-#define DRIVER_VERSION "v2.0"
+#define DRIVER_VERSION "v2.1"
#define DRIVER_AUTHOR "Bernd Porr, BerndPorr@f2s.com"
#define DRIVER_DESC "Stirling/ITL USB-DUX -- Bernd.Porr@f2s.com"
/*
* 1.1: moved EP4 transfers to EP1 to make space for a PWM output on EP4
* 1.2: added PWM suport via EP4
* 2.0: PWM seems to be stable and is not interfering with the other functions
+ * 2.1: changed PWM API
*
*/
// Output endpoint for PWM
#define PWM_EP 4
-// 200Hz max frequ under PWM
-#define MAX_PWM_FREQ 200
+// 300Hz max frequ under PWM
+#define MIN_PWM_PERIOD ((long)(1E9/300))
+
+// Default PWM frequency
+#define PWM_DEFAULT_PERIOD ((long)(1E9/100))
// Number of channels
#define NUMCHANNELS 8
#define SUBDEV_COUNTER 3
// timer aka pwm output
-#define SUBDEV_TIMER 4
+#define SUBDEV_PWM 4
// number of retries to get the right dux command
#define RETRIES 10
struct urb **urbOut;
// pwm-transfer handling
struct urb *urbPwm;
+ // PWM period
+ lsampl_t pwmPeriod;
+ // PWM internal delay for the GPIF in the FX2
+ int pwmDelay;
+ // size of the PWM buffer which holds the bit pattern
int sizePwmBuf;
// input buffer for the ISO-transfer
int16_t *inBuffer;
return 0;
}
+static int usbdux_pwm_period(comedi_device * dev, comedi_subdevice * s,
+ lsampl_t period)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int fx2delay=255;
+ // just because it's easier I'll do the calc in frequ
+ long frequ=((long)1E9)/((long)period);
+ if (period < MIN_PWM_PERIOD)
+ {
+ printk("comedi%d: illegal period setting for pwm.\n", dev->minor);
+ return -EAGAIN;
+ } else {
+ fx2delay = (long)(((long)30E6 -
+ 2 * frequ * this_usbduxsub->sizePwmBuf)) /
+ ((long)(6 * this_usbduxsub->sizePwmBuf * frequ)) + 1;
+ if (fx2delay > 255) {
+ printk("comedi%d: period %d for pwm is too low.\n",
+ dev->minor, period);
+ return -EAGAIN;
+ }
+ }
+ this_usbduxsub->pwmDelay=fx2delay;
+ this_usbduxsub->pwmPeriod=period;
+ return 0;
+}
+
+
// is called from insn so there's no need to do all the sanity checks
-// and it's probably called every time insn is called
-static int usbdux_pwm_start(comedi_device * dev, comedi_subdevice * s,
- int frequ)
+static int usbdux_pwm_start(comedi_device * dev, comedi_subdevice * s)
{
int ret, i;
- long period;
usbduxsub_t *this_usbduxsub = dev->private;
#ifdef NOISY_DUX_DEBUGBUG
return 0;
}
- if ((frequ == 0) || (frequ > MAX_PWM_FREQ)) {
- printk("comedi%d: illegal frequency setting for pwm. Set data[2] (in Hz) properly.\n", dev->minor);
- return -EINVAL;
- } else {
- period = (long)(((long)30E6 -
- 2 * frequ * this_usbduxsub->sizePwmBuf)) /
- ((long)(6 * this_usbduxsub->sizePwmBuf * frequ)) + 1;
- if (period > 255) {
- printk("comedi%d: frequency f=%d for pwm is too low.\n",
- dev->minor, frequ);
- return -EINVAL;
- } else {
- this_usbduxsub->dux_commands[1] = ((int8_t) period);
- }
- }
-
-#ifdef NOISY_DUX_DEBUGBUG
- printk("comedi %d: sending pwm on command to the usb device. freq=%d, period=%ld\n", dev->minor, frequ, period);
-#endif
-
+ this_usbduxsub->dux_commands[1] = ((int8_t) this_usbduxsub->pwmPeriod);
if ((ret = send_dux_commands(this_usbduxsub, SENDPWMON)) < 0) {
return ret;
}
for (i = 0; i < this_usbduxsub->sizePwmBuf; i++) {
((char *)(this_usbduxsub->urbPwm->transfer_buffer))[i] = 0;
}
-
+
this_usbduxsub->pwm_cmd_running = 1;
ret = usbduxsub_submit_PwmURBs(this_usbduxsub);
if (ret < 0) {
return 0;
}
-static int usbdux_pwm_write(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
+
+// generates the bit pattern for PWM with the optional sign bit
+static int usbdux_pwm_pattern(comedi_device * dev, comedi_subdevice * s,
+ int channel, lsampl_t value, lsampl_t sign)
{
usbduxsub_t *this_usbduxsub = dev->private;
- int i, chan, pwm_mask, sgn_mask, c, v, pos, szbuf;
+ int i, szbuf;
char *pBuf;
+ char pwm_mask,sgn_mask,c;
if (!this_usbduxsub) {
return -EFAULT;
}
-
- down(&this_usbduxsub->sem);
-
- if (!(this_usbduxsub->probed)) {
- up(&this_usbduxsub->sem);
- return -ENODEV;
- }
-
- chan = CR_CHAN(insn->chanspec);
- pwm_mask = (1 << chan);
- sgn_mask = (16 << chan);
+ // this is the DIO bit which carries the PWM data
+ pwm_mask = (1 << channel);
+ // this is the DIO bit which carries the optional direction bit
+ sgn_mask = (16 << channel);
+ // this is the buffer which will be filled with the with bit
+ // pattern for one period
szbuf = this_usbduxsub->sizePwmBuf;
- for (i = 0; i < insn->n; i++) {
- pos = data[i] > szbuf;
- if (pos) {
- // postive value
- v = data[i] - szbuf;
+ pBuf = (char *)(this_usbduxsub->urbPwm->transfer_buffer);
+ for (i = 0; i < szbuf; i++) {
+ c = *pBuf;
+ // reset bits
+ c = c & (~pwm_mask);
+ // set the bit as long as the index is lower than the value
+ if (i < value)
+ c = c | pwm_mask;
+ // set the optional sign bit for a relay
+ if (!sign) {
+ // positive value
+ c = c & (~sgn_mask);
} else {
// negative value
- v = szbuf - data[i];
- }
- pBuf = (char *)(this_usbduxsub->urbPwm->transfer_buffer);
- for (i = 0; i < szbuf; i++) {
- c = *pBuf;
- // reset bits
- c = c & (~pwm_mask);
- if (i < v)
- c = c | pwm_mask;
- if (pos) {
- // positive value
- c = c & (~sgn_mask);
- } else {
- // negative value
- c = c | sgn_mask;
- }
- *pBuf = c;
- pBuf++;
+ c = c | sgn_mask;
}
+ *(pBuf++) = c;
}
+ return 1;
+}
- up(&this_usbduxsub->sem);
+static int usbdux_pwm_write(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
- return 1;
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+
+ if ((insn->n)!=1) {
+ // doesn't make sense to have more than one value here
+ // because it would just overwrite the PWM buffer a couple of times
+ return -EINVAL;
+ }
+
+ // the sign is set via a special INSN only, this gives us 8 bits for
+ // normal operation
+ return usbdux_pwm_pattern(dev,s,
+ CR_CHAN(insn->chanspec),
+ data[0],
+ 0); // relay sign 0 by default
}
+
static int usbdux_pwm_read(comedi_device * x1, comedi_subdevice * x2,
comedi_insn * x3, lsampl_t * x4)
{
- // nothing to do here
- return 0;
+ // not needed
+ return -EINVAL;
};
- // switches on/off PWM
+// switches on/off PWM
static int usbdux_pwm_config(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data)
{
- // PWM configure byte
- if (data[0] == INSN_CONFIG_PWM_OUTPUT) {
- if (data[1] == 0) {
- // switch it off
+ usbduxsub_t *this_usbduxsub = dev->private;
+ switch (data[0]) {
+ case INSN_CONFIG_ARM:
#ifdef NOISY_DUX_DEBUGBUG
- printk("comedi%d: pwm_insn_config: pwm off\n",
- dev->minor);
+ // switch it on
+ printk("comedi%d: pwm_insn_config: pwm on\n",
+ dev->minor);
#endif
- usbdux_pwm_cancel(dev, s);
- } else {
+ // if not zero the PWM is limited to a certain time which is
+ // not supported here
+ if (data[1]!=0) {
+ return -EINVAL;
+ }
+ return usbdux_pwm_start(dev, s);
+ case INSN_CONFIG_DISARM:
#ifdef NOISY_DUX_DEBUGBUG
- // switch it on
- printk("comedi%d: pwm_insn_config: pwm on\n",
- dev->minor);
+ printk("comedi%d: pwm_insn_config: pwm off\n",
+ dev->minor);
#endif
- usbdux_pwm_start(dev, s, data[2]);
- }
+ return usbdux_pwm_cancel(dev, s);
+ case INSN_GET_PWM_STATUS:
+ // to check if the USB transmission has failed or in case
+ // PWM was limited to n cycles to check if it has terminated
+ data[1] = this_usbduxsub->pwm_cmd_running;
+ return 0;
+ case INSN_CONFIG_PWM_SET_PERIOD:
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: pwm_insn_config: setting period\n",
+ dev->minor);
+#endif
+ return usbdux_pwm_period(dev,s,data[1]);
+ case INSN_CONFIG_PWM_GET_PERIOD:
+ data[1] = this_usbduxsub->pwmPeriod;
+ return 0;
+ case INSN_CONFIG_PWM_SET_H_BRIDGE:
+ // value in the first byte and the sign in the second for a relay
+ return usbdux_pwm_pattern(dev, s,
+ CR_CHAN(insn->chanspec), // the channel number
+ data[1], // actual PWM data
+ (data[2]!=0)); // just a sign
+ case INSN_CONFIG_PWM_GET_H_BRIDGE:
+ // values are not kept in this driver, nothing to return here
+ return -EINVAL;
}
- return 0;
+ return -EINVAL;
}
// end of PWM
dev->minor, index);
// private structure is also simply the usb-structure
dev->private = usbduxsub + index;
+
// the first subdevice is the A/D converter
s = dev->subdevices + SUBDEV_AD;
// the URBs get the comedi subdevice
if (usbduxsub[index].high_speed) {
//timer / pwm
- s = dev->subdevices + SUBDEV_TIMER;
- s->type = COMEDI_SUBD_TIMER;
- s->subdev_flags = SDF_WRITABLE;
- s->n_chan = 4;
- // pos and neg
- s->maxdata = usbduxsub[index].sizePwmBuf * 2;
+ s = dev->subdevices + SUBDEV_PWM;
+ s->type = COMEDI_SUBD_PWM;
+ s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
+ s->n_chan = 8;
+ // this defines the max duty cycle resolution
+ s->maxdata = usbduxsub[index].sizePwmBuf;
s->insn_write = usbdux_pwm_write;
s->insn_read = usbdux_pwm_read;
s->insn_config = usbdux_pwm_config;
+ usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
}
// finally decide that it's attached
usbduxsub[index].attached = 1;
projects / comedi.git / commitdiff