From: Frank Mori Hess Date: Thu, 21 Sep 2006 00:00:18 +0000 (+0000) Subject: New driver from Everett Wang : X-Git-Tag: r0_7_74~209 X-Git-Url: http://git.tremily.us/?a=commitdiff_plain;h=c6d0842fe2c1beaaf785f4d1b95155856e600404;p=comedi.git New driver from Everett Wang : We have written a comedi driver for sensoray 526 board. It is a very small PC104 format multifunction card. We have used this driver for a while and it is pretty stable. --- diff --git a/comedi/drivers/Kbuild b/comedi/drivers/Kbuild index 3f307066..dd60c581 100644 --- a/comedi/drivers/Kbuild +++ b/comedi/drivers/Kbuild @@ -97,6 +97,7 @@ obj-m += rti800.o obj-m += rti802.o obj-m += skel.o obj-m += ssv_dnp.o +obj-m += s526.o obj-m += s626.o obj-m += comedi_test.o diff --git a/comedi/drivers/Makefile.am b/comedi/drivers/Makefile.am index 01915510..c33f2da9 100644 --- a/comedi/drivers/Makefile.am +++ b/comedi/drivers/Makefile.am @@ -162,6 +162,7 @@ module_PROGRAMS = \ rti802.ko \ skel.ko \ ssv_dnp.ko \ + s526.ko \ s626.ko \ comedi_test.ko \ $(pcmcia_modules) \ @@ -257,6 +258,7 @@ rti800_ko_SOURCES = rti800.c rti802_ko_SOURCES = rti802.c skel_ko_SOURCES = skel.c ssv_dnp_ko_SOURCES = ssv_dnp.c +s526_ko_SOURCES = s526.c s626_ko_SOURCES = s626.c comedi_test_ko_SOURCES = comedi_test.c usbdux_ko_SOURCES = usbdux.c diff --git a/comedi/drivers/s526.c b/comedi/drivers/s526.c new file mode 100644 index 00000000..1dc15ae6 --- /dev/null +++ b/comedi/drivers/s526.c @@ -0,0 +1,965 @@ +/* + comedi/drivers/s526.c + Sensoray s526 Comedi driver + + COMEDI - Linux Control and Measurement Device Interface + Copyright (C) 2000 David A. Schleef + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + +*/ +/* +Driver: s526.ko +Description: Sensoray 526 driver +Devices: Sensoray s526 +Author: Richie + Everett Wang +Updated: Thu, 14 Sep. 2006 +Status: experimental + +Encoder works +Analog input works +Analog output works +PWM output works +Commands are not supported yet. + +Configuration Options: + +comedi_config /dev/comedi0 s526 0x2C0,0x3 + +*/ + +#include +#include + +#define S526_SIZE 64 + +#define S526_START_AI_CONV 0 +#define S526_AI_READ 0 + + +/* Ports */ +#define S526_IOSIZE 0x40 +#define S526_NUM_PORTS 27 + +/* registers */ +#define REG_TCR 0x00 +#define REG_WDC 0x02 +#define REG_DAC 0x04 +#define REG_ADC 0x06 +#define REG_ADD 0x08 +#define REG_DIO 0x0A +#define REG_IER 0x0C +#define REG_ISR 0x0E +#define REG_MSC 0x10 +#define REG_C0L 0x12 +#define REG_C0H 0x14 +#define REG_C0M 0x16 +#define REG_C0C 0x18 +#define REG_C1L 0x1A +#define REG_C1H 0x1C +#define REG_C1M 0x1E +#define REG_C1C 0x20 +#define REG_C2L 0x22 +#define REG_C2H 0x24 +#define REG_C2M 0x26 +#define REG_C2C 0x28 +#define REG_C3L 0x2A +#define REG_C3H 0x2C +#define REG_C3M 0x2E +#define REG_C3C 0x30 +#define REG_EED 0x32 +#define REG_EEC 0x34 + + +int s526_ports[] = +{ +REG_TCR, +REG_WDC, +REG_DAC, +REG_ADC, +REG_ADD, +REG_DIO, +REG_IER, +REG_ISR, +REG_MSC, +REG_C0L, +REG_C0H, +REG_C0M, +REG_C0C, +REG_C1L, +REG_C1H, +REG_C1M, +REG_C1C, +REG_C2L, +REG_C2H, +REG_C2M, +REG_C2C, +REG_C3L, +REG_C3H, +REG_C3M, +REG_C3C, +REG_EED, +REG_EEC +}; + +typedef struct +{ + unsigned short coutSource: 1; + unsigned short coutPolarity: 1; + unsigned short autoLoadResetRcap: 3; + unsigned short hwCtEnableSource: 2; + unsigned short ctEnableCtrl: 2; + unsigned short clockSource: 2; + unsigned short countDir: 1; + unsigned short countDirCtrl: 1; + unsigned short outputRegLatchCtrl: 1; + unsigned short preloadRegSel: 1; + unsigned short reserved: 1; +} counter_mode_register_t; + +union { + counter_mode_register_t reg; + unsigned short value; +} cmReg; + +#define MAX_GPCT_CONFIG_DATA 6 + +/* Different Application Classes for GPCT Subdevices */ +/* The list is not exhaustive and needs discussion! */ +typedef enum +{ + CountingAndTimeMeasurement, + SinglePulseGeneration, + PulseTrainGeneration, + PositionMeasurement, + Miscellaneous +} S526_GPCT_APP_CLASS; + + +/* Config struct for different GPCT subdevice Application Classes and + their options +*/ +typedef struct s526GPCTConfig +{ + S526_GPCT_APP_CLASS app; + int data[MAX_GPCT_CONFIG_DATA]; +} s526_gpct_config_t; + +static s526_gpct_config_t s526_gpct_config[4]; +static unsigned short s526_ai_config = 0; + +/* + * Board descriptions for two imaginary boards. Describing the + * boards in this way is optional, and completely driver-dependent. + * Some drivers use arrays such as this, other do not. + */ +typedef struct s526_board_struct{ + char *name; + int gpct_chans; + int gpct_bits; + int ad_chans; + int ad_bits; + int da_chans; + int da_bits; + int have_dio; +}s526_board; + +static s526_board s526_boards[] = { + { + name: "s526", + gpct_chans: 4, + gpct_bits: 24, + ad_chans: 8, + ad_bits: 16, + da_chans: 4, + da_bits: 16, + have_dio: 1, + } +}; + +#define ADDR_REG(reg) (int)((int)((s526_board *)dev->iobase) + reg) +#define ADDR_CHAN_REG(reg, chan) (int)((int)((s526_board *)dev->iobase) + reg + chan * 8) + +/* + * Useful for shorthand access to the particular board structure + */ +#define thisboard ((s526_board *)dev->board_ptr) + +/* this structure is for data unique to this hardware driver. If + several hardware drivers keep similar information in this structure, + feel free to suggest moving the variable to the comedi_device struct. */ +typedef struct{ + int data; + + /* would be useful for a PCI device */ + struct pci_dev *pci_dev; + + /* Used for AO readback */ + lsampl_t ao_readback[2]; +}s526_private; +/* + * most drivers define the following macro to make it easy to + * access the private structure. + */ +#define devpriv ((s526_private *)dev->private) + +/* + * The comedi_driver structure tells the Comedi core module + * which functions to call to configure/deconfigure (attach/detach) + * the board, and also about the kernel module that contains + * the device code. + */ +static int s526_attach(comedi_device *dev,comedi_devconfig *it); +static int s526_detach(comedi_device *dev); +static comedi_driver driver_s526={ + driver_name: "s526", + module: THIS_MODULE, + attach: s526_attach, + detach: s526_detach, +/* It is not necessary to implement the following members if you are + * writing a driver for a ISA PnP or PCI card */ + /* Most drivers will support multiple types of boards by + * having an array of board structures. These were defined + * in s526_boards[] above. Note that the element 'name' + * was first in the structure -- Comedi uses this fact to + * extract the name of the board without knowing any details + * about the structure except for its length. + * When a device is attached (by comedi_config), the name + * of the device is given to Comedi, and Comedi tries to + * match it by going through the list of board names. If + * there is a match, the address of the pointer is put + * into dev->board_ptr and driver->attach() is called. + * + * Note that these are not necessary if you can determine + * the type of board in software. ISA PnP, PCI, and PCMCIA + * devices are such boards. + */ + board_name: s526_boards, + offset: sizeof(s526_board), + num_names: sizeof(s526_boards) / sizeof(s526_board), +}; + +static int s526_gpct_rinsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *insn, lsampl_t *data); +static int s526_gpct_insn_config(comedi_device *dev, comedi_subdevice *s, comedi_insn *insn, lsampl_t *data); +static int s526_gpct_winsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *insn, lsampl_t *data); +static int s526_ai_insn_config(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn, lsampl_t *data); +static int s526_ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data); +static int s526_ao_winsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data); +static int s526_ao_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data); +static int s526_dio_insn_bits(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn,lsampl_t *data); +static int s526_dio_insn_config(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn,lsampl_t *data); + +/* + * Attach is called by the Comedi core to configure the driver + * for a particular board. If you specified a board_name array + * in the driver structure, dev->board_ptr contains that + * address. + */ +static int s526_attach(comedi_device *dev,comedi_devconfig *it) +{ + comedi_subdevice *s; + int iobase; + int i, n; +// sampl_t value; +// int subdev_channel = 0; + + printk("comedi%d: s526: ", dev->minor); + + iobase=it->options[0]; + if(check_region(iobase, S526_IOSIZE) < 0){ + comedi_error(dev,"I/O port conflict"); + return -EIO; + } + request_region(iobase, S526_IOSIZE, thisboard->name); + dev->iobase=iobase; + + printk("iobase=0x%x\n", dev->iobase); + + /*** make it a little quieter, exw, 8/29/06 + for (i = 0; i < S526_NUM_PORTS; i++) { + printk("0x%02x: 0x%04x\n", ADDR_REG(s526_ports[i]), inw(ADDR_REG(s526_ports[i]))); + } + ***/ + +/* + * Initialize dev->board_name. Note that we can use the "thisboard" + * macro now, since we just initialized it in the last line. + */ + thisboard = (s526_board *)&s526_boards[0]; + + dev->board_name = thisboard->name; + +/* + * Allocate the private structure area. alloc_private() is a + * convenient macro defined in comedidev.h. + */ + if(alloc_private(dev, sizeof(s526_private)) < 0) + return -ENOMEM; + +/* + * Allocate the subdevice structures. alloc_subdevice() is a + * convenient macro defined in comedidev.h. + */ + dev->n_subdevices = 4; + if(alloc_subdevices(dev, dev->n_subdevices) < 0) + return -ENOMEM; + + s=dev->subdevices+0; + /* GENERAL-PURPOSE COUNTER/TIME (GPCT) */ + s->type = COMEDI_SUBD_COUNTER; + s->subdev_flags = SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL; + /* KG: What does SDF_LSAMPL (see multiq3.c) mean? */ + s->n_chan = thisboard->gpct_chans; + s->maxdata = 0x00ffffff; /* 24 bit counter */ + s->insn_read = s526_gpct_rinsn; + s->insn_config = s526_gpct_insn_config; + s->insn_write = s526_gpct_winsn; + + /* Command are not implemented yet, however they are necessary to + allocate the necessary memory for the comedi_async struct (used + to trigger the GPCT in case of pulsegenerator function */ + //s->do_cmd = s526_gpct_cmd; + //s->do_cmdtest = s526_gpct_cmdtest; + //s->cancel = s526_gpct_cancel; + + s=dev->subdevices+1; + //dev->read_subdev=s; + /* analog input subdevice */ + s->type=COMEDI_SUBD_AI; + /* we support single-ended (ground) and differential */ + s->subdev_flags=SDF_READABLE|SDF_DIFF; + s->n_chan=8; + s->maxdata=0x3fff; + s->range_table=&range_bipolar10; + s->len_chanlist=16; /* This is the maximum chanlist length that + the board can handle */ + s->insn_read = s526_ai_rinsn; + s->insn_config = s526_ai_insn_config; + + s=dev->subdevices+2; + /* analog output subdevice */ + s->type=COMEDI_SUBD_AO; + s->subdev_flags=SDF_WRITABLE; + s->n_chan=4; + s->maxdata=0xffff; + s->range_table=&range_bipolar10; + s->insn_write = s526_ao_winsn; + s->insn_read = s526_ao_rinsn; + + s=dev->subdevices+3; + /* digital i/o subdevice */ + if(thisboard->have_dio){ + s->type=COMEDI_SUBD_DIO; + s->subdev_flags=SDF_READABLE|SDF_WRITABLE; + s->n_chan=2; + s->maxdata=1; + s->range_table=&range_digital; + s->insn_bits = s526_dio_insn_bits; + s->insn_config = s526_dio_insn_config; + }else{ + s->type = COMEDI_SUBD_UNUSED; + } + + printk("attached\n"); + + return 1; + +#if 0 + // Example of Counter Application + //One-shot (software trigger) + cmReg.reg.coutSource = 0; // out RCAP + cmReg.reg.coutPolarity = 1; // Polarity inverted + cmReg.reg.autoLoadResetRcap = 1; // Auto load 0:disabled, 1:enabled + cmReg.reg.hwCtEnableSource = 3; // NOT RCAP + cmReg.reg.ctEnableCtrl = 2; // Hardware + cmReg.reg.clockSource = 2; // Internal + cmReg.reg.countDir = 1; // Down + cmReg.reg.countDirCtrl = 1; // Software + cmReg.reg.outputRegLatchCtrl = 0; // latch on read + cmReg.reg.preloadRegSel = 0; // PR0 + cmReg.reg.reserved = 0; + + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + outw(0x0001, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + outw(0x3C68, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Reset the counter + outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Load the counter from PR0 + + outw(0x0008, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Reset RCAP (fires one-shot) + +#else + + + // Set Counter Mode Register + cmReg.reg.coutSource = 0; // out RCAP + cmReg.reg.coutPolarity = 0; // Polarity inverted + cmReg.reg.autoLoadResetRcap = 0; // Auto load disabled + cmReg.reg.hwCtEnableSource = 2; // NOT RCAP + cmReg.reg.ctEnableCtrl = 1; // 1: Software, >1 : Hardware + cmReg.reg.clockSource = 3; // x4 + cmReg.reg.countDir = 0; // up + cmReg.reg.countDirCtrl = 0; // quadrature + cmReg.reg.outputRegLatchCtrl = 0; // latch on read + cmReg.reg.preloadRegSel = 0; // PR0 + cmReg.reg.reserved = 0; + + n = 0; + printk("Mode reg=0x%04x, 0x%04x\n", cmReg.value, ADDR_CHAN_REG(REG_C0M, n)); + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, n)); + udelay(1000); + printk("Read back mode reg=0x%04x\n", inw(ADDR_CHAN_REG(REG_C0M, n))); + + // Load the pre-laod register high word +// value = (sampl_t) (0x55); +// outw(value, ADDR_CHAN_REG(REG_C0H, n)); + + // Load the pre-laod register low word +// value = (sampl_t)(0xaa55); +// outw(value, ADDR_CHAN_REG(REG_C0L, n)); + + // Write the Counter Control Register +// outw(value, ADDR_CHAN_REG(REG_C0C, 0)); + + + // Reset the counter if it is software preload + if (cmReg.reg.autoLoadResetRcap == 0) { + outw(0x8000, ADDR_CHAN_REG(REG_C0C, n)); // Reset the counter + outw(0x4000, ADDR_CHAN_REG(REG_C0C, n)); // Load the counter from PR0 + } + + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, n)); + udelay(1000); + printk("Read back mode reg=0x%04x\n", inw(ADDR_CHAN_REG(REG_C0M, n))); + +#endif + printk("Current registres:\n"); + + for (i = 0; i < S526_NUM_PORTS; i++) { + printk("0x%02x: 0x%04x\n", ADDR_REG(s526_ports[i]), inw(ADDR_REG(s526_ports[i]))); + } + return 1; +} + + +/* + * _detach is called to deconfigure a device. It should deallocate + * resources. + * This function is also called when _attach() fails, so it should be + * careful not to release resources that were not necessarily + * allocated by _attach(). dev->private and dev->subdevices are + * deallocated automatically by the core. + */ +static int s526_detach(comedi_device *dev) +{ + printk("comedi%d: s526: remove\n", dev->minor); + + if (dev->iobase > 0) + release_region(dev->iobase, S526_IOSIZE); + + return 0; +} + +static int s526_gpct_rinsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *insn, lsampl_t *data) +{ + int i; // counts the Data + int counter_channel = CR_CHAN(insn->chanspec); + unsigned short datalow; + unsigned short datahigh; + + // Check if (n > 0) + if (insn->n <= 0) + { + printk("s526: INSN_READ: n should be > 0\n"); + return -EINVAL; + } + // Read the low word first + for ( i=0 ; i < insn->n ; i++ ) + { + datalow = inw(ADDR_CHAN_REG(REG_C0L, counter_channel)); + datahigh = inw(ADDR_CHAN_REG(REG_C0H, counter_channel)); + data[i] = (int)(datahigh & 0x00FF); + data[i] = (data[i] << 16) | (datalow & 0xFFFF); +// printk("s526 GPCT[%d]: %x(0x%04x, 0x%04x)\n", counter_channel, data[i], datahigh, datalow); + } + return i; +} + +static int s526_gpct_insn_config(comedi_device *dev, comedi_subdevice *s, comedi_insn *insn, lsampl_t *data) +{ + int subdev_channel = CR_CHAN(insn->chanspec);// Unpack chanspec + int i; + sampl_t value; + +// printk("s526: GPCT_INSN_CONFIG: Configuring Channel %d\n", subdev_channel); + + for(i = 0; i < MAX_GPCT_CONFIG_DATA; i++) { + s526_gpct_config[subdev_channel].data[i] = insn->data[i]; +// printk("data[%d]=%x\n", i, insn->data[i]); + } + + // Check what type of Counter the user requested, data[0] contains + // the Application type + switch(insn->data[0]) + { + case INSN_CONFIG_GPCT_QUADRATURE_ENCODER: + /* + data[0]: Application Type + data[1]: Counter Mode Register Value + data[2]: Pre-load Register Value + data[3]: Conter Control Register + */ + printk("s526: GPCT_INSN_CONFIG: Configuring Encoder\n"); + s526_gpct_config[subdev_channel].app = PositionMeasurement; + +/* + // Example of Counter Application + //One-shot (software trigger) + cmReg.reg.coutSource = 0; // out RCAP + cmReg.reg.coutPolarity = 1; // Polarity inverted + cmReg.reg.autoLoadResetRcap = 0; // Auto load disabled + cmReg.reg.hwCtEnableSource = 3; // NOT RCAP + cmReg.reg.ctEnableCtrl = 2; // Hardware + cmReg.reg.clockSource = 2; // Internal + cmReg.reg.countDir = 1; // Down + cmReg.reg.countDirCtrl = 1; // Software + cmReg.reg.outputRegLatchCtrl = 0; // latch on read + cmReg.reg.preloadRegSel = 0; // PR0 + cmReg.reg.reserved = 0; + + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + outw(0x0001, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + outw(0x3C68, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Reset the counter + outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Load the counter from PR0 + + outw(0x0008, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Reset RCAP (fires one-shot) + +*/ + +#if 1 + // Set Counter Mode Register + cmReg.reg.coutSource = 0; // out RCAP + cmReg.reg.coutPolarity = 0; // Polarity inverted + cmReg.reg.autoLoadResetRcap = 0; // Auto load disabled + cmReg.reg.hwCtEnableSource = 2; // NOT RCAP + cmReg.reg.ctEnableCtrl = 1; // 1: Software, >1 : Hardware + cmReg.reg.clockSource = 3; // x4 + cmReg.reg.countDir = 0; // up + cmReg.reg.countDirCtrl = 0; // quadrature + cmReg.reg.outputRegLatchCtrl = 0; // latch on read + cmReg.reg.preloadRegSel = 0; // PR0 + cmReg.reg.reserved = 0; + + // Set Counter Mode Register +// printk("s526: Counter Mode register=%x\n", cmReg.value); + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + // Reset the counter if it is software preload + if (cmReg.reg.autoLoadResetRcap == 0) { + outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Reset the counter +// outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Load the counter from PR0 + } +#else + cmReg.reg.countDirCtrl = 0; // 0 quadrature, 1 software control + + // data[1] contains GPCT_X1, GPCT_X2 or GPCT_X4 + if(insn->data[1] == GPCT_X2) { + cmReg.reg.clockSource = 1; + }else if(insn->data[1] == GPCT_X4) { + cmReg.reg.clockSource = 2; + }else { + cmReg.reg.clockSource = 0; + } + + // When to take into account the indexpulse: + if(insn->data[2] == GPCT_IndexPhaseLowLow) { + }else if(insn->data[2] == GPCT_IndexPhaseLowHigh) { + }else if(insn->data[2] == GPCT_IndexPhaseHighLow) { + }else if(insn->data[2] == GPCT_IndexPhaseHighHigh) { + } + + // Take into account the index pulse? + if(insn->data[3] == GPCT_RESET_COUNTER_ON_INDEX) + cmReg.reg.autoLoadResetRcap = 4; // Auto load with INDEX^ + + + // Set Counter Mode Register + cmReg.value = (sampl_t)(insn->data[1] & 0xFFFF); + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + // Load the pre-laod register high word + value = (sampl_t) ((insn->data[2] >> 16) & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + + // Load the pre-laod register low word + value = (sampl_t)(insn->data[2] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + // Write the Counter Control Register + if (insn->data[3] != 0) { + value = (sampl_t)(insn->data[3] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel)); + } + + // Reset the counter if it is software preload + if (cmReg.reg.autoLoadResetRcap == 0) { + outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Reset the counter + outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); // Load the counter from PR0 + } +#endif + break; + + case INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR: + /* + data[0]: Application Type + data[1]: Counter Mode Register Value + data[2]: Pre-load Register 0 Value + data[3]: Pre-load Register 1 Value + data[4]: Conter Control Register + */ + printk("s526: GPCT_INSN_CONFIG: Configuring SPG\n"); + s526_gpct_config[subdev_channel].app = SinglePulseGeneration; + + // Set Counter Mode Register + cmReg.value = (sampl_t)(insn->data[1] & 0xFFFF); + cmReg.reg.preloadRegSel = 0; // PR0 + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + // Load the pre-laod register 0 high word + value = (sampl_t) ((insn->data[2] >> 16) & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + + // Load the pre-laod register 0 low word + value = (sampl_t)(insn->data[2] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + // Set Counter Mode Register + cmReg.value = (sampl_t)(insn->data[1] & 0xFFFF); + cmReg.reg.preloadRegSel = 1; // PR1 + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + // Load the pre-laod register 1 high word + value = (sampl_t) ((insn->data[3] >> 16) & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + + // Load the pre-laod register 1 low word + value = (sampl_t)(insn->data[3] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + // Write the Counter Control Register + if (insn->data[3] != 0) { + value = (sampl_t)(insn->data[3] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel)); + } + break; + + case INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR: + /* + data[0]: Application Type + data[1]: Counter Mode Register Value + data[2]: Pre-load Register 0 Value + data[3]: Pre-load Register 1 Value + data[4]: Conter Control Register + */ + printk("s526: GPCT_INSN_CONFIG: Configuring PTG\n"); + s526_gpct_config[subdev_channel].app = PulseTrainGeneration; + + // Set Counter Mode Register + cmReg.value = (sampl_t)(insn->data[1] & 0xFFFF); + cmReg.reg.preloadRegSel = 0; // PR0 + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + // Load the pre-laod register 0 high word + value = (sampl_t) ((insn->data[2] >> 16) & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + + // Load the pre-laod register 0 low word + value = (sampl_t)(insn->data[2] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + // Set Counter Mode Register + cmReg.value = (sampl_t)(insn->data[1] & 0xFFFF); + cmReg.reg.preloadRegSel = 1; // PR1 + outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel)); + + // Load the pre-laod register 1 high word + value = (sampl_t) ((insn->data[3] >> 16) & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + + // Load the pre-laod register 1 low word + value = (sampl_t)(insn->data[3] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + + // Write the Counter Control Register + if (insn->data[3] != 0) { + value = (sampl_t)(insn->data[3] & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel)); + } + break; + + default: + printk("s526: unsupported GPCT_insn_config\n"); + return -EINVAL; + break; + } + + return insn->n; +} + +static int s526_gpct_winsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *insn, lsampl_t *data) +{ + int subdev_channel = CR_CHAN(insn->chanspec);// Unpack chanspec + sampl_t value; + + printk("s526: GPCT_INSN_WRITE on channel %d\n", subdev_channel); + cmReg.value = inw(ADDR_CHAN_REG(REG_C0M, subdev_channel)); + printk("s526: Counter Mode Register: %x\n", cmReg.value); + // Check what Application of Counter this channel is configured for + switch(s526_gpct_config[subdev_channel].app) + { + case PositionMeasurement: + printk("S526: INSN_WRITE: PM\n"); + outw(0xFFFF & ((*data) >> 16), ADDR_CHAN_REG(REG_C0H, subdev_channel)); + outw(0xFFFF & (*data), ADDR_CHAN_REG(REG_C0L, subdev_channel)); + break; + + case SinglePulseGeneration: + printk("S526: INSN_WRITE: SPG\n"); + outw(0xFFFF & ((*data) >> 16), ADDR_CHAN_REG(REG_C0H, subdev_channel)); + outw(0xFFFF & (*data), ADDR_CHAN_REG(REG_C0L, subdev_channel)); + break; + + case PulseTrainGeneration: + /* data[0] contains the PULSE_WIDTH + data[1] contains the PULSE_PERIOD + @pre PULSE_PERIOD > PULSE_WIDTH > 0 + The above periods must be expressed as a multiple of the + pulse frequency on the selected source + */ + printk("S526: INSN_WRITE: PTG\n"); + if ( (insn->data[1] > insn->data[0]) && (insn->data[0] > 0 ) ) + { + (s526_gpct_config[subdev_channel]).data[0] = insn->data[0]; + (s526_gpct_config[subdev_channel]).data[1] = insn->data[1]; + } + else + { + printk("%d \t %d\n",insn->data[1],insn->data[2]); + printk("s526: INSN_WRITE: PTG: Problem with Pulse params\n"); + return -EINVAL; + } + + value = (sampl_t)((*data >> 16) & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel)); + value = (sampl_t)(*data & 0xFFFF); + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel)); + break; + default: // Impossible + printk("s526: INSN_WRITE: Functionality %d not implemented yet\n", + s526_gpct_config[subdev_channel].app); + return -EINVAL; + break; + } + // return the number of samples written + return insn->n ; +} + +#define ISR_ADC_DONE 0x4 +static int s526_ai_insn_config(comedi_device *dev,comedi_subdevice *s, + comedi_insn *insn, lsampl_t *data) +{ + int result = -EINVAL; + + if (insn->n < 1) return result; + + result = insn->n; + + /* data[0] : channels was set in relevant bits. + data[1] : delay + */ + + // Enable ADC interrupt + outw(ISR_ADC_DONE, ADDR_REG(REG_IER)); +// printk("s526: ADC current value: 0x%04x\n", inw(ADDR_REG(REG_ADC))); + s526_ai_config = (data[0] & 0x3FF) << 5; + if (data[1] > 0) + s526_ai_config |= 0x8000; //set the delay + + s526_ai_config |= 0x0001; // ADC start bit. + + return result; +} + + +/* + * "instructions" read/write data in "one-shot" or "software-triggered" + * mode. + */ +static int s526_ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data) +{ + int n,i; + int chan = CR_CHAN(insn->chanspec); + unsigned short value; + unsigned int d; + unsigned int status; + + value = s526_ai_config | (chan << 1); + // outw(value, ADDR_REG(REG_ADC)); do it with ADC start + + + /* convert n samples */ + for(n=0; nn; n++){ + /* trigger conversion */ + value |= 0x0001; // ADC start + outw(value, ADDR_REG(REG_ADC)); +// printk("s526: Wrote 0x%04x to ADC\n", value); +// printk("s526: ADC reg=0x%04x\n", inw(ADDR_REG(REG_ADC))); + +#define TIMEOUT 100 + /* wait for conversion to end */ + for(i=0;ichanspec); + unsigned short val; + +// printk("s526_ao_winsn\n"); + val = chan << 1; +// outw(val, dev->iobase + REG_DAC); + outw(val, ADDR_REG(REG_DAC)); + + /* 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;in;i++){ + /* a typical programming sequence */ +// outw(data[i], dev->iobase + REG_ADD); // write the data to preload register + outw(data[i], ADDR_REG(REG_ADD)); // write the data to preload register + devpriv->ao_readback[chan] = data[i]; +// outw(val + 1, dev->iobase + REG_DAC); // starts the D/A conversion. + outw(val + 1, ADDR_REG(REG_DAC)); // starts the D/A conversion. + } + + /* return the number of samples read/written */ + return i; +} + +/* AO subdevices should have a read insn as well as a write insn. + * Usually this means copying a value stored in devpriv. */ +static int s526_ao_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data) +{ + int i; + int chan = CR_CHAN(insn->chanspec); + + for(i=0;in;i++) + data[i] = devpriv->ao_readback[chan]; + + return i; +} + +/* 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 */ +static int s526_dio_insn_bits(comedi_device *dev,comedi_subdevice *s, + comedi_insn *insn,lsampl_t *data) +{ + if(insn->n!=2)return -EINVAL; + + /* The insn data is a mask in data[0] and the new data + * in data[1], each channel cooresponding to a bit. */ + if(data[0]){ + s->state &= ~data[0]; + s->state |= data[0]&data[1]; + /* Write out the new digital output lines */ + outw(s->state, ADDR_REG(REG_DIO)); + } + + /* on return, data[1] contains the value of the digital + * input and output lines. */ + data[1]=inw(ADDR_REG(REG_DIO)) & 0xFF; // low 8 bits are the data + /* or we could just return the software copy of the output values if + * it was a purely digital output subdevice */ + //data[1]=s->state; + + return 2; +} + +static int s526_dio_insn_config(comedi_device *dev,comedi_subdevice *s, + comedi_insn *insn,lsampl_t *data) +{ + int chan=CR_CHAN(insn->chanspec); + sampl_t value; + + printk("S526 DIO insn_config\n"); + + if(insn->n!=1)return -EINVAL; + + value = inw(ADDR_REG(REG_DIO)); + + /* The input or output configuration of each digital line is + * configured by a special insn_config instruction. chanspec + * contains the channel to be changed, and data[0] contains the + * value COMEDI_INPUT or COMEDI_OUTPUT. */ + + if(data[0]==COMEDI_OUTPUT){ + value |= 1 << (chan + 10); // bit 10/11 set the group 1/2's mode + s->io_bits |= (0xF << chan); + }else{ + value &= ~(1 << (chan + 10)); // 1 is output, 0 is input. + s->io_bits &= ~(0xF << chan); + } + outw(value, ADDR_REG(REG_DIO)); + + return 1; +} + +/* + * A convenient macro that defines init_module() and cleanup_module(), + * as necessary. + */ +COMEDI_INITCLEANUP(driver_s526); +