Patch from anders.blomdell@control.lth.se (Anders Blomdell):

daqboard2000: fixed bug where (sometimes) values were left behind in the FIFO
multiq3: start encoder counting from middle of range (2^23)
serial2002: fix timing issues in 2.6 kernels, add encoder

diff --git a/comedi/drivers/daqboard2000.c b/comedi/drivers/daqboard2000.c
index 8c863308226904a8ef7f885b0e41a02c7e5915d1..98d63479a3bdca06457d439a6bc6cd382579ac1d 100644 (file)
--- a/comedi/drivers/daqboard2000.c
+++ b/comedi/drivers/daqboard2000.c
@@ -335,9 +335,9 @@ static void writeAcqScanListEntry(comedi_device *dev, u16 entry)
 {
   daqboard2000_hw *fpga = devpriv->daq;
 
-  comedi_udelay(4);
+//  comedi_udelay(4);
   fpga->acqScanListFIFO = entry & 0x00ff;
-  comedi_udelay(4);
+//  comedi_udelay(4);
   fpga->acqScanListFIFO = (entry >> 8) & 0x00ff;
 }
 
@@ -380,9 +380,15 @@ static int daqboard2000_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
   daqboard2000_hw *fpga = devpriv->daq;
   int gain, chan, timeout;
 
-  /* Could these two be merged? */
-  fpga->acqControl = DAQBOARD2000_AcqResetScanListFifo;
-  fpga->acqControl = DAQBOARD2000_AcqResetResultsFifo | DAQBOARD2000_AcqResetConfigPipe;
+  fpga->acqControl = 
+    DAQBOARD2000_AcqResetScanListFifo |
+    DAQBOARD2000_AcqResetResultsFifo | 
+    DAQBOARD2000_AcqResetConfigPipe;
+
+  /* If pacer clock is not set to some high value (> 10 us), we
+     risk multiple samples to be put into the result FIFO. */
+  fpga->acqPacerClockDivLow = 1000000; /* 1 second, should be long enough */
+  fpga->acqPacerClockDivHigh = 0;
 
   gain = CR_RANGE(insn->chanspec);
   chan = CR_CHAN(insn->chanspec);              
@@ -662,10 +668,10 @@ static int daqboard2000_8255_cb(int dir, int port, int data, unsigned long ioadd
 {
   int result = 0;
   if(dir){
-    writew(data, (void*)(ioaddr+port*2));
+    writew(data,ioaddr+port*2);
     result = 0;
   }else{
-    result = readw((void*)(ioaddr+port*2));
+    result = readw(ioaddr+port*2);
   }
 /*
   printk("daqboard2000_8255_cb %x %d %d %2.2x -> %2.2x\n",

diff --git a/comedi/drivers/multiq3.c b/comedi/drivers/multiq3.c
index 691750992ba3e1119b8fbc2fb4d85dbdf7ce82d4..a8beb7b117f99434e03d6906284021e19f1c1777 100644 (file)
--- a/comedi/drivers/multiq3.c
+++ b/comedi/drivers/multiq3.c
@@ -103,8 +103,7 @@ static int multiq3_ai_insn_read(comedi_device *dev,comedi_subdevice *s,
 {
        int i,n;
        int chan;
-       unsigned short hi, lo;
-       int16_t raw_data;
+       unsigned int hi, lo;
 
        chan = CR_CHAN(insn->chanspec);
        outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan<<3),
@@ -126,9 +125,7 @@ static int multiq3_ai_insn_read(comedi_device *dev,comedi_subdevice *s,
 
                hi = inb(dev->iobase + MULTIQ3_AD_CS);
                lo = inb(dev->iobase + MULTIQ3_AD_CS);
-               raw_data = ((hi << 8) & 0xff00) | (lo & 0xff);
-               raw_data += 0x1000;
-               data[n] = raw_data & 0x1fff;
+               data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
        }
 
        return n;
@@ -197,12 +194,14 @@ static int multiq3_encoder_insn_read(comedi_device *dev,comedi_subdevice *s,
        int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan<<3);
 
        for(n=0;n<insn->n;n++){
+                int value;
                outw(control, dev->iobase+MULTIQ3_CONTROL);
                outb(MULTIQ3_BP_RESET, dev->iobase+MULTIQ3_ENC_CONTROL);
                outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase+MULTIQ3_ENC_CONTROL);
-               data[n] = inb(dev->iobase+MULTIQ3_ENC_DATA);
-               data[n] |= (inb(dev->iobase+MULTIQ3_ENC_DATA)<<8);
-               data[n] |= (inb(dev->iobase+MULTIQ3_ENC_DATA)<<16);
+                value = inb(dev->iobase+MULTIQ3_ENC_DATA);
+                value |= (inb(dev->iobase+MULTIQ3_ENC_DATA)<<8);
+                value |= (inb(dev->iobase+MULTIQ3_ENC_DATA)<<16);
+                data[n] = (value + 0x800000) & 0xffffff;
        }
 
        return n;

diff --git a/comedi/drivers/serial2002.c b/comedi/drivers/serial2002.c
index f70eb62a1ae6a6786bd31fbb075a191b153589b4..4a2469bc7cf65e976c875f96592ac8ecee25fa99 100644 (file)
--- a/comedi/drivers/serial2002.c
+++ b/comedi/drivers/serial2002.c
@@ -36,6 +36,10 @@ Status: in development
 #include <linux/delay.h>
 #include <linux/ioport.h>
 
+#include <termios.h>
+#include <asm/ioctls.h>
+#include <linux/serial.h>
+#include <linux/poll.h>
 
 /*
  * Board descriptions for two imaginary boards.  Describing the
@@ -71,8 +75,10 @@ typedef struct {
   unsigned char digital_out_mapping[32];
   unsigned char analog_in_mapping[32];
   unsigned char analog_out_mapping[32];
+  unsigned char encoder_in_mapping[32];
   serial2002_range_table_t in_range[32], out_range[32];
 } serial2002_private;
+
 /*
  * most drivers define the following macro to make it easy to
  * access the private structure.
@@ -135,26 +141,51 @@ static int tty_available(struct file *f)
 
 static int tty_read(struct file *f, int timeout) 
 {
-  int result, retries;
-  mm_segment_t oldfs;
+  int result;
 
   result = -1;
   if (!IS_ERR(f)) {
-    retries = 0;
+    mm_segment_t oldfs;
+
     oldfs = get_fs();
     set_fs(KERNEL_DS);
-    while (retries < timeout) {
+    if (f->f_op->poll) {
+      struct poll_wqueues table;
+      struct timeval start, now;
+       
+      do_gettimeofday(&start);
+      poll_initwait(&table);
+      while (1) {
+       long elapsed;
+       int mask;
+
+       mask = f->f_op->poll(f, &table);
+       if (mask & (POLLRDNORM|POLLRDBAND|POLLIN|POLLHUP|POLLERR)) { break; }
+       do_gettimeofday(&now);
+       elapsed = (1000000 * (now.tv_sec - start.tv_sec) + 
+                  now.tv_usec - start.tv_usec);
+       if (elapsed > timeout) { break; }
+       set_current_state(TASK_INTERRUPTIBLE);
+       schedule_timeout(((timeout - elapsed)* HZ) / 10000);
+      }
+      poll_freewait(&table);
+    } else {
+      /* Device does not support poll, busy wait */
+      int retries = 0;
+      while (1) {
       retries++;
+       if (retries >= timeout) { break; }
+       if (tty_available(f) > 0) { break; }
+       comedi_udelay(100);
+      }
+    }      
       if (tty_available(f) > 0) {
-       int count;
        unsigned char ch; 
 
        f->f_pos = 0;
-       count = f->f_op->read(f, &ch, 1, &f->f_pos);
-       if (count == 1) {       result = ch; }
-       break;
+      if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
+       result = ch; 
       }
-      comedi_udelay(100);
     }
     set_fs(oldfs);
   }
@@ -195,7 +226,6 @@ static void tty_setspeed(struct file *f, int speed)
   {
     // Set low latency
     struct serial_struct settings;
-    int i;
     f->f_op->ioctl(f->f_dentry->d_inode, f, TIOCGSERIAL, (int)&settings);
     settings.flags |= ASYNC_LOW_LATENCY;
     f->f_op->ioctl(f->f_dentry->d_inode, f, TIOCSSERIAL, (int)&settings);
@@ -232,6 +262,7 @@ static struct serial_data serial_read(struct file *f, int timeout)
 
     length++;
     if (data < 0) {
+      printk("serial2002 error\n");
       break;
     } else if (data & 0x80) {
       result.value = (result.value << 7) | (data & 0x7f);
@@ -271,7 +302,7 @@ static void serial_write(struct file *f, struct serial_data data)
   }
 }
 
-static int serial_2002_open(comedi_device *dev) {
+static void serial_2002_open(comedi_device *dev) {
   char port[20];
 
   sprintf(port, "/dev/ttyS%d", devpriv->port);
@@ -363,7 +394,7 @@ static int serial_2002_open(comedi_device *dev) {
        }
       }
     }
-    for (i = 0 ; i < 4 ; i++) {
+    for (i = 0 ; i <= 4 ; i++) {
       // Fill in subdev data
       config_t *c;
       unsigned char *mapping = 0;
@@ -395,7 +426,8 @@ static int serial_2002_open(comedi_device *dev) {
        } break;
        case  4: { 
          c = chan_in_config; 
-         c = 0; // Counters/encoder not implemented yet
+         mapping = devpriv->encoder_in_mapping;
+         range = devpriv->in_range;
          kind = 5; 
        } break;
        default: { c = 0; } break;
@@ -427,21 +459,19 @@ static int serial_2002_open(comedi_device *dev) {
              range[j].range.max = c[j].max;
              s->range_table_list[chan] = (comedi_lrange*)&range[j];
            }
-           s->maxdata_list[chan] = (1<<c[j].bits) - 1;
+           s->maxdata_list[chan] = ((long long)1<<c[j].bits) - 1;
            chan++;
          }
        }
       }
     }      
   }
-  return 0;
 }
 
-static int serial_2002_close(comedi_device *dev) {
+static void serial_2002_close(comedi_device *dev) {
   if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
     filp_close(devpriv->tty, 0);
   }
-  return 0;
 }
 
 static int serial2002_di_rinsn(comedi_device *dev, comedi_subdevice *s,
@@ -534,7 +564,27 @@ static int serial2002_ao_rinsn(comedi_device *dev, comedi_subdevice *s,
   return n;
 }
 
-static int serial2002_attach(comedi_device *dev,comedi_devconfig *it)
+static int serial2002_ei_rinsn(comedi_device *dev, comedi_subdevice *s,
+                              comedi_insn *insn, lsampl_t *data)
+{
+  int n;
+  int chan;
+  
+  chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
+  for(n = 0 ; n < insn->n ; n++){
+    struct serial_data read;
+    
+    poll_channel(devpriv->tty, chan);
+    while (1) {
+      read = serial_read(devpriv->tty, 1000);
+      if (read.kind != is_channel || read.index == chan) { break; } 
+    }
+    data[n] = read.value;
+  }
+  return n;
+}
+
+static int serial2002_attach(comedi_device *dev, comedi_devconfig *it)
 {
   comedi_subdevice *s;
 
@@ -549,7 +599,7 @@ static int serial2002_attach(comedi_device *dev,comedi_devconfig *it)
   devpriv->speed = it->options[1];
   printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
 
-  if(alloc_subdevices(dev, 4)<0)
+  if(alloc_subdevices(dev, 5)<0)
     return -ENOMEM;
   
   /* digital input subdevice */
@@ -589,6 +639,15 @@ static int serial2002_attach(comedi_device *dev,comedi_devconfig *it)
   s->insn_write = &serial2002_ao_winsn;
   s->insn_read = &serial2002_ao_rinsn;
   
+  /* encoder input subdevice */
+  s=dev->subdevices+4;
+  s->type = COMEDI_SUBD_COUNTER;
+  s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
+  s->n_chan = 0;
+  s->maxdata = 1;
+  s->range_table = 0;
+  s->insn_read = &serial2002_ei_rinsn;
+  
   printk("attached\n");
   
   return 1;