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Comedi
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1 Overview
Comedi is a free software project that develops drivers, tools, and libraries for various forms of data acquisition: reading and
writing of analog signals; reading and writing of digital inputs/outputs; pulse and frequency counting; pulse generation; reading
encoders; etc. The source code is distributed in two main packages, comedi and comedilib:
• Comedi is a collection of drivers for a variety of common data acquisition plug-in boards (which are called ‘devices’ in Comedi
terminology). The drivers are implemented as the combination of (i) one single core Linux kernel module (called ‘comedi’)
providing common functionality, and (ii) individual low-level driver modules for each device.
• Comedilib is a separately distributed package containing a user-space library that provides a developer-friendly interface
to the Comedi devices. Included in the Comedilib package are documentation, configuration and calibration utilities, and
demonstration programs.
• Kcomedilib is a Linux kernel module (distributed with the comedi package) that provides the same interface as comedilib
in kernel space, and suitable for use by real-time kernel modules. It is effectively a ‘kernel library’ for using Comedi from
real-time tasks.
Comedi works with standard Linux kernels, but also with its real-time extensions RTAI and RTLinux/GPL.
This section gives a high-level introduction to which functionality you can expect from the software. More technical details and
programming examples are given in the following sections of this document.
1.1 What is a ‘device driver’?
A device driver is a piece of software that interfaces a particular piece of hardware: a printer, a sound card, a motor drive, etc.
It translates the primitive, device-dependent commands with which the hardware manufacturer allows you to configure, read and
write the electronics of the hardware interface into more abstract and generic function calls and data structures for the application
programmer.
David Schleef started the Comedi project to put a generic interface on top of lots of different cards for measurement and control
purposes. This type of cards are often called data acquisition (or DAQ) cards.
Analog input and output cards were the first goal of the project, but now Comedi also provides a device independent interface to
digital input and output cards, and counter and timer cards (including encoders, pulse generators, frequency and pulse timers,
etc.).
Schleef designed a structure which is a balance between modularity and complexity: it’s fairly easy to integrate a new card
because most of the infrastructure part of other, similar drivers can be reused, and learning the generic and hence somewhat
‘heavier’ Comedi API doesn’t scare away new contributors from integrating their drivers into the Comedi framework.
1.2 Policy vs. mechanism
Device drivers are often written by application programmers, that have only their particular application in mind; especially in
real-time applications. For example, one writes a driver for the parallel port, because one wants to use it to generate pulses that
drive a stepper motor. This approach often leads to device drivers that depend too much on that particular application, and are
not general enough to be re-used for other applications. One golden rule for the device driver writer is to separate mechanism
and policy:
• Mechanism. The mechanism part of the device interface is a faithful representation of the bare functionality of the device,
independent of what part of the functionality an application will use.
• Policy. Once a device driver offers a software interface to the mechanism of the device, an application writer can use this
mechanism interface to use the device in one particular fashion. That is, some of the data stuctures offered by the mechanism
are interpreted in specific physical units, or some of them are taken together because this composition is relevant for the
application. For example, a analog output card can be used to generate voltages that are the inputs for the electronic drivers of
the motors of a robot; these voltages can be interpreted as setpoints for the desired velocity of these motors, and six of them
are taken together to steer one particular robot with six-degrees of freedom. Some of the other outputs of the same physical
device can be used by another application program, for example to generate a sine wave that drives a vibration shaker.
- Contents 3
- List of Figures 11
- 1 Overview 12
- 1.4 DAQ signals 13
- 1.5 Device hierarchy 14
- 1.6 Acquisition terminology 14
- 1.7 DAQ functions 15
- 1.8 Supporting functionality 15
- 2 Configuration 16
- 3 Writing Comedi programs 19
- 10 / 148 21
- 3.4 Asynchronous acquisition 22
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- 13 / 148 24
- 3.5 Further examples 25
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- 4.2.2 Instruction execution 28
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- 19 / 148 30
- 4.5.1 Executing a command 30
- 20 / 148 31
- 21 / 148 32
- 4.5.4 The command flags 32
- 4.6 Slowly-varying inputs 33
- 23 / 148 34
- 24 / 148 35
- 4.7.4 Extended Triggering 35
- 25 / 148 36
- 4.7.5 Analog Triggering 36
- 26 / 148 37
- 4.7.7 Counter configuration 37
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- 29 / 148 40
- 30 / 148 41
- 5 Comedi reference 42
- 32 / 148 43
- 5.2.2 CR_PACK_FLAGS 43
- 5.3 Data types and structures 44
- 35 / 148 46
- 5.3.7 comedi_cmd 46
- 5.3.8 comedi_insn 46
- 36 / 148 47
- 5.3.9 comedi_range 47
- 5.3.10 comedi_krange 47
- 5.4 Functions 48
- 45 / 148 56
- Synopsis 56
- Description 56
- 5.5 Kernel drivers 84
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- MicroAxial ADQ12-B adq12b 89
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- Status: works 105
- Manufacturer Device Name 105
- 95 / 148 106
- Author: ds, fmhess 107
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- Status: complete 116
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- 5.5.51 fl512 -- unknown 119
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- Advantech PCL-816 pcl816 137
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- 5.5.88 pcm3730 -- PCM3730 140
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- Winsystems PCM-MIO pcmmio 142
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- Status: stable 149
- ITL USB-DUX-FAST usbduxfast 149
- Status: Stable 150
- ITL USB-DUX-SIGMA usbduxsigma 150
- 6 Writing a Comedi driver 151
- 6.2 Generic functionality 152
- 142 / 148 153
- 6.2.1.1 comedi_lrange 153
- 6.2.1.2 comedi_subdevice 153
- 143 / 148 154
- 6.2.1.3 comedi_device 154
- 6.2.1.4 comedi_async 154
- 144 / 148 155
- 6.2.1.5 comedi_driver 155
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- 7 Glossary 158
- 148 / 148 159
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