/*========================================================================= | Aardvark Interface Library |-------------------------------------------------------------------------- | Copyright (c) 2002-2008 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 Aardvark devices through the API: | | 1) Use one of the following shared objects: | aardvark.so -- Linux shared object | aardvark.dll -- Windows dynamic link library | | 2) Along with one of the following language modules: | aardvark.c/h -- C/C++ API header file and interface module | aardvark_py.py -- Python API | aardvark.bas -- Visual Basic 6 API | aardvark.cs -- C# .NET source | aardvark_net.dll -- Compiled .NET binding ========================================================================*/ #ifndef __aardvark_h__ #define __aardvark_h__ #ifdef __cplusplus extern "C" { #endif /*========================================================================= | TYPEDEFS ========================================================================*/ #ifndef TOTALPHASE_DATA_TYPES #define TOTALPHASE_DATA_TYPES #ifndef _MSC_VER /* C99-compliant compilers (GCC) */ #include 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 AA_DEBUG 0 /*========================================================================= | VERSION ========================================================================*/ #define AA_HEADER_VERSION 0x050a /* v5.10 */ /*========================================================================= | 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 AardvarkStatus { /* General codes (0 to -99) */ AA_OK = 0, AA_UNABLE_TO_LOAD_LIBRARY = -1, AA_UNABLE_TO_LOAD_DRIVER = -2, AA_UNABLE_TO_LOAD_FUNCTION = -3, AA_INCOMPATIBLE_LIBRARY = -4, AA_INCOMPATIBLE_DEVICE = -5, AA_COMMUNICATION_ERROR = -6, AA_UNABLE_TO_OPEN = -7, AA_UNABLE_TO_CLOSE = -8, AA_INVALID_HANDLE = -9, AA_CONFIG_ERROR = -10, /* I2C codes (-100 to -199) */ AA_I2C_NOT_AVAILABLE = -100, AA_I2C_NOT_ENABLED = -101, AA_I2C_READ_ERROR = -102, AA_I2C_WRITE_ERROR = -103, AA_I2C_SLAVE_BAD_CONFIG = -104, AA_I2C_SLAVE_READ_ERROR = -105, AA_I2C_SLAVE_TIMEOUT = -106, AA_I2C_DROPPED_EXCESS_BYTES = -107, AA_I2C_BUS_ALREADY_FREE = -108, /* SPI codes (-200 to -299) */ AA_SPI_NOT_AVAILABLE = -200, AA_SPI_NOT_ENABLED = -201, AA_SPI_WRITE_ERROR = -202, AA_SPI_SLAVE_READ_ERROR = -203, AA_SPI_SLAVE_TIMEOUT = -204, AA_SPI_DROPPED_EXCESS_BYTES = -205, /* GPIO codes (-400 to -499) */ AA_GPIO_NOT_AVAILABLE = -400, /* I2C bus monitor codes (-500 to -599) */ AA_I2C_MONITOR_NOT_AVAILABLE = -500, AA_I2C_MONITOR_NOT_ENABLED = -501 }; #ifndef __cplusplus typedef enum AardvarkStatus AardvarkStatus; #endif /*========================================================================= | GENERAL TYPE DEFINITIONS ========================================================================*/ /* Aardvark handle type definition */ typedef int Aardvark; /* * Deprecated type definitions. * * These are only for use with legacy code and * should not be used for new development. */ typedef u08 aa_u08; typedef u16 aa_u16; typedef u32 aa_u32; typedef s08 aa_s08; typedef s16 aa_s16; typedef s32 aa_s32; /* * Aardvark version matrix. * * This matrix describes the various version dependencies * of Aardvark 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 AardvarkVersion { /* Software, firmware, and hardware versions. */ u16 software; u16 firmware; u16 hardware; /* Firmware requires that software must be >= this version. */ u16 sw_req_by_fw; /* Software requires that firmware must be >= this version. */ u16 fw_req_by_sw; /* Software requires that the API interface must be >= this version. */ u16 api_req_by_sw; }; #ifndef __cplusplus typedef struct AardvarkVersion AardvarkVersion; #endif /*========================================================================= | GENERAL API ========================================================================*/ /* * Get a list of ports to which Aardvark devices are attached. * * nelem = 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 AA_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 AA_PORT_NOT_FREE 0x8000 int aa_find_devices ( int num_devices, u16 * devices ); /* * Get a list of ports to which Aardvark devices are attached. * * This function is the same as aa_find_devices() except that * it returns the unique IDs of each Aardvark 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 aa_find_devices_ext ( int num_devices, u16 * devices, int num_ids, u32 * unique_ids ); /* * Open the Aardvark port. * * The port number is a zero-indexed integer. * * The port number is the same as that obtained from the * aa_find_devices() function above. * * Returns an Aardvark 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 aa_open_ext() is recommended. */ Aardvark aa_open ( int port_number ); /* * Open the Aardvark port, returning extended information * in the supplied structure. Behavior is otherwise identical * to aa_open() above. If 0 is passed as the pointer to the * structure, this function is exactly equivalent to aa_open(). * * The structure is zeroed before the open is attempted. * It is filled with whatever information is available. * * For example, if the firmware 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 aa_open() is recommended. */ struct AardvarkExt { /* Version matrix */ AardvarkVersion version; /* Features of this device. */ int features; }; #ifndef __cplusplus typedef struct AardvarkExt AardvarkExt; #endif Aardvark aa_open_ext ( int port_number, AardvarkExt * aa_ext ); /* Close the Aardvark port. */ int aa_close ( Aardvark aardvark ); /* * Return the port for this Aardvark handle. * * The port number is a zero-indexed integer. */ int aa_port ( Aardvark aardvark ); /* * Return the device features as a bit-mask of values, or * an error code if the handle is not valid. */ #define AA_FEATURE_SPI 0x00000001 #define AA_FEATURE_I2C 0x00000002 #define AA_FEATURE_GPIO 0x00000008 #define AA_FEATURE_I2C_MONITOR 0x00000010 int aa_features ( Aardvark aardvark ); /* * Return the unique ID for this Aardvark adapter. * IDs are guaranteed to be non-zero if valid. * The ID is the unsigned integer representation of the * 10-digit serial number. */ u32 aa_unique_id ( Aardvark aardvark ); /* * 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 * aa_status_string ( int status ); /* * Enable logging to a file. The handle must be standard file * descriptor. In C, a file descriptor can be obtained by using * the ANSI C function "open" or by using the function "fileno" * on a FILE* stream. A FILE* stream can be obtained using "fopen" * or can correspond to the common "stdout" or "stderr" -- * available when including stdlib.h */ #define AA_LOG_STDOUT 1 #define AA_LOG_STDERR 2 int aa_log ( Aardvark aardvark, int level, int handle ); /* * 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 aa_version ( Aardvark aardvark, AardvarkVersion * version ); /* * Configure the device by enabling/disabling I2C, SPI, and * GPIO functions. */ enum AardvarkConfig { AA_CONFIG_GPIO_ONLY = 0x00, AA_CONFIG_SPI_GPIO = 0x01, AA_CONFIG_GPIO_I2C = 0x02, AA_CONFIG_SPI_I2C = 0x03, AA_CONFIG_QUERY = 0x80 }; #ifndef __cplusplus typedef enum AardvarkConfig AardvarkConfig; #endif #define AA_CONFIG_SPI_MASK 0x00000001 #define AA_CONFIG_I2C_MASK 0x00000002 int aa_configure ( Aardvark aardvark, AardvarkConfig config ); /* * Configure the target power pins. * This is only supported on hardware versions >= 2.00 */ #define AA_TARGET_POWER_NONE 0x00 #define AA_TARGET_POWER_BOTH 0x03 #define AA_TARGET_POWER_QUERY 0x80 int aa_target_power ( Aardvark aardvark, u08 power_mask ); /* * Sleep for the specified number of milliseconds * Accuracy depends on the operating system scheduler * Returns the number of milliseconds slept */ u32 aa_sleep_ms ( u32 milliseconds ); /*========================================================================= | ASYNC MESSAGE POLLING ========================================================================*/ /* * Polling function to check if there are any asynchronous * messages pending for processing. The function takes a timeout * value in units of milliseconds. If the timeout is < 0, the * function will block until data is received. If the timeout is 0, * the function will perform a non-blocking check. */ #define AA_ASYNC_NO_DATA 0x00000000 #define AA_ASYNC_I2C_READ 0x00000001 #define AA_ASYNC_I2C_WRITE 0x00000002 #define AA_ASYNC_SPI 0x00000004 #define AA_ASYNC_I2C_MONITOR 0x00000008 int aa_async_poll ( Aardvark aardvark, int timeout ); /*========================================================================= | I2C API ========================================================================*/ /* Free the I2C bus. */ int aa_i2c_free_bus ( Aardvark aardvark ); /* * Set the I2C bit rate in kilohertz. If a zero is passed as the * bitrate, the bitrate is unchanged and the current bitrate is * returned. */ int aa_i2c_bitrate ( Aardvark aardvark, int bitrate_khz ); /* * Set the bus lock timeout. If a zero is passed as the timeout, * the timeout is unchanged and the current timeout is returned. */ int aa_i2c_bus_timeout ( Aardvark aardvark, u16 timeout_ms ); enum AardvarkI2cFlags { AA_I2C_NO_FLAGS = 0x00, AA_I2C_10_BIT_ADDR = 0x01, AA_I2C_COMBINED_FMT = 0x02, AA_I2C_NO_STOP = 0x04, AA_I2C_SIZED_READ = 0x10, AA_I2C_SIZED_READ_EXTRA1 = 0x20 }; #ifndef __cplusplus typedef enum AardvarkI2cFlags AardvarkI2cFlags; #endif /* Read a stream of bytes from the I2C slave device. */ int aa_i2c_read ( Aardvark aardvark, u16 slave_addr, AardvarkI2cFlags flags, u16 num_bytes, u08 * data_in ); enum AardvarkI2cStatus { AA_I2C_STATUS_OK = 0, AA_I2C_STATUS_BUS_ERROR = 1, AA_I2C_STATUS_SLA_ACK = 2, AA_I2C_STATUS_SLA_NACK = 3, AA_I2C_STATUS_DATA_NACK = 4, AA_I2C_STATUS_ARB_LOST = 5, AA_I2C_STATUS_BUS_LOCKED = 6, AA_I2C_STATUS_LAST_DATA_ACK = 7 }; #ifndef __cplusplus typedef enum AardvarkI2cStatus AardvarkI2cStatus; #endif /* * Read a stream of bytes from the I2C slave device. * This API function returns the number of bytes read into * the num_read variable. The return value of the function * is a status code. */ int aa_i2c_read_ext ( Aardvark aardvark, u16 slave_addr, AardvarkI2cFlags flags, u16 num_bytes, u08 * data_in, u16 * num_read ); /* Write a stream of bytes to the I2C slave device. */ int aa_i2c_write ( Aardvark aardvark, u16 slave_addr, AardvarkI2cFlags flags, u16 num_bytes, const u08 * data_out ); /* * Write a stream of bytes to the I2C slave device. * This API function returns the number of bytes written into * the num_written variable. The return value of the function * is a status code. */ int aa_i2c_write_ext ( Aardvark aardvark, u16 slave_addr, AardvarkI2cFlags flags, u16 num_bytes, const u08 * data_out, u16 * num_written ); /* * Do an atomic write+read to an I2C slave device by first * writing a stream of bytes to the I2C slave device and then * reading a stream of bytes back from the same slave device. * This API function returns the number of bytes written into * the num_written variable and the number of bytes read into * the num_read variable. The return value of the function is * the status given as (read_status << 8) | (write_status). */ int aa_i2c_write_read ( Aardvark aardvark, u16 slave_addr, AardvarkI2cFlags flags, u16 out_num_bytes, const u08 * out_data, u16 * num_written, u16 in_num_bytes, u08 * in_data, u16 * num_read ); /* Enable/Disable the Aardvark as an I2C slave device */ int aa_i2c_slave_enable ( Aardvark aardvark, u08 addr, u16 maxTxBytes, u16 maxRxBytes ); int aa_i2c_slave_disable ( Aardvark aardvark ); /* * Set the slave response in the event the Aardvark is put * into slave mode and contacted by a Master. */ int aa_i2c_slave_set_response ( Aardvark aardvark, u08 num_bytes, const u08 * data_out ); /* * Return number of bytes written from a previous * Aardvark->I2C_master transmission. Since the transmission is * happening asynchronously with respect to the PC host * software, there could be responses queued up from many * previous write transactions. */ int aa_i2c_slave_write_stats ( Aardvark aardvark ); /* Read the bytes from an I2C slave reception */ int aa_i2c_slave_read ( Aardvark aardvark, u08 * addr, u16 num_bytes, u08 * data_in ); /* Extended functions that return status code */ int aa_i2c_slave_write_stats_ext ( Aardvark aardvark, u16 * num_written ); int aa_i2c_slave_read_ext ( Aardvark aardvark, u08 * addr, u16 num_bytes, u08 * data_in, u16 * num_read ); /* * Enable the I2C bus monitor * This disables all other functions on the Aardvark adapter */ int aa_i2c_monitor_enable ( Aardvark aardvark ); /* Disable the I2C bus monitor */ int aa_i2c_monitor_disable ( Aardvark aardvark ); /* Read the data collected by the bus monitor */ #define AA_I2C_MONITOR_DATA 0x00ff #define AA_I2C_MONITOR_NACK 0x0100 #define AA_I2C_MONITOR_CMD_START 0xff00 #define AA_I2C_MONITOR_CMD_STOP 0xff01 int aa_i2c_monitor_read ( Aardvark aardvark, u16 num_bytes, u16 * data ); /* * Configure the I2C pullup resistors. * This is only supported on hardware versions >= 2.00 */ #define AA_I2C_PULLUP_NONE 0x00 #define AA_I2C_PULLUP_BOTH 0x03 #define AA_I2C_PULLUP_QUERY 0x80 int aa_i2c_pullup ( Aardvark aardvark, u08 pullup_mask ); /*========================================================================= | SPI API ========================================================================*/ /* * Set the SPI bit rate in kilohertz. If a zero is passed as the * bitrate, the bitrate is unchanged and the current bitrate is * returned. */ int aa_spi_bitrate ( Aardvark aardvark, int bitrate_khz ); /* * These configuration parameters specify how to clock the * bits that are sent and received on the Aardvark SPI * interface. * * The polarity option specifies which transition * constitutes the leading edge and which transition is the * falling edge. For example, AA_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, AA_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. * * See the diagrams in the Aardvark datasheet for * more details. */ enum AardvarkSpiPolarity { AA_SPI_POL_RISING_FALLING = 0, AA_SPI_POL_FALLING_RISING = 1 }; #ifndef __cplusplus typedef enum AardvarkSpiPolarity AardvarkSpiPolarity; #endif enum AardvarkSpiPhase { AA_SPI_PHASE_SAMPLE_SETUP = 0, AA_SPI_PHASE_SETUP_SAMPLE = 1 }; #ifndef __cplusplus typedef enum AardvarkSpiPhase AardvarkSpiPhase; #endif enum AardvarkSpiBitorder { AA_SPI_BITORDER_MSB = 0, AA_SPI_BITORDER_LSB = 1 }; #ifndef __cplusplus typedef enum AardvarkSpiBitorder AardvarkSpiBitorder; #endif /* Configure the SPI master or slave interface */ int aa_spi_configure ( Aardvark aardvark, AardvarkSpiPolarity polarity, AardvarkSpiPhase phase, AardvarkSpiBitorder bitorder ); /* Write a stream of bytes to the downstream SPI slave device. */ int aa_spi_write ( Aardvark aardvark, u16 out_num_bytes, const u08 * data_out, u16 in_num_bytes, u08 * data_in ); /* Enable/Disable the Aardvark as an SPI slave device */ int aa_spi_slave_enable ( Aardvark aardvark ); int aa_spi_slave_disable ( Aardvark aardvark ); /* * Set the slave response in the event the Aardvark is put * into slave mode and contacted by a Master. */ int aa_spi_slave_set_response ( Aardvark aardvark, u08 num_bytes, const u08 * data_out ); /* Read the bytes from an SPI slave reception */ int aa_spi_slave_read ( Aardvark aardvark, u16 num_bytes, u08 * data_in ); /* * Change the output polarity on the SS line. * * Note: When configured as an SPI slave, the Aardvark will * always be setup with SS as active low. Hence this function * only affects the SPI master functions on the Aardvark. */ enum AardvarkSpiSSPolarity { AA_SPI_SS_ACTIVE_LOW = 0, AA_SPI_SS_ACTIVE_HIGH = 1 }; #ifndef __cplusplus typedef enum AardvarkSpiSSPolarity AardvarkSpiSSPolarity; #endif int aa_spi_master_ss_polarity ( Aardvark aardvark, AardvarkSpiSSPolarity polarity ); /*========================================================================= | GPIO API ========================================================================*/ /* * The following enumerated type maps the named lines on the * Aardvark I2C/SPI line to bit positions in the GPIO API. * All GPIO API functions will index these lines through an * 8-bit masked value. Thus, each bit position in the mask * can be referred back its corresponding line through the * enumerated type. */ enum AardvarkGpioBits { AA_GPIO_SCL = 0x01, AA_GPIO_SDA = 0x02, AA_GPIO_MISO = 0x04, AA_GPIO_SCK = 0x08, AA_GPIO_MOSI = 0x10, AA_GPIO_SS = 0x20 }; #ifndef __cplusplus typedef enum AardvarkGpioBits AardvarkGpioBits; #endif /* * Configure the GPIO, specifying the direction of each bit. * * A call to this function will not change the value of the pullup * mask in the Aardvark. This is illustrated by the following * example: * (1) Direction mask is first set to 0x00 * (2) Pullup is set to 0x01 * (3) Direction mask is set to 0x01 * (4) Direction mask is later set back to 0x00. * * The pullup will be active after (4). * * On Aardvark power-up, the default value of the direction * mask is 0x00. */ #define AA_GPIO_DIR_INPUT 0 #define AA_GPIO_DIR_OUTPUT 1 int aa_gpio_direction ( Aardvark aardvark, u08 direction_mask ); /* * Enable an internal pullup on any of the GPIO input lines. * * Note: If a line is configured as an output, the pullup bit * for that line will be ignored, though that pullup bit will * be cached in case the line is later configured as an input. * * By default the pullup mask is 0x00. */ #define AA_GPIO_PULLUP_OFF 0 #define AA_GPIO_PULLUP_ON 1 int aa_gpio_pullup ( Aardvark aardvark, u08 pullup_mask ); /* * Read the current digital values on the GPIO input lines. * * The bits will be ordered as described by AA_GPIO_BITS. If a * line is configured as an output, its corresponding bit * position in the mask will be undefined. */ int aa_gpio_get ( Aardvark aardvark ); /* * Set the outputs on the GPIO lines. * * Note: If a line is configured as an input, it will not be * affected by this call, but the output value for that line * will be cached in the event that the line is later * configured as an output. */ int aa_gpio_set ( Aardvark aardvark, u08 value ); /* * Block until there is a change on the GPIO input lines. * Pins configured as outputs will be ignored. * * The function will return either when a change has occurred or * the timeout expires. The timeout, specified in millisecods, has * a precision of ~16 ms. The maximum allowable timeout is * approximately 4 seconds. If the timeout expires, this function * will return the current state of the GPIO lines. * * This function will return immediately with the current value * of the GPIO lines for the first invocation after any of the * following functions are called: aa_configure, * aa_gpio_direction, or aa_gpio_pullup. * * If the function aa_gpio_get is called before calling * aa_gpio_change, aa_gpio_change will only register any changes * from the value last returned by aa_gpio_get. */ int aa_gpio_change ( Aardvark aardvark, u16 timeout ); #ifdef __cplusplus } #endif #endif /* __aardvark_h__ */