s626.c revision 197c82bf25b9e379cb5646561be1a727ab9e84a7
1/* 2 comedi/drivers/s626.c 3 Sensoray s626 Comedi driver 4 5 COMEDI - Linux Control and Measurement Device Interface 6 Copyright (C) 2000 David A. Schleef <ds@schleef.org> 7 8 Based on Sensoray Model 626 Linux driver Version 0.2 9 Copyright (C) 2002-2004 Sensoray Co., Inc. 10 11 This program is free software; you can redistribute it and/or modify 12 it under the terms of the GNU General Public License as published by 13 the Free Software Foundation; either version 2 of the License, or 14 (at your option) any later version. 15 16 This program is distributed in the hope that it will be useful, 17 but WITHOUT ANY WARRANTY; without even the implied warranty of 18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 19 GNU General Public License for more details. 20 21 You should have received a copy of the GNU General Public License 22 along with this program; if not, write to the Free Software 23 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 24 25*/ 26 27/* 28Driver: s626 29Description: Sensoray 626 driver 30Devices: [Sensoray] 626 (s626) 31Authors: Gianluca Palli <gpalli@deis.unibo.it>, 32Updated: Fri, 15 Feb 2008 10:28:42 +0000 33Status: experimental 34 35Configuration options: 36 [0] - PCI bus of device (optional) 37 [1] - PCI slot of device (optional) 38 If bus/slot is not specified, the first supported 39 PCI device found will be used. 40 41INSN_CONFIG instructions: 42 analog input: 43 none 44 45 analog output: 46 none 47 48 digital channel: 49 s626 has 3 dio subdevices (2,3 and 4) each with 16 i/o channels 50 supported configuration options: 51 INSN_CONFIG_DIO_QUERY 52 COMEDI_INPUT 53 COMEDI_OUTPUT 54 55 encoder: 56 Every channel must be configured before reading. 57 58 Example code 59 60 insn.insn=INSN_CONFIG; //configuration instruction 61 insn.n=1; //number of operation (must be 1) 62 insn.data=&initialvalue; //initial value loaded into encoder 63 //during configuration 64 insn.subdev=5; //encoder subdevice 65 insn.chanspec=CR_PACK(encoder_channel,0,AREF_OTHER); //encoder_channel 66 //to configure 67 68 comedi_do_insn(cf,&insn); //executing configuration 69*/ 70 71#include <linux/kernel.h> 72#include <linux/types.h> 73 74#include "../comedidev.h" 75 76#include "comedi_pci.h" 77 78#include "comedi_fc.h" 79#include "s626.h" 80 81MODULE_AUTHOR("Gianluca Palli <gpalli@deis.unibo.it>"); 82MODULE_DESCRIPTION("Sensoray 626 Comedi driver module"); 83MODULE_LICENSE("GPL"); 84 85typedef struct s626_board_struct { 86 const char *name; 87 int ai_chans; 88 int ai_bits; 89 int ao_chans; 90 int ao_bits; 91 int dio_chans; 92 int dio_banks; 93 int enc_chans; 94} s626_board; 95 96static const s626_board s626_boards[] = { 97 { 98 name: "s626", 99 ai_chans : S626_ADC_CHANNELS, 100 ai_bits: 14, 101 ao_chans : S626_DAC_CHANNELS, 102 ao_bits: 13, 103 dio_chans : S626_DIO_CHANNELS, 104 dio_banks : S626_DIO_BANKS, 105 enc_chans : S626_ENCODER_CHANNELS, 106 } 107}; 108 109#define thisboard ((const s626_board *)dev->board_ptr) 110#define PCI_VENDOR_ID_S626 0x1131 111#define PCI_DEVICE_ID_S626 0x7146 112 113static DEFINE_PCI_DEVICE_TABLE(s626_pci_table) = { 114 {PCI_VENDOR_ID_S626, PCI_DEVICE_ID_S626, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 115 0}, 116 {0} 117}; 118 119MODULE_DEVICE_TABLE(pci, s626_pci_table); 120 121static int s626_attach(comedi_device *dev, comedi_devconfig *it); 122static int s626_detach(comedi_device *dev); 123 124static comedi_driver driver_s626 = { 125 driver_name:"s626", 126 module : THIS_MODULE, 127 attach : s626_attach, 128 detach : s626_detach, 129}; 130 131typedef struct { 132 struct pci_dev *pdev; 133 void *base_addr; 134 int got_regions; 135 short allocatedBuf; 136 uint8_t ai_cmd_running; /* ai_cmd is running */ 137 uint8_t ai_continous; /* continous aquisition */ 138 int ai_sample_count; /* number of samples to aquire */ 139 unsigned int ai_sample_timer; 140 /* time between samples in units of the timer */ 141 int ai_convert_count; /* conversion counter */ 142 unsigned int ai_convert_timer; 143 /* time between conversion in units of the timer */ 144 uint16_t CounterIntEnabs; 145 /* Counter interrupt enable mask for MISC2 register. */ 146 uint8_t AdcItems; /* Number of items in ADC poll list. */ 147 DMABUF RPSBuf; /* DMA buffer used to hold ADC (RPS1) program. */ 148 DMABUF ANABuf; 149 /* DMA buffer used to receive ADC data and hold DAC data. */ 150 uint32_t *pDacWBuf; 151 /* Pointer to logical adrs of DMA buffer used to hold DAC data. */ 152 uint16_t Dacpol; /* Image of DAC polarity register. */ 153 uint8_t TrimSetpoint[12]; /* Images of TrimDAC setpoints */ 154 uint16_t ChargeEnabled; /* Image of MISC2 Battery */ 155 /* Charge Enabled (0 or WRMISC2_CHARGE_ENABLE). */ 156 uint16_t WDInterval; /* Image of MISC2 watchdog interval control bits. */ 157 uint32_t I2CAdrs; 158 /* I2C device address for onboard EEPROM (board rev dependent). */ 159 /* short I2Cards; */ 160 lsampl_t ao_readback[S626_DAC_CHANNELS]; 161} s626_private; 162 163typedef struct { 164 uint16_t RDDIn; 165 uint16_t WRDOut; 166 uint16_t RDEdgSel; 167 uint16_t WREdgSel; 168 uint16_t RDCapSel; 169 uint16_t WRCapSel; 170 uint16_t RDCapFlg; 171 uint16_t RDIntSel; 172 uint16_t WRIntSel; 173} dio_private; 174 175static dio_private dio_private_A = { 176 RDDIn:LP_RDDINA, 177 WRDOut : LP_WRDOUTA, 178 RDEdgSel : LP_RDEDGSELA, 179 WREdgSel : LP_WREDGSELA, 180 RDCapSel : LP_RDCAPSELA, 181 WRCapSel : LP_WRCAPSELA, 182 RDCapFlg : LP_RDCAPFLGA, 183 RDIntSel : LP_RDINTSELA, 184 WRIntSel : LP_WRINTSELA, 185}; 186 187static dio_private dio_private_B = { 188 RDDIn:LP_RDDINB, 189 WRDOut : LP_WRDOUTB, 190 RDEdgSel : LP_RDEDGSELB, 191 WREdgSel : LP_WREDGSELB, 192 RDCapSel : LP_RDCAPSELB, 193 WRCapSel : LP_WRCAPSELB, 194 RDCapFlg : LP_RDCAPFLGB, 195 RDIntSel : LP_RDINTSELB, 196 WRIntSel : LP_WRINTSELB, 197}; 198 199static dio_private dio_private_C = { 200 RDDIn:LP_RDDINC, 201 WRDOut : LP_WRDOUTC, 202 RDEdgSel : LP_RDEDGSELC, 203 WREdgSel : LP_WREDGSELC, 204 RDCapSel : LP_RDCAPSELC, 205 WRCapSel : LP_WRCAPSELC, 206 RDCapFlg : LP_RDCAPFLGC, 207 RDIntSel : LP_RDINTSELC, 208 WRIntSel : LP_WRINTSELC, 209}; 210 211/* to group dio devices (48 bits mask and data are not allowed ???) 212static dio_private *dio_private_word[]={ 213 &dio_private_A, 214 &dio_private_B, 215 &dio_private_C, 216}; 217*/ 218 219#define devpriv ((s626_private *)dev->private) 220#define diopriv ((dio_private *)s->private) 221 222COMEDI_PCI_INITCLEANUP_NOMODULE(driver_s626, s626_pci_table); 223 224/* ioctl routines */ 225static int s626_ai_insn_config(comedi_device *dev, comedi_subdevice *s, 226 comedi_insn *insn, lsampl_t *data); 227/* static int s626_ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data); */ 228static int s626_ai_insn_read(comedi_device *dev, comedi_subdevice *s, 229 comedi_insn *insn, lsampl_t *data); 230static int s626_ai_cmd(comedi_device *dev, comedi_subdevice *s); 231static int s626_ai_cmdtest(comedi_device *dev, comedi_subdevice *s, 232 comedi_cmd *cmd); 233static int s626_ai_cancel(comedi_device *dev, comedi_subdevice *s); 234static int s626_ao_winsn(comedi_device *dev, comedi_subdevice *s, 235 comedi_insn *insn, lsampl_t *data); 236static int s626_ao_rinsn(comedi_device *dev, comedi_subdevice *s, 237 comedi_insn *insn, lsampl_t *data); 238static int s626_dio_insn_bits(comedi_device *dev, comedi_subdevice *s, 239 comedi_insn *insn, lsampl_t *data); 240static int s626_dio_insn_config(comedi_device *dev, comedi_subdevice *s, 241 comedi_insn *insn, lsampl_t *data); 242static int s626_dio_set_irq(comedi_device *dev, unsigned int chan); 243static int s626_dio_reset_irq(comedi_device *dev, unsigned int gruop, 244 unsigned int mask); 245static int s626_dio_clear_irq(comedi_device *dev); 246static int s626_enc_insn_config(comedi_device *dev, comedi_subdevice *s, 247 comedi_insn *insn, lsampl_t *data); 248static int s626_enc_insn_read(comedi_device *dev, comedi_subdevice *s, 249 comedi_insn *insn, lsampl_t *data); 250static int s626_enc_insn_write(comedi_device *dev, comedi_subdevice *s, 251 comedi_insn *insn, lsampl_t *data); 252static int s626_ns_to_timer(int *nanosec, int round_mode); 253static int s626_ai_load_polllist(uint8_t *ppl, comedi_cmd *cmd); 254static int s626_ai_inttrig(comedi_device *dev, comedi_subdevice *s, 255 unsigned int trignum); 256static irqreturn_t s626_irq_handler(int irq, void *d PT_REGS_ARG); 257static lsampl_t s626_ai_reg_to_uint(int data); 258/* static lsampl_t s626_uint_to_reg(comedi_subdevice *s, int data); */ 259 260/* end ioctl routines */ 261 262/* internal routines */ 263static void s626_dio_init(comedi_device *dev); 264static void ResetADC(comedi_device *dev, uint8_t *ppl); 265static void LoadTrimDACs(comedi_device *dev); 266static void WriteTrimDAC(comedi_device *dev, uint8_t LogicalChan, 267 uint8_t DacData); 268static uint8_t I2Cread(comedi_device *dev, uint8_t addr); 269static uint32_t I2Chandshake(comedi_device *dev, uint32_t val); 270static void SetDAC(comedi_device *dev, uint16_t chan, short dacdata); 271static void SendDAC(comedi_device *dev, uint32_t val); 272static void WriteMISC2(comedi_device *dev, uint16_t NewImage); 273static void DEBItransfer(comedi_device *dev); 274static uint16_t DEBIread(comedi_device *dev, uint16_t addr); 275static void DEBIwrite(comedi_device *dev, uint16_t addr, uint16_t wdata); 276static void DEBIreplace(comedi_device *dev, uint16_t addr, uint16_t mask, 277 uint16_t wdata); 278static void CloseDMAB(comedi_device *dev, DMABUF *pdma, size_t bsize); 279 280/* COUNTER OBJECT ------------------------------------------------ */ 281typedef struct enc_private_struct { 282 /* Pointers to functions that differ for A and B counters: */ 283 uint16_t(*GetEnable) (comedi_device *dev, struct enc_private_struct *); /* Return clock enable. */ 284 uint16_t(*GetIntSrc) (comedi_device *dev, struct enc_private_struct *); /* Return interrupt source. */ 285 uint16_t(*GetLoadTrig) (comedi_device *dev, struct enc_private_struct *); /* Return preload trigger source. */ 286 uint16_t(*GetMode) (comedi_device *dev, struct enc_private_struct *); /* Return standardized operating mode. */ 287 void (*PulseIndex) (comedi_device *dev, struct enc_private_struct *); /* Generate soft index strobe. */ 288 void (*SetEnable) (comedi_device *dev, struct enc_private_struct *, uint16_t enab); /* Program clock enable. */ 289 void (*SetIntSrc) (comedi_device *dev, struct enc_private_struct *, uint16_t IntSource); /* Program interrupt source. */ 290 void (*SetLoadTrig) (comedi_device *dev, struct enc_private_struct *, uint16_t Trig); /* Program preload trigger source. */ 291 void (*SetMode) (comedi_device *dev, struct enc_private_struct *, uint16_t Setup, uint16_t DisableIntSrc); /* Program standardized operating mode. */ 292 void (*ResetCapFlags) (comedi_device *dev, struct enc_private_struct *); /* Reset event capture flags. */ 293 294 uint16_t MyCRA; /* Address of CRA register. */ 295 uint16_t MyCRB; /* Address of CRB register. */ 296 uint16_t MyLatchLsw; /* Address of Latch least-significant-word */ 297 /* register. */ 298 uint16_t MyEventBits[4]; /* Bit translations for IntSrc -->RDMISC2. */ 299} enc_private; /* counter object */ 300 301#define encpriv ((enc_private *)(dev->subdevices+5)->private) 302 303/* counters routines */ 304static void s626_timer_load(comedi_device *dev, enc_private *k, int tick); 305static uint32_t ReadLatch(comedi_device *dev, enc_private *k); 306static void ResetCapFlags_A(comedi_device *dev, enc_private *k); 307static void ResetCapFlags_B(comedi_device *dev, enc_private *k); 308static uint16_t GetMode_A(comedi_device *dev, enc_private *k); 309static uint16_t GetMode_B(comedi_device *dev, enc_private *k); 310static void SetMode_A(comedi_device *dev, enc_private *k, uint16_t Setup, 311 uint16_t DisableIntSrc); 312static void SetMode_B(comedi_device *dev, enc_private *k, uint16_t Setup, 313 uint16_t DisableIntSrc); 314static void SetEnable_A(comedi_device *dev, enc_private *k, uint16_t enab); 315static void SetEnable_B(comedi_device *dev, enc_private *k, uint16_t enab); 316static uint16_t GetEnable_A(comedi_device *dev, enc_private *k); 317static uint16_t GetEnable_B(comedi_device *dev, enc_private *k); 318static void SetLatchSource(comedi_device *dev, enc_private *k, 319 uint16_t value); 320/* static uint16_t GetLatchSource(comedi_device *dev, enc_private *k ); */ 321static void SetLoadTrig_A(comedi_device *dev, enc_private *k, uint16_t Trig); 322static void SetLoadTrig_B(comedi_device *dev, enc_private *k, uint16_t Trig); 323static uint16_t GetLoadTrig_A(comedi_device *dev, enc_private *k); 324static uint16_t GetLoadTrig_B(comedi_device *dev, enc_private *k); 325static void SetIntSrc_B(comedi_device *dev, enc_private *k, 326 uint16_t IntSource); 327static void SetIntSrc_A(comedi_device *dev, enc_private *k, 328 uint16_t IntSource); 329static uint16_t GetIntSrc_A(comedi_device *dev, enc_private *k); 330static uint16_t GetIntSrc_B(comedi_device *dev, enc_private *k); 331/* static void SetClkMult(comedi_device *dev, enc_private *k, uint16_t value ) ; */ 332/* static uint16_t GetClkMult(comedi_device *dev, enc_private *k ) ; */ 333/* static void SetIndexPol(comedi_device *dev, enc_private *k, uint16_t value ); */ 334/* static uint16_t GetClkPol(comedi_device *dev, enc_private *k ) ; */ 335/* static void SetIndexSrc( comedi_device *dev,enc_private *k, uint16_t value ); */ 336/* static uint16_t GetClkSrc( comedi_device *dev,enc_private *k ); */ 337/* static void SetIndexSrc( comedi_device *dev,enc_private *k, uint16_t value ); */ 338/* static uint16_t GetIndexSrc( comedi_device *dev,enc_private *k ); */ 339static void PulseIndex_A(comedi_device *dev, enc_private *k); 340static void PulseIndex_B(comedi_device *dev, enc_private *k); 341static void Preload(comedi_device *dev, enc_private *k, uint32_t value); 342static void CountersInit(comedi_device *dev); 343/* end internal routines */ 344 345/* Counter objects constructor. */ 346 347/* Counter overflow/index event flag masks for RDMISC2. */ 348#define INDXMASK(C) (1 << (((C) > 2) ? ((C) * 2 - 1) : ((C) * 2 + 4))) 349#define OVERMASK(C) (1 << (((C) > 2) ? ((C) * 2 + 5) : ((C) * 2 + 10))) 350#define EVBITS(C) { 0, OVERMASK(C), INDXMASK(C), OVERMASK(C) | INDXMASK(C) } 351 352/* Translation table to map IntSrc into equivalent RDMISC2 event flag bits. */ 353/* static const uint16_t EventBits[][4] = { EVBITS(0), EVBITS(1), EVBITS(2), EVBITS(3), EVBITS(4), EVBITS(5) }; */ 354 355/* enc_private; */ 356static enc_private enc_private_data[] = { 357 { 358 GetEnable:GetEnable_A, 359 GetIntSrc : GetIntSrc_A, 360 GetLoadTrig : GetLoadTrig_A, 361 GetMode: GetMode_A, 362 PulseIndex : PulseIndex_A, 363 SetEnable : SetEnable_A, 364 SetIntSrc : SetIntSrc_A, 365 SetLoadTrig : SetLoadTrig_A, 366 SetMode: SetMode_A, 367 ResetCapFlags : ResetCapFlags_A, 368 MyCRA: LP_CR0A, 369 MyCRB: LP_CR0B, 370 MyLatchLsw : LP_CNTR0ALSW, 371 MyEventBits : EVBITS(0), 372 }, 373 { 374 GetEnable:GetEnable_A, 375 GetIntSrc : GetIntSrc_A, 376 GetLoadTrig : GetLoadTrig_A, 377 GetMode: GetMode_A, 378 PulseIndex : PulseIndex_A, 379 SetEnable : SetEnable_A, 380 SetIntSrc : SetIntSrc_A, 381 SetLoadTrig : SetLoadTrig_A, 382 SetMode: SetMode_A, 383 ResetCapFlags : ResetCapFlags_A, 384 MyCRA: LP_CR1A, 385 MyCRB: LP_CR1B, 386 MyLatchLsw : LP_CNTR1ALSW, 387 MyEventBits : EVBITS(1), 388 }, 389 { 390 GetEnable:GetEnable_A, 391 GetIntSrc : GetIntSrc_A, 392 GetLoadTrig : GetLoadTrig_A, 393 GetMode: GetMode_A, 394 PulseIndex : PulseIndex_A, 395 SetEnable : SetEnable_A, 396 SetIntSrc : SetIntSrc_A, 397 SetLoadTrig : SetLoadTrig_A, 398 SetMode: SetMode_A, 399 ResetCapFlags : ResetCapFlags_A, 400 MyCRA: LP_CR2A, 401 MyCRB: LP_CR2B, 402 MyLatchLsw : LP_CNTR2ALSW, 403 MyEventBits : EVBITS(2), 404 }, 405 { 406 GetEnable:GetEnable_B, 407 GetIntSrc : GetIntSrc_B, 408 GetLoadTrig : GetLoadTrig_B, 409 GetMode: GetMode_B, 410 PulseIndex : PulseIndex_B, 411 SetEnable : SetEnable_B, 412 SetIntSrc : SetIntSrc_B, 413 SetLoadTrig : SetLoadTrig_B, 414 SetMode: SetMode_B, 415 ResetCapFlags : ResetCapFlags_B, 416 MyCRA: LP_CR0A, 417 MyCRB: LP_CR0B, 418 MyLatchLsw : LP_CNTR0BLSW, 419 MyEventBits : EVBITS(3), 420 }, 421 { 422 GetEnable:GetEnable_B, 423 GetIntSrc : GetIntSrc_B, 424 GetLoadTrig : GetLoadTrig_B, 425 GetMode: GetMode_B, 426 PulseIndex : PulseIndex_B, 427 SetEnable : SetEnable_B, 428 SetIntSrc : SetIntSrc_B, 429 SetLoadTrig : SetLoadTrig_B, 430 SetMode: SetMode_B, 431 ResetCapFlags : ResetCapFlags_B, 432 MyCRA: LP_CR1A, 433 MyCRB: LP_CR1B, 434 MyLatchLsw : LP_CNTR1BLSW, 435 MyEventBits : EVBITS(4), 436 }, 437 { 438 GetEnable:GetEnable_B, 439 GetIntSrc : GetIntSrc_B, 440 GetLoadTrig : GetLoadTrig_B, 441 GetMode: GetMode_B, 442 PulseIndex : PulseIndex_B, 443 SetEnable : SetEnable_B, 444 SetIntSrc : SetIntSrc_B, 445 SetLoadTrig : SetLoadTrig_B, 446 SetMode: SetMode_B, 447 ResetCapFlags : ResetCapFlags_B, 448 MyCRA: LP_CR2A, 449 MyCRB: LP_CR2B, 450 MyLatchLsw : LP_CNTR2BLSW, 451 MyEventBits : EVBITS(5), 452 }, 453}; 454 455/* enab/disable a function or test status bit(s) that are accessed */ 456/* through Main Control Registers 1 or 2. */ 457#define MC_ENABLE(REGADRS, CTRLWORD) writel(((uint32_t)(CTRLWORD) << 16) | (uint32_t)(CTRLWORD), devpriv->base_addr+(REGADRS)) 458 459#define MC_DISABLE(REGADRS, CTRLWORD) writel((uint32_t)(CTRLWORD) << 16 , devpriv->base_addr+(REGADRS)) 460 461#define MC_TEST(REGADRS, CTRLWORD) ((readl(devpriv->base_addr+(REGADRS)) & CTRLWORD) != 0) 462 463/* #define WR7146(REGARDS,CTRLWORD) 464 writel(CTRLWORD,(uint32_t)(devpriv->base_addr+(REGARDS))) */ 465#define WR7146(REGARDS, CTRLWORD) writel(CTRLWORD, devpriv->base_addr+(REGARDS)) 466 467/* #define RR7146(REGARDS) 468 readl((uint32_t)(devpriv->base_addr+(REGARDS))) */ 469#define RR7146(REGARDS) readl(devpriv->base_addr+(REGARDS)) 470 471#define BUGFIX_STREG(REGADRS) (REGADRS - 4) 472 473/* Write a time slot control record to TSL2. */ 474#define VECTPORT(VECTNUM) (P_TSL2 + ((VECTNUM) << 2)) 475#define SETVECT(VECTNUM, VECTVAL) WR7146(VECTPORT(VECTNUM), (VECTVAL)) 476 477/* Code macros used for constructing I2C command bytes. */ 478#define I2C_B2(ATTR, VAL) (((ATTR) << 6) | ((VAL) << 24)) 479#define I2C_B1(ATTR, VAL) (((ATTR) << 4) | ((VAL) << 16)) 480#define I2C_B0(ATTR, VAL) (((ATTR) << 2) | ((VAL) << 8)) 481 482static const comedi_lrange s626_range_table = { 2, { 483 RANGE(-5, 5), 484 RANGE(-10, 10), 485 } 486}; 487 488static int s626_attach(comedi_device *dev, comedi_devconfig *it) 489{ 490/* uint8_t PollList; */ 491/* uint16_t AdcData; */ 492/* uint16_t StartVal; */ 493/* uint16_t index; */ 494/* unsigned int data[16]; */ 495 int result; 496 int i; 497 int ret; 498 resource_size_t resourceStart; 499 dma_addr_t appdma; 500 comedi_subdevice *s; 501 struct pci_dev *pdev; 502 503 if (alloc_private(dev, sizeof(s626_private)) < 0) 504 return -ENOMEM; 505 506 for (pdev = pci_get_device(PCI_VENDOR_ID_S626, PCI_DEVICE_ID_S626, 507 NULL); pdev != NULL; 508 pdev = pci_get_device(PCI_VENDOR_ID_S626, 509 PCI_DEVICE_ID_S626, pdev)) { 510 if (it->options[0] || it->options[1]) { 511 if (pdev->bus->number == it->options[0] && 512 PCI_SLOT(pdev->devfn) == it->options[1]) { 513 /* matches requested bus/slot */ 514 break; 515 } 516 } else { 517 /* no bus/slot specified */ 518 break; 519 } 520 } 521 devpriv->pdev = pdev; 522 523 if (pdev == NULL) { 524 printk("s626_attach: Board not present!!!\n"); 525 return -ENODEV; 526 } 527 528 result = comedi_pci_enable(pdev, "s626"); 529 if (result < 0) { 530 printk("s626_attach: comedi_pci_enable fails\n"); 531 return -ENODEV; 532 } 533 devpriv->got_regions = 1; 534 535 resourceStart = pci_resource_start(devpriv->pdev, 0); 536 537 devpriv->base_addr = ioremap(resourceStart, SIZEOF_ADDRESS_SPACE); 538 if (devpriv->base_addr == NULL) { 539 printk("s626_attach: IOREMAP failed\n"); 540 return -ENODEV; 541 } 542 543 if (devpriv->base_addr) { 544 /* disable master interrupt */ 545 writel(0, devpriv->base_addr + P_IER); 546 547 /* soft reset */ 548 writel(MC1_SOFT_RESET, devpriv->base_addr + P_MC1); 549 550 /* DMA FIXME DMA// */ 551 DEBUG("s626_attach: DMA ALLOCATION\n"); 552 553 /* adc buffer allocation */ 554 devpriv->allocatedBuf = 0; 555 556 devpriv->ANABuf.LogicalBase = 557 pci_alloc_consistent(devpriv->pdev, DMABUF_SIZE, &appdma); 558 559 if (devpriv->ANABuf.LogicalBase == NULL) { 560 printk("s626_attach: DMA Memory mapping error\n"); 561 return -ENOMEM; 562 } 563 564 devpriv->ANABuf.PhysicalBase = appdma; 565 566 DEBUG("s626_attach: AllocDMAB ADC Logical=%p, bsize=%d, Physical=0x%x\n", devpriv->ANABuf.LogicalBase, DMABUF_SIZE, (uint32_t) devpriv->ANABuf.PhysicalBase); 567 568 devpriv->allocatedBuf++; 569 570 devpriv->RPSBuf.LogicalBase = 571 pci_alloc_consistent(devpriv->pdev, DMABUF_SIZE, &appdma); 572 573 if (devpriv->RPSBuf.LogicalBase == NULL) { 574 printk("s626_attach: DMA Memory mapping error\n"); 575 return -ENOMEM; 576 } 577 578 devpriv->RPSBuf.PhysicalBase = appdma; 579 580 DEBUG("s626_attach: AllocDMAB RPS Logical=%p, bsize=%d, Physical=0x%x\n", devpriv->RPSBuf.LogicalBase, DMABUF_SIZE, (uint32_t) devpriv->RPSBuf.PhysicalBase); 581 582 devpriv->allocatedBuf++; 583 584 } 585 586 dev->board_ptr = s626_boards; 587 dev->board_name = thisboard->name; 588 589 if (alloc_subdevices(dev, 6) < 0) 590 return -ENOMEM; 591 592 dev->iobase = (unsigned long)devpriv->base_addr; 593 dev->irq = devpriv->pdev->irq; 594 595 /* set up interrupt handler */ 596 if (dev->irq == 0) { 597 printk(" unknown irq (bad)\n"); 598 } else { 599 ret = comedi_request_irq(dev->irq, s626_irq_handler, 600 IRQF_SHARED, "s626", dev); 601 602 if (ret < 0) { 603 printk(" irq not available\n"); 604 dev->irq = 0; 605 } 606 } 607 608 DEBUG("s626_attach: -- it opts %d,%d -- \n", 609 it->options[0], it->options[1]); 610 611 s = dev->subdevices + 0; 612 /* analog input subdevice */ 613 dev->read_subdev = s; 614 /* we support single-ended (ground) and differential */ 615 s->type = COMEDI_SUBD_AI; 616 s->subdev_flags = SDF_READABLE | SDF_DIFF | SDF_CMD_READ; 617 s->n_chan = thisboard->ai_chans; 618 s->maxdata = (0xffff >> 2); 619 s->range_table = &s626_range_table; 620 s->len_chanlist = thisboard->ai_chans; /* This is the maximum chanlist 621 length that the board can 622 handle */ 623 s->insn_config = s626_ai_insn_config; 624 s->insn_read = s626_ai_insn_read; 625 s->do_cmd = s626_ai_cmd; 626 s->do_cmdtest = s626_ai_cmdtest; 627 s->cancel = s626_ai_cancel; 628 629 s = dev->subdevices + 1; 630 /* analog output subdevice */ 631 s->type = COMEDI_SUBD_AO; 632 s->subdev_flags = SDF_WRITABLE | SDF_READABLE; 633 s->n_chan = thisboard->ao_chans; 634 s->maxdata = (0x3fff); 635 s->range_table = &range_bipolar10; 636 s->insn_write = s626_ao_winsn; 637 s->insn_read = s626_ao_rinsn; 638 639 s = dev->subdevices + 2; 640 /* digital I/O subdevice */ 641 s->type = COMEDI_SUBD_DIO; 642 s->subdev_flags = SDF_WRITABLE | SDF_READABLE; 643 s->n_chan = S626_DIO_CHANNELS; 644 s->maxdata = 1; 645 s->io_bits = 0xffff; 646 s->private = &dio_private_A; 647 s->range_table = &range_digital; 648 s->insn_config = s626_dio_insn_config; 649 s->insn_bits = s626_dio_insn_bits; 650 651 s = dev->subdevices + 3; 652 /* digital I/O subdevice */ 653 s->type = COMEDI_SUBD_DIO; 654 s->subdev_flags = SDF_WRITABLE | SDF_READABLE; 655 s->n_chan = 16; 656 s->maxdata = 1; 657 s->io_bits = 0xffff; 658 s->private = &dio_private_B; 659 s->range_table = &range_digital; 660 s->insn_config = s626_dio_insn_config; 661 s->insn_bits = s626_dio_insn_bits; 662 663 s = dev->subdevices + 4; 664 /* digital I/O subdevice */ 665 s->type = COMEDI_SUBD_DIO; 666 s->subdev_flags = SDF_WRITABLE | SDF_READABLE; 667 s->n_chan = 16; 668 s->maxdata = 1; 669 s->io_bits = 0xffff; 670 s->private = &dio_private_C; 671 s->range_table = &range_digital; 672 s->insn_config = s626_dio_insn_config; 673 s->insn_bits = s626_dio_insn_bits; 674 675 s = dev->subdevices + 5; 676 /* encoder (counter) subdevice */ 677 s->type = COMEDI_SUBD_COUNTER; 678 s->subdev_flags = SDF_WRITABLE | SDF_READABLE | SDF_LSAMPL; 679 s->n_chan = thisboard->enc_chans; 680 s->private = enc_private_data; 681 s->insn_config = s626_enc_insn_config; 682 s->insn_read = s626_enc_insn_read; 683 s->insn_write = s626_enc_insn_write; 684 s->maxdata = 0xffffff; 685 s->range_table = &range_unknown; 686 687 /* stop ai_command */ 688 devpriv->ai_cmd_running = 0; 689 690 if (devpriv->base_addr && (devpriv->allocatedBuf == 2)) { 691 dma_addr_t pPhysBuf; 692 uint16_t chan; 693 694 /* enab DEBI and audio pins, enable I2C interface. */ 695 MC_ENABLE(P_MC1, MC1_DEBI | MC1_AUDIO | MC1_I2C); 696 /* Configure DEBI operating mode. */ 697 WR7146(P_DEBICFG, DEBI_CFG_SLAVE16 /* Local bus is 16 */ 698 /* bits wide. */ 699 | (DEBI_TOUT << DEBI_CFG_TOUT_BIT) /* Declare DEBI */ 700 /* transfer timeout */ 701 /* interval. */ 702 | DEBI_SWAP /* Set up byte lane */ 703 /* steering. */ 704 | DEBI_CFG_INTEL); /* Intel-compatible */ 705 /* local bus (DEBI */ 706 /* never times out). */ 707 DEBUG("s626_attach: %d debi init -- %d\n", 708 DEBI_CFG_SLAVE16 | (DEBI_TOUT << DEBI_CFG_TOUT_BIT) | 709 DEBI_SWAP | DEBI_CFG_INTEL, 710 DEBI_CFG_INTEL | DEBI_CFG_TOQ | DEBI_CFG_INCQ | 711 DEBI_CFG_16Q); 712 713 /* DEBI INIT S626 WR7146( P_DEBICFG, DEBI_CFG_INTEL | DEBI_CFG_TOQ */ 714 /* | DEBI_CFG_INCQ| DEBI_CFG_16Q); //end */ 715 716 /* Paging is disabled. */ 717 WR7146(P_DEBIPAGE, DEBI_PAGE_DISABLE); /* Disable MMU paging. */ 718 719 /* Init GPIO so that ADC Start* is negated. */ 720 WR7146(P_GPIO, GPIO_BASE | GPIO1_HI); 721 722 /* IsBoardRevA is a boolean that indicates whether the board is RevA. 723 * 724 * VERSION 2.01 CHANGE: REV A & B BOARDS NOW SUPPORTED BY DYNAMIC 725 * EEPROM ADDRESS SELECTION. Initialize the I2C interface, which 726 * is used to access the onboard serial EEPROM. The EEPROM's I2C 727 * DeviceAddress is hardwired to a value that is dependent on the 728 * 626 board revision. On all board revisions, the EEPROM stores 729 * TrimDAC calibration constants for analog I/O. On RevB and 730 * higher boards, the DeviceAddress is hardwired to 0 to enable 731 * the EEPROM to also store the PCI SubVendorID and SubDeviceID; 732 * this is the address at which the SAA7146 expects a 733 * configuration EEPROM to reside. On RevA boards, the EEPROM 734 * device address, which is hardwired to 4, prevents the SAA7146 735 * from retrieving PCI sub-IDs, so the SAA7146 uses its built-in 736 * default values, instead. 737 */ 738 739 /* devpriv->I2Cards= IsBoardRevA ? 0xA8 : 0xA0; // Set I2C EEPROM */ 740 /* DeviceType (0xA0) */ 741 /* and DeviceAddress<<1. */ 742 743 devpriv->I2CAdrs = 0xA0; /* I2C device address for onboard */ 744 /* eeprom(revb) */ 745 746 /* Issue an I2C ABORT command to halt any I2C operation in */ 747 /* progress and reset BUSY flag. */ 748 WR7146(P_I2CSTAT, I2C_CLKSEL | I2C_ABORT); 749 /* Write I2C control: abort any I2C activity. */ 750 MC_ENABLE(P_MC2, MC2_UPLD_IIC); 751 /* Invoke command upload */ 752 while ((RR7146(P_MC2) & MC2_UPLD_IIC) == 0); 753 /* and wait for upload to complete. */ 754 755 /* Per SAA7146 data sheet, write to STATUS reg twice to 756 * reset all I2C error flags. */ 757 for (i = 0; i < 2; i++) { 758 WR7146(P_I2CSTAT, I2C_CLKSEL); 759 /* Write I2C control: reset error flags. */ 760 MC_ENABLE(P_MC2, MC2_UPLD_IIC); /* Invoke command upload */ 761 while (!MC_TEST(P_MC2, MC2_UPLD_IIC)); 762 /* and wait for upload to complete. */ 763 } 764 765 /* Init audio interface functional attributes: set DAC/ADC 766 * serial clock rates, invert DAC serial clock so that 767 * DAC data setup times are satisfied, enable DAC serial 768 * clock out. 769 */ 770 771 WR7146(P_ACON2, ACON2_INIT); 772 773 /* Set up TSL1 slot list, which is used to control the 774 * accumulation of ADC data: RSD1 = shift data in on SD1. 775 * SIB_A1 = store data uint8_t at next available location in 776 * FB BUFFER1 register. */ 777 WR7146(P_TSL1, RSD1 | SIB_A1); 778 /* Fetch ADC high data uint8_t. */ 779 WR7146(P_TSL1 + 4, RSD1 | SIB_A1 | EOS); 780 /* Fetch ADC low data uint8_t; end of TSL1. */ 781 782 /* enab TSL1 slot list so that it executes all the time. */ 783 WR7146(P_ACON1, ACON1_ADCSTART); 784 785 /* Initialize RPS registers used for ADC. */ 786 787 /* Physical start of RPS program. */ 788 WR7146(P_RPSADDR1, (uint32_t) devpriv->RPSBuf.PhysicalBase); 789 790 WR7146(P_RPSPAGE1, 0); 791 /* RPS program performs no explicit mem writes. */ 792 WR7146(P_RPS1_TOUT, 0); /* Disable RPS timeouts. */ 793 794 /* SAA7146 BUG WORKAROUND. Initialize SAA7146 ADC interface 795 * to a known state by invoking ADCs until FB BUFFER 1 796 * register shows that it is correctly receiving ADC data. 797 * This is necessary because the SAA7146 ADC interface does 798 * not start up in a defined state after a PCI reset. 799 */ 800 801/* PollList = EOPL; // Create a simple polling */ 802/* // list for analog input */ 803/* // channel 0. */ 804/* ResetADC( dev, &PollList ); */ 805 806/* s626_ai_rinsn(dev,dev->subdevices,NULL,data); //( &AdcData ); // */ 807/* //Get initial ADC */ 808/* //value. */ 809 810/* StartVal = data[0]; */ 811 812/* // VERSION 2.01 CHANGE: TIMEOUT ADDED TO PREVENT HANGED EXECUTION. */ 813/* // Invoke ADCs until the new ADC value differs from the initial */ 814/* // value or a timeout occurs. The timeout protects against the */ 815/* // possibility that the driver is restarting and the ADC data is a */ 816/* // fixed value resulting from the applied ADC analog input being */ 817/* // unusually quiet or at the rail. */ 818 819/* for ( index = 0; index < 500; index++ ) */ 820/* { */ 821/* s626_ai_rinsn(dev,dev->subdevices,NULL,data); */ 822/* AdcData = data[0]; //ReadADC( &AdcData ); */ 823/* if ( AdcData != StartVal ) */ 824/* break; */ 825/* } */ 826 827 /* end initADC */ 828 829 /* init the DAC interface */ 830 831 /* Init Audio2's output DMAC attributes: burst length = 1 832 * DWORD, threshold = 1 DWORD. 833 */ 834 WR7146(P_PCI_BT_A, 0); 835 836 /* Init Audio2's output DMA physical addresses. The protection 837 * address is set to 1 DWORD past the base address so that a 838 * single DWORD will be transferred each time a DMA transfer is 839 * enabled. */ 840 841 pPhysBuf = 842 devpriv->ANABuf.PhysicalBase + 843 (DAC_WDMABUF_OS * sizeof(uint32_t)); 844 845 WR7146(P_BASEA2_OUT, (uint32_t) pPhysBuf); /* Buffer base adrs. */ 846 WR7146(P_PROTA2_OUT, (uint32_t) (pPhysBuf + sizeof(uint32_t))); /* Protection address. */ 847 848 /* Cache Audio2's output DMA buffer logical address. This is 849 * where DAC data is buffered for A2 output DMA transfers. */ 850 devpriv->pDacWBuf = 851 (uint32_t *) devpriv->ANABuf.LogicalBase + 852 DAC_WDMABUF_OS; 853 854 /* Audio2's output channels does not use paging. The protection 855 * violation handling bit is set so that the DMAC will 856 * automatically halt and its PCI address pointer will be reset 857 * when the protection address is reached. */ 858 859 WR7146(P_PAGEA2_OUT, 8); 860 861 /* Initialize time slot list 2 (TSL2), which is used to control 862 * the clock generation for and serialization of data to be sent 863 * to the DAC devices. Slot 0 is a NOP that is used to trap TSL 864 * execution; this permits other slots to be safely modified 865 * without first turning off the TSL sequencer (which is 866 * apparently impossible to do). Also, SD3 (which is driven by a 867 * pull-up resistor) is shifted in and stored to the MSB of 868 * FB_BUFFER2 to be used as evidence that the slot sequence has 869 * not yet finished executing. 870 */ 871 872 SETVECT(0, XSD2 | RSD3 | SIB_A2 | EOS); 873 /* Slot 0: Trap TSL execution, shift 0xFF into FB_BUFFER2. */ 874 875 /* Initialize slot 1, which is constant. Slot 1 causes a 876 * DWORD to be transferred from audio channel 2's output FIFO 877 * to the FIFO's output buffer so that it can be serialized 878 * and sent to the DAC during subsequent slots. All remaining 879 * slots are dynamically populated as required by the target 880 * DAC device. 881 */ 882 SETVECT(1, LF_A2); 883 /* Slot 1: Fetch DWORD from Audio2's output FIFO. */ 884 885 /* Start DAC's audio interface (TSL2) running. */ 886 WR7146(P_ACON1, ACON1_DACSTART); 887 888 /* end init DAC interface */ 889 890 /* Init Trim DACs to calibrated values. Do it twice because the 891 * SAA7146 audio channel does not always reset properly and 892 * sometimes causes the first few TrimDAC writes to malfunction. 893 */ 894 895 LoadTrimDACs(dev); 896 LoadTrimDACs(dev); /* Insurance. */ 897 898 /* Manually init all gate array hardware in case this is a soft 899 * reset (we have no way of determining whether this is a warm 900 * or cold start). This is necessary because the gate array will 901 * reset only in response to a PCI hard reset; there is no soft 902 * reset function. */ 903 904 /* Init all DAC outputs to 0V and init all DAC setpoint and 905 * polarity images. 906 */ 907 for (chan = 0; chan < S626_DAC_CHANNELS; chan++) 908 SetDAC(dev, chan, 0); 909 910 /* Init image of WRMISC2 Battery Charger Enabled control bit. 911 * This image is used when the state of the charger control bit, 912 * which has no direct hardware readback mechanism, is queried. 913 */ 914 devpriv->ChargeEnabled = 0; 915 916 /* Init image of watchdog timer interval in WRMISC2. This image 917 * maintains the value of the control bits of MISC2 are 918 * continuously reset to zero as long as the WD timer is disabled. 919 */ 920 devpriv->WDInterval = 0; 921 922 /* Init Counter Interrupt enab mask for RDMISC2. This mask is 923 * applied against MISC2 when testing to determine which timer 924 * events are requesting interrupt service. 925 */ 926 devpriv->CounterIntEnabs = 0; 927 928 /* Init counters. */ 929 CountersInit(dev); 930 931 /* Without modifying the state of the Battery Backup enab, disable 932 * the watchdog timer, set DIO channels 0-5 to operate in the 933 * standard DIO (vs. counter overflow) mode, disable the battery 934 * charger, and reset the watchdog interval selector to zero. 935 */ 936 WriteMISC2(dev, (uint16_t) (DEBIread(dev, 937 LP_RDMISC2) & MISC2_BATT_ENABLE)); 938 939 /* Initialize the digital I/O subsystem. */ 940 s626_dio_init(dev); 941 942 /* enable interrupt test */ 943 /* writel(IRQ_GPIO3 | IRQ_RPS1,devpriv->base_addr+P_IER); */ 944 } 945 946 DEBUG("s626_attach: comedi%d s626 attached %04x\n", dev->minor, 947 (uint32_t) devpriv->base_addr); 948 949 return 1; 950} 951 952static lsampl_t s626_ai_reg_to_uint(int data) 953{ 954 lsampl_t tempdata; 955 956 tempdata = (data >> 18); 957 if (tempdata & 0x2000) 958 tempdata &= 0x1fff; 959 else 960 tempdata += (1 << 13); 961 962 return tempdata; 963} 964 965/* static lsampl_t s626_uint_to_reg(comedi_subdevice *s, int data){ */ 966/* return 0; */ 967/* } */ 968 969static irqreturn_t s626_irq_handler(int irq, void *d PT_REGS_ARG) 970{ 971 comedi_device *dev = d; 972 comedi_subdevice *s; 973 comedi_cmd *cmd; 974 enc_private *k; 975 unsigned long flags; 976 int32_t *readaddr; 977 uint32_t irqtype, irqstatus; 978 int i = 0; 979 sampl_t tempdata; 980 uint8_t group; 981 uint16_t irqbit; 982 983 DEBUG("s626_irq_handler: interrupt request recieved!!!\n"); 984 985 if (dev->attached == 0) 986 return IRQ_NONE; 987 /* lock to avoid race with comedi_poll */ 988 comedi_spin_lock_irqsave(&dev->spinlock, flags); 989 990 /* save interrupt enable register state */ 991 irqstatus = readl(devpriv->base_addr + P_IER); 992 993 /* read interrupt type */ 994 irqtype = readl(devpriv->base_addr + P_ISR); 995 996 /* disable master interrupt */ 997 writel(0, devpriv->base_addr + P_IER); 998 999 /* clear interrupt */ 1000 writel(irqtype, devpriv->base_addr + P_ISR); 1001 1002 /* do somethings */ 1003 DEBUG("s626_irq_handler: interrupt type %d\n", irqtype); 1004 1005 switch (irqtype) { 1006 case IRQ_RPS1: /* end_of_scan occurs */ 1007 1008 DEBUG("s626_irq_handler: RPS1 irq detected\n"); 1009 1010 /* manage ai subdevice */ 1011 s = dev->subdevices; 1012 cmd = &(s->async->cmd); 1013 1014 /* Init ptr to DMA buffer that holds new ADC data. We skip the 1015 * first uint16_t in the buffer because it contains junk data from 1016 * the final ADC of the previous poll list scan. 1017 */ 1018 readaddr = (int32_t *) devpriv->ANABuf.LogicalBase + 1; 1019 1020 /* get the data and hand it over to comedi */ 1021 for (i = 0; i < (s->async->cmd.chanlist_len); i++) { 1022 /* Convert ADC data to 16-bit integer values and copy to application */ 1023 /* buffer. */ 1024 tempdata = s626_ai_reg_to_uint((int)*readaddr); 1025 readaddr++; 1026 1027 /* put data into read buffer */ 1028 /* comedi_buf_put(s->async, tempdata); */ 1029 if (cfc_write_to_buffer(s, tempdata) == 0) 1030 printk("s626_irq_handler: cfc_write_to_buffer error!\n"); 1031 1032 DEBUG("s626_irq_handler: ai channel %d acquired: %d\n", 1033 i, tempdata); 1034 } 1035 1036 /* end of scan occurs */ 1037 s->async->events |= COMEDI_CB_EOS; 1038 1039 if (!(devpriv->ai_continous)) 1040 devpriv->ai_sample_count--; 1041 if (devpriv->ai_sample_count <= 0) { 1042 devpriv->ai_cmd_running = 0; 1043 1044 /* Stop RPS program. */ 1045 MC_DISABLE(P_MC1, MC1_ERPS1); 1046 1047 /* send end of acquisition */ 1048 s->async->events |= COMEDI_CB_EOA; 1049 1050 /* disable master interrupt */ 1051 irqstatus = 0; 1052 } 1053 1054 if (devpriv->ai_cmd_running && cmd->scan_begin_src == TRIG_EXT) { 1055 DEBUG("s626_irq_handler: enable interrupt on dio channel %d\n", cmd->scan_begin_arg); 1056 1057 s626_dio_set_irq(dev, cmd->scan_begin_arg); 1058 1059 DEBUG("s626_irq_handler: External trigger is set!!!\n"); 1060 } 1061 /* tell comedi that data is there */ 1062 DEBUG("s626_irq_handler: events %d\n", s->async->events); 1063 comedi_event(dev, s); 1064 break; 1065 case IRQ_GPIO3: /* check dio and conter interrupt */ 1066 1067 DEBUG("s626_irq_handler: GPIO3 irq detected\n"); 1068 1069 /* manage ai subdevice */ 1070 s = dev->subdevices; 1071 cmd = &(s->async->cmd); 1072 1073 /* s626_dio_clear_irq(dev); */ 1074 1075 for (group = 0; group < S626_DIO_BANKS; group++) { 1076 irqbit = 0; 1077 /* read interrupt type */ 1078 irqbit = DEBIread(dev, 1079 ((dio_private *) (dev->subdevices + 2 + 1080 group)->private)->RDCapFlg); 1081 1082 /* check if interrupt is generated from dio channels */ 1083 if (irqbit) { 1084 s626_dio_reset_irq(dev, group, irqbit); 1085 DEBUG("s626_irq_handler: check interrupt on dio group %d %d\n", group, i); 1086 if (devpriv->ai_cmd_running) { 1087 /* check if interrupt is an ai acquisition start trigger */ 1088 if ((irqbit >> (cmd->start_arg - 1089 (16 * group))) 1090 == 1 1091 && cmd->start_src == TRIG_EXT) { 1092 DEBUG("s626_irq_handler: Edge capture interrupt recieved from channel %d\n", cmd->start_arg); 1093 1094 /* Start executing the RPS program. */ 1095 MC_ENABLE(P_MC1, MC1_ERPS1); 1096 1097 DEBUG("s626_irq_handler: aquisition start triggered!!!\n"); 1098 1099 if (cmd->scan_begin_src == 1100 TRIG_EXT) { 1101 DEBUG("s626_ai_cmd: enable interrupt on dio channel %d\n", cmd->scan_begin_arg); 1102 1103 s626_dio_set_irq(dev, 1104 cmd-> 1105 scan_begin_arg); 1106 1107 DEBUG("s626_irq_handler: External scan trigger is set!!!\n"); 1108 } 1109 } 1110 if ((irqbit >> (cmd->scan_begin_arg - 1111 (16 * group))) 1112 == 1 1113 && cmd->scan_begin_src == 1114 TRIG_EXT) { 1115 DEBUG("s626_irq_handler: Edge capture interrupt recieved from channel %d\n", cmd->scan_begin_arg); 1116 1117 /* Trigger ADC scan loop start by setting RPS Signal 0. */ 1118 MC_ENABLE(P_MC2, MC2_ADC_RPS); 1119 1120 DEBUG("s626_irq_handler: scan triggered!!! %d\n", devpriv->ai_sample_count); 1121 if (cmd->convert_src == 1122 TRIG_EXT) { 1123 1124 DEBUG("s626_ai_cmd: enable interrupt on dio channel %d group %d\n", cmd->convert_arg - (16 * group), group); 1125 1126 devpriv-> 1127 ai_convert_count 1128 = 1129 cmd-> 1130 chanlist_len; 1131 1132 s626_dio_set_irq(dev, 1133 cmd-> 1134 convert_arg); 1135 1136 DEBUG("s626_irq_handler: External convert trigger is set!!!\n"); 1137 } 1138 1139 if (cmd->convert_src == 1140 TRIG_TIMER) { 1141 k = &encpriv[5]; 1142 devpriv-> 1143 ai_convert_count 1144 = 1145 cmd-> 1146 chanlist_len; 1147 k->SetEnable(dev, k, 1148 CLKENAB_ALWAYS); 1149 } 1150 } 1151 if ((irqbit >> (cmd->convert_arg - 1152 (16 * group))) 1153 == 1 1154 && cmd->convert_src == 1155 TRIG_EXT) { 1156 DEBUG("s626_irq_handler: Edge capture interrupt recieved from channel %d\n", cmd->convert_arg); 1157 1158 /* Trigger ADC scan loop start by setting RPS Signal 0. */ 1159 MC_ENABLE(P_MC2, MC2_ADC_RPS); 1160 1161 DEBUG("s626_irq_handler: adc convert triggered!!!\n"); 1162 1163 devpriv->ai_convert_count--; 1164 1165 if (devpriv->ai_convert_count > 1166 0) { 1167 1168 DEBUG("s626_ai_cmd: enable interrupt on dio channel %d group %d\n", cmd->convert_arg - (16 * group), group); 1169 1170 s626_dio_set_irq(dev, 1171 cmd-> 1172 convert_arg); 1173 1174 DEBUG("s626_irq_handler: External trigger is set!!!\n"); 1175 } 1176 } 1177 } 1178 break; 1179 } 1180 } 1181 1182 /* read interrupt type */ 1183 irqbit = DEBIread(dev, LP_RDMISC2); 1184 1185 /* check interrupt on counters */ 1186 DEBUG("s626_irq_handler: check counters interrupt %d\n", 1187 irqbit); 1188 1189 if (irqbit & IRQ_COINT1A) { 1190 DEBUG("s626_irq_handler: interrupt on counter 1A overflow\n"); 1191 k = &encpriv[0]; 1192 1193 /* clear interrupt capture flag */ 1194 k->ResetCapFlags(dev, k); 1195 } 1196 if (irqbit & IRQ_COINT2A) { 1197 DEBUG("s626_irq_handler: interrupt on counter 2A overflow\n"); 1198 k = &encpriv[1]; 1199 1200 /* clear interrupt capture flag */ 1201 k->ResetCapFlags(dev, k); 1202 } 1203 if (irqbit & IRQ_COINT3A) { 1204 DEBUG("s626_irq_handler: interrupt on counter 3A overflow\n"); 1205 k = &encpriv[2]; 1206 1207 /* clear interrupt capture flag */ 1208 k->ResetCapFlags(dev, k); 1209 } 1210 if (irqbit & IRQ_COINT1B) { 1211 DEBUG("s626_irq_handler: interrupt on counter 1B overflow\n"); 1212 k = &encpriv[3]; 1213 1214 /* clear interrupt capture flag */ 1215 k->ResetCapFlags(dev, k); 1216 } 1217 if (irqbit & IRQ_COINT2B) { 1218 DEBUG("s626_irq_handler: interrupt on counter 2B overflow\n"); 1219 k = &encpriv[4]; 1220 1221 /* clear interrupt capture flag */ 1222 k->ResetCapFlags(dev, k); 1223 1224 if (devpriv->ai_convert_count > 0) { 1225 devpriv->ai_convert_count--; 1226 if (devpriv->ai_convert_count == 0) 1227 k->SetEnable(dev, k, CLKENAB_INDEX); 1228 1229 if (cmd->convert_src == TRIG_TIMER) { 1230 DEBUG("s626_irq_handler: conver timer trigger!!! %d\n", devpriv->ai_convert_count); 1231 1232 /* Trigger ADC scan loop start by setting RPS Signal 0. */ 1233 MC_ENABLE(P_MC2, MC2_ADC_RPS); 1234 } 1235 } 1236 } 1237 if (irqbit & IRQ_COINT3B) { 1238 DEBUG("s626_irq_handler: interrupt on counter 3B overflow\n"); 1239 k = &encpriv[5]; 1240 1241 /* clear interrupt capture flag */ 1242 k->ResetCapFlags(dev, k); 1243 1244 if (cmd->scan_begin_src == TRIG_TIMER) { 1245 DEBUG("s626_irq_handler: scan timer trigger!!!\n"); 1246 1247 /* Trigger ADC scan loop start by setting RPS Signal 0. */ 1248 MC_ENABLE(P_MC2, MC2_ADC_RPS); 1249 } 1250 1251 if (cmd->convert_src == TRIG_TIMER) { 1252 DEBUG("s626_irq_handler: convert timer trigger is set\n"); 1253 k = &encpriv[4]; 1254 devpriv->ai_convert_count = cmd->chanlist_len; 1255 k->SetEnable(dev, k, CLKENAB_ALWAYS); 1256 } 1257 } 1258 } 1259 1260 /* enable interrupt */ 1261 writel(irqstatus, devpriv->base_addr + P_IER); 1262 1263 DEBUG("s626_irq_handler: exit interrupt service routine.\n"); 1264 1265 comedi_spin_unlock_irqrestore(&dev->spinlock, flags); 1266 return IRQ_HANDLED; 1267} 1268 1269static int s626_detach(comedi_device *dev) 1270{ 1271 if (devpriv) { 1272 /* stop ai_command */ 1273 devpriv->ai_cmd_running = 0; 1274 1275 if (devpriv->base_addr) { 1276 /* interrupt mask */ 1277 WR7146(P_IER, 0); /* Disable master interrupt. */ 1278 WR7146(P_ISR, IRQ_GPIO3 | IRQ_RPS1); /* Clear board's IRQ status flag. */ 1279 1280 /* Disable the watchdog timer and battery charger. */ 1281 WriteMISC2(dev, 0); 1282 1283 /* Close all interfaces on 7146 device. */ 1284 WR7146(P_MC1, MC1_SHUTDOWN); 1285 WR7146(P_ACON1, ACON1_BASE); 1286 1287 CloseDMAB(dev, &devpriv->RPSBuf, DMABUF_SIZE); 1288 CloseDMAB(dev, &devpriv->ANABuf, DMABUF_SIZE); 1289 } 1290 1291 if (dev->irq) { 1292 comedi_free_irq(dev->irq, dev); 1293 } 1294 1295 if (devpriv->base_addr) { 1296 iounmap(devpriv->base_addr); 1297 } 1298 1299 if (devpriv->pdev) { 1300 if (devpriv->got_regions) { 1301 comedi_pci_disable(devpriv->pdev); 1302 } 1303 pci_dev_put(devpriv->pdev); 1304 } 1305 } 1306 1307 DEBUG("s626_detach: S626 detached!\n"); 1308 1309 return 0; 1310} 1311 1312/* 1313 * this functions build the RPS program for hardware driven acquistion 1314 */ 1315void ResetADC(comedi_device *dev, uint8_t *ppl) 1316{ 1317 register uint32_t *pRPS; 1318 uint32_t JmpAdrs; 1319 uint16_t i; 1320 uint16_t n; 1321 uint32_t LocalPPL; 1322 comedi_cmd *cmd = &(dev->subdevices->async->cmd); 1323 1324 /* Stop RPS program in case it is currently running. */ 1325 MC_DISABLE(P_MC1, MC1_ERPS1); 1326 1327 /* Set starting logical address to write RPS commands. */ 1328 pRPS = (uint32_t *) devpriv->RPSBuf.LogicalBase; 1329 1330 /* Initialize RPS instruction pointer. */ 1331 WR7146(P_RPSADDR1, (uint32_t) devpriv->RPSBuf.PhysicalBase); 1332 1333 /* Construct RPS program in RPSBuf DMA buffer */ 1334 1335 if (cmd != NULL && cmd->scan_begin_src != TRIG_FOLLOW) { 1336 DEBUG("ResetADC: scan_begin pause inserted\n"); 1337 /* Wait for Start trigger. */ 1338 *pRPS++ = RPS_PAUSE | RPS_SIGADC; 1339 *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC; 1340 } 1341 1342 /* SAA7146 BUG WORKAROUND Do a dummy DEBI Write. This is necessary 1343 * because the first RPS DEBI Write following a non-RPS DEBI write 1344 * seems to always fail. If we don't do this dummy write, the ADC 1345 * gain might not be set to the value required for the first slot in 1346 * the poll list; the ADC gain would instead remain unchanged from 1347 * the previously programmed value. 1348 */ 1349 *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2); 1350 /* Write DEBI Write command and address to shadow RAM. */ 1351 1352 *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL; 1353 *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2); 1354 /* Write DEBI immediate data to shadow RAM: */ 1355 1356 *pRPS++ = GSEL_BIPOLAR5V; 1357 /* arbitrary immediate data value. */ 1358 1359 *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI; 1360 /* Reset "shadow RAM uploaded" flag. */ 1361 *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */ 1362 *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to finish. */ 1363 1364 /* Digitize all slots in the poll list. This is implemented as a 1365 * for loop to limit the slot count to 16 in case the application 1366 * forgot to set the EOPL flag in the final slot. 1367 */ 1368 for (devpriv->AdcItems = 0; devpriv->AdcItems < 16; devpriv->AdcItems++) { 1369 /* Convert application's poll list item to private board class 1370 * format. Each app poll list item is an uint8_t with form 1371 * (EOPL,x,x,RANGE,CHAN<3:0>), where RANGE code indicates 0 = 1372 * +-10V, 1 = +-5V, and EOPL = End of Poll List marker. 1373 */ 1374 LocalPPL = 1375 (*ppl << 8) | (*ppl & 0x10 ? GSEL_BIPOLAR5V : 1376 GSEL_BIPOLAR10V); 1377 1378 /* Switch ADC analog gain. */ 1379 *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2); /* Write DEBI command */ 1380 /* and address to */ 1381 /* shadow RAM. */ 1382 *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL; 1383 *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2); /* Write DEBI */ 1384 /* immediate data to */ 1385 /* shadow RAM. */ 1386 *pRPS++ = LocalPPL; 1387 *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI; /* Reset "shadow RAM uploaded" */ 1388 /* flag. */ 1389 *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */ 1390 *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to */ 1391 /* finish. */ 1392 1393 /* Select ADC analog input channel. */ 1394 *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2); 1395 /* Write DEBI command and address to shadow RAM. */ 1396 *pRPS++ = DEBI_CMD_WRWORD | LP_ISEL; 1397 *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2); 1398 /* Write DEBI immediate data to shadow RAM. */ 1399 *pRPS++ = LocalPPL; 1400 *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI; 1401 /* Reset "shadow RAM uploaded" flag. */ 1402 1403 *pRPS++ = RPS_UPLOAD | RPS_DEBI; 1404 /* Invoke shadow RAM upload. */ 1405 1406 *pRPS++ = RPS_PAUSE | RPS_DEBI; 1407 /* Wait for shadow upload to finish. */ 1408 1409 /* Delay at least 10 microseconds for analog input settling. 1410 * Instead of padding with NOPs, we use RPS_JUMP instructions 1411 * here; this allows us to produce a longer delay than is 1412 * possible with NOPs because each RPS_JUMP flushes the RPS' 1413 * instruction prefetch pipeline. 1414 */ 1415 JmpAdrs = 1416 (uint32_t) devpriv->RPSBuf.PhysicalBase + 1417 (uint32_t) ((unsigned long)pRPS - 1418 (unsigned long)devpriv->RPSBuf.LogicalBase); 1419 for (i = 0; i < (10 * RPSCLK_PER_US / 2); i++) { 1420 JmpAdrs += 8; /* Repeat to implement time delay: */ 1421 *pRPS++ = RPS_JUMP; /* Jump to next RPS instruction. */ 1422 *pRPS++ = JmpAdrs; 1423 } 1424 1425 if (cmd != NULL && cmd->convert_src != TRIG_NOW) { 1426 DEBUG("ResetADC: convert pause inserted\n"); 1427 /* Wait for Start trigger. */ 1428 *pRPS++ = RPS_PAUSE | RPS_SIGADC; 1429 *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC; 1430 } 1431 /* Start ADC by pulsing GPIO1. */ 1432 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */ 1433 *pRPS++ = GPIO_BASE | GPIO1_LO; 1434 *pRPS++ = RPS_NOP; 1435 /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */ 1436 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */ 1437 *pRPS++ = GPIO_BASE | GPIO1_HI; 1438 1439 /* Wait for ADC to complete (GPIO2 is asserted high when ADC not 1440 * busy) and for data from previous conversion to shift into FB 1441 * BUFFER 1 register. 1442 */ 1443 *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */ 1444 1445 /* Transfer ADC data from FB BUFFER 1 register to DMA buffer. */ 1446 *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2); 1447 *pRPS++ = 1448 (uint32_t) devpriv->ANABuf.PhysicalBase + 1449 (devpriv->AdcItems << 2); 1450 1451 /* If this slot's EndOfPollList flag is set, all channels have */ 1452 /* now been processed. */ 1453 if (*ppl++ & EOPL) { 1454 devpriv->AdcItems++; /* Adjust poll list item count. */ 1455 break; /* Exit poll list processing loop. */ 1456 } 1457 } 1458 DEBUG("ResetADC: ADC items %d \n", devpriv->AdcItems); 1459 1460 /* VERSION 2.01 CHANGE: DELAY CHANGED FROM 250NS to 2US. Allow the 1461 * ADC to stabilize for 2 microseconds before starting the final 1462 * (dummy) conversion. This delay is necessary to allow sufficient 1463 * time between last conversion finished and the start of the dummy 1464 * conversion. Without this delay, the last conversion's data value 1465 * is sometimes set to the previous conversion's data value. 1466 */ 1467 for (n = 0; n < (2 * RPSCLK_PER_US); n++) 1468 *pRPS++ = RPS_NOP; 1469 1470 /* Start a dummy conversion to cause the data from the last 1471 * conversion of interest to be shifted in. 1472 */ 1473 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */ 1474 *pRPS++ = GPIO_BASE | GPIO1_LO; 1475 *pRPS++ = RPS_NOP; 1476 /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */ 1477 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */ 1478 *pRPS++ = GPIO_BASE | GPIO1_HI; 1479 1480 /* Wait for the data from the last conversion of interest to arrive 1481 * in FB BUFFER 1 register. 1482 */ 1483 *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */ 1484 1485 /* Transfer final ADC data from FB BUFFER 1 register to DMA buffer. */ 1486 *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2); /* */ 1487 *pRPS++ = 1488 (uint32_t) devpriv->ANABuf.PhysicalBase + 1489 (devpriv->AdcItems << 2); 1490 1491 /* Indicate ADC scan loop is finished. */ 1492 /* *pRPS++= RPS_CLRSIGNAL | RPS_SIGADC ; // Signal ReadADC() that scan is done. */ 1493 1494 /* invoke interrupt */ 1495 if (devpriv->ai_cmd_running == 1) { 1496 DEBUG("ResetADC: insert irq in ADC RPS task\n"); 1497 *pRPS++ = RPS_IRQ; 1498 } 1499 /* Restart RPS program at its beginning. */ 1500 *pRPS++ = RPS_JUMP; /* Branch to start of RPS program. */ 1501 *pRPS++ = (uint32_t) devpriv->RPSBuf.PhysicalBase; 1502 1503 /* End of RPS program build */ 1504} 1505 1506/* TO COMPLETE, IF NECESSARY */ 1507static int s626_ai_insn_config(comedi_device *dev, comedi_subdevice *s, 1508 comedi_insn *insn, lsampl_t *data) 1509{ 1510 1511 return -EINVAL; 1512} 1513 1514/* static int s626_ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data) */ 1515/* { */ 1516/* register uint8_t i; */ 1517/* register int32_t *readaddr; */ 1518 1519/* DEBUG("as626_ai_rinsn: ai_rinsn enter \n"); */ 1520 1521/* Trigger ADC scan loop start by setting RPS Signal 0. */ 1522/* MC_ENABLE( P_MC2, MC2_ADC_RPS ); */ 1523 1524/* Wait until ADC scan loop is finished (RPS Signal 0 reset). */ 1525/* while ( MC_TEST( P_MC2, MC2_ADC_RPS ) ); */ 1526 1527/* Init ptr to DMA buffer that holds new ADC data. We skip the 1528 * first uint16_t in the buffer because it contains junk data from 1529 * the final ADC of the previous poll list scan. 1530 */ 1531/* readaddr = (uint32_t *)devpriv->ANABuf.LogicalBase + 1; */ 1532 1533/* Convert ADC data to 16-bit integer values and copy to application buffer. */ 1534/* for ( i = 0; i < devpriv->AdcItems; i++ ) { */ 1535/* *data = s626_ai_reg_to_uint( *readaddr++ ); */ 1536/* DEBUG("s626_ai_rinsn: data %d \n",*data); */ 1537/* data++; */ 1538/* } */ 1539 1540/* DEBUG("s626_ai_rinsn: ai_rinsn escape \n"); */ 1541/* return i; */ 1542/* } */ 1543 1544static int s626_ai_insn_read(comedi_device *dev, comedi_subdevice *s, 1545 comedi_insn *insn, lsampl_t *data) 1546{ 1547 uint16_t chan = CR_CHAN(insn->chanspec); 1548 uint16_t range = CR_RANGE(insn->chanspec); 1549 uint16_t AdcSpec = 0; 1550 uint32_t GpioImage; 1551 int n; 1552 1553 /* interrupt call test */ 1554/* writel(IRQ_GPIO3,devpriv->base_addr+P_PSR); */ 1555 /* Writing a logical 1 into any of the RPS_PSR bits causes the 1556 * corresponding interrupt to be generated if enabled 1557 */ 1558 1559 DEBUG("s626_ai_insn_read: entering\n"); 1560 1561 /* Convert application's ADC specification into form 1562 * appropriate for register programming. 1563 */ 1564 if (range == 0) 1565 AdcSpec = (chan << 8) | (GSEL_BIPOLAR5V); 1566 else 1567 AdcSpec = (chan << 8) | (GSEL_BIPOLAR10V); 1568 1569 /* Switch ADC analog gain. */ 1570 DEBIwrite(dev, LP_GSEL, AdcSpec); /* Set gain. */ 1571 1572 /* Select ADC analog input channel. */ 1573 DEBIwrite(dev, LP_ISEL, AdcSpec); /* Select channel. */ 1574 1575 for (n = 0; n < insn->n; n++) { 1576 1577 /* Delay 10 microseconds for analog input settling. */ 1578 comedi_udelay(10); 1579 1580 /* Start ADC by pulsing GPIO1 low. */ 1581 GpioImage = RR7146(P_GPIO); 1582 /* Assert ADC Start command */ 1583 WR7146(P_GPIO, GpioImage & ~GPIO1_HI); 1584 /* and stretch it out. */ 1585 WR7146(P_GPIO, GpioImage & ~GPIO1_HI); 1586 WR7146(P_GPIO, GpioImage & ~GPIO1_HI); 1587 /* Negate ADC Start command. */ 1588 WR7146(P_GPIO, GpioImage | GPIO1_HI); 1589 1590 /* Wait for ADC to complete (GPIO2 is asserted high when */ 1591 /* ADC not busy) and for data from previous conversion to */ 1592 /* shift into FB BUFFER 1 register. */ 1593 1594 /* Wait for ADC done. */ 1595 while (!(RR7146(P_PSR) & PSR_GPIO2)) ; 1596 1597 /* Fetch ADC data. */ 1598 if (n != 0) 1599 data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1)); 1600 1601 /* Allow the ADC to stabilize for 4 microseconds before 1602 * starting the next (final) conversion. This delay is 1603 * necessary to allow sufficient time between last 1604 * conversion finished and the start of the next 1605 * conversion. Without this delay, the last conversion's 1606 * data value is sometimes set to the previous 1607 * conversion's data value. 1608 */ 1609 comedi_udelay(4); 1610 } 1611 1612 /* Start a dummy conversion to cause the data from the 1613 * previous conversion to be shifted in. */ 1614 GpioImage = RR7146(P_GPIO); 1615 1616 /* Assert ADC Start command */ 1617 WR7146(P_GPIO, GpioImage & ~GPIO1_HI); 1618 /* and stretch it out. */ 1619 WR7146(P_GPIO, GpioImage & ~GPIO1_HI); 1620 WR7146(P_GPIO, GpioImage & ~GPIO1_HI); 1621 /* Negate ADC Start command. */ 1622 WR7146(P_GPIO, GpioImage | GPIO1_HI); 1623 1624 /* Wait for the data to arrive in FB BUFFER 1 register. */ 1625 1626 /* Wait for ADC done. */ 1627 while (!(RR7146(P_PSR) & PSR_GPIO2)) ; 1628 1629 /* Fetch ADC data from audio interface's input shift register. */ 1630 1631 /* Fetch ADC data. */ 1632 if (n != 0) 1633 data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1)); 1634 1635 DEBUG("s626_ai_insn_read: samples %d, data %d\n", n, data[n - 1]); 1636 1637 return n; 1638} 1639 1640static int s626_ai_load_polllist(uint8_t *ppl, comedi_cmd *cmd) 1641{ 1642 1643 int n; 1644 1645 for (n = 0; n < cmd->chanlist_len; n++) { 1646 if (CR_RANGE((cmd->chanlist)[n]) == 0) 1647 ppl[n] = (CR_CHAN((cmd->chanlist)[n])) | (RANGE_5V); 1648 else 1649 ppl[n] = (CR_CHAN((cmd->chanlist)[n])) | (RANGE_10V); 1650 } 1651 ppl[n - 1] |= EOPL; 1652 1653 return n; 1654} 1655 1656static int s626_ai_inttrig(comedi_device *dev, comedi_subdevice *s, 1657 unsigned int trignum) 1658{ 1659 if (trignum != 0) 1660 return -EINVAL; 1661 1662 DEBUG("s626_ai_inttrig: trigger adc start..."); 1663 1664 /* Start executing the RPS program. */ 1665 MC_ENABLE(P_MC1, MC1_ERPS1); 1666 1667 s->async->inttrig = NULL; 1668 1669 DEBUG(" done\n"); 1670 1671 return 1; 1672} 1673 1674/* TO COMPLETE */ 1675static int s626_ai_cmd(comedi_device *dev, comedi_subdevice *s) 1676{ 1677 1678 uint8_t ppl[16]; 1679 comedi_cmd *cmd = &s->async->cmd; 1680 enc_private *k; 1681 int tick; 1682 1683 DEBUG("s626_ai_cmd: entering command function\n"); 1684 1685 if (devpriv->ai_cmd_running) { 1686 printk("s626_ai_cmd: Another ai_cmd is running %d\n", 1687 dev->minor); 1688 return -EBUSY; 1689 } 1690 /* disable interrupt */ 1691 writel(0, devpriv->base_addr + P_IER); 1692 1693 /* clear interrupt request */ 1694 writel(IRQ_RPS1 | IRQ_GPIO3, devpriv->base_addr + P_ISR); 1695 1696 /* clear any pending interrupt */ 1697 s626_dio_clear_irq(dev); 1698 /* s626_enc_clear_irq(dev); */ 1699 1700 /* reset ai_cmd_running flag */ 1701 devpriv->ai_cmd_running = 0; 1702 1703 /* test if cmd is valid */ 1704 if (cmd == NULL) { 1705 DEBUG("s626_ai_cmd: NULL command\n"); 1706 return -EINVAL; 1707 } else { 1708 DEBUG("s626_ai_cmd: command recieved!!!\n"); 1709 } 1710 1711 if (dev->irq == 0) { 1712 comedi_error(dev, 1713 "s626_ai_cmd: cannot run command without an irq"); 1714 return -EIO; 1715 } 1716 1717 s626_ai_load_polllist(ppl, cmd); 1718 devpriv->ai_cmd_running = 1; 1719 devpriv->ai_convert_count = 0; 1720 1721 switch (cmd->scan_begin_src) { 1722 case TRIG_FOLLOW: 1723 break; 1724 case TRIG_TIMER: 1725 /* set a conter to generate adc trigger at scan_begin_arg interval */ 1726 k = &encpriv[5]; 1727 tick = s626_ns_to_timer((int *)&cmd->scan_begin_arg, 1728 cmd->flags & TRIG_ROUND_MASK); 1729 1730 /* load timer value and enable interrupt */ 1731 s626_timer_load(dev, k, tick); 1732 k->SetEnable(dev, k, CLKENAB_ALWAYS); 1733 1734 DEBUG("s626_ai_cmd: scan trigger timer is set with value %d\n", 1735 tick); 1736 1737 break; 1738 case TRIG_EXT: 1739 /* set the digital line and interrupt for scan trigger */ 1740 if (cmd->start_src != TRIG_EXT) 1741 s626_dio_set_irq(dev, cmd->scan_begin_arg); 1742 1743 DEBUG("s626_ai_cmd: External scan trigger is set!!!\n"); 1744 1745 break; 1746 } 1747 1748 switch (cmd->convert_src) { 1749 case TRIG_NOW: 1750 break; 1751 case TRIG_TIMER: 1752 /* set a conter to generate adc trigger at convert_arg interval */ 1753 k = &encpriv[4]; 1754 tick = s626_ns_to_timer((int *)&cmd->convert_arg, 1755 cmd->flags & TRIG_ROUND_MASK); 1756 1757 /* load timer value and enable interrupt */ 1758 s626_timer_load(dev, k, tick); 1759 k->SetEnable(dev, k, CLKENAB_INDEX); 1760 1761 DEBUG("s626_ai_cmd: convert trigger timer is set with value %d\n", tick); 1762 break; 1763 case TRIG_EXT: 1764 /* set the digital line and interrupt for convert trigger */ 1765 if (cmd->scan_begin_src != TRIG_EXT 1766 && cmd->start_src == TRIG_EXT) 1767 s626_dio_set_irq(dev, cmd->convert_arg); 1768 1769 DEBUG("s626_ai_cmd: External convert trigger is set!!!\n"); 1770 1771 break; 1772 } 1773 1774 switch (cmd->stop_src) { 1775 case TRIG_COUNT: 1776 /* data arrives as one packet */ 1777 devpriv->ai_sample_count = cmd->stop_arg; 1778 devpriv->ai_continous = 0; 1779 break; 1780 case TRIG_NONE: 1781 /* continous aquisition */ 1782 devpriv->ai_continous = 1; 1783 devpriv->ai_sample_count = 0; 1784 break; 1785 } 1786 1787 ResetADC(dev, ppl); 1788 1789 switch (cmd->start_src) { 1790 case TRIG_NOW: 1791 /* Trigger ADC scan loop start by setting RPS Signal 0. */ 1792 /* MC_ENABLE( P_MC2, MC2_ADC_RPS ); */ 1793 1794 /* Start executing the RPS program. */ 1795 MC_ENABLE(P_MC1, MC1_ERPS1); 1796 1797 DEBUG("s626_ai_cmd: ADC triggered\n"); 1798 s->async->inttrig = NULL; 1799 break; 1800 case TRIG_EXT: 1801 /* configure DIO channel for acquisition trigger */ 1802 s626_dio_set_irq(dev, cmd->start_arg); 1803 1804 DEBUG("s626_ai_cmd: External start trigger is set!!!\n"); 1805 1806 s->async->inttrig = NULL; 1807 break; 1808 case TRIG_INT: 1809 s->async->inttrig = s626_ai_inttrig; 1810 break; 1811 } 1812 1813 /* enable interrupt */ 1814 writel(IRQ_GPIO3 | IRQ_RPS1, devpriv->base_addr + P_IER); 1815 1816 DEBUG("s626_ai_cmd: command function terminated\n"); 1817 1818 return 0; 1819} 1820 1821static int s626_ai_cmdtest(comedi_device *dev, comedi_subdevice *s, 1822 comedi_cmd *cmd) 1823{ 1824 int err = 0; 1825 int tmp; 1826 1827 /* cmdtest tests a particular command to see if it is valid. Using 1828 * the cmdtest ioctl, a user can create a valid cmd and then have it 1829 * executes by the cmd ioctl. 1830 * 1831 * cmdtest returns 1,2,3,4 or 0, depending on which tests the 1832 * command passes. */ 1833 1834 /* step 1: make sure trigger sources are trivially valid */ 1835 1836 tmp = cmd->start_src; 1837 cmd->start_src &= TRIG_NOW | TRIG_INT | TRIG_EXT; 1838 if (!cmd->start_src || tmp != cmd->start_src) 1839 err++; 1840 1841 tmp = cmd->scan_begin_src; 1842 cmd->scan_begin_src &= TRIG_TIMER | TRIG_EXT | TRIG_FOLLOW; 1843 if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src) 1844 err++; 1845 1846 tmp = cmd->convert_src; 1847 cmd->convert_src &= TRIG_TIMER | TRIG_EXT | TRIG_NOW; 1848 if (!cmd->convert_src || tmp != cmd->convert_src) 1849 err++; 1850 1851 tmp = cmd->scan_end_src; 1852 cmd->scan_end_src &= TRIG_COUNT; 1853 if (!cmd->scan_end_src || tmp != cmd->scan_end_src) 1854 err++; 1855 1856 tmp = cmd->stop_src; 1857 cmd->stop_src &= TRIG_COUNT | TRIG_NONE; 1858 if (!cmd->stop_src || tmp != cmd->stop_src) 1859 err++; 1860 1861 if (err) 1862 return 1; 1863 1864 /* step 2: make sure trigger sources are unique and mutually 1865 compatible */ 1866 1867 /* note that mutual compatiblity is not an issue here */ 1868 if (cmd->scan_begin_src != TRIG_TIMER && 1869 cmd->scan_begin_src != TRIG_EXT 1870 && cmd->scan_begin_src != TRIG_FOLLOW) 1871 err++; 1872 if (cmd->convert_src != TRIG_TIMER && 1873 cmd->convert_src != TRIG_EXT && cmd->convert_src != TRIG_NOW) 1874 err++; 1875 if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE) 1876 err++; 1877 1878 if (err) 1879 return 2; 1880 1881 /* step 3: make sure arguments are trivially compatible */ 1882 1883 if (cmd->start_src != TRIG_EXT && cmd->start_arg != 0) { 1884 cmd->start_arg = 0; 1885 err++; 1886 } 1887 1888 if (cmd->start_src == TRIG_EXT && cmd->start_arg < 0) { 1889 cmd->start_arg = 0; 1890 err++; 1891 } 1892 1893 if (cmd->start_src == TRIG_EXT && cmd->start_arg > 39) { 1894 cmd->start_arg = 39; 1895 err++; 1896 } 1897 1898 if (cmd->scan_begin_src == TRIG_EXT && cmd->scan_begin_arg < 0) { 1899 cmd->scan_begin_arg = 0; 1900 err++; 1901 } 1902 1903 if (cmd->scan_begin_src == TRIG_EXT && cmd->scan_begin_arg > 39) { 1904 cmd->scan_begin_arg = 39; 1905 err++; 1906 } 1907 1908 if (cmd->convert_src == TRIG_EXT && cmd->convert_arg < 0) { 1909 cmd->convert_arg = 0; 1910 err++; 1911 } 1912 1913 if (cmd->convert_src == TRIG_EXT && cmd->convert_arg > 39) { 1914 cmd->convert_arg = 39; 1915 err++; 1916 } 1917#define MAX_SPEED 200000 /* in nanoseconds */ 1918#define MIN_SPEED 2000000000 /* in nanoseconds */ 1919 1920 if (cmd->scan_begin_src == TRIG_TIMER) { 1921 if (cmd->scan_begin_arg < MAX_SPEED) { 1922 cmd->scan_begin_arg = MAX_SPEED; 1923 err++; 1924 } 1925 if (cmd->scan_begin_arg > MIN_SPEED) { 1926 cmd->scan_begin_arg = MIN_SPEED; 1927 err++; 1928 } 1929 } else { 1930 /* external trigger */ 1931 /* should be level/edge, hi/lo specification here */ 1932 /* should specify multiple external triggers */ 1933/* if(cmd->scan_begin_arg>9){ */ 1934/* cmd->scan_begin_arg=9; */ 1935/* err++; */ 1936/* } */ 1937 } 1938 if (cmd->convert_src == TRIG_TIMER) { 1939 if (cmd->convert_arg < MAX_SPEED) { 1940 cmd->convert_arg = MAX_SPEED; 1941 err++; 1942 } 1943 if (cmd->convert_arg > MIN_SPEED) { 1944 cmd->convert_arg = MIN_SPEED; 1945 err++; 1946 } 1947 } else { 1948 /* external trigger */ 1949 /* see above */ 1950/* if(cmd->convert_arg>9){ */ 1951/* cmd->convert_arg=9; */ 1952/* err++; */ 1953/* } */ 1954 } 1955 1956 if (cmd->scan_end_arg != cmd->chanlist_len) { 1957 cmd->scan_end_arg = cmd->chanlist_len; 1958 err++; 1959 } 1960 if (cmd->stop_src == TRIG_COUNT) { 1961 if (cmd->stop_arg > 0x00ffffff) { 1962 cmd->stop_arg = 0x00ffffff; 1963 err++; 1964 } 1965 } else { 1966 /* TRIG_NONE */ 1967 if (cmd->stop_arg != 0) { 1968 cmd->stop_arg = 0; 1969 err++; 1970 } 1971 } 1972 1973 if (err) 1974 return 3; 1975 1976 /* step 4: fix up any arguments */ 1977 1978 if (cmd->scan_begin_src == TRIG_TIMER) { 1979 tmp = cmd->scan_begin_arg; 1980 s626_ns_to_timer((int *)&cmd->scan_begin_arg, 1981 cmd->flags & TRIG_ROUND_MASK); 1982 if (tmp != cmd->scan_begin_arg) 1983 err++; 1984 } 1985 if (cmd->convert_src == TRIG_TIMER) { 1986 tmp = cmd->convert_arg; 1987 s626_ns_to_timer((int *)&cmd->convert_arg, 1988 cmd->flags & TRIG_ROUND_MASK); 1989 if (tmp != cmd->convert_arg) 1990 err++; 1991 if (cmd->scan_begin_src == TRIG_TIMER && 1992 cmd->scan_begin_arg < 1993 cmd->convert_arg * cmd->scan_end_arg) { 1994 cmd->scan_begin_arg = 1995 cmd->convert_arg * cmd->scan_end_arg; 1996 err++; 1997 } 1998 } 1999 2000 if (err) 2001 return 4; 2002 2003 return 0; 2004} 2005 2006static int s626_ai_cancel(comedi_device *dev, comedi_subdevice *s) 2007{ 2008 /* Stop RPS program in case it is currently running. */ 2009 MC_DISABLE(P_MC1, MC1_ERPS1); 2010 2011 /* disable master interrupt */ 2012 writel(0, devpriv->base_addr + P_IER); 2013 2014 devpriv->ai_cmd_running = 0; 2015 2016 return 0; 2017} 2018 2019/* This function doesn't require a particular form, this is just what 2020 * happens to be used in some of the drivers. It should convert ns 2021 * nanoseconds to a counter value suitable for programming the device. 2022 * Also, it should adjust ns so that it cooresponds to the actual time 2023 * that the device will use. */ 2024static int s626_ns_to_timer(int *nanosec, int round_mode) 2025{ 2026 int divider, base; 2027 2028 base = 500; /* 2MHz internal clock */ 2029 2030 switch (round_mode) { 2031 case TRIG_ROUND_NEAREST: 2032 default: 2033 divider = (*nanosec + base / 2) / base; 2034 break; 2035 case TRIG_ROUND_DOWN: 2036 divider = (*nanosec) / base; 2037 break; 2038 case TRIG_ROUND_UP: 2039 divider = (*nanosec + base - 1) / base; 2040 break; 2041 } 2042 2043 *nanosec = base * divider; 2044 return divider - 1; 2045} 2046 2047static int s626_ao_winsn(comedi_device *dev, comedi_subdevice *s, 2048 comedi_insn *insn, lsampl_t *data) 2049{ 2050 2051 int i; 2052 uint16_t chan = CR_CHAN(insn->chanspec); 2053 int16_t dacdata; 2054 2055 for (i = 0; i < insn->n; i++) { 2056 dacdata = (int16_t) data[i]; 2057 devpriv->ao_readback[CR_CHAN(insn->chanspec)] = data[i]; 2058 dacdata -= (0x1fff); 2059 2060 SetDAC(dev, chan, dacdata); 2061 } 2062 2063 return i; 2064} 2065 2066static int s626_ao_rinsn(comedi_device *dev, comedi_subdevice *s, 2067 comedi_insn *insn, lsampl_t *data) 2068{ 2069 int i; 2070 2071 for (i = 0; i < insn->n; i++) { 2072 data[i] = devpriv->ao_readback[CR_CHAN(insn->chanspec)]; 2073 } 2074 2075 return i; 2076} 2077 2078/* *************** DIGITAL I/O FUNCTIONS *************** 2079 * All DIO functions address a group of DIO channels by means of 2080 * "group" argument. group may be 0, 1 or 2, which correspond to DIO 2081 * ports A, B and C, respectively. 2082 */ 2083 2084static void s626_dio_init(comedi_device *dev) 2085{ 2086 uint16_t group; 2087 comedi_subdevice *s; 2088 2089 /* Prepare to treat writes to WRCapSel as capture disables. */ 2090 DEBIwrite(dev, LP_MISC1, MISC1_NOEDCAP); 2091 2092 /* For each group of sixteen channels ... */ 2093 for (group = 0; group < S626_DIO_BANKS; group++) { 2094 s = dev->subdevices + 2 + group; 2095 DEBIwrite(dev, diopriv->WRIntSel, 0); /* Disable all interrupts. */ 2096 DEBIwrite(dev, diopriv->WRCapSel, 0xFFFF); /* Disable all event */ 2097 /* captures. */ 2098 DEBIwrite(dev, diopriv->WREdgSel, 0); /* Init all DIOs to */ 2099 /* default edge */ 2100 /* polarity. */ 2101 DEBIwrite(dev, diopriv->WRDOut, 0); /* Program all outputs */ 2102 /* to inactive state. */ 2103 } 2104 DEBUG("s626_dio_init: DIO initialized \n"); 2105} 2106 2107/* DIO devices are slightly special. Although it is possible to 2108 * implement the insn_read/insn_write interface, it is much more 2109 * useful to applications if you implement the insn_bits interface. 2110 * This allows packed reading/writing of the DIO channels. The comedi 2111 * core can convert between insn_bits and insn_read/write */ 2112 2113static int s626_dio_insn_bits(comedi_device *dev, comedi_subdevice *s, 2114 comedi_insn *insn, lsampl_t *data) 2115{ 2116 2117 /* Length of data must be 2 (mask and new data, see below) */ 2118 if (insn->n == 0) { 2119 return 0; 2120 } 2121 if (insn->n != 2) { 2122 printk("comedi%d: s626: s626_dio_insn_bits(): Invalid instruction length\n", dev->minor); 2123 return -EINVAL; 2124 } 2125 2126 /* 2127 * The insn data consists of a mask in data[0] and the new data in 2128 * data[1]. The mask defines which bits we are concerning about. 2129 * The new data must be anded with the mask. Each channel 2130 * corresponds to a bit. 2131 */ 2132 if (data[0]) { 2133 /* Check if requested ports are configured for output */ 2134 if ((s->io_bits & data[0]) != data[0]) 2135 return -EIO; 2136 2137 s->state &= ~data[0]; 2138 s->state |= data[0] & data[1]; 2139 2140 /* Write out the new digital output lines */ 2141 2142 DEBIwrite(dev, diopriv->WRDOut, s->state); 2143 } 2144 data[1] = DEBIread(dev, diopriv->RDDIn); 2145 2146 return 2; 2147} 2148 2149static int s626_dio_insn_config(comedi_device *dev, comedi_subdevice *s, 2150 comedi_insn *insn, lsampl_t *data) 2151{ 2152 2153 switch (data[0]) { 2154 case INSN_CONFIG_DIO_QUERY: 2155 data[1] = 2156 (s->io_bits & (1 << CR_CHAN(insn-> 2157 chanspec))) ? COMEDI_OUTPUT : 2158 COMEDI_INPUT; 2159 return insn->n; 2160 break; 2161 case COMEDI_INPUT: 2162 s->io_bits &= ~(1 << CR_CHAN(insn->chanspec)); 2163 break; 2164 case COMEDI_OUTPUT: 2165 s->io_bits |= 1 << CR_CHAN(insn->chanspec); 2166 break; 2167 default: 2168 return -EINVAL; 2169 break; 2170 } 2171 DEBIwrite(dev, diopriv->WRDOut, s->io_bits); 2172 2173 return 1; 2174} 2175 2176static int s626_dio_set_irq(comedi_device *dev, unsigned int chan) 2177{ 2178 unsigned int group; 2179 unsigned int bitmask; 2180 unsigned int status; 2181 2182 /* select dio bank */ 2183 group = chan / 16; 2184 bitmask = 1 << (chan - (16 * group)); 2185 DEBUG("s626_dio_set_irq: enable interrupt on dio channel %d group %d\n", 2186 chan - (16 * group), group); 2187 2188 /* set channel to capture positive edge */ 2189 status = DEBIread(dev, 2190 ((dio_private *) (dev->subdevices + 2 + 2191 group)->private)->RDEdgSel); 2192 DEBIwrite(dev, 2193 ((dio_private *) (dev->subdevices + 2 + 2194 group)->private)->WREdgSel, bitmask | status); 2195 2196 /* enable interrupt on selected channel */ 2197 status = DEBIread(dev, 2198 ((dio_private *) (dev->subdevices + 2 + 2199 group)->private)->RDIntSel); 2200 DEBIwrite(dev, 2201 ((dio_private *) (dev->subdevices + 2 + 2202 group)->private)->WRIntSel, bitmask | status); 2203 2204 /* enable edge capture write command */ 2205 DEBIwrite(dev, LP_MISC1, MISC1_EDCAP); 2206 2207 /* enable edge capture on selected channel */ 2208 status = DEBIread(dev, 2209 ((dio_private *) (dev->subdevices + 2 + 2210 group)->private)->RDCapSel); 2211 DEBIwrite(dev, 2212 ((dio_private *) (dev->subdevices + 2 + 2213 group)->private)->WRCapSel, bitmask | status); 2214 2215 return 0; 2216} 2217 2218static int s626_dio_reset_irq(comedi_device *dev, unsigned int group, 2219 unsigned int mask) 2220{ 2221 DEBUG("s626_dio_reset_irq: disable interrupt on dio channel %d group %d\n", mask, group); 2222 2223 /* disable edge capture write command */ 2224 DEBIwrite(dev, LP_MISC1, MISC1_NOEDCAP); 2225 2226 /* enable edge capture on selected channel */ 2227 DEBIwrite(dev, 2228 ((dio_private *) (dev->subdevices + 2 + 2229 group)->private)->WRCapSel, mask); 2230 2231 return 0; 2232} 2233 2234static int s626_dio_clear_irq(comedi_device *dev) 2235{ 2236 unsigned int group; 2237 2238 /* disable edge capture write command */ 2239 DEBIwrite(dev, LP_MISC1, MISC1_NOEDCAP); 2240 2241 for (group = 0; group < S626_DIO_BANKS; group++) { 2242 /* clear pending events and interrupt */ 2243 DEBIwrite(dev, 2244 ((dio_private *) (dev->subdevices + 2 + 2245 group)->private)->WRCapSel, 0xffff); 2246 } 2247 2248 return 0; 2249} 2250 2251/* Now this function initializes the value of the counter (data[0]) 2252 and set the subdevice. To complete with trigger and interrupt 2253 configuration */ 2254static int s626_enc_insn_config(comedi_device *dev, comedi_subdevice *s, 2255 comedi_insn *insn, lsampl_t *data) 2256{ 2257 uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */ 2258 /* index. */ 2259 (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */ 2260 (CLKSRC_COUNTER << BF_CLKSRC) | /* Operating mode is Counter. */ 2261 (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */ 2262 /* ( CNTDIR_UP << BF_CLKPOL ) | // Count direction is Down. */ 2263 (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */ 2264 (CLKENAB_INDEX << BF_CLKENAB); 2265 /* uint16_t DisableIntSrc=TRUE; */ 2266 /* uint32_t Preloadvalue; //Counter initial value */ 2267 uint16_t valueSrclatch = LATCHSRC_AB_READ; 2268 uint16_t enab = CLKENAB_ALWAYS; 2269 enc_private *k = &encpriv[CR_CHAN(insn->chanspec)]; 2270 2271 DEBUG("s626_enc_insn_config: encoder config\n"); 2272 2273 /* (data==NULL) ? (Preloadvalue=0) : (Preloadvalue=data[0]); */ 2274 2275 k->SetMode(dev, k, Setup, TRUE); 2276 Preload(dev, k, *(insn->data)); 2277 k->PulseIndex(dev, k); 2278 SetLatchSource(dev, k, valueSrclatch); 2279 k->SetEnable(dev, k, (uint16_t) (enab != 0)); 2280 2281 return insn->n; 2282} 2283 2284static int s626_enc_insn_read(comedi_device *dev, comedi_subdevice *s, 2285 comedi_insn *insn, lsampl_t *data) 2286{ 2287 2288 int n; 2289 enc_private *k = &encpriv[CR_CHAN(insn->chanspec)]; 2290 2291 DEBUG("s626_enc_insn_read: encoder read channel %d \n", 2292 CR_CHAN(insn->chanspec)); 2293 2294 for (n = 0; n < insn->n; n++) 2295 data[n] = ReadLatch(dev, k); 2296 2297 DEBUG("s626_enc_insn_read: encoder sample %d\n", data[n]); 2298 2299 return n; 2300} 2301 2302static int s626_enc_insn_write(comedi_device *dev, comedi_subdevice *s, 2303 comedi_insn *insn, lsampl_t *data) 2304{ 2305 2306 enc_private *k = &encpriv[CR_CHAN(insn->chanspec)]; 2307 2308 DEBUG("s626_enc_insn_write: encoder write channel %d \n", 2309 CR_CHAN(insn->chanspec)); 2310 2311 /* Set the preload register */ 2312 Preload(dev, k, data[0]); 2313 2314 /* Software index pulse forces the preload register to load */ 2315 /* into the counter */ 2316 k->SetLoadTrig(dev, k, 0); 2317 k->PulseIndex(dev, k); 2318 k->SetLoadTrig(dev, k, 2); 2319 2320 DEBUG("s626_enc_insn_write: End encoder write\n"); 2321 2322 return 1; 2323} 2324 2325static void s626_timer_load(comedi_device *dev, enc_private *k, int tick) 2326{ 2327 uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */ 2328 /* index. */ 2329 (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */ 2330 (CLKSRC_TIMER << BF_CLKSRC) | /* Operating mode is Timer. */ 2331 (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */ 2332 (CNTDIR_DOWN << BF_CLKPOL) | /* Count direction is Down. */ 2333 (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */ 2334 (CLKENAB_INDEX << BF_CLKENAB); 2335 uint16_t valueSrclatch = LATCHSRC_A_INDXA; 2336 /* uint16_t enab=CLKENAB_ALWAYS; */ 2337 2338 k->SetMode(dev, k, Setup, FALSE); 2339 2340 /* Set the preload register */ 2341 Preload(dev, k, tick); 2342 2343 /* Software index pulse forces the preload register to load */ 2344 /* into the counter */ 2345 k->SetLoadTrig(dev, k, 0); 2346 k->PulseIndex(dev, k); 2347 2348 /* set reload on counter overflow */ 2349 k->SetLoadTrig(dev, k, 1); 2350 2351 /* set interrupt on overflow */ 2352 k->SetIntSrc(dev, k, INTSRC_OVER); 2353 2354 SetLatchSource(dev, k, valueSrclatch); 2355 /* k->SetEnable(dev,k,(uint16_t)(enab != 0)); */ 2356} 2357 2358/* *********** DAC FUNCTIONS *********** */ 2359 2360/* Slot 0 base settings. */ 2361#define VECT0 (XSD2 | RSD3 | SIB_A2) 2362/* Slot 0 always shifts in 0xFF and store it to FB_BUFFER2. */ 2363 2364/* TrimDac LogicalChan-to-PhysicalChan mapping table. */ 2365static uint8_t trimchan[] = { 10, 9, 8, 3, 2, 7, 6, 1, 0, 5, 4 }; 2366 2367/* TrimDac LogicalChan-to-EepromAdrs mapping table. */ 2368static uint8_t trimadrs[] = 2369 { 0x40, 0x41, 0x42, 0x50, 0x51, 0x52, 0x53, 0x60, 0x61, 0x62, 0x63 }; 2370 2371static void LoadTrimDACs(comedi_device *dev) 2372{ 2373 register uint8_t i; 2374 2375 /* Copy TrimDac setpoint values from EEPROM to TrimDacs. */ 2376 for (i = 0; i < (sizeof(trimchan) / sizeof(trimchan[0])); i++) 2377 WriteTrimDAC(dev, i, I2Cread(dev, trimadrs[i])); 2378} 2379 2380static void WriteTrimDAC(comedi_device *dev, uint8_t LogicalChan, 2381 uint8_t DacData) 2382{ 2383 uint32_t chan; 2384 2385 /* Save the new setpoint in case the application needs to read it back later. */ 2386 devpriv->TrimSetpoint[LogicalChan] = (uint8_t) DacData; 2387 2388 /* Map logical channel number to physical channel number. */ 2389 chan = (uint32_t) trimchan[LogicalChan]; 2390 2391 /* Set up TSL2 records for TrimDac write operation. All slots shift 2392 * 0xFF in from pulled-up SD3 so that the end of the slot sequence 2393 * can be detected. 2394 */ 2395 2396 SETVECT(2, XSD2 | XFIFO_1 | WS3); 2397 /* Slot 2: Send high uint8_t to target TrimDac. */ 2398 SETVECT(3, XSD2 | XFIFO_0 | WS3); 2399 /* Slot 3: Send low uint8_t to target TrimDac. */ 2400 SETVECT(4, XSD2 | XFIFO_3 | WS1); 2401 /* Slot 4: Send NOP high uint8_t to DAC0 to keep clock running. */ 2402 SETVECT(5, XSD2 | XFIFO_2 | WS1 | EOS); 2403 /* Slot 5: Send NOP low uint8_t to DAC0. */ 2404 2405 /* Construct and transmit target DAC's serial packet: 2406 * ( 0000 AAAA ), ( DDDD DDDD ),( 0x00 ),( 0x00 ) where A<3:0> is the 2407 * DAC channel's address, and D<7:0> is the DAC setpoint. Append a 2408 * WORD value (that writes a channel 0 NOP command to a non-existent 2409 * main DAC channel) that serves to keep the clock running after the 2410 * packet has been sent to the target DAC. 2411 */ 2412 2413 /* Address the DAC channel within the trimdac device. */ 2414 SendDAC(dev, ((uint32_t) chan << 8) 2415 | (uint32_t) DacData); /* Include DAC setpoint data. */ 2416} 2417 2418/* ************** EEPROM ACCESS FUNCTIONS ************** */ 2419/* Read uint8_t from EEPROM. */ 2420 2421static uint8_t I2Cread(comedi_device *dev, uint8_t addr) 2422{ 2423 uint8_t rtnval; 2424 2425 /* Send EEPROM target address. */ 2426 if (I2Chandshake(dev, I2C_B2(I2C_ATTRSTART, I2CW) 2427 /* Byte2 = I2C command: write to I2C EEPROM device. */ 2428 | I2C_B1(I2C_ATTRSTOP, addr) 2429 /* Byte1 = EEPROM internal target address. */ 2430 | I2C_B0(I2C_ATTRNOP, 0))) /* Byte0 = Not sent. */ 2431 { 2432 /* Abort function and declare error if handshake failed. */ 2433 DEBUG("I2Cread: error handshake I2Cread a\n"); 2434 return 0; 2435 } 2436 /* Execute EEPROM read. */ 2437 if (I2Chandshake(dev, I2C_B2(I2C_ATTRSTART, I2CR) /* Byte2 = I2C */ 2438 /* command: read */ 2439 /* from I2C EEPROM */ 2440 /* device. */ 2441 | I2C_B1(I2C_ATTRSTOP, 0) /* Byte1 receives */ 2442 /* uint8_t from */ 2443 /* EEPROM. */ 2444 | I2C_B0(I2C_ATTRNOP, 0))) /* Byte0 = Not */ 2445 /* sent. */ 2446 { 2447 /* Abort function and declare error if handshake failed. */ 2448 DEBUG("I2Cread: error handshake I2Cread b\n"); 2449 return 0; 2450 } 2451 /* Return copy of EEPROM value. */ 2452 rtnval = (uint8_t) (RR7146(P_I2CCTRL) >> 16); 2453 return rtnval; 2454} 2455 2456static uint32_t I2Chandshake(comedi_device *dev, uint32_t val) 2457{ 2458 /* Write I2C command to I2C Transfer Control shadow register. */ 2459 WR7146(P_I2CCTRL, val); 2460 2461 /* Upload I2C shadow registers into working registers and wait for */ 2462 /* upload confirmation. */ 2463 2464 MC_ENABLE(P_MC2, MC2_UPLD_IIC); 2465 while (!MC_TEST(P_MC2, MC2_UPLD_IIC)) ; 2466 2467 /* Wait until I2C bus transfer is finished or an error occurs. */ 2468 while ((RR7146(P_I2CCTRL) & (I2C_BUSY | I2C_ERR)) == I2C_BUSY) ; 2469 2470 /* Return non-zero if I2C error occured. */ 2471 return RR7146(P_I2CCTRL) & I2C_ERR; 2472 2473} 2474 2475/* Private helper function: Write setpoint to an application DAC channel. */ 2476 2477static void SetDAC(comedi_device *dev, uint16_t chan, short dacdata) 2478{ 2479 register uint16_t signmask; 2480 register uint32_t WSImage; 2481 2482 /* Adjust DAC data polarity and set up Polarity Control Register */ 2483 /* image. */ 2484 signmask = 1 << chan; 2485 if (dacdata < 0) { 2486 dacdata = -dacdata; 2487 devpriv->Dacpol |= signmask; 2488 } else 2489 devpriv->Dacpol &= ~signmask; 2490 2491 /* Limit DAC setpoint value to valid range. */ 2492 if ((uint16_t) dacdata > 0x1FFF) 2493 dacdata = 0x1FFF; 2494 2495 /* Set up TSL2 records (aka "vectors") for DAC update. Vectors V2 2496 * and V3 transmit the setpoint to the target DAC. V4 and V5 send 2497 * data to a non-existent TrimDac channel just to keep the clock 2498 * running after sending data to the target DAC. This is necessary 2499 * to eliminate the clock glitch that would otherwise occur at the 2500 * end of the target DAC's serial data stream. When the sequence 2501 * restarts at V0 (after executing V5), the gate array automatically 2502 * disables gating for the DAC clock and all DAC chip selects. 2503 */ 2504 2505 WSImage = (chan & 2) ? WS1 : WS2; 2506 /* Choose DAC chip select to be asserted. */ 2507 SETVECT(2, XSD2 | XFIFO_1 | WSImage); 2508 /* Slot 2: Transmit high data byte to target DAC. */ 2509 SETVECT(3, XSD2 | XFIFO_0 | WSImage); 2510 /* Slot 3: Transmit low data byte to target DAC. */ 2511 SETVECT(4, XSD2 | XFIFO_3 | WS3); 2512 /* Slot 4: Transmit to non-existent TrimDac channel to keep clock */ 2513 SETVECT(5, XSD2 | XFIFO_2 | WS3 | EOS); 2514 /* Slot 5: running after writing target DAC's low data byte. */ 2515 2516 /* Construct and transmit target DAC's serial packet: 2517 * ( A10D DDDD ),( DDDD DDDD ),( 0x0F ),( 0x00 ) where A is chan<0>, 2518 * and D<12:0> is the DAC setpoint. Append a WORD value (that writes 2519 * to a non-existent TrimDac channel) that serves to keep the clock 2520 * running after the packet has been sent to the target DAC. 2521 */ 2522 SendDAC(dev, 0x0F000000 2523 /* Continue clock after target DAC data (write to non-existent trimdac). */ 2524 | 0x00004000 2525 /* Address the two main dual-DAC devices (TSL's chip select enables 2526 * target device). */ 2527 | ((uint32_t) (chan & 1) << 15) 2528 /* Address the DAC channel within the device. */ 2529 | (uint32_t) dacdata); /* Include DAC setpoint data. */ 2530 2531} 2532 2533/* Private helper function: Transmit serial data to DAC via Audio 2534 * channel 2. Assumes: (1) TSL2 slot records initialized, and (2) 2535 * Dacpol contains valid target image. 2536 */ 2537 2538static void SendDAC(comedi_device *dev, uint32_t val) 2539{ 2540 2541 /* START THE SERIAL CLOCK RUNNING ------------- */ 2542 2543 /* Assert DAC polarity control and enable gating of DAC serial clock 2544 * and audio bit stream signals. At this point in time we must be 2545 * assured of being in time slot 0. If we are not in slot 0, the 2546 * serial clock and audio stream signals will be disabled; this is 2547 * because the following DEBIwrite statement (which enables signals 2548 * to be passed through the gate array) would execute before the 2549 * trailing edge of WS1/WS3 (which turns off the signals), thus 2550 * causing the signals to be inactive during the DAC write. 2551 */ 2552 DEBIwrite(dev, LP_DACPOL, devpriv->Dacpol); 2553 2554 /* TRANSFER OUTPUT DWORD VALUE INTO A2'S OUTPUT FIFO ---------------- */ 2555 2556 /* Copy DAC setpoint value to DAC's output DMA buffer. */ 2557 2558 /* WR7146( (uint32_t)devpriv->pDacWBuf, val ); */ 2559 *devpriv->pDacWBuf = val; 2560 2561 /* enab the output DMA transfer. This will cause the DMAC to copy 2562 * the DAC's data value to A2's output FIFO. The DMA transfer will 2563 * then immediately terminate because the protection address is 2564 * reached upon transfer of the first DWORD value. 2565 */ 2566 MC_ENABLE(P_MC1, MC1_A2OUT); 2567 2568 /* While the DMA transfer is executing ... */ 2569 2570 /* Reset Audio2 output FIFO's underflow flag (along with any other 2571 * FIFO underflow/overflow flags). When set, this flag will 2572 * indicate that we have emerged from slot 0. 2573 */ 2574 WR7146(P_ISR, ISR_AFOU); 2575 2576 /* Wait for the DMA transfer to finish so that there will be data 2577 * available in the FIFO when time slot 1 tries to transfer a DWORD 2578 * from the FIFO to the output buffer register. We test for DMA 2579 * Done by polling the DMAC enable flag; this flag is automatically 2580 * cleared when the transfer has finished. 2581 */ 2582 while ((RR7146(P_MC1) & MC1_A2OUT) != 0) ; 2583 2584 /* START THE OUTPUT STREAM TO THE TARGET DAC -------------------- */ 2585 2586 /* FIFO data is now available, so we enable execution of time slots 2587 * 1 and higher by clearing the EOS flag in slot 0. Note that SD3 2588 * will be shifted in and stored in FB_BUFFER2 for end-of-slot-list 2589 * detection. 2590 */ 2591 SETVECT(0, XSD2 | RSD3 | SIB_A2); 2592 2593 /* Wait for slot 1 to execute to ensure that the Packet will be 2594 * transmitted. This is detected by polling the Audio2 output FIFO 2595 * underflow flag, which will be set when slot 1 execution has 2596 * finished transferring the DAC's data DWORD from the output FIFO 2597 * to the output buffer register. 2598 */ 2599 while ((RR7146(P_SSR) & SSR_AF2_OUT) == 0) ; 2600 2601 /* Set up to trap execution at slot 0 when the TSL sequencer cycles 2602 * back to slot 0 after executing the EOS in slot 5. Also, 2603 * simultaneously shift out and in the 0x00 that is ALWAYS the value 2604 * stored in the last byte to be shifted out of the FIFO's DWORD 2605 * buffer register. 2606 */ 2607 SETVECT(0, XSD2 | XFIFO_2 | RSD2 | SIB_A2 | EOS); 2608 2609 /* WAIT FOR THE TRANSACTION TO FINISH ----------------------- */ 2610 2611 /* Wait for the TSL to finish executing all time slots before 2612 * exiting this function. We must do this so that the next DAC 2613 * write doesn't start, thereby enabling clock/chip select signals: 2614 * 2615 * 1. Before the TSL sequence cycles back to slot 0, which disables 2616 * the clock/cs signal gating and traps slot // list execution. 2617 * we have not yet finished slot 5 then the clock/cs signals are 2618 * still gated and we have not finished transmitting the stream. 2619 * 2620 * 2. While slots 2-5 are executing due to a late slot 0 trap. In 2621 * this case, the slot sequence is currently repeating, but with 2622 * clock/cs signals disabled. We must wait for slot 0 to trap 2623 * execution before setting up the next DAC setpoint DMA transfer 2624 * and enabling the clock/cs signals. To detect the end of slot 5, 2625 * we test for the FB_BUFFER2 MSB contents to be equal to 0xFF. If 2626 * the TSL has not yet finished executing slot 5 ... 2627 */ 2628 if ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0) { 2629 /* The trap was set on time and we are still executing somewhere 2630 * in slots 2-5, so we now wait for slot 0 to execute and trap 2631 * TSL execution. This is detected when FB_BUFFER2 MSB changes 2632 * from 0xFF to 0x00, which slot 0 causes to happen by shifting 2633 * out/in on SD2 the 0x00 that is always referenced by slot 5. 2634 */ 2635 while ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0) ; 2636 } 2637 /* Either (1) we were too late setting the slot 0 trap; the TSL 2638 * sequencer restarted slot 0 before we could set the EOS trap flag, 2639 * or (2) we were not late and execution is now trapped at slot 0. 2640 * In either case, we must now change slot 0 so that it will store 2641 * value 0xFF (instead of 0x00) to FB_BUFFER2 next time it executes. 2642 * In order to do this, we reprogram slot 0 so that it will shift in 2643 * SD3, which is driven only by a pull-up resistor. 2644 */ 2645 SETVECT(0, RSD3 | SIB_A2 | EOS); 2646 2647 /* Wait for slot 0 to execute, at which time the TSL is setup for 2648 * the next DAC write. This is detected when FB_BUFFER2 MSB changes 2649 * from 0x00 to 0xFF. 2650 */ 2651 while ((RR7146(P_FB_BUFFER2) & 0xFF000000) == 0) ; 2652} 2653 2654static void WriteMISC2(comedi_device *dev, uint16_t NewImage) 2655{ 2656 DEBIwrite(dev, LP_MISC1, MISC1_WENABLE); /* enab writes to */ 2657 /* MISC2 register. */ 2658 DEBIwrite(dev, LP_WRMISC2, NewImage); /* Write new image to MISC2. */ 2659 DEBIwrite(dev, LP_MISC1, MISC1_WDISABLE); /* Disable writes to MISC2. */ 2660} 2661 2662/* Initialize the DEBI interface for all transfers. */ 2663 2664static uint16_t DEBIread(comedi_device *dev, uint16_t addr) 2665{ 2666 uint16_t retval; 2667 2668 /* Set up DEBI control register value in shadow RAM. */ 2669 WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr); 2670 2671 /* Execute the DEBI transfer. */ 2672 DEBItransfer(dev); 2673 2674 /* Fetch target register value. */ 2675 retval = (uint16_t) RR7146(P_DEBIAD); 2676 2677 /* Return register value. */ 2678 return retval; 2679} 2680 2681/* Execute a DEBI transfer. This must be called from within a */ 2682/* critical section. */ 2683static void DEBItransfer(comedi_device *dev) 2684{ 2685 /* Initiate upload of shadow RAM to DEBI control register. */ 2686 MC_ENABLE(P_MC2, MC2_UPLD_DEBI); 2687 2688 /* Wait for completion of upload from shadow RAM to DEBI control */ 2689 /* register. */ 2690 while (!MC_TEST(P_MC2, MC2_UPLD_DEBI)) ; 2691 2692 /* Wait until DEBI transfer is done. */ 2693 while (RR7146(P_PSR) & PSR_DEBI_S) ; 2694} 2695 2696/* Write a value to a gate array register. */ 2697static void DEBIwrite(comedi_device *dev, uint16_t addr, uint16_t wdata) 2698{ 2699 2700 /* Set up DEBI control register value in shadow RAM. */ 2701 WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr); 2702 WR7146(P_DEBIAD, wdata); 2703 2704 /* Execute the DEBI transfer. */ 2705 DEBItransfer(dev); 2706} 2707 2708/* Replace the specified bits in a gate array register. Imports: mask 2709 * specifies bits that are to be preserved, wdata is new value to be 2710 * or'd with the masked original. 2711 */ 2712static void DEBIreplace(comedi_device *dev, uint16_t addr, uint16_t mask, 2713 uint16_t wdata) 2714{ 2715 2716 /* Copy target gate array register into P_DEBIAD register. */ 2717 WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr); 2718 /* Set up DEBI control reg value in shadow RAM. */ 2719 DEBItransfer(dev); /* Execute the DEBI Read transfer. */ 2720 2721 /* Write back the modified image. */ 2722 WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr); 2723 /* Set up DEBI control reg value in shadow RAM. */ 2724 2725 WR7146(P_DEBIAD, wdata | ((uint16_t) RR7146(P_DEBIAD) & mask)); 2726 /* Modify the register image. */ 2727 DEBItransfer(dev); /* Execute the DEBI Write transfer. */ 2728} 2729 2730static void CloseDMAB(comedi_device *dev, DMABUF *pdma, size_t bsize) 2731{ 2732 void *vbptr; 2733 dma_addr_t vpptr; 2734 2735 DEBUG("CloseDMAB: Entering S626DRV_CloseDMAB():\n"); 2736 if (pdma == NULL) 2737 return; 2738 /* find the matching allocation from the board struct */ 2739 2740 vbptr = pdma->LogicalBase; 2741 vpptr = pdma->PhysicalBase; 2742 if (vbptr) { 2743 pci_free_consistent(devpriv->pdev, bsize, vbptr, vpptr); 2744 pdma->LogicalBase = 0; 2745 pdma->PhysicalBase = 0; 2746 2747 DEBUG("CloseDMAB(): Logical=%p, bsize=%d, Physical=0x%x\n", 2748 vbptr, bsize, (uint32_t) vpptr); 2749 } 2750} 2751 2752/* ****** COUNTER FUNCTIONS ******* */ 2753/* All counter functions address a specific counter by means of the 2754 * "Counter" argument, which is a logical counter number. The Counter 2755 * argument may have any of the following legal values: 0=0A, 1=1A, 2756 * 2=2A, 3=0B, 4=1B, 5=2B. 2757 */ 2758 2759/* Forward declarations for functions that are common to both A and B counters: */ 2760 2761/* ****** PRIVATE COUNTER FUNCTIONS ****** */ 2762 2763/* Read a counter's output latch. */ 2764 2765static uint32_t ReadLatch(comedi_device *dev, enc_private *k) 2766{ 2767 register uint32_t value; 2768 /* DEBUG FIXME DEBUG("ReadLatch: Read Latch enter\n"); */ 2769 2770 /* Latch counts and fetch LSW of latched counts value. */ 2771 value = (uint32_t) DEBIread(dev, k->MyLatchLsw); 2772 2773 /* Fetch MSW of latched counts and combine with LSW. */ 2774 value |= ((uint32_t) DEBIread(dev, k->MyLatchLsw + 2) << 16); 2775 2776 /* DEBUG FIXME DEBUG("ReadLatch: Read Latch exit\n"); */ 2777 2778 /* Return latched counts. */ 2779 return value; 2780} 2781 2782/* Reset a counter's index and overflow event capture flags. */ 2783 2784static void ResetCapFlags_A(comedi_device *dev, enc_private *k) 2785{ 2786 DEBIreplace(dev, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL), 2787 CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A); 2788} 2789 2790static void ResetCapFlags_B(comedi_device *dev, enc_private *k) 2791{ 2792 DEBIreplace(dev, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL), 2793 CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B); 2794} 2795 2796/* Return counter setup in a format (COUNTER_SETUP) that is consistent */ 2797/* for both A and B counters. */ 2798 2799static uint16_t GetMode_A(comedi_device *dev, enc_private *k) 2800{ 2801 register uint16_t cra; 2802 register uint16_t crb; 2803 register uint16_t setup; 2804 2805 /* Fetch CRA and CRB register images. */ 2806 cra = DEBIread(dev, k->MyCRA); 2807 crb = DEBIread(dev, k->MyCRB); 2808 2809 /* Populate the standardized counter setup bit fields. Note: */ 2810 /* IndexSrc is restricted to ENC_X or IndxPol. */ 2811 setup = ((cra & STDMSK_LOADSRC) /* LoadSrc = LoadSrcA. */ 2812 | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC) /* LatchSrc = LatchSrcA. */ 2813 | ((cra << (STDBIT_INTSRC - CRABIT_INTSRC_A)) & STDMSK_INTSRC) /* IntSrc = IntSrcA. */ 2814 | ((cra << (STDBIT_INDXSRC - (CRABIT_INDXSRC_A + 1))) & STDMSK_INDXSRC) /* IndxSrc = IndxSrcA<1>. */ 2815 | ((cra >> (CRABIT_INDXPOL_A - STDBIT_INDXPOL)) & STDMSK_INDXPOL) /* IndxPol = IndxPolA. */ 2816 | ((crb >> (CRBBIT_CLKENAB_A - STDBIT_CLKENAB)) & STDMSK_CLKENAB)); /* ClkEnab = ClkEnabA. */ 2817 2818 /* Adjust mode-dependent parameters. */ 2819 if (cra & (2 << CRABIT_CLKSRC_A)) /* If Timer mode (ClkSrcA<1> == 1): */ 2820 setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */ 2821 | ((cra << (STDBIT_CLKPOL - CRABIT_CLKSRC_A)) & STDMSK_CLKPOL) /* Set ClkPol to indicate count direction (ClkSrcA<0>). */ 2822 | (MULT_X1 << STDBIT_CLKMULT)); /* ClkMult must be 1x in Timer mode. */ 2823 2824 else /* If Counter mode (ClkSrcA<1> == 0): */ 2825 setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Counter mode. */ 2826 | ((cra >> (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) & STDMSK_CLKPOL) /* Pass through ClkPol. */ 2827 | (((cra & CRAMSK_CLKMULT_A) == (MULT_X0 << CRABIT_CLKMULT_A)) ? /* Force ClkMult to 1x if not legal, else pass through. */ 2828 (MULT_X1 << STDBIT_CLKMULT) : 2829 ((cra >> (CRABIT_CLKMULT_A - 2830 STDBIT_CLKMULT)) & 2831 STDMSK_CLKMULT))); 2832 2833 /* Return adjusted counter setup. */ 2834 return setup; 2835} 2836 2837static uint16_t GetMode_B(comedi_device *dev, enc_private *k) 2838{ 2839 register uint16_t cra; 2840 register uint16_t crb; 2841 register uint16_t setup; 2842 2843 /* Fetch CRA and CRB register images. */ 2844 cra = DEBIread(dev, k->MyCRA); 2845 crb = DEBIread(dev, k->MyCRB); 2846 2847 /* Populate the standardized counter setup bit fields. Note: */ 2848 /* IndexSrc is restricted to ENC_X or IndxPol. */ 2849 setup = (((crb << (STDBIT_INTSRC - CRBBIT_INTSRC_B)) & STDMSK_INTSRC) /* IntSrc = IntSrcB. */ 2850 | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC) /* LatchSrc = LatchSrcB. */ 2851 | ((crb << (STDBIT_LOADSRC - CRBBIT_LOADSRC_B)) & STDMSK_LOADSRC) /* LoadSrc = LoadSrcB. */ 2852 | ((crb << (STDBIT_INDXPOL - CRBBIT_INDXPOL_B)) & STDMSK_INDXPOL) /* IndxPol = IndxPolB. */ 2853 | ((crb >> (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) & STDMSK_CLKENAB) /* ClkEnab = ClkEnabB. */ 2854 | ((cra >> ((CRABIT_INDXSRC_B + 1) - STDBIT_INDXSRC)) & STDMSK_INDXSRC)); /* IndxSrc = IndxSrcB<1>. */ 2855 2856 /* Adjust mode-dependent parameters. */ 2857 if ((crb & CRBMSK_CLKMULT_B) == (MULT_X0 << CRBBIT_CLKMULT_B)) /* If Extender mode (ClkMultB == MULT_X0): */ 2858 setup |= ((CLKSRC_EXTENDER << STDBIT_CLKSRC) /* Indicate Extender mode. */ 2859 | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */ 2860 | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL)); /* Set ClkPol equal to Timer count direction (ClkSrcB<0>). */ 2861 2862 else if (cra & (2 << CRABIT_CLKSRC_B)) /* If Timer mode (ClkSrcB<1> == 1): */ 2863 setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */ 2864 | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */ 2865 | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL)); /* Set ClkPol equal to Timer count direction (ClkSrcB<0>). */ 2866 2867 else /* If Counter mode (ClkSrcB<1> == 0): */ 2868 setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Timer mode. */ 2869 | ((crb >> (CRBBIT_CLKMULT_B - STDBIT_CLKMULT)) & STDMSK_CLKMULT) /* Clock multiplier is passed through. */ 2870 | ((crb << (STDBIT_CLKPOL - CRBBIT_CLKPOL_B)) & STDMSK_CLKPOL)); /* Clock polarity is passed through. */ 2871 2872 /* Return adjusted counter setup. */ 2873 return setup; 2874} 2875 2876/* 2877 * Set the operating mode for the specified counter. The setup 2878 * parameter is treated as a COUNTER_SETUP data type. The following 2879 * parameters are programmable (all other parms are ignored): ClkMult, 2880 * ClkPol, ClkEnab, IndexSrc, IndexPol, LoadSrc. 2881 */ 2882 2883static void SetMode_A(comedi_device *dev, enc_private *k, uint16_t Setup, 2884 uint16_t DisableIntSrc) 2885{ 2886 register uint16_t cra; 2887 register uint16_t crb; 2888 register uint16_t setup = Setup; /* Cache the Standard Setup. */ 2889 2890 /* Initialize CRA and CRB images. */ 2891 cra = ((setup & CRAMSK_LOADSRC_A) /* Preload trigger is passed through. */ 2892 | ((setup & STDMSK_INDXSRC) >> (STDBIT_INDXSRC - (CRABIT_INDXSRC_A + 1)))); /* IndexSrc is restricted to ENC_X or IndxPol. */ 2893 2894 crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A /* Reset any pending CounterA event captures. */ 2895 | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_A - STDBIT_CLKENAB))); /* Clock enable is passed through. */ 2896 2897 /* Force IntSrc to Disabled if DisableIntSrc is asserted. */ 2898 if (!DisableIntSrc) 2899 cra |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC - 2900 CRABIT_INTSRC_A)); 2901 2902 /* Populate all mode-dependent attributes of CRA & CRB images. */ 2903 switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) { 2904 case CLKSRC_EXTENDER: /* Extender Mode: Force to Timer mode */ 2905 /* (Extender valid only for B counters). */ 2906 2907 case CLKSRC_TIMER: /* Timer Mode: */ 2908 cra |= ((2 << CRABIT_CLKSRC_A) /* ClkSrcA<1> selects system clock */ 2909 | ((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRABIT_CLKSRC_A)) /* with count direction (ClkSrcA<0>) obtained from ClkPol. */ 2910 | (1 << CRABIT_CLKPOL_A) /* ClkPolA behaves as always-on clock enable. */ 2911 | (MULT_X1 << CRABIT_CLKMULT_A)); /* ClkMult must be 1x. */ 2912 break; 2913 2914 default: /* Counter Mode: */ 2915 cra |= (CLKSRC_COUNTER /* Select ENC_C and ENC_D as clock/direction inputs. */ 2916 | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) /* Clock polarity is passed through. */ 2917 | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT)) ? /* Force multiplier to x1 if not legal, otherwise pass through. */ 2918 (MULT_X1 << CRABIT_CLKMULT_A) : 2919 ((setup & STDMSK_CLKMULT) << (CRABIT_CLKMULT_A - 2920 STDBIT_CLKMULT)))); 2921 } 2922 2923 /* Force positive index polarity if IndxSrc is software-driven only, */ 2924 /* otherwise pass it through. */ 2925 if (~setup & STDMSK_INDXSRC) 2926 cra |= ((setup & STDMSK_INDXPOL) << (CRABIT_INDXPOL_A - 2927 STDBIT_INDXPOL)); 2928 2929 /* If IntSrc has been forced to Disabled, update the MISC2 interrupt */ 2930 /* enable mask to indicate the counter interrupt is disabled. */ 2931 if (DisableIntSrc) 2932 devpriv->CounterIntEnabs &= ~k->MyEventBits[3]; 2933 2934 /* While retaining CounterB and LatchSrc configurations, program the */ 2935 /* new counter operating mode. */ 2936 DEBIreplace(dev, k->MyCRA, CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B, cra); 2937 DEBIreplace(dev, k->MyCRB, 2938 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)), crb); 2939} 2940 2941static void SetMode_B(comedi_device *dev, enc_private *k, uint16_t Setup, 2942 uint16_t DisableIntSrc) 2943{ 2944 register uint16_t cra; 2945 register uint16_t crb; 2946 register uint16_t setup = Setup; /* Cache the Standard Setup. */ 2947 2948 /* Initialize CRA and CRB images. */ 2949 cra = ((setup & STDMSK_INDXSRC) << ((CRABIT_INDXSRC_B + 1) - STDBIT_INDXSRC)); /* IndexSrc field is restricted to ENC_X or IndxPol. */ 2950 2951 crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B /* Reset event captures and disable interrupts. */ 2952 | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) /* Clock enable is passed through. */ 2953 | ((setup & STDMSK_LOADSRC) >> (STDBIT_LOADSRC - CRBBIT_LOADSRC_B))); /* Preload trigger source is passed through. */ 2954 2955 /* Force IntSrc to Disabled if DisableIntSrc is asserted. */ 2956 if (!DisableIntSrc) 2957 crb |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC - 2958 CRBBIT_INTSRC_B)); 2959 2960 /* Populate all mode-dependent attributes of CRA & CRB images. */ 2961 switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) { 2962 case CLKSRC_TIMER: /* Timer Mode: */ 2963 cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB<1> selects system clock */ 2964 | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B - STDBIT_CLKPOL))); /* with direction (ClkSrcB<0>) obtained from ClkPol. */ 2965 crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB behaves as always-on clock enable. */ 2966 | (MULT_X1 << CRBBIT_CLKMULT_B)); /* ClkMultB must be 1x. */ 2967 break; 2968 2969 case CLKSRC_EXTENDER: /* Extender Mode: */ 2970 cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB source is OverflowA (same as "timer") */ 2971 | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B - STDBIT_CLKPOL))); /* with direction obtained from ClkPol. */ 2972 crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB controls IndexB -- always set to active. */ 2973 | (MULT_X0 << CRBBIT_CLKMULT_B)); /* ClkMultB selects OverflowA as the clock source. */ 2974 break; 2975 2976 default: /* Counter Mode: */ 2977 cra |= (CLKSRC_COUNTER << CRABIT_CLKSRC_B); /* Select ENC_C and ENC_D as clock/direction inputs. */ 2978 crb |= (((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRBBIT_CLKPOL_B)) /* ClkPol is passed through. */ 2979 | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT)) ? /* Force ClkMult to x1 if not legal, otherwise pass through. */ 2980 (MULT_X1 << CRBBIT_CLKMULT_B) : 2981 ((setup & STDMSK_CLKMULT) << (CRBBIT_CLKMULT_B - 2982 STDBIT_CLKMULT)))); 2983 } 2984 2985 /* Force positive index polarity if IndxSrc is software-driven only, */ 2986 /* otherwise pass it through. */ 2987 if (~setup & STDMSK_INDXSRC) 2988 crb |= ((setup & STDMSK_INDXPOL) >> (STDBIT_INDXPOL - 2989 CRBBIT_INDXPOL_B)); 2990 2991 /* If IntSrc has been forced to Disabled, update the MISC2 interrupt */ 2992 /* enable mask to indicate the counter interrupt is disabled. */ 2993 if (DisableIntSrc) 2994 devpriv->CounterIntEnabs &= ~k->MyEventBits[3]; 2995 2996 /* While retaining CounterA and LatchSrc configurations, program the */ 2997 /* new counter operating mode. */ 2998 DEBIreplace(dev, k->MyCRA, 2999 (uint16_t) (~(CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B)), cra); 3000 DEBIreplace(dev, k->MyCRB, CRBMSK_CLKENAB_A | CRBMSK_LATCHSRC, crb); 3001} 3002 3003/* Return/set a counter's enable. enab: 0=always enabled, 1=enabled by index. */ 3004 3005static void SetEnable_A(comedi_device *dev, enc_private *k, uint16_t enab) 3006{ 3007 DEBUG("SetEnable_A: SetEnable_A enter 3541\n"); 3008 DEBIreplace(dev, k->MyCRB, 3009 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)), 3010 (uint16_t) (enab << CRBBIT_CLKENAB_A)); 3011} 3012 3013static void SetEnable_B(comedi_device *dev, enc_private *k, uint16_t enab) 3014{ 3015 DEBIreplace(dev, k->MyCRB, 3016 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_B)), 3017 (uint16_t) (enab << CRBBIT_CLKENAB_B)); 3018} 3019 3020static uint16_t GetEnable_A(comedi_device *dev, enc_private *k) 3021{ 3022 return (DEBIread(dev, k->MyCRB) >> CRBBIT_CLKENAB_A) & 1; 3023} 3024 3025static uint16_t GetEnable_B(comedi_device *dev, enc_private *k) 3026{ 3027 return (DEBIread(dev, k->MyCRB) >> CRBBIT_CLKENAB_B) & 1; 3028} 3029 3030/* Return/set a counter pair's latch trigger source. 0: On read 3031 * access, 1: A index latches A, 2: B index latches B, 3: A overflow 3032 * latches B. 3033 */ 3034 3035static void SetLatchSource(comedi_device *dev, enc_private *k, uint16_t value) 3036{ 3037 DEBUG("SetLatchSource: SetLatchSource enter 3550 \n"); 3038 DEBIreplace(dev, k->MyCRB, 3039 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_LATCHSRC)), 3040 (uint16_t) (value << CRBBIT_LATCHSRC)); 3041 3042 DEBUG("SetLatchSource: SetLatchSource exit \n"); 3043} 3044 3045/* 3046 * static uint16_t GetLatchSource(comedi_device *dev, enc_private *k ) 3047 * { 3048 * return ( DEBIread( dev, k->MyCRB) >> CRBBIT_LATCHSRC ) & 3; 3049 * } 3050 */ 3051 3052/* 3053 * Return/set the event that will trigger transfer of the preload 3054 * register into the counter. 0=ThisCntr_Index, 1=ThisCntr_Overflow, 3055 * 2=OverflowA (B counters only), 3=disabled. 3056 */ 3057 3058static void SetLoadTrig_A(comedi_device *dev, enc_private *k, uint16_t Trig) 3059{ 3060 DEBIreplace(dev, k->MyCRA, (uint16_t) (~CRAMSK_LOADSRC_A), 3061 (uint16_t) (Trig << CRABIT_LOADSRC_A)); 3062} 3063 3064static void SetLoadTrig_B(comedi_device *dev, enc_private *k, uint16_t Trig) 3065{ 3066 DEBIreplace(dev, k->MyCRB, 3067 (uint16_t) (~(CRBMSK_LOADSRC_B | CRBMSK_INTCTRL)), 3068 (uint16_t) (Trig << CRBBIT_LOADSRC_B)); 3069} 3070 3071static uint16_t GetLoadTrig_A(comedi_device *dev, enc_private *k) 3072{ 3073 return (DEBIread(dev, k->MyCRA) >> CRABIT_LOADSRC_A) & 3; 3074} 3075 3076static uint16_t GetLoadTrig_B(comedi_device *dev, enc_private *k) 3077{ 3078 return (DEBIread(dev, k->MyCRB) >> CRBBIT_LOADSRC_B) & 3; 3079} 3080 3081/* Return/set counter interrupt source and clear any captured 3082 * index/overflow events. IntSource: 0=Disabled, 1=OverflowOnly, 3083 * 2=IndexOnly, 3=IndexAndOverflow. 3084 */ 3085 3086static void SetIntSrc_A(comedi_device *dev, enc_private *k, 3087 uint16_t IntSource) 3088{ 3089 /* Reset any pending counter overflow or index captures. */ 3090 DEBIreplace(dev, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL), 3091 CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A); 3092 3093 /* Program counter interrupt source. */ 3094 DEBIreplace(dev, k->MyCRA, ~CRAMSK_INTSRC_A, 3095 (uint16_t) (IntSource << CRABIT_INTSRC_A)); 3096 3097 /* Update MISC2 interrupt enable mask. */ 3098 devpriv->CounterIntEnabs = 3099 (devpriv->CounterIntEnabs & ~k->MyEventBits[3]) | k-> 3100 MyEventBits[IntSource]; 3101} 3102 3103static void SetIntSrc_B(comedi_device *dev, enc_private *k, 3104 uint16_t IntSource) 3105{ 3106 uint16_t crb; 3107 3108 /* Cache writeable CRB register image. */ 3109 crb = DEBIread(dev, k->MyCRB) & ~CRBMSK_INTCTRL; 3110 3111 /* Reset any pending counter overflow or index captures. */ 3112 DEBIwrite(dev, k->MyCRB, 3113 (uint16_t) (crb | CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B)); 3114 3115 /* Program counter interrupt source. */ 3116 DEBIwrite(dev, k->MyCRB, 3117 (uint16_t) ((crb & ~CRBMSK_INTSRC_B) | (IntSource << 3118 CRBBIT_INTSRC_B))); 3119 3120 /* Update MISC2 interrupt enable mask. */ 3121 devpriv->CounterIntEnabs = 3122 (devpriv->CounterIntEnabs & ~k->MyEventBits[3]) | k-> 3123 MyEventBits[IntSource]; 3124} 3125 3126static uint16_t GetIntSrc_A(comedi_device *dev, enc_private *k) 3127{ 3128 return (DEBIread(dev, k->MyCRA) >> CRABIT_INTSRC_A) & 3; 3129} 3130 3131static uint16_t GetIntSrc_B(comedi_device *dev, enc_private *k) 3132{ 3133 return (DEBIread(dev, k->MyCRB) >> CRBBIT_INTSRC_B) & 3; 3134} 3135 3136/* Return/set the clock multiplier. */ 3137 3138/* static void SetClkMult(comedi_device *dev, enc_private *k, uint16_t value ) */ 3139/* { */ 3140/* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_CLKMULT ) | ( value << STDBIT_CLKMULT ) ), FALSE ); */ 3141/* } */ 3142 3143/* static uint16_t GetClkMult(comedi_device *dev, enc_private *k ) */ 3144/* { */ 3145/* return ( k->GetMode(dev, k ) >> STDBIT_CLKMULT ) & 3; */ 3146/* } */ 3147 3148/* Return/set the clock polarity. */ 3149 3150/* static void SetClkPol( comedi_device *dev,enc_private *k, uint16_t value ) */ 3151/* { */ 3152/* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_CLKPOL ) | ( value << STDBIT_CLKPOL ) ), FALSE ); */ 3153/* } */ 3154 3155/* static uint16_t GetClkPol(comedi_device *dev, enc_private *k ) */ 3156/* { */ 3157/* return ( k->GetMode(dev, k ) >> STDBIT_CLKPOL ) & 1; */ 3158/* } */ 3159 3160/* Return/set the clock source. */ 3161 3162/* static void SetClkSrc( comedi_device *dev,enc_private *k, uint16_t value ) */ 3163/* { */ 3164/* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_CLKSRC ) | ( value << STDBIT_CLKSRC ) ), FALSE ); */ 3165/* } */ 3166 3167/* static uint16_t GetClkSrc( comedi_device *dev,enc_private *k ) */ 3168/* { */ 3169/* return ( k->GetMode(dev, k ) >> STDBIT_CLKSRC ) & 3; */ 3170/* } */ 3171 3172/* Return/set the index polarity. */ 3173 3174/* static void SetIndexPol(comedi_device *dev, enc_private *k, uint16_t value ) */ 3175/* { */ 3176/* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_INDXPOL ) | ( (value != 0) << STDBIT_INDXPOL ) ), FALSE ); */ 3177/* } */ 3178 3179/* static uint16_t GetIndexPol(comedi_device *dev, enc_private *k ) */ 3180/* { */ 3181/* return ( k->GetMode(dev, k ) >> STDBIT_INDXPOL ) & 1; */ 3182/* } */ 3183 3184/* Return/set the index source. */ 3185 3186/* static void SetIndexSrc(comedi_device *dev, enc_private *k, uint16_t value ) */ 3187/* { */ 3188/* DEBUG("SetIndexSrc: set index src enter 3700\n"); */ 3189/* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_INDXSRC ) | ( (value != 0) << STDBIT_INDXSRC ) ), FALSE ); */ 3190/* } */ 3191 3192/* static uint16_t GetIndexSrc(comedi_device *dev, enc_private *k ) */ 3193/* { */ 3194/* return ( k->GetMode(dev, k ) >> STDBIT_INDXSRC ) & 1; */ 3195/* } */ 3196 3197/* Generate an index pulse. */ 3198 3199static void PulseIndex_A(comedi_device *dev, enc_private *k) 3200{ 3201 register uint16_t cra; 3202 3203 DEBUG("PulseIndex_A: pulse index enter\n"); 3204 3205 cra = DEBIread(dev, k->MyCRA); /* Pulse index. */ 3206 DEBIwrite(dev, k->MyCRA, (uint16_t) (cra ^ CRAMSK_INDXPOL_A)); 3207 DEBUG("PulseIndex_A: pulse index step1\n"); 3208 DEBIwrite(dev, k->MyCRA, cra); 3209} 3210 3211static void PulseIndex_B(comedi_device *dev, enc_private *k) 3212{ 3213 register uint16_t crb; 3214 3215 crb = DEBIread(dev, k->MyCRB) & ~CRBMSK_INTCTRL; /* Pulse index. */ 3216 DEBIwrite(dev, k->MyCRB, (uint16_t) (crb ^ CRBMSK_INDXPOL_B)); 3217 DEBIwrite(dev, k->MyCRB, crb); 3218} 3219 3220/* Write value into counter preload register. */ 3221 3222static void Preload(comedi_device *dev, enc_private *k, uint32_t value) 3223{ 3224 DEBUG("Preload: preload enter\n"); 3225 DEBIwrite(dev, (uint16_t) (k->MyLatchLsw), (uint16_t) value); /* Write value to preload register. */ 3226 DEBUG("Preload: preload step 1\n"); 3227 DEBIwrite(dev, (uint16_t) (k->MyLatchLsw + 2), 3228 (uint16_t) (value >> 16)); 3229} 3230 3231static void CountersInit(comedi_device *dev) 3232{ 3233 int chan; 3234 enc_private *k; 3235 uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */ 3236 /* index. */ 3237 (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */ 3238 (CLKSRC_COUNTER << BF_CLKSRC) | /* Operating mode is counter. */ 3239 (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */ 3240 (CNTDIR_UP << BF_CLKPOL) | /* Count direction is up. */ 3241 (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */ 3242 (CLKENAB_INDEX << BF_CLKENAB); /* Enabled by index */ 3243 3244 /* Disable all counter interrupts and clear any captured counter events. */ 3245 for (chan = 0; chan < S626_ENCODER_CHANNELS; chan++) { 3246 k = &encpriv[chan]; 3247 k->SetMode(dev, k, Setup, TRUE); 3248 k->SetIntSrc(dev, k, 0); 3249 k->ResetCapFlags(dev, k); 3250 k->SetEnable(dev, k, CLKENAB_ALWAYS); 3251 } 3252 DEBUG("CountersInit: counters initialized \n"); 3253 3254} 3255