#define RTD_MIN_SPEED 1000000000 /* in nanoseconds ??? */
#define RTD_SETTLE_DELAY 1 /* in usec */
#define RTD_ADC_TIMEOUT 1000 /* in usec */
+#define RTD_DAC_DELAY 1 /* in usec */
#include "rtd520.h"
-/*
- Bit fields for one entry in the channel gain table
-*/
-typedef struct rtdChanGain_struct {
- unsigned int channel : 4;
- unsigned int gain : 3;
- unsigned int nrse : 1; /* SE GND: 0=AGND, 1=AINSENSE */
- unsigned int range : 2; /* 0=+-5, 1=+-10, 2=+10 */
- unsigned int diff : 1; /* 0=SE, 1=differental */
- unsigned int pause : 1;
- unsigned int dac1 : 1;
- unsigned int dac2 : 1;
- unsigned int skip : 1;
- unsigned int reserved: 1;
-} rtdChanGain;
-
/*======================================================================
Comedi specific stuff
======================================================================*/
}};
/* PCI4520 has two more gains (6 more entries) */
+/* Table order matches range values */
static comedi_lrange rtd_ao_range = { 4, {
- RANGE(-10, 10),
- RANGE(-5, 5),
- RANGE(0, 10),
RANGE(0, 5),
+ RANGE(0, 10),
+ RANGE(-5, 5),
+ RANGE(-10, 10),
}};
/*
int aiBits;
int aiMaxGain;
int fifoLen;
- int haveDio; /* is digital IO supported */
} rtdBoard;
rtdBoard rtd520Boards[] = {
aiBits: 12,
aiMaxGain: 32,
fifoLen: 1024,
- haveDio: 0,
},
{
name: "DM7520-8",
aiBits: 12,
aiMaxGain: 32,
fifoLen: 8192,
- haveDio: 0,
},
{
name: "PCI4520",
aiBits: 12,
aiMaxGain: 128,
fifoLen: 1024,
- haveDio: 0,
},
{
name: "PCI4520-8",
aiBits: 12,
aiMaxGain: 128,
fifoLen: 8192,
- haveDio: 0,
},
};
writel (v, devpriv->las0+LAS0_CGL_WRITE)
/* Reset ADC FIFO */
-#define RtdClearAdcFifo(dev) \
+#define RtdAdcClearFifo(dev) \
writel (0, devpriv->las0+LAS0_ADC_FIFO_CLEAR)
/* Set ADC start conversion source select (write only) */
#define RtdAdcStart(dev) \
writew (0, devpriv->las0+LAS0_ADC)
-/* Read one ADC data value (12bit+sign as 16bit) */
+/* Read one ADC data value (12bit (with sign extend) as 16bit) */
/* Note: matches what DMA would get. Actual value >> 3 */
#define RtdAdcFifoGet(dev) \
readw (devpriv->las1+LAS1_ADC_FIFO)
-/* Read two ADC data values */
+/* Read two ADC data values (DOESNT WORK) */
#define RtdAdcFifoGet2(dev) \
readl (devpriv->las1+LAS1_ADC_FIFO)
writel (v, devpriv->lcfg+LCFG_ITCSR)
+/* Digital IO */
+#define RtdDio0Read(dev) \
+ (readw (devpriv->las0+LAS0_DIO0) & 0xff)
+#define RtdDio0Write(dev,v) \
+ writew ((v) & 0xff, devpriv->las0+LAS0_DIO0)
+
+#define RtdDio1Read(dev) \
+ (readw (devpriv->las0+LAS0_DIO1) & 0xff)
+#define RtdDio1Write(dev,v) \
+ writew ((v) & 0xff, devpriv->las0+LAS0_DIO1)
+
+#define RtdDioStatusRead(dev) \
+ (readw (devpriv->las0+LAS0_DIO_STATUS) & 0xff)
+#define RtdDioStatusWrite(dev,v) \
+ writew ((v) & 0xff, devpriv->las0+LAS0_DIO_STATUS)
+
+#define RtdDio0CtrlRead(dev) \
+ (readw (devpriv->las0+LAS0_DIO0_CTRL) & 0xff)
+#define RtdDio0CtrlWrite(dev,v) \
+ writew ((v) & 0xff, devpriv->las0+LAS0_DIO0_CTRL)
+
+
+/* Digital to Analog converter */
+/* We follow the RTD docs, which label the DACs 1 and 2 (not 0 and 1) */
+
+/* Write one data value (sign + 12bit + marker bits) */
+/* Note: matches what DMA would put. Actual value << 3 */
+#define RtdDac1FifoPut(dev, v) \
+ writew ((v), devpriv->las1+LAS1_DAC1_FIFO)
+
+#define RtdDac2FifoPut(dev, v) \
+ writew ((v), devpriv->las1+LAS1_DAC2_FIFO)
+
+/* Start single DAC conversion */
+#define RtdDac1Update(dev) \
+ writew (0, devpriv->las0+LAS0_DAC1)
+
+#define RtdDac2Update(dev) \
+ writew (0, devpriv->las0+LAS0_DAC2)
+
+/* Start single DAC conversion on both DACs */
+#define RtdDacBothUpdate(dev) \
+ writew (0, devpriv->las0+LAS0_DAC)
+
+/* Set DAC output type and range */
+#define RtdDac1Range(dev, v) \
+ writew ((v) & 7, devpriv->las0+LAS0_DAC1_CTRL)
+
+#define RtdDac2Range(dev, v) \
+ writew ((v) & 7, devpriv->las0+LAS0_DAC2_CTRL)
+
+/* Reset DAC FIFO */
+#define RtdDac1ClearFifo(dev) \
+ writel (0, devpriv->las0+LAS0_DAC1_RESET)
+
+#define RtdDac2ClearFifo(dev) \
+ writel (0, devpriv->las0+LAS0_DAC2_RESET)
+
/*
* The comedi_driver structure tells the Comedi core module
* which functions to call to configure/deconfigure (attach/detach)
s=dev->subdevices+1;
/* analog output subdevice */
- s->type = COMEDI_SUBD_UNUSED;
- /*s->type=COMEDI_SUBD_AO;*/
+ s->type=COMEDI_SUBD_AO;
s->subdev_flags=SDF_WRITEABLE;
- s->n_chan =2;
+ s->n_chan = 2;
s->maxdata =(1<<thisboard->aiBits)-1;
s->range_table = &rtd_ao_range;
s->insn_write = &rtd_ao_winsn;
s=dev->subdevices+2;
/* digital i/o subdevice */
- if (thisboard->haveDio){
- s->type=COMEDI_SUBD_DIO;
- s->subdev_flags=SDF_READABLE|SDF_WRITEABLE;
- s->n_chan=16;
- s->maxdata=1;
- s->range_table=&range_digital;
- s->insn_bits = rtd_dio_insn_bits;
- s->insn_config = rtd_dio_insn_config;
- } else {
- s->type = COMEDI_SUBD_UNUSED;
- }
+ s->type=COMEDI_SUBD_DIO;
+ s->subdev_flags=SDF_READABLE|SDF_WRITEABLE;
+ /* we only support port 0 right now. Ignoring port 1 and user IO */
+ s->n_chan=8;
+ s->maxdata=1;
+ s->range_table=&range_digital;
+ s->insn_bits = rtd_dio_insn_bits;
+ s->insn_config = rtd_dio_insn_config;
s=dev->subdevices+3;
s->n_chan=3;
RtdInterruptClear(dev); /* clears bits set by mask */
RtdInterruptOverrunClear(dev);
RtdClearCGT (dev);
- RtdClearAdcFifo (dev);
+ RtdAdcClearFifo (dev);
/* clear DA FIFO */
/* clear digital IO */
if (dev->irq) { /* enable interrupt controller */
RtdInterruptClearMask (dev,~0);
RtdInterruptClear(dev); /* clears bits set by mask */
RtdClearCGT (dev);
- RtdClearAdcFifo (dev);
+ RtdAdcClearFifo (dev);
/* release DMA */
case AREF_OTHER: /* ??? */
break;
}
- printk ("chan=%d r=%d a=%d -> 0x%x\n",
- chan, range, aref, r);
+ /*printk ("chan=%d r=%d a=%d -> 0x%x\n",
+ chan, range, aref, r);*/
return r;
}
udelay (RTD_SETTLE_DELAY);
/* clear any old fifo data */
- RtdClearAdcFifo (dev);
+ RtdAdcClearFifo (dev);
stat = RtdFifoStatus (dev); /* DEBUG */
if (stat & FS_ADC_EMPTY) { /* 1 -> not empty */
comedi_bufcheck (dev, s); /* signal something there */
}
+ if (0 == devpriv->aiCount) { /* done! stop! */
+ comedi_done (dev, s); /* signal end to comedi */
+ goto transferDone;
+ }
if (status & IRQM_ADC_ABOUT_CNT) { /* about counter terminated */
if (devpriv->aboutWrap) { /* multi-count wraps */
- if (0 == devpriv->aiCount) { /* done! stop! */
- RtdPacerStop (dev); /* Stop PACER */
- RtdInterruptMask (dev, 0); /* mask out ABOUT and SAMPLE */
- ai_read_dregs (dev, s);
- comedi_done (dev, s); /* signal end to comedi */
- } else if (devpriv->aiCount < devpriv->aboutWrap) {
+ if (devpriv->aiCount < devpriv->aboutWrap) {
RtdAboutStopEnable (dev, 0); /* enable stop */
devpriv->aboutWrap = 0;
}
/* clear the interrupt */
RtdInterruptClearMask (dev, status);
RtdInterruptClear (dev);
+ return;
+
+ transferDone:
+ RtdPacerStop (dev); /* Stop PACER */
+ RtdInterruptMask (dev, 0); /* mask out ABOUT and SAMPLE */
+
+ RtdInterruptClearMask (dev, status);
+ RtdInterruptClear (dev);
}
/*
/* setup the common case and override if needed */
if (cmd->chanlist_len > 1) {
- printk ("rtd520: Multi channel setup\n");
+ /*printk ("rtd520: Multi channel setup\n");*/
RtdPacerStartSource (dev, 0); /* software triggers pacer */
RtdBurstStartSource (dev, 1); /* PACER triggers burst */
RtdAdcConversionSource (dev, 2); /* BURST triggers ADC */
} else { /* single channel */
- printk ("rtd520: single channel setup\n");
+ /*printk ("rtd520: single channel setup\n");*/
RtdPacerStartSource (dev, 0); /* software triggers pacer */
RtdAdcConversionSource (dev, 1); /* PACER triggers ADC */
}
devpriv->aboutWrap = 0;
RtdAboutCounter (dev, n - 1);
} else { /* multiple counter wraps */
- int mm, dd;
+ int mm, dd, ii;
+ /*printk ("rtd520: multi-wrap count %d = %d x %d \n",
+ n, cmd->chanlist_len, cmd->stop_arg);*/
/* interrupt on ABOUT wrap, until last wrap */
- mm = n & 0xffff;
- dd = n / mm; /* effective divisor */
- while (mm < 0xfff) { /* make sure we have time to arm */
+ /* we can run long, aiCount handles the excess */
+ dd = (n + 0xffff-1) / 0xffff;/* find divisor, round up */
+ mm = n / dd;
+ /* dd * mm >= n, mm < 0xffff */
+ /* try to find good divisor */
+ for (ii = 0; ((mm*dd) < n) && (ii < 8); ++ii) {
dd++;
- mm = (n + dd-1) / dd; /* round up, if needed */
+ mm = n / dd;
}
- /* TODO fix round error */
- printk ("rtd520: Warning! count value %d > 65536 using %d\n",
- n, mm);
+
+ if ((mm*dd) < n) { /* just run long */
+ ++mm;
+ }
+ /* dd * mm >= n, mm < 0xffff */
+ printk ("rtd520: multi-wrap count %d = (%d) x %d\n",
+ mm*dd, mm, dd);
devpriv->aboutWrap = mm;
RtdAboutCounter (dev, mm-1);
RtdAboutStopEnable (dev, 1); /* just interrupt */
case TRIG_TIMER: /* periodic scanning */
timer=rtd_ns_to_timer(&cmd->scan_begin_arg,TRIG_ROUND_NEAREST);
/* set PACER clock */
- printk ("rtd520: loading %d into pacer for %dns\n",
- timer, cmd->scan_begin_arg);
+ /*printk ("rtd520: loading %d into pacer\n", timer);*/
RtdPacerCounter (dev, timer);
break;
/* Sample timing within a scan */
switch(cmd->convert_src){
case TRIG_TIMER: /* periodic */
- timer=rtd_ns_to_timer(&cmd->convert_arg,TRIG_ROUND_NEAREST);
- /* setup BURST clock */
- printk ("rtd520: loading %d into burst\n", timer);
- RtdBurstCounter (dev, timer);
+ if (cmd->chanlist_len > 1) { /* only needed for multi-channel */
+ timer=rtd_ns_to_timer(&cmd->convert_arg,TRIG_ROUND_NEAREST);
+ /* setup BURST clock */
+ /*printk ("rtd520: loading %d into burst\n", timer);*/
+ RtdBurstCounter (dev, timer);
+ }
break;
/* initial settling */
udelay (RTD_SETTLE_DELAY);
/* clear any old data */
- RtdClearAdcFifo (dev);
+ RtdAdcClearFifo (dev);
/* see if we can do a simple polled input */
if (justPoll) {
return rtd_ns_to_timer_base (ns, round_mode, RTD_CLOCK_BASE);
}
+/*
+ Output one (or more) analog values to a single port as fast as possible.
+*/
static int rtd_ao_winsn (
comedi_device *dev,
comedi_subdevice *s,
lsampl_t *data)
{
int i;
- int chan = CR_CHAN(insn->chanspec);
+ int chan = CR_CHAN (insn->chanspec);
+ int range = CR_RANGE (insn->chanspec);
+
+ /* Configure the output range (table index matches the range values) */
+ if (chan == 0) {
+ RtdDac1Range (dev, range);
+ } else {
+ RtdDac2Range (dev, range);
+ }
/* Writing a list of values to an AO channel is probably not
* very useful, but that's how the interface is defined. */
- for(i=0;i<insn->n;i++){
+ for (i=0; i < insn->n; ++i){
+ int val = data[i] << 3;
+
+ /* VERIFY: comedi range and offset conversions */
+
+ if ((range > 1) /* bipolar */
+ && (data[i] < 2048)) {
+ /* offset and sign extend */
+ val = (((int)data[i]) - 2048) << 3;
+ } else { /* unipolor */
+ val = data[i] << 3;
+ }
+
+ printk("comedi: rtd520 DAC chan=%d range=%d writing %d as 0x%x\n",
+ chan, range, data[i], val);
+
/* a typical programming sequence */
- //outw(data[i],dev->iobase + RTD_DA0 + chan);
- devpriv->ao_readback[chan] = data[i];
+ if (chan == 0) {
+ RtdDac1FifoPut (dev, val); /* put the value in */
+ RtdDac1Update (dev); /* trigger the conversion */
+ } else {
+ RtdDac2FifoPut (dev, val); /* put the value in */
+ RtdDac2Update (dev); /* trigger the conversion */
+ }
+
+ devpriv->ao_readback[chan] = data[i]; /* save for read back */
+
+ if (insn->n > 1) { /* let DAC finish (TODO poll) */
+ udelay (RTD_DAC_DELAY);
+ }
}
/* return the number of samples read/written */
- return 1;
+ return i;
}
/* AO subdevices should have a read insn as well as a write insn.
int i;
int chan = CR_CHAN(insn->chanspec);
- for(i=0;i<insn->n;i++)
+ for (i=0; i < insn->n; i++) {
data[i] = devpriv->ao_readback[chan];
+ }
return i;
}
-/* DIO devices are slightly special. Although it is possible to
+/*
+ Write a masked set of bits and the read back the port.
+ We track what the bits should be (i.e. we don't read the port first).
+
+ DIO devices are slightly special. Although it is possible to
* implement the insn_read/insn_write interface, it is much more
* useful to applications if you implement the insn_bits interface.
* This allows packed reading/writing of the DIO channels. The
- * comedi core can convert between insn_bits and insn_read/write */
+ * comedi core can convert between insn_bits and insn_read/write
+ */
static int rtd_dio_insn_bits (
comedi_device *dev,
comedi_subdevice *s,
if (data[0]) {
s->state &= ~data[0];
s->state |= data[0]&data[1];
+
/* Write out the new digital output lines */
- //outw(s->state,dev->iobase + RTD_DIO);
+ RtdDio0Write (dev, s->state);
}
/* on return, data[1] contains the value of the digital
* input lines. */
- //data[1]=inw(dev->iobase + RTD_DIO);
+ data[1] = RtdDio0Read (dev);
+
+ /*printk("rtd520:port_0 wrote: 0x%x read: 0x%x\n", s->state, data[1]);*/
return 2;
}
+/*
+ Configure one bit on a IO port as Input or Output (hence the name :-).
+*/
static int rtd_dio_insn_config (
comedi_device *dev,
comedi_subdevice *s,
* value COMEDI_INPUT or COMEDI_OUTPUT. */
if (data[0]==COMEDI_OUTPUT) {
- s->io_bits |= 1<<chan;
+ s->io_bits |= 1<<chan; /* 1 means Out */
} else {
s->io_bits &= ~(1<<chan);
}
- //outw(s->io_bits,dev->iobase + RTD_DIO_CONFIG);
-
+
+ printk("rtd520: port_0_direction=0x%x (1 means out)\n", s->io_bits);
+ /* TODO support digital match interrupts and strobes */
+ RtdDioStatusWrite (dev, 0x01); /* make Dio0Ctrl point to direction */
+ RtdDio0CtrlWrite (dev, s->io_bits); /* set direction 1 means Out */
+ RtdDioStatusWrite (dev, 0); /* make Dio0Ctrl clear interrupts */
+
+ /* port1 can only be all input or all output */
+
+ /* there are also 2 user input lines and 2 user output lines */
+
return 1;
}
projects / comedi.git / commitdiff