw revision.
     */
    u32 fw_revs_for_sw;

    /*
     * Driver revisions that are compatible with this software version.
     * The top 16 bits gives the maximum accepted driver revision.
     * The lower 16 bits gives the minimum accepted driver revision.
     * This version checking is currently only pertinent for WIN32
     * platforms.
     */
    u32 drv_revs_for_sw;

    /* Software requires that the API interface must be >= this version. */
    u16 api_req_by_sw;
};
#ifndef __cplusplus
typedef struct CheetahVersion CheetahVersion;
#endif


/*=========================================================================
| GENERAL API
 ========================================================================*/
/*
 * Get a list of ports to which Cheetah devices are attached.
 * 
 * num_devices = maximum number of elements to return
 * devices     = array into which the port numbers are returned
 * 
 * Each element of the array is written with the port number.
 * Devices that are in-use are ORed with CH_PORT_NOT_FREE
 * (0x8000).
 *
 * ex.  devices are attached to ports 0, 1, 2
 *      ports 0 and 2 are available, and port 1 is in-use.
 *      array => 0x0000, 0x8001, 0x0002
 * 
 * If the array is NULL, it is not filled with any values.
 * If there are more devices than the array size, only the
 * first nmemb port numbers will be written into the array.
 * 
 * Returns the number of devices found, regardless of the
 * array size.
 */
#define CH_PORT_NOT_FREE 0x8000
int ch_find_devices (
    int   num_devices,
    u16 * devices
);


/*
 * Get a list of ports to which Cheetah devices are attached
 *
 * This function is the same as ch_find_devices() except that
 * it returns the unique IDs of each Cheetah device.  The IDs
 * are guaranteed to be non-zero if valid.
 *
 * The IDs are the unsigned integer representation of the 10-digit
 * serial numbers.
 */
int ch_find_devices_ext (
    int   num_devices,
    u16 * devices,
    int   num_ids,
    u32 * unique_ids
);


/*
 * Open the Cheetah port.
 * 
 * The port number is a zero-indexed integer.
 *
 * The port number is the same as that obtained from the
 * ch_find_devices() function above.
 * 
 * Returns an Cheetah handle, which is guaranteed to be
 * greater than zero if it is valid.
 * 
 * This function is recommended for use in simple applications
 * where extended information is not required.  For more complex
 * applications, the use of ch_open_ext() is recommended.
 */
Cheetah ch_open (
    int port_number
);


/*
 * Open the Cheetah port, returning extended information
 * in the supplied structure.  Behavior is otherwise identical
 * to ch_open() above.  If 0 is passed as the pointer to the
 * structure, this function is exactly equivalent to ch_open().
 * 
 * The structure is zeroed before the open is attempted.
 * It is filled with whatever information is available.
 * 
 * For example, if the hardware version is not filled, then
 * the device could not be queried for its version number.
 * 
 * This function is recommended for use in complex applications
 * where extended information is required.  For more simple
 * applications, the use of ch_open() is recommended.
 */
struct CheetahExt {
    /* Version matrix */
    CheetahVersion   version;

    /* Features of this device. */
    int              features;
};
#ifndef __cplusplus
typedef struct CheetahExt CheetahExt;
#endif

Cheetah ch_open_ext (
    int          port_number,
    CheetahExt * ch_ext
);


/* Close the Cheetah port. */
int ch_close (
    Cheetah cheetah
);


/*
 * Return the port for this Cheetah handle.
 * 
 * The port number is a zero-indexed integer.
 */
int ch_port (
    Cheetah cheetah
);


/*
 * Return the unique ID for this Cheetah adapter.
 * IDs are guaranteed to be non-zero if valid.
 * The ID is the unsigned integer representation of the
 * 10-digit serial number.
 */
u32 ch_unique_id (
    Cheetah cheetah
);


/*
 * Return the status string for the given status code.
 * If the code is not valid or the library function cannot
 * be loaded, return a NULL string.
 */
const char * ch_status_string (
    int status
);


/*
 * Return the version matrix for the device attached to the
 * given handle.  If the handle is 0 or invalid, only the
 * software and required api versions are set.
 */
int ch_version (
    Cheetah          cheetah,
    CheetahVersion * version
);


/*
 * Sleep for the specified number of milliseconds
 * Accuracy depends on the operating system scheduler
 * Returns the number of milliseconds slept
 */
u32 ch_sleep_ms (
    u32 milliseconds
);


/* Configure the target power pin. */
#define CH_TARGET_POWER_OFF 0x00
#define CH_TARGET_POWER_ON 0x01
#define CH_TARGET_POWER_QUERY 0x80
int ch_target_power (
    Cheetah cheetah,
    u08     power_flag
);


#define CH_HOST_IFCE_FULL_SPEED 0x00
#define CH_HOST_IFCE_HIGH_SPEED 0x01
int ch_host_ifce_speed (
    Cheetah cheetah
);


/* Returns the device address that the beagle is attached to. */
int ch_dev_addr (
    Cheetah cheetah
);



/*=========================================================================
| SPI API
 ========================================================================*/
/* Set the SPI bit rate in kilohertz. */
int ch_spi_bitrate (
    Cheetah cheetah,
    int     bitrate_khz
);


/*
 * These configuration parameters specify how to clock the
 * bits that are sent and received on the Cheetah SPI
 * interface.
 * 
 * The polarity option specifies which transition
 * constitutes the leading edge and which transition is the
 * falling edge.  For example, CH_SPI_POL_RISING_FALLING
 * would configure the SPI to idle the SCK clock line low.
 * The clock would then transition low-to-high on the
 * leading edge and high-to-low on the trailing edge.
 * 
 * The phase option determines whether to sample or setup on
 * the leading edge.  For example, CH_SPI_PHASE_SAMPLE_SETUP
 * would configure the SPI to sample on the leading edge and
 * setup on the trailing edge.
 * 
 * The bitorder option is used to indicate whether LSB or
 * MSB is shifted first.
 *
 * The SS polarity option is to indicate the polarity of the
 * slave select pin (active high or active low).  Each of
 * the lower three bits of ss_polarity corresponds to each
 * of the SS lines.  Set the bit value for a given SS line
 * to 0 for active low or 1 for active high.
 */
enum CheetahSpiPolarity {
    CH_SPI_POL_RISING_FALLING = 0,
    CH_SPI_POL_FALLING_RISING = 1
};
#ifndef __cplusplus
typedef enum CheetahSpiPolarity CheetahSpiPolarity;
#endif

enum CheetahSpiPhase {
    CH_SPI_PHASE_SAMPLE_SETUP = 0,
    CH_SPI_PHASE_SETUP_SAMPLE = 1
};
#ifndef __cplusplus
typedef enum CheetahSpiPhase CheetahSpiPhase;
#endif

enum CheetahSpiBitorder {
    CH_SPI_BITORDER_MSB = 0,
    CH_SPI_BITORDER_LSB = 1
};
#ifndef __cplusplus
typedef enum CheetahSpiBitorder CheetahSpiBitorder;
#endif

/* Configure the SPI master interface */
int ch_spi_configure (
    Cheetah            cheetah,
    CheetahSpiPolarity polarity,
    CheetahSpiPhase    phase,
    CheetahSpiBitorder bitorder,
    u08                ss_polarity
);


/* Clear the batch queue */
int ch_spi_queue_clear (
    Cheetah cheetah
);


/* Enable / disable the master outputs */
int ch_spi_queue_oe (
    Cheetah cheetah,
    u08     oe
);


/*
 * Queue a delay in clock cycles
 * The return value is the actual number of cycles queued.
 */
int ch_spi_queue_delay_cycles (
    Cheetah cheetah,
    int     cycles
);


/*
 * Queue a delay in nanoseconds
 * The return value is the approximate number of nanoseconds queued.
 */
int ch_spi_queue_delay_ns (
    Cheetah cheetah,
    int     nanoseconds
);


/*
 * Assert the slave select lines.  Each of the lower three
 * bits of ss_polarity corresponds to each of the SS lines.
 * Set the bit value for a given SS line to 1 to assert the
 * line or 0 to deassert the line.  The polarity is determined
 * by ch_spi_configure() above.
 */
int ch_spi_queue_ss (
    Cheetah cheetah,
    u08     active
);


/* Repeatedly send a single byte */
int ch_spi_queue_byte (
    Cheetah cheetah,
    int     count,
    u08     data
);


/*
 * Send a byte array.  Repeated bytes are automatically
 * optimized into a repeated byte sequence.
 */
int ch_spi_queue_array (
    Cheetah     cheetah,
    int         num_bytes,
    const u08 * data_out
);


/* Calculate the expected length of the returned data */
int ch_spi_batch_length (
    Cheetah cheetah
);


/*
 * Perform the SPI shift operation.
 *
 * After the operation completes, the batch queue is untouched.
 * Therefore, this function may be called repeatedly in rapid
 * succession.
 */
int ch_spi_batch_shift (
    Cheetah cheetah,
    int     num_bytes,
    u08 *   data_in
);


/*
 * Queue the current batch queue for asynchronous shifting.
 *
 * After the operation completes, the batch queue is untouched.
 * Therefore, this function may be called repeatedly in rapid
 * succession.
 */
int ch_spi_async_submit (
    Cheetah cheetah
);


/* Collect an asynchronous batch that was previously submitted. */
int ch_spi_async_collect (
    Cheetah cheetah,
    int     num_bytes,
    u08 *   data_in
);




#ifdef __cplusplus
}
#endif

#endif  /* __cheetah_h__ */