* [Xenomai] Sensoray 626 analogy driver
@ 2014-02-28 14:12 Wojciech Domski
2014-03-04 20:14 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-02-28 14:12 UTC (permalink / raw)
To: xenomai
Hello,
I have prepared Analogy driver for Sensoray 626. I kindly ask you for
review.
You can find patch in the attachment and below.
Best regards,
Wojciech Domski
>From 3c8991a6686486edaa5faf1dd8cf972e40a6499d Mon Sep 17 00:00:00 2001
From: Wojciech Domski <wojciech.domski@gmail.com>
Date: Fri, 28 Feb 2014 14:58:38 +0100
Subject: [PATCH] Added new Sensoray driver for model 626
---
ksrc/drivers/analogy/sensoray/Config.in | 1 +
ksrc/drivers/analogy/sensoray/Kconfig | 5 +
ksrc/drivers/analogy/sensoray/Makefile | 14 +-
ksrc/drivers/analogy/sensoray/s626.c | 2843
+++++++++++++++++++++++++++++++
ksrc/drivers/analogy/sensoray/s626.h | 1136 ++++++++++++
5 files changed, 3998 insertions(+), 1 deletion(-)
create mode 100755 ksrc/drivers/analogy/sensoray/s626.c
create mode 100755 ksrc/drivers/analogy/sensoray/s626.h
diff --git a/ksrc/drivers/analogy/sensoray/Config.in
b/ksrc/drivers/analogy/sensoray/Config.in
index 00e956c..03e3eda 100644
--- a/ksrc/drivers/analogy/sensoray/Config.in
+++ b/ksrc/drivers/analogy/sensoray/Config.in
@@ -1,2 +1,3 @@
dep_tristate 'Sensoray Model 526 driver' CONFIG_XENO_DRIVERS_ANALOGY_S526
$CONFIG_XENO_DRIVERS_ANALOGY
+dep_tristate 'Sensoray Model 626 driver' CONFIG_XENO_DRIVERS_ANALOGY_S626
$CONFIG_XENO_DRIVERS_ANALOGY
diff --git a/ksrc/drivers/analogy/sensoray/Kconfig
b/ksrc/drivers/analogy/sensoray/Kconfig
index ce5aa51..ae626f4 100644
--- a/ksrc/drivers/analogy/sensoray/Kconfig
+++ b/ksrc/drivers/analogy/sensoray/Kconfig
@@ -3,3 +3,8 @@ config XENO_DRIVERS_ANALOGY_S526
depends on XENO_DRIVERS_ANALOGY
tristate "Sensoray Model 526 driver"
default n
+
+config XENO_DRIVERS_ANALOGY_S626
+ depends on XENO_DRIVERS_ANALOGY
+ tristate "Sensoray Model 626 driver"
+ default n
diff --git a/ksrc/drivers/analogy/sensoray/Makefile
b/ksrc/drivers/analogy/sensoray/Makefile
index e5e97c9..c90001a 100644
--- a/ksrc/drivers/analogy/sensoray/Makefile
+++ b/ksrc/drivers/analogy/sensoray/Makefile
@@ -6,8 +6,12 @@ EXTRA_CFLAGS += -D__IN_XENOMAI__ -Iinclude/xenomai
obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += analogy_s526.o
+obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S626) += analogy_s626.o
+
analogy_s526-y := s526.o
+analogy_s626-y := s626.o
+
else
# Makefile flag for Linux v2.4
@@ -16,9 +20,13 @@ O_TARGET := built-in.o
obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += analogy_s526.o
+obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S626) += analogy_s626.o
+
analogy_s526-objs := s526.o
-export-objs := $(analogy_s526-objs)
+analogy_s626-objs := s626.o
+
+export-objs := $(analogy_s526-objs) $(analogy_s626-objs)
EXTRA_CFLAGS += -D__IN_XENOMAI__ -I$(TOPDIR)/include/xenomai
-I$(TOPDIR)/include/xenomai/compat
@@ -27,4 +35,8 @@ include $(TOPDIR)/Rules.make
analogy_s526.o: $(analogy_s526-objs)
$(LD) -r -o $@ $(analogy_s526-objs)
+analogy_s626.o: $(analogy_s626-objs)
+ $(LD) -r -o $@ $(analogy_s626-objs)
+
+
endif
diff --git a/ksrc/drivers/analogy/sensoray/s626.c
b/ksrc/drivers/analogy/sensoray/s626.c
new file mode 100755
index 0000000..6b9011a
--- /dev/null
+++ b/ksrc/drivers/analogy/sensoray/s626.c
@@ -0,0 +1,2843 @@
+/**
+ * @file
+ * Analogy driver for Sensoray Model 626 board
+ *
+ * Copyright (C) 2014 Wojciech Domski <wojciech.domski@gmail.com>
+ * Copyright (C) 2014 Mariusz Janiak <mariusz.janiak@pwr.wroc.pl>
+ *
+ * Derived from comedi:
+ * Copyright (C) 2000 David A. Schleef <ds@schleef.org>
+ *
+ * This code 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 code 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 Xenomai; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+/*
+ * Original code comes from comedi linux-next staging driver
+ * Board documentation: http://www.sensoray.com/products/626.htm
+ * Everything should work as in comedi.
+ */
+
+#include <linux/module.h>
+#include <linux/ioport.h>
+#include <asm/byteorder.h>
+#include <analogy/analogy_driver.h>
+#include <linux/pci.h>
+
+#include <analogy/driver.h>
+#include <analogy/device.h>
+
+#include "s626.h"
+
+static LIST_HEAD(s626_list);
+
+/* TrimDac LogicalChan-to-PhysicalChan mapping table. */
+static uint8_t trimchan[] = { 10, 9, 8, 3, 2, 7, 6, 1, 0, 5, 4 };
+
+/* TrimDac LogicalChan-to-EepromAdrs mapping table. */
+static uint8_t trimadrs[] = { 0x40, 0x41, 0x42, 0x50, 0x51, 0x52, 0x53,
0x60,
+ 0x61, 0x62, 0x63 };
+
+/*
+ * For devices with vendor:device id == 0x1131:0x7146 you must specify
+ * also subvendor:subdevice ids, because otherwise it will conflict with
+ * Philips SAA7146 media/dvb based cards.
+ */
+static struct pci_device_id s626_pci_table[] = { { 0x1131, 0x7146, 0x6000,
+ 0x0626, 0, 0, 0 }, { 0x1131, 0x7146, 0x6000, 626, 0, 0, 0 }, { 0, } };
+
+MODULE_DEVICE_TABLE(pci, s626_pci_table);
+
+static struct pci_driver drv_pci_s626 = { .name = "S626", .id_table =
+ s626_pci_table, .probe = s626_pci_probe, .remove = s626_pci_remove, };
+
+static struct s626_subd_dio_private s626_subd_dio_private_A = { .RDDIn =
+ LP_RDDINA, .WRDOut = LP_WRDOUTA, .RDEdgSel = LP_RDEDGSELA, .WREdgSel =
+ LP_WREDGSELA, .RDCapSel = LP_RDCAPSELA, .WRCapSel = LP_WRCAPSELA,
+ .RDCapFlg = LP_RDCAPFLGA, .RDIntSel = LP_RDINTSELA,
+ .WRIntSel = LP_WRINTSELA, .io_bits = 0, .state = 0, };
+
+static struct s626_subd_dio_private s626_subd_dio_private_B = { .RDDIn =
+ LP_RDDINB, .WRDOut = LP_WRDOUTB, .RDEdgSel = LP_RDEDGSELB, .WREdgSel =
+ LP_WREDGSELB, .RDCapSel = LP_RDCAPSELB, .WRCapSel = LP_WRCAPSELB,
+ .RDCapFlg = LP_RDCAPFLGB, .RDIntSel = LP_RDINTSELB,
+ .WRIntSel = LP_WRINTSELB, .io_bits = 0, .state = 0, };
+
+static struct s626_subd_dio_private s626_subd_dio_private_C = { .RDDIn =
+ LP_RDDINC, .WRDOut = LP_WRDOUTC, .RDEdgSel = LP_RDEDGSELC, .WREdgSel =
+ LP_WREDGSELC, .RDCapSel = LP_RDCAPSELC, .WRCapSel = LP_WRCAPSELC,
+ .RDCapFlg = LP_RDCAPFLGC, .RDIntSel = LP_RDINTSELC,
+ .WRIntSel = LP_WRINTSELC, .io_bits = 0, .state = 0, };
+
+/* ****** PRIVATE COUNTER FUNCTIONS ****** */
+
+/* Reset a counter's index and overflow event capture flags. */
+
+static void ResetCapFlags_A(struct s626_struct * s626ptr, struct
enc_private *k) {
+ DEBIreplace(s626ptr, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
+ CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A);
+}
+
+static void ResetCapFlags_B(struct s626_struct * s626ptr, struct
enc_private *k) {
+ DEBIreplace(s626ptr, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
+ CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B);
+}
+
+/* Return counter setup in a format (COUNTER_SETUP) that is consistent */
+/* for both A and B counters. */
+
+static uint16_t GetMode_A(struct s626_struct * s626ptr, struct enc_private
*k) {
+ register uint16_t cra;
+ register uint16_t crb;
+ register uint16_t setup;
+
+ /* Fetch CRA and CRB register images. */
+ cra = DEBIread(s626ptr, k->MyCRA);
+ crb = DEBIread(s626ptr, k->MyCRB);
+
+ /* Populate the standardized counter setup bit fields. Note: */
+ /* IndexSrc is restricted to ENC_X or IndxPol. */
+ setup = ((cra & STDMSK_LOADSRC) /* LoadSrc = LoadSrcA. */
+ | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC) /*
LatchSrc = LatchSrcA. */
+ | ((cra << (STDBIT_INTSRC - CRABIT_INTSRC_A)) & STDMSK_INTSRC) /*
IntSrc = IntSrcA. */
+ | ((cra << (STDBIT_INDXSRC - (CRABIT_INDXSRC_A + 1))) & STDMSK_INDXSRC)
/* IndxSrc = IndxSrcA<1>. */
+ | ((cra >> (CRABIT_INDXPOL_A - STDBIT_INDXPOL)) & STDMSK_INDXPOL) /*
IndxPol = IndxPolA. */
+ | ((crb >> (CRBBIT_CLKENAB_A - STDBIT_CLKENAB)) & STDMSK_CLKENAB)); /*
ClkEnab = ClkEnabA. */
+
+ /* Adjust mode-dependent parameters. */
+ if (cra & (2 << CRABIT_CLKSRC_A)) /* If Timer mode (ClkSrcA<1> == 1): */
+ setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */
+ | ((cra << (STDBIT_CLKPOL - CRABIT_CLKSRC_A)) & STDMSK_CLKPOL) /*
Set ClkPol to indicate count direction (ClkSrcA<0>). */
+ | (MULT_X1 << STDBIT_CLKMULT)); /* ClkMult must be 1x in Timer
mode. */
+
+ else
+ /* If Counter mode (ClkSrcA<1> == 0): */
+ setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Counter
mode. */
+ | ((cra >> (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) & STDMSK_CLKPOL) /*
Pass through ClkPol. */
+ | (((cra & CRAMSK_CLKMULT_A) == (MULT_X0 << CRABIT_CLKMULT_A)) ?
/* Force ClkMult to 1x if not legal, else pass through. */
+ (MULT_X1 << STDBIT_CLKMULT) : ((cra
+ >> (CRABIT_CLKMULT_A - STDBIT_CLKMULT)) & STDMSK_CLKMULT)));
+
+ /* Return adjusted counter setup. */
+ return setup;
+}
+
+static uint16_t GetMode_B(struct s626_struct * s626ptr, struct enc_private
*k) {
+ register uint16_t cra;
+ register uint16_t crb;
+ register uint16_t setup;
+
+ /* Fetch CRA and CRB register images. */
+ cra = DEBIread(s626ptr, k->MyCRA);
+ crb = DEBIread(s626ptr, k->MyCRB);
+
+ /* Populate the standardized counter setup bit fields. Note: */
+ /* IndexSrc is restricted to ENC_X or IndxPol. */
+ setup = (((crb << (STDBIT_INTSRC - CRBBIT_INTSRC_B)) & STDMSK_INTSRC)
/* IntSrc = IntSrcB. */
+ | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC) /*
LatchSrc = LatchSrcB. */
+ | ((crb << (STDBIT_LOADSRC - CRBBIT_LOADSRC_B)) & STDMSK_LOADSRC) /*
LoadSrc = LoadSrcB. */
+ | ((crb << (STDBIT_INDXPOL - CRBBIT_INDXPOL_B)) & STDMSK_INDXPOL) /*
IndxPol = IndxPolB. */
+ | ((crb >> (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) & STDMSK_CLKENAB) /*
ClkEnab = ClkEnabB. */
+ | ((cra >> ((CRABIT_INDXSRC_B + 1) - STDBIT_INDXSRC)) &
STDMSK_INDXSRC)); /* IndxSrc = IndxSrcB<1>. */
+
+ /* Adjust mode-dependent parameters. */
+ if ((crb & CRBMSK_CLKMULT_B) == (MULT_X0 << CRBBIT_CLKMULT_B)) /* If
Extender mode (ClkMultB == MULT_X0): */
+ setup |= ((CLKSRC_EXTENDER << STDBIT_CLKSRC) /* Indicate Extender
mode. */
+ | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */
+ | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL)); /*
Set ClkPol equal to Timer count direction (ClkSrcB<0>). */
+
+ else if (cra & (2 << CRABIT_CLKSRC_B)) /* If Timer mode (ClkSrcB<1> ==
1): */
+ setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */
+ | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */
+ | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL)); /*
Set ClkPol equal to Timer count direction (ClkSrcB<0>). */
+
+ else
+ /* If Counter mode (ClkSrcB<1> == 0): */
+ setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Timer mode.
*/
+ | ((crb >> (CRBBIT_CLKMULT_B - STDBIT_CLKMULT)) & STDMSK_CLKMULT)
/* Clock multiplier is passed through. */
+ | ((crb << (STDBIT_CLKPOL - CRBBIT_CLKPOL_B)) & STDMSK_CLKPOL)); /*
Clock polarity is passed through. */
+
+ /* Return adjusted counter setup. */
+ return setup;
+}
+
+/*
+ * Set the operating mode for the specified counter. The setup
+ * parameter is treated as a COUNTER_SETUP data type. The following
+ * parameters are programmable (all other parms are ignored): ClkMult,
+ * ClkPol, ClkEnab, IndexSrc, IndexPol, LoadSrc.
+ */
+
+static void SetMode_A(struct s626_struct * s626ptr, struct enc_private *k,
+ uint16_t Setup, uint16_t DisableIntSrc) {
+ struct s626_priv *devpriv = s626ptr->private;
+ register uint16_t cra;
+ register uint16_t crb;
+ register uint16_t setup = Setup; /* Cache the Standard Setup. */
+
+ /* Initialize CRA and CRB images. */
+ cra = ((setup & CRAMSK_LOADSRC_A) /* Preload trigger is passed through.
*/
+ | ((setup & STDMSK_INDXSRC) >> (STDBIT_INDXSRC - (CRABIT_INDXSRC_A +
1)))); /* IndexSrc is restricted to ENC_X or IndxPol. */
+
+ crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A /* Reset any pending
CounterA event captures. */
+ | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_A - STDBIT_CLKENAB)));
/* Clock enable is passed through. */
+
+ /* Force IntSrc to Disabled if DisableIntSrc is asserted. */
+ if (!DisableIntSrc)
+ cra |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC - CRABIT_INTSRC_A));
+
+ /* Populate all mode-dependent attributes of CRA & CRB images. */
+ switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) {
+ case CLKSRC_EXTENDER: /* Extender Mode: Force to Timer mode */
+ /* (Extender valid only for B counters). */
+
+ case CLKSRC_TIMER: /* Timer Mode: */
+ cra |= ((2 << CRABIT_CLKSRC_A) /* ClkSrcA<1> selects system clock */
+ | ((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRABIT_CLKSRC_A))
/* with count direction (ClkSrcA<0>) obtained from ClkPol. */
+ | (1 << CRABIT_CLKPOL_A) /* ClkPolA behaves as always-on clock
enable. */
+ | (MULT_X1 << CRABIT_CLKMULT_A)); /* ClkMult must be 1x. */
+ break;
+
+ default: /* Counter Mode: */
+ cra |= (CLKSRC_COUNTER /* Select ENC_C and ENC_D as clock/direction
inputs. */
+ | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) /*
Clock polarity is passed through. */
+ | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT)) ?
/* Force multiplier to x1 if not legal, otherwise pass through. */
+ (MULT_X1 << CRABIT_CLKMULT_A) : ((setup & STDMSK_CLKMULT)
+ << (CRABIT_CLKMULT_A - STDBIT_CLKMULT))));
+ break;
+ }
+
+ /* Force positive index polarity if IndxSrc is software-driven only, */
+ /* otherwise pass it through. */
+ if (~setup & STDMSK_INDXSRC)
+ cra |= ((setup & STDMSK_INDXPOL) << (CRABIT_INDXPOL_A -
STDBIT_INDXPOL));
+
+ /* If IntSrc has been forced to Disabled, update the MISC2 interrupt */
+ /* enable mask to indicate the counter interrupt is disabled. */
+ if (DisableIntSrc)
+ devpriv->CounterIntEnabs &= ~k->MyEventBits[3];
+
+ /* While retaining CounterB and LatchSrc configurations, program the */
+ /* new counter operating mode. */
+ DEBIreplace(s626ptr, k->MyCRA, CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B, cra);
+ DEBIreplace(s626ptr, k->MyCRB,
+ (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)), crb);
+}
+
+static void SetMode_B(struct s626_struct * s626ptr, struct enc_private *k,
+ uint16_t Setup, uint16_t DisableIntSrc) {
+ struct s626_priv *devpriv = s626ptr->private;
+ register uint16_t cra;
+ register uint16_t crb;
+ register uint16_t setup = Setup; /* Cache the Standard Setup. */
+
+ /* Initialize CRA and CRB images. */
+ cra = ((setup & STDMSK_INDXSRC) << ((CRABIT_INDXSRC_B + 1) -
STDBIT_INDXSRC)); /* IndexSrc field is restricted to ENC_X or IndxPol. */
+
+ crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B /* Reset event captures
and disable interrupts. */
+ | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) /*
Clock enable is passed through. */
+ | ((setup & STDMSK_LOADSRC) >> (STDBIT_LOADSRC - CRBBIT_LOADSRC_B)));
/* Preload trigger source is passed through. */
+
+ /* Force IntSrc to Disabled if DisableIntSrc is asserted. */
+ if (!DisableIntSrc)
+ crb |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC - CRBBIT_INTSRC_B));
+
+ /* Populate all mode-dependent attributes of CRA & CRB images. */
+ switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) {
+ case CLKSRC_TIMER: /* Timer Mode: */
+ cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB<1> selects system clock */
+ | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B - STDBIT_CLKPOL)));
/* with direction (ClkSrcB<0>) obtained from ClkPol. */
+ crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB behaves as always-on
clock enable. */
+ | (MULT_X1 << CRBBIT_CLKMULT_B)); /* ClkMultB must be 1x. */
+ break;
+
+ case CLKSRC_EXTENDER: /* Extender Mode: */
+ cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB source is OverflowA (same
as "timer") */
+ | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B - STDBIT_CLKPOL)));
/* with direction obtained from ClkPol. */
+ crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB controls IndexB -- always
set to active. */
+ | (MULT_X0 << CRBBIT_CLKMULT_B)); /* ClkMultB selects OverflowA as
the clock source. */
+ break;
+
+ default: /* Counter Mode: */
+ cra |= (CLKSRC_COUNTER << CRABIT_CLKSRC_B); /* Select ENC_C and
ENC_D as clock/direction inputs. */
+ crb |= (((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRBBIT_CLKPOL_B))
/* ClkPol is passed through. */
+ | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT)) ?
/* Force ClkMult to x1 if not legal, otherwise pass through. */
+ (MULT_X1 << CRBBIT_CLKMULT_B) : ((setup & STDMSK_CLKMULT)
+ << (CRBBIT_CLKMULT_B - STDBIT_CLKMULT))));
+ break;
+ }
+
+ /* Force positive index polarity if IndxSrc is software-driven only, */
+ /* otherwise pass it through. */
+ if (~setup & STDMSK_INDXSRC)
+ crb |= ((setup & STDMSK_INDXPOL) >> (STDBIT_INDXPOL -
CRBBIT_INDXPOL_B));
+
+ /* If IntSrc has been forced to Disabled, update the MISC2 interrupt */
+ /* enable mask to indicate the counter interrupt is disabled. */
+ if (DisableIntSrc)
+ devpriv->CounterIntEnabs &= ~k->MyEventBits[3];
+
+ /* While retaining CounterA and LatchSrc configurations, program the */
+ /* new counter operating mode. */
+ DEBIreplace(s626ptr, k->MyCRA,
+ (uint16_t) (~(CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B)), cra);
+ DEBIreplace(s626ptr, k->MyCRB, CRBMSK_CLKENAB_A | CRBMSK_LATCHSRC, crb);
+}
+
+/* Return/set a counter's enable. enab: 0=always enabled, 1=enabled by
index. */
+
+static void SetEnable_A(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t enab) {
+ DEBIreplace(s626ptr, k->MyCRB,
+ (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)),
+ (uint16_t) (enab << CRBBIT_CLKENAB_A));
+}
+
+static void SetEnable_B(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t enab) {
+ DEBIreplace(s626ptr, k->MyCRB,
+ (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_B)),
+ (uint16_t) (enab << CRBBIT_CLKENAB_B));
+}
+
+static uint16_t GetEnable_A(struct s626_struct * s626ptr, struct
enc_private *k) {
+ return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_CLKENAB_A) & 1;
+}
+
+static uint16_t GetEnable_B(struct s626_struct * s626ptr, struct
enc_private *k) {
+ return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_CLKENAB_B) & 1;
+}
+
+/*
+ * static uint16_t GetLatchSource(struct comedi_device *dev, struct
enc_private *k )
+ * {
+ * return ( DEBIread(s626ptr, dev, k->MyCRB) >> CRBBIT_LATCHSRC ) & 3;
+ * }
+ */
+
+/*
+ * Return/set the event that will trigger transfer of the preload
+ * register into the counter. 0=ThisCntr_Index, 1=ThisCntr_Overflow,
+ * 2=OverflowA (B counters only), 3=disabled.
+ */
+
+static void SetLoadTrig_A(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t Trig) {
+ DEBIreplace(s626ptr, k->MyCRA, (uint16_t) (~CRAMSK_LOADSRC_A),
+ (uint16_t) (Trig << CRABIT_LOADSRC_A));
+}
+
+static void SetLoadTrig_B(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t Trig) {
+ DEBIreplace(s626ptr, k->MyCRB,
+ (uint16_t) (~(CRBMSK_LOADSRC_B | CRBMSK_INTCTRL)),
+ (uint16_t) (Trig << CRBBIT_LOADSRC_B));
+}
+
+static uint16_t GetLoadTrig_A(struct s626_struct * s626ptr,
+ struct enc_private *k) {
+ return (DEBIread(s626ptr, k->MyCRA) >> CRABIT_LOADSRC_A) & 3;
+}
+
+static uint16_t GetLoadTrig_B(struct s626_struct * s626ptr,
+ struct enc_private *k) {
+ return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_LOADSRC_B) & 3;
+}
+
+/* Return/set counter interrupt source and clear any captured
+ * index/overflow events. IntSource: 0=Disabled, 1=OverflowOnly,
+ * 2=IndexOnly, 3=IndexAndOverflow.
+ */
+
+static void SetIntSrc_A(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t IntSource) {
+ struct s626_priv *devpriv = s626ptr->private;
+
+ /* Reset any pending counter overflow or index captures. */
+ DEBIreplace(s626ptr, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
+ CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A);
+
+ /* Program counter interrupt source. */
+ DEBIreplace(s626ptr, k->MyCRA, ~CRAMSK_INTSRC_A,
+ (uint16_t) (IntSource << CRABIT_INTSRC_A));
+
+ /* Update MISC2 interrupt enable mask. */
+ devpriv->CounterIntEnabs = (devpriv->CounterIntEnabs &
~k->MyEventBits[3])
+ | k->MyEventBits[IntSource];
+}
+
+static void SetIntSrc_B(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t IntSource) {
+ struct s626_priv *devpriv = s626ptr->private;
+ uint16_t crb;
+
+ /* Cache writeable CRB register image. */
+ crb = DEBIread(s626ptr, k->MyCRB) & ~CRBMSK_INTCTRL;
+
+ /* Reset any pending counter overflow or index captures. */
+ DEBIwrite(s626ptr, k->MyCRB,
+ (uint16_t) (crb | CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B));
+
+ /* Program counter interrupt source. */
+ DEBIwrite(s626ptr, k->MyCRB,
+ (uint16_t) ((crb & ~CRBMSK_INTSRC_B) | (IntSource <<
CRBBIT_INTSRC_B)));
+
+ /* Update MISC2 interrupt enable mask. */
+ devpriv->CounterIntEnabs = (devpriv->CounterIntEnabs &
~k->MyEventBits[3])
+ | k->MyEventBits[IntSource];
+}
+
+static uint16_t GetIntSrc_A(struct s626_struct * s626ptr, struct
enc_private *k) {
+ return (DEBIread(s626ptr, k->MyCRA) >> CRABIT_INTSRC_A) & 3;
+}
+
+static uint16_t GetIntSrc_B(struct s626_struct * s626ptr, struct
enc_private *k) {
+ return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_INTSRC_B) & 3;
+}
+
+/* Generate an index pulse. */
+
+static void PulseIndex_A(struct s626_struct * s626ptr, struct enc_private
*k) {
+ register uint16_t cra;
+
+ cra = DEBIread(s626ptr, k->MyCRA); /* Pulse index. */
+ DEBIwrite(s626ptr, k->MyCRA, (uint16_t) (cra ^ CRAMSK_INDXPOL_A));
+ DEBIwrite(s626ptr, k->MyCRA, cra);
+}
+
+static void PulseIndex_B(struct s626_struct * s626ptr, struct enc_private
*k) {
+ register uint16_t crb;
+
+ crb = DEBIread(s626ptr, k->MyCRB) & ~CRBMSK_INTCTRL; /* Pulse index. */
+ DEBIwrite(s626ptr, k->MyCRB, (uint16_t) (crb ^ CRBMSK_INDXPOL_B));
+ DEBIwrite(s626ptr, k->MyCRB, crb);
+}
+
+static struct enc_private enc_private_data_init[] = { {
+ .GetEnable = GetEnable_A, .GetIntSrc = GetIntSrc_A, .GetLoadTrig =
+ GetLoadTrig_A, .GetMode = GetMode_A, .PulseIndex = PulseIndex_A,
+ .SetEnable = SetEnable_A, .SetIntSrc = SetIntSrc_A, .SetLoadTrig =
+ SetLoadTrig_A, .SetMode = SetMode_A, .ResetCapFlags =
ResetCapFlags_A,
+ .MyCRA = LP_CR0A, .MyCRB = LP_CR0B, .MyLatchLsw = LP_CNTR0ALSW,
+ .MyEventBits = EVBITS(0), }, { .GetEnable = GetEnable_A, .GetIntSrc =
+ GetIntSrc_A, .GetLoadTrig = GetLoadTrig_A, .GetMode = GetMode_A,
+ .PulseIndex = PulseIndex_A, .SetEnable = SetEnable_A, .SetIntSrc =
+ SetIntSrc_A, .SetLoadTrig = SetLoadTrig_A, .SetMode = SetMode_A,
+ .ResetCapFlags = ResetCapFlags_A, .MyCRA = LP_CR1A, .MyCRB = LP_CR1B,
+ .MyLatchLsw = LP_CNTR1ALSW, .MyEventBits = EVBITS(1), }, { .GetEnable =
+ GetEnable_A, .GetIntSrc = GetIntSrc_A, .GetLoadTrig = GetLoadTrig_A,
+ .GetMode = GetMode_A, .PulseIndex = PulseIndex_A, .SetEnable =
SetEnable_A,
+ .SetIntSrc = SetIntSrc_A, .SetLoadTrig = SetLoadTrig_A,
+ .SetMode = SetMode_A, .ResetCapFlags = ResetCapFlags_A, .MyCRA =
LP_CR2A,
+ .MyCRB = LP_CR2B, .MyLatchLsw = LP_CNTR2ALSW, .MyEventBits =
EVBITS(2), }, {
+ .GetEnable = GetEnable_B, .GetIntSrc = GetIntSrc_B, .GetLoadTrig =
+ GetLoadTrig_B, .GetMode = GetMode_B, .PulseIndex = PulseIndex_B,
+ .SetEnable = SetEnable_B, .SetIntSrc = SetIntSrc_B, .SetLoadTrig =
+ SetLoadTrig_B, .SetMode = SetMode_B, .ResetCapFlags =
ResetCapFlags_B,
+ .MyCRA = LP_CR0A, .MyCRB = LP_CR0B, .MyLatchLsw = LP_CNTR0BLSW,
+ .MyEventBits = EVBITS(3), }, { .GetEnable = GetEnable_B, .GetIntSrc =
+ GetIntSrc_B, .GetLoadTrig = GetLoadTrig_B, .GetMode = GetMode_B,
+ .PulseIndex = PulseIndex_B, .SetEnable = SetEnable_B, .SetIntSrc =
+ SetIntSrc_B, .SetLoadTrig = SetLoadTrig_B, .SetMode = SetMode_B,
+ .ResetCapFlags = ResetCapFlags_B, .MyCRA = LP_CR1A, .MyCRB = LP_CR1B,
+ .MyLatchLsw = LP_CNTR1BLSW, .MyEventBits = EVBITS(4), }, { .GetEnable =
+ GetEnable_B, .GetIntSrc = GetIntSrc_B, .GetLoadTrig = GetLoadTrig_B,
+ .GetMode = GetMode_B, .PulseIndex = PulseIndex_B, .SetEnable =
SetEnable_B,
+ .SetIntSrc = SetIntSrc_B, .SetLoadTrig = SetLoadTrig_B,
+ .SetMode = SetMode_B, .ResetCapFlags = ResetCapFlags_B, .MyCRA =
LP_CR2A,
+ .MyCRB = LP_CR2B, .MyLatchLsw = LP_CNTR2BLSW, .MyEventBits =
EVBITS(5), }, };
+
+static void CloseDMAB(struct s626_struct * s626ptr, struct bufferDMA *pdma,
+ size_t bsize) {
+ struct pci_dev *pcidev = s626ptr->pcidev;
+ void *vbptr;
+ dma_addr_t vpptr;
+
+ if (pdma == NULL)
+ return;
+ /* find the matching allocation from the board struct */
+
+ vbptr = pdma->LogicalBase;
+ vpptr = pdma->PhysicalBase;
+ if (vbptr) {
+ pci_free_consistent(pcidev, bsize, vbptr, vpptr);
+ pdma->LogicalBase = NULL;
+ pdma->PhysicalBase = 0;
+ }
+}
+
+/* Initialize the DEBI interface for all transfers. */
+
+static uint16_t DEBIread(struct s626_struct * s626ptr, uint16_t addr) {
+ struct s626_priv *devpriv = s626ptr->private;
+ uint16_t retval;
+
+ /* Set up DEBI control register value in shadow RAM. */
+ WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr);
+
+ /* Execute the DEBI transfer. */
+ DEBItransfer(s626ptr);
+
+ /* Fetch target register value. */
+ retval = (uint16_t) RR7146(P_DEBIAD);
+
+ /* Return register value. */
+ return retval;
+}
+
+/* Write a value to a gate array register. */
+static void DEBIwrite(struct s626_struct * s626ptr, uint16_t addr,
+ uint16_t wdata) {
+ struct s626_priv *devpriv = s626ptr->private;
+
+ /* Set up DEBI control register value in shadow RAM. */
+ WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr);
+ WR7146(P_DEBIAD, wdata);
+
+ /* Execute the DEBI transfer. */
+ DEBItransfer(s626ptr);
+}
+
+/* Execute a DEBI transfer. This must be called from within a */
+/* critical section. */
+static void DEBItransfer(struct s626_struct * s626ptr) {
+ struct s626_priv *devpriv = s626ptr->private;
+
+ /* Initiate upload of shadow RAM to DEBI control register. */
+ MC_ENABLE(P_MC2, MC2_UPLD_DEBI);
+
+ /* Wait for completion of upload from shadow RAM to DEBI control */
+ /* register. */
+ while (!MC_TEST(P_MC2, MC2_UPLD_DEBI))
+ ;
+
+ /* Wait until DEBI transfer is done. */
+ while (RR7146(P_PSR) & PSR_DEBI_S)
+ ;
+}
+
+static void DEBIreplace(struct s626_struct * s626ptr, uint16_t addr,
+ uint16_t mask, uint16_t wdata) {
+ struct s626_priv *devpriv = s626ptr->private;
+
+ /* Copy target gate array register into P_DEBIAD register. */
+ WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr);
+ /* Set up DEBI control reg value in shadow RAM. */
+ DEBItransfer(s626ptr); /* Execute the DEBI Read transfer. */
+
+ /* Write back the modified image. */
+ WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr);
+ /* Set up DEBI control reg value in shadow RAM. */
+
+ WR7146(P_DEBIAD, wdata | ((uint16_t) RR7146(P_DEBIAD) & mask));
+ /* Modify the register image. */
+ DEBItransfer(s626ptr); /* Execute the DEBI Write transfer. */
+}
+
+/* ************** EEPROM ACCESS FUNCTIONS ************** */
+
+static uint32_t I2Chandshake(struct s626_struct * s626ptr, uint32_t val) {
+ struct s626_priv *devpriv = s626ptr->private;
+
+ /* Write I2C command to I2C Transfer Control shadow register. */
+ WR7146(P_I2CCTRL, val);
+
+ /* Upload I2C shadow registers into working registers and wait for */
+ /* upload confirmation. */
+
+ MC_ENABLE(P_MC2, MC2_UPLD_IIC);
+ while (!MC_TEST(P_MC2, MC2_UPLD_IIC))
+ ;
+
+ /* Wait until I2C bus transfer is finished or an error occurs. */
+ while ((RR7146(P_I2CCTRL) & (I2C_BUSY | I2C_ERR)) == I2C_BUSY)
+ ;
+
+ /* Return non-zero if I2C error occurred. */
+ return RR7146(P_I2CCTRL) & I2C_ERR;
+
+}
+
+/* Read uint8_t from EEPROM. */
+static uint8_t I2Cread(struct s626_struct * s626ptr, uint8_t addr) {
+ struct s626_priv *devpriv = s626ptr->private;
+ uint8_t rtnval;
+
+ /* Send EEPROM target address. */
+ if (I2Chandshake(s626ptr, I2C_B2(I2C_ATTRSTART, I2CW)
+ /* Byte2 = I2C command: write to I2C EEPROM device. */
+ | I2C_B1(I2C_ATTRSTOP, addr)
+ /* Byte1 = EEPROM internal target address. */
+ | I2C_B0(I2C_ATTRNOP, 0))) { /* Byte0 = Not sent. */
+ /* Abort function and declare error if handshake failed. */
+ return 0;
+ }
+ /* Execute EEPROM read. */
+ if (I2Chandshake(s626ptr, I2C_B2(I2C_ATTRSTART, I2CR)
+
+ /* Byte2 = I2C */
+ /* command: read */
+ /* from I2C EEPROM */
+ /* device. */
+ | I2C_B1(I2C_ATTRSTOP, 0)
+
+ /* Byte1 receives */
+ /* uint8_t from */
+ /* EEPROM. */
+ | I2C_B0(I2C_ATTRNOP, 0))) { /* Byte0 = Not sent. */
+
+ /* Abort function and declare error if handshake failed. */
+ return 0;
+ }
+ /* Return copy of EEPROM value. */
+ rtnval = (uint8_t) (RR7146(P_I2CCTRL) >> 16);
+ return rtnval;
+}
+
+static void WriteMISC2(struct s626_struct * s626ptr, uint16_t NewImage) {
+ DEBIwrite(s626ptr, LP_MISC1, MISC1_WENABLE); /* enab writes to */
+ /* MISC2 register. */
+ DEBIwrite(s626ptr, LP_WRMISC2, NewImage); /* Write new image to MISC2.
*/
+ DEBIwrite(s626ptr, LP_MISC1, MISC1_WDISABLE); /* Disable writes to
MISC2. */
+}
+
+/* Write value into counter preload register. */
+static void Preload(struct s626_struct * s626ptr, struct enc_private *k,
+ uint32_t value) {
+ DEBIwrite(s626ptr, (uint16_t) (k->MyLatchLsw), (uint16_t) value);
+ DEBIwrite(s626ptr, (uint16_t) (k->MyLatchLsw + 2), (uint16_t) (value >>
16));
+}
+
+/* Private helper function: Transmit serial data to DAC via Audio
+ * channel 2. Assumes: (1) TSL2 slot records initialized, and (2)
+ * Dacpol contains valid target image.
+ */
+static void SendDAC(struct s626_struct * s626ptr, uint32_t val) {
+ struct s626_priv *devpriv = s626ptr->private;
+
+ /* START THE SERIAL CLOCK RUNNING ------------- */
+
+ /* Assert DAC polarity control and enable gating of DAC serial clock
+ * and audio bit stream signals. At this point in time we must be
+ * assured of being in time slot 0. If we are not in slot 0, the
+ * serial clock and audio stream signals will be disabled; this is
+ * because the following DEBIwrite statement (which enables signals
+ * to be passed through the gate array) would execute before the
+ * trailing edge of WS1/WS3 (which turns off the signals), thus
+ * causing the signals to be inactive during the DAC write.
+ */
+ DEBIwrite(s626ptr, LP_DACPOL, devpriv->Dacpol);
+
+ /* TRANSFER OUTPUT DWORD VALUE INTO A2'S OUTPUT FIFO ---------------- */
+
+ /* Copy DAC setpoint value to DAC's output DMA buffer. */
+
+ /* WR7146( (uint32_t)devpriv->pDacWBuf, val ); */
+ *devpriv->pDacWBuf = val;
+
+ /* enab the output DMA transfer. This will cause the DMAC to copy
+ * the DAC's data value to A2's output FIFO. The DMA transfer will
+ * then immediately terminate because the protection address is
+ * reached upon transfer of the first DWORD value.
+ */
+ MC_ENABLE(P_MC1, MC1_A2OUT);
+
+ /* While the DMA transfer is executing ... */
+
+ /* Reset Audio2 output FIFO's underflow flag (along with any other
+ * FIFO underflow/overflow flags). When set, this flag will
+ * indicate that we have emerged from slot 0.
+ */
+ WR7146(P_ISR, ISR_AFOU);
+
+ /* Wait for the DMA transfer to finish so that there will be data
+ * available in the FIFO when time slot 1 tries to transfer a DWORD
+ * from the FIFO to the output buffer register. We test for DMA
+ * Done by polling the DMAC enable flag; this flag is automatically
+ * cleared when the transfer has finished.
+ */
+ while ((RR7146(P_MC1) & MC1_A2OUT) != 0)
+ ;
+
+ /* START THE OUTPUT STREAM TO THE TARGET DAC -------------------- */
+
+ /* FIFO data is now available, so we enable execution of time slots
+ * 1 and higher by clearing the EOS flag in slot 0. Note that SD3
+ * will be shifted in and stored in FB_BUFFER2 for end-of-slot-list
+ * detection.
+ */
+ SETVECT(0, XSD2 | RSD3 | SIB_A2);
+
+ /* Wait for slot 1 to execute to ensure that the Packet will be
+ * transmitted. This is detected by polling the Audio2 output FIFO
+ * underflow flag, which will be set when slot 1 execution has
+ * finished transferring the DAC's data DWORD from the output FIFO
+ * to the output buffer register.
+ */
+ while ((RR7146(P_SSR) & SSR_AF2_OUT) == 0)
+ ;
+
+ /* Set up to trap execution at slot 0 when the TSL sequencer cycles
+ * back to slot 0 after executing the EOS in slot 5. Also,
+ * simultaneously shift out and in the 0x00 that is ALWAYS the value
+ * stored in the last byte to be shifted out of the FIFO's DWORD
+ * buffer register.
+ */
+ SETVECT(0, XSD2 | XFIFO_2 | RSD2 | SIB_A2 | EOS);
+
+ /* WAIT FOR THE TRANSACTION TO FINISH ----------------------- */
+
+ /* Wait for the TSL to finish executing all time slots before
+ * exiting this function. We must do this so that the next DAC
+ * write doesn't start, thereby enabling clock/chip select signals:
+ *
+ * 1. Before the TSL sequence cycles back to slot 0, which disables
+ * the clock/cs signal gating and traps slot // list execution.
+ * we have not yet finished slot 5 then the clock/cs signals are
+ * still gated and we have not finished transmitting the stream.
+ *
+ * 2. While slots 2-5 are executing due to a late slot 0 trap. In
+ * this case, the slot sequence is currently repeating, but with
+ * clock/cs signals disabled. We must wait for slot 0 to trap
+ * execution before setting up the next DAC setpoint DMA transfer
+ * and enabling the clock/cs signals. To detect the end of slot 5,
+ * we test for the FB_BUFFER2 MSB contents to be equal to 0xFF. If
+ * the TSL has not yet finished executing slot 5 ...
+ */
+ if ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0) {
+ /* The trap was set on time and we are still executing somewhere
+ * in slots 2-5, so we now wait for slot 0 to execute and trap
+ * TSL execution. This is detected when FB_BUFFER2 MSB changes
+ * from 0xFF to 0x00, which slot 0 causes to happen by shifting
+ * out/in on SD2 the 0x00 that is always referenced by slot 5.
+ */
+ while ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0)
+ ;
+ }
+ /* Either (1) we were too late setting the slot 0 trap; the TSL
+ * sequencer restarted slot 0 before we could set the EOS trap flag,
+ * or (2) we were not late and execution is now trapped at slot 0.
+ * In either case, we must now change slot 0 so that it will store
+ * value 0xFF (instead of 0x00) to FB_BUFFER2 next time it executes.
+ * In order to do this, we reprogram slot 0 so that it will shift in
+ * SD3, which is driven only by a pull-up resistor.
+ */
+ SETVECT(0, RSD3 | SIB_A2 | EOS);
+
+ /* Wait for slot 0 to execute, at which time the TSL is setup for
+ * the next DAC write. This is detected when FB_BUFFER2 MSB changes
+ * from 0x00 to 0xFF.
+ */
+ while ((RR7146(P_FB_BUFFER2) & 0xFF000000) == 0)
+ ;
+}
+
+/* Private helper function: Write setpoint to an application DAC channel.
*/
+static void SetDAC(struct s626_struct * s626ptr, uint16_t chan, short
dacdata) {
+ struct s626_priv *devpriv = s626ptr->private;
+ register uint16_t signmask;
+ register uint32_t WSImage;
+
+ /* Adjust DAC data polarity and set up Polarity Control Register */
+ /* image. */
+ signmask = 1 << chan;
+ if (dacdata < 0) {
+ dacdata = -dacdata;
+ devpriv->Dacpol |= signmask;
+ } else
+ devpriv->Dacpol &= ~signmask;
+
+ /* Limit DAC setpoint value to valid range. */
+ if ((uint16_t) dacdata > 0x1FFF)
+ dacdata = 0x1FFF;
+
+ /* Set up TSL2 records (aka "vectors") for DAC update. Vectors V2
+ * and V3 transmit the setpoint to the target DAC. V4 and V5 send
+ * data to a non-existent TrimDac channel just to keep the clock
+ * running after sending data to the target DAC. This is necessary
+ * to eliminate the clock glitch that would otherwise occur at the
+ * end of the target DAC's serial data stream. When the sequence
+ * restarts at V0 (after executing V5), the gate array automatically
+ * disables gating for the DAC clock and all DAC chip selects.
+ */
+
+ WSImage = (chan & 2) ? WS1 : WS2;
+ /* Choose DAC chip select to be asserted. */
+ SETVECT(2, XSD2 | XFIFO_1 | WSImage);
+ /* Slot 2: Transmit high data byte to target DAC. */
+ SETVECT(3, XSD2 | XFIFO_0 | WSImage);
+ /* Slot 3: Transmit low data byte to target DAC. */
+ SETVECT(4, XSD2 | XFIFO_3 | WS3);
+ /* Slot 4: Transmit to non-existent TrimDac channel to keep clock */
+ SETVECT(5, XSD2 | XFIFO_2 | WS3 | EOS);
+ /* Slot 5: running after writing target DAC's low data byte. */
+
+ /* Construct and transmit target DAC's serial packet:
+ * ( A10D DDDD ),( DDDD DDDD ),( 0x0F ),( 0x00 ) where A is chan<0>,
+ * and D<12:0> is the DAC setpoint. Append a WORD value (that writes
+ * to a non-existent TrimDac channel) that serves to keep the clock
+ * running after the packet has been sent to the target DAC.
+ */
+ SendDAC(s626ptr, 0x0F000000
+ /* Continue clock after target DAC data (write to non-existent trimdac).
*/
+ | 0x00004000
+ /* Address the two main dual-DAC devices (TSL's chip select enables
+ * target device). */
+ | ((uint32_t) (chan & 1) << 15)
+ /* Address the DAC channel within the device. */
+ | (uint32_t) dacdata); /* Include DAC setpoint data. */
+
+}
+
+static void WriteTrimDAC(struct s626_struct * s626ptr, uint8_t LogicalChan,
+ uint8_t DacData) {
+
+ struct s626_priv *devpriv = s626ptr->private;
+ uint32_t chan;
+
+ /* Save the new setpoint in case the application needs to read it back
later. */
+ devpriv->TrimSetpoint[LogicalChan] = (uint8_t) DacData;
+
+ /* Map logical channel number to physical channel number. */
+ chan = (uint32_t) trimchan[LogicalChan];
+
+ /* Set up TSL2 records for TrimDac write operation. All slots shift
+ * 0xFF in from pulled-up SD3 so that the end of the slot sequence
+ * can be detected.
+ */
+
+ SETVECT(2, XSD2 | XFIFO_1 | WS3);
+ /* Slot 2: Send high uint8_t to target TrimDac. */
+ SETVECT(3, XSD2 | XFIFO_0 | WS3);
+ /* Slot 3: Send low uint8_t to target TrimDac. */
+ SETVECT(4, XSD2 | XFIFO_3 | WS1);
+ /* Slot 4: Send NOP high uint8_t to DAC0 to keep clock running. */
+ SETVECT(5, XSD2 | XFIFO_2 | WS1 | EOS);
+ /* Slot 5: Send NOP low uint8_t to DAC0. */
+
+ /* Construct and transmit target DAC's serial packet:
+ * ( 0000 AAAA ), ( DDDD DDDD ),( 0x00 ),( 0x00 ) where A<3:0> is the
+ * DAC channel's address, and D<7:0> is the DAC setpoint. Append a
+ * WORD value (that writes a channel 0 NOP command to a non-existent
+ * main DAC channel) that serves to keep the clock running after the
+ * packet has been sent to the target DAC.
+ */
+
+ /* Address the DAC channel within the trimdac device. */
+ SendDAC(s626ptr, ((uint32_t) chan << 8) | (uint32_t) DacData); /*
Include DAC setpoint data. */
+}
+
+static void LoadTrimDACs(struct s626_struct * s626ptr) {
+ register uint8_t i;
+
+ /* Copy TrimDac setpoint values from EEPROM to TrimDacs. */
+ for (i = 0; i < ARRAY_SIZE(trimchan); i++)
+ WriteTrimDAC(s626ptr, i, I2Cread(s626ptr, trimadrs[i]));
+}
+
+/* ****** COUNTER FUNCTIONS ******* */
+/* All counter functions address a specific counter by means of the
+ * "Counter" argument, which is a logical counter number. The Counter
+ * argument may have any of the following legal values: 0=0A, 1=1A,
+ * 2=2A, 3=0B, 4=1B, 5=2B.
+ */
+
+/* Read a counter's output latch. */
+static uint32_t ReadLatch(struct s626_struct * s626ptr, struct enc_private
*k) {
+ register uint32_t value;
+
+ /* Latch counts and fetch LSW of latched counts value. */
+ value = (uint32_t) DEBIread(s626ptr, k->MyLatchLsw);
+
+ /* Fetch MSW of latched counts and combine with LSW. */
+ value |= ((uint32_t) DEBIread(s626ptr, k->MyLatchLsw + 2) << 16);
+
+ /* Return latched counts. */
+ return value;
+}
+
+/* Return/set a counter pair's latch trigger source. 0: On read
+ * access, 1: A index latches A, 2: B index latches B, 3: A overflow
+ * latches B.
+ */
+static void SetLatchSource(struct s626_struct * s626ptr, struct
enc_private *k,
+ uint16_t value) {
+ DEBIreplace(s626ptr, k->MyCRB,
+ (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_LATCHSRC)),
+ (uint16_t) (value << CRBBIT_LATCHSRC));
+}
+
+static void s626_timer_load(struct s626_struct * s626ptr, struct
enc_private *k,
+ int tick) {
+ uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
+ /* index. */
+ (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
+ (CLKSRC_TIMER << BF_CLKSRC) | /* Operating mode is Timer. */
+ (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
+ (CNTDIR_DOWN << BF_CLKPOL) | /* Count direction is Down. */
+ (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
+ (CLKENAB_INDEX << BF_CLKENAB);
+ uint16_t valueSrclatch = LATCHSRC_A_INDXA;
+ /* uint16_t enab=CLKENAB_ALWAYS; */
+
+ k->SetMode(s626ptr, k, Setup, FALSE);
+
+ /* Set the preload register */
+ Preload(s626ptr, k, tick);
+
+ /* Software index pulse forces the preload register to load */
+ /* into the counter */
+ k->SetLoadTrig(s626ptr, k, 0);
+ k->PulseIndex(s626ptr, k);
+
+ /* set reload on counter overflow */
+ k->SetLoadTrig(s626ptr, k, 1);
+
+ /* set interrupt on overflow */
+ k->SetIntSrc(s626ptr, k, INTSRC_OVER);
+
+ SetLatchSource(s626ptr, k, valueSrclatch);
+ /* k->SetEnable(dev,k,(uint16_t)(enab != 0)); */
+}
+
+int s626_irq_handler(unsigned int irq, void *d) {
+ a4l_dev_t *dev = NULL;
+ struct s626_priv *devpriv = NULL;
+ a4l_subd_t *s;
+ a4l_cmd_t *cmd;
+ struct enc_private *k;
+ unsigned long flags;
+ int32_t *readaddr;
+ uint32_t irqtype, irqstatus;
+ int i = 0;
+ short tempdata;
+ uint8_t group;
+ uint16_t irqbit;
+
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (a4l_get_irq(s626ptr->dev) == irq) {
+ dev = s626ptr->dev;
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (dev == NULL) {
+ __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
+ return -ENODEV;
+ }
+
+ //if (dev->attached == 0)
+ //return IRQ_NONE;
+ // lock to avoid race with comedi_poll
+ a4l_lock_irqsave(&dev->lock, flags);
+
+ // save interrupt enable register state
+ irqstatus = readl(devpriv->base_addr + P_IER);
+
+ // read interrupt type
+ irqtype = readl(devpriv->base_addr + P_ISR);
+
+ // disable master interrupt
+ writel(0, devpriv->base_addr + P_IER);
+
+ // clear interrupt
+ writel(irqtype, devpriv->base_addr + P_ISR);
+
+ switch (irqtype) {
+ case IRQ_RPS1: // end_of_scan occurs
+ // manage ai subdevice
+ s = a4l_get_subd(dev, SUBD_AI);
+ cmd = a4l_get_cmd(s);
+
+ // Init ptr to DMA buffer that holds new ADC data. We skip the
+ // first uint16_t in the buffer because it contains junk data from
+ // the final ADC of the previous poll list scan.
+
+ readaddr = (int32_t *) devpriv->ANABuf.LogicalBase + 1;
+
+ // get the data and hand it over to comedi
+ for (i = 0; i < (cmd->nb_chan); i++) {
+ // Convert ADC data to 16-bit integer values and copy to application
+ // buffer.
+ tempdata = s626_ai_reg_to_uint((int) *readaddr);
+ readaddr++;
+
+ // put data into read buffer
+ // comedi_buf_put(s->async, tempdata);
+ /*
+ if (cfc_write_to_buffer(s, tempdata) == 0)
+ printk
+ ("s626_irq_handler: cfc_write_to_buffer error!\n");
+ */
+ }
+
+ // end of scan occurs
+ //s->async->events |= COMEDI_CB_EOS;
+
+ if (!(devpriv->ai_continous))
+ devpriv->ai_sample_count--;
+ if (devpriv->ai_sample_count <= 0) {
+ devpriv->ai_cmd_running = 0;
+
+ // Stop RPS program.
+ MC_DISABLE(P_MC1, MC1_ERPS1);
+
+ // send end of acquisition
+ //s->async->events |= COMEDI_CB_EOA;
+
+ // disable master interrupt
+ irqstatus = 0;
+ }
+
+ if (devpriv->ai_cmd_running && cmd->scan_begin_src == TRIG_EXT)
+ s626_dio_set_irq(s626ptr, cmd->scan_begin_arg);
+ // tell comedi that data is there
+ //comedi_event(dev, s);
+ break;
+ case IRQ_GPIO3: // check dio and conter interrupt
+ // manage ai subdevice
+ s = a4l_get_subd(dev, SUBD_AI);
+ cmd = a4l_get_cmd(s);
+
+ // s626_dio_clear_irq(dev);
+
+ for (group = 0; group < S626_DIO_BANKS; group++) {
+ irqbit = 0;
+ // read interrupt type
+ irqbit = DEBIread(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
+ group + 2)->priv)))->RDCapFlg);
+
+ // check if interrupt is generated from dio channels
+ if (irqbit) {
+ s626_dio_reset_irq(s626ptr, group, irqbit);
+ if (devpriv->ai_cmd_running) {
+ // check if interrupt is an ai acquisition start trigger
+ if ((irqbit >> (cmd->start_arg - (16 * group)))
+ == 1&& cmd->start_src == TRIG_EXT) {
+ // Start executing the RPS program.
+MC_ENABLE (P_MC1, MC1_ERPS1);
+
+ if (cmd->scan_begin_src ==
+ TRIG_EXT) {
+ s626_dio_set_irq(s626ptr,cmd->scan_begin_arg);
+ }
+ }
+ if ((irqbit >> (cmd->scan_begin_arg -
+ (16 * group)))
+ == 1
+ && cmd->scan_begin_src ==
+ TRIG_EXT) {
+ // Trigger ADC scan loop start by setting RPS Signal 0.
+ MC_ENABLE(P_MC2, MC2_ADC_RPS);
+
+ if (cmd->convert_src ==
+ TRIG_EXT) {
+ devpriv->ai_convert_count
+ = cmd->nb_chan;
+
+ s626_dio_set_irq(s626ptr, cmd->convert_arg);
+ }
+
+ if (cmd->convert_src ==
+ TRIG_TIMER) {
+ k = &encpriv[5];
+ devpriv->ai_convert_count
+ = cmd->nb_chan;
+ k->SetEnable(s626ptr,k,
+ CLKENAB_ALWAYS);
+ }
+ }
+ if ((irqbit >> (cmd->convert_arg -
+ (16 * group)))
+ == 1
+ && cmd->convert_src == TRIG_EXT) {
+ // Trigger ADC scan loop start by setting RPS Signal 0.
+ MC_ENABLE(P_MC2, MC2_ADC_RPS);
+
+ devpriv->ai_convert_count--;
+
+ if (devpriv->ai_convert_count >
+ 0) {
+ s626_dio_set_irq(s626ptr,cmd->convert_arg);
+ }
+ }
+ }
+ break;
+ }
+ }
+
+ // read interrupt type
+ irqbit = DEBIread(s626ptr, LP_RDMISC2);
+
+ // check interrupt on counters
+ if (irqbit & IRQ_COINT1A) {
+ k = &encpriv[0];
+
+ // clear interrupt capture flag
+ k->ResetCapFlags(s626ptr, k);
+ }
+ if (irqbit & IRQ_COINT2A) {
+ k = &encpriv[1];
+
+ // clear interrupt capture flag
+ k->ResetCapFlags(s626ptr, k);
+ }
+ if (irqbit & IRQ_COINT3A) {
+ k = &encpriv[2];
+
+ // clear interrupt capture flag
+ k->ResetCapFlags(s626ptr, k);
+ }
+ if (irqbit & IRQ_COINT1B) {
+ k = &encpriv[3];
+
+ // clear interrupt capture flag
+ k->ResetCapFlags(s626ptr, k);
+ }
+ if (irqbit & IRQ_COINT2B) {
+ k = &encpriv[4];
+
+ // clear interrupt capture flag
+ k->ResetCapFlags(s626ptr, k);
+
+ if (devpriv->ai_convert_count > 0) {
+ devpriv->ai_convert_count--;
+ if (devpriv->ai_convert_count == 0)
+ k->SetEnable(s626ptr, k, CLKENAB_INDEX);
+
+ if (cmd->convert_src == TRIG_TIMER) {
+ // Trigger ADC scan loop start by setting RPS Signal 0.
+ MC_ENABLE(P_MC2, MC2_ADC_RPS);
+ }
+ }
+ }
+ if (irqbit & IRQ_COINT3B) {
+ k = &encpriv[5];
+
+ // clear interrupt capture flag
+ k->ResetCapFlags(s626ptr, k);
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ // Trigger ADC scan loop start by setting RPS Signal 0.
+ MC_ENABLE(P_MC2, MC2_ADC_RPS);
+ }
+
+ if (cmd->convert_src == TRIG_TIMER) {
+ k = &encpriv[4];
+ devpriv->ai_convert_count = cmd->nb_chan;
+ k->SetEnable(s626ptr, k, CLKENAB_ALWAYS);
+ }
+ }
+ break;
+ }
+
+ // enable interrupt
+ writel(irqstatus, devpriv->base_addr + P_IER);
+
+ a4l_unlock_irqrestore(&dev->lock, flags);
+
+ return IRQ_HANDLED;
+}
+
+/* This function doesn't require a particular form, this is just what
+ * happens to be used in some of the drivers. It should convert ns
+ * nanoseconds to a counter value suitable for programming the device.
+ * Also, it should adjust ns so that it cooresponds to the actual time
+ * that the device will use. */
+static int s626_ns_to_timer(int *nanosec, int round_mode) {
+ int divider, base;
+
+ base = 500; /* 2MHz internal clock */
+
+ switch (round_mode) {
+ case TRIG_ROUND_NEAREST:
+ default:
+ divider = (*nanosec + base / 2) / base;
+ break;
+ case TRIG_ROUND_DOWN:
+ divider = (*nanosec) / base;
+ break;
+ case TRIG_ROUND_UP:
+ divider = (*nanosec + base - 1) / base;
+ break;
+ }
+
+ *nanosec = base * divider;
+ return divider - 1;
+}
+
+static int s626_allocate_dma_buffers(struct s626_struct * s626ptr) {
+ struct pci_dev *pcidev = s626ptr->pcidev;
+ struct s626_priv *devpriv = s626ptr->private;
+ void *addr;
+ dma_addr_t appdma;
+
+ addr = pci_alloc_consistent(pcidev, DMABUF_SIZE, &appdma);
+ if (!addr)
+ return -ENOMEM;
+ devpriv->ANABuf.LogicalBase = addr;
+ devpriv->ANABuf.PhysicalBase = appdma;
+
+ addr = pci_alloc_consistent(pcidev, DMABUF_SIZE, &appdma);
+ if (!addr)
+ return -ENOMEM;
+ devpriv->RPSBuf.LogicalBase = addr;
+ devpriv->RPSBuf.PhysicalBase = appdma;
+
+ return 0;
+}
+
+static int s626_dio_clear_irq(struct s626_struct * s626ptr) {
+ unsigned int group;
+
+ /* disable edge capture write command */
+ DEBIwrite(s626ptr, LP_MISC1, MISC1_NOEDCAP);
+
+ for (group = 0; group < S626_DIO_BANKS; group++) {
+ /* clear pending events and interrupt */
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
+ group + 2)->priv)))->WRCapSel, 0xffff);
+ }
+
+ return 0;
+}
+
+static int s626_dio_set_irq(struct s626_struct * s626ptr, unsigned int
chan) {
+ unsigned int group;
+ unsigned int bitmask;
+ unsigned int status;
+
+ /* select dio bank */
+ group = chan / 16;
+ bitmask = 1 << (chan - (16 * group));
+
+ /* set channel to capture positive edge */
+ status =
+ DEBIread(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
+ group + 2)->priv)))->RDEdgSel);
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
group + 2)->priv)))->WREdgSel,
+ bitmask | status);
+
+ /* enable interrupt on selected channel */
+ status =
+ DEBIread(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
+ group + 2)->priv)))->RDIntSel);
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
group + 2)->priv)))->WRIntSel,
+ bitmask | status);
+
+ /* enable edge capture write command */
+ DEBIwrite(s626ptr, LP_MISC1, MISC1_EDCAP);
+
+ /* enable edge capture on selected channel */
+ status =
+ DEBIread(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
+ group + 2)->priv)))->RDCapSel);
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
group + 2)->priv)))->WRCapSel,
+ bitmask | status);
+
+ return 0;
+}
+
+static int s626_dio_reset_irq(struct s626_struct * s626ptr, unsigned int
group,
+ unsigned int mask) {
+ /* disable edge capture write command */
+ DEBIwrite(s626ptr, LP_MISC1, MISC1_NOEDCAP);
+
+ /* enable edge capture on selected channel */
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
group + 2)->priv)))->WRCapSel,
+ mask);
+
+ return 0;
+}
+
+/*
+ * this functions build the RPS program for hardware driven acquistion
+ */
+static void ResetADC(struct s626_struct * s626ptr, uint8_t *ppl,
+ a4l_cmd_t * cmd) {
+ struct s626_priv *devpriv = s626ptr->private;
+ register uint32_t *pRPS;
+ uint32_t JmpAdrs;
+ uint16_t i;
+ uint16_t n;
+ uint32_t LocalPPL;
+
+ /* Stop RPS program in case it is currently running. */
+ MC_DISABLE(P_MC1, MC1_ERPS1);
+
+ /* Set starting logical address to write RPS commands. */
+ pRPS = (uint32_t *) devpriv->RPSBuf.LogicalBase;
+
+ /* Initialize RPS instruction pointer. */
+ WR7146(P_RPSADDR1, (uint32_t) devpriv->RPSBuf.PhysicalBase);
+
+ /* Construct RPS program in RPSBuf DMA buffer */
+
+ if (cmd != NULL && cmd->scan_begin_src != TRIG_FOLLOW) {
+ /* Wait for Start trigger. */
+ *pRPS++ = RPS_PAUSE | RPS_SIGADC;
+ *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC;
+ }
+
+ /* SAA7146 BUG WORKAROUND Do a dummy DEBI Write. This is necessary
+ * because the first RPS DEBI Write following a non-RPS DEBI write
+ * seems to always fail. If we don't do this dummy write, the ADC
+ * gain might not be set to the value required for the first slot in
+ * the poll list; the ADC gain would instead remain unchanged from
+ * the previously programmed value.
+ */
+ *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2);
+ /* Write DEBI Write command and address to shadow RAM. */
+
+ *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL;
+ *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2);
+ /* Write DEBI immediate data to shadow RAM: */
+
+ *pRPS++ = GSEL_BIPOLAR5V;
+ /* arbitrary immediate data value. */
+
+ *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI;
+ /* Reset "shadow RAM uploaded" flag. */
+ *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */
+ *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to finish. */
+
+ /* Digitize all slots in the poll list. This is implemented as a
+ * for loop to limit the slot count to 16 in case the application
+ * forgot to set the EOPL flag in the final slot.
+ */
+ for (devpriv->AdcItems = 0; devpriv->AdcItems < 16; devpriv->AdcItems++)
{
+ /* Convert application's poll list item to private board class
+ * format. Each app poll list item is an uint8_t with form
+ * (EOPL,x,x,RANGE,CHAN<3:0>), where RANGE code indicates 0 =
+ * +-10V, 1 = +-5V, and EOPL = End of Poll List marker.
+ */
+ LocalPPL = (*ppl << 8) | (*ppl & 0x10 ? GSEL_BIPOLAR5V :
GSEL_BIPOLAR10V);
+
+ /* Switch ADC analog gain. */
+ *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2); /* Write DEBI command */
+ /* and address to */
+ /* shadow RAM. */
+ *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL;
+ *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2); /* Write DEBI */
+ /* immediate data to */
+ /* shadow RAM. */
+ *pRPS++ = LocalPPL;
+ *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI; /* Reset "shadow RAM uploaded" */
+ /* flag. */
+ *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */
+ *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to */
+ /* finish. */
+
+ /* Select ADC analog input channel. */
+ *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2);
+ /* Write DEBI command and address to shadow RAM. */
+ *pRPS++ = DEBI_CMD_WRWORD | LP_ISEL;
+ *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2);
+ /* Write DEBI immediate data to shadow RAM. */
+ *pRPS++ = LocalPPL;
+ *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI;
+ /* Reset "shadow RAM uploaded" flag. */
+
+ *pRPS++ = RPS_UPLOAD | RPS_DEBI;
+ /* Invoke shadow RAM upload. */
+
+ *pRPS++ = RPS_PAUSE | RPS_DEBI;
+ /* Wait for shadow upload to finish. */
+
+ /* Delay at least 10 microseconds for analog input settling.
+ * Instead of padding with NOPs, we use RPS_JUMP instructions
+ * here; this allows us to produce a longer delay than is
+ * possible with NOPs because each RPS_JUMP flushes the RPS'
+ * instruction prefetch pipeline.
+ */
+ JmpAdrs = (uint32_t) devpriv->RPSBuf.PhysicalBase
+ + (uint32_t) ((unsigned long) pRPS
+ - (unsigned long) devpriv->RPSBuf.LogicalBase);
+ for (i = 0; i < (10 * RPSCLK_PER_US / 2); i++) {
+ JmpAdrs += 8; /* Repeat to implement time delay: */
+ *pRPS++ = RPS_JUMP; /* Jump to next RPS instruction. */
+ *pRPS++ = JmpAdrs;
+ }
+
+ if (cmd != NULL && cmd->convert_src != TRIG_NOW) {
+ /* Wait for Start trigger. */
+ *pRPS++ = RPS_PAUSE | RPS_SIGADC;
+ *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC;
+ }
+ /* Start ADC by pulsing GPIO1. */
+ *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */
+ *pRPS++ = GPIO_BASE | GPIO1_LO;
+ *pRPS++ = RPS_NOP;
+ /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */
+ *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */
+ *pRPS++ = GPIO_BASE | GPIO1_HI;
+
+ /* Wait for ADC to complete (GPIO2 is asserted high when ADC not
+ * busy) and for data from previous conversion to shift into FB
+ * BUFFER 1 register.
+ */
+ *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */
+
+ /* Transfer ADC data from FB BUFFER 1 register to DMA buffer. */
+ *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2);
+ *pRPS++ = (uint32_t) devpriv->ANABuf.PhysicalBase
+ + (devpriv->AdcItems << 2);
+
+ /* If this slot's EndOfPollList flag is set, all channels have */
+ /* now been processed. */
+ if (*ppl++ & EOPL) {
+ devpriv->AdcItems++; /* Adjust poll list item count. */
+ break; /* Exit poll list processing loop. */
+ }
+ }
+
+ /* VERSION 2.01 CHANGE: DELAY CHANGED FROM 250NS to 2US. Allow the
+ * ADC to stabilize for 2 microseconds before starting the final
+ * (dummy) conversion. This delay is necessary to allow sufficient
+ * time between last conversion finished and the start of the dummy
+ * conversion. Without this delay, the last conversion's data value
+ * is sometimes set to the previous conversion's data value.
+ */
+ for (n = 0; n < (2 * RPSCLK_PER_US); n++)
+ *pRPS++ = RPS_NOP;
+
+ /* Start a dummy conversion to cause the data from the last
+ * conversion of interest to be shifted in.
+ */
+ *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */
+ *pRPS++ = GPIO_BASE | GPIO1_LO;
+ *pRPS++ = RPS_NOP;
+ /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */
+ *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */
+ *pRPS++ = GPIO_BASE | GPIO1_HI;
+
+ /* Wait for the data from the last conversion of interest to arrive
+ * in FB BUFFER 1 register.
+ */
+ *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */
+
+ /* Transfer final ADC data from FB BUFFER 1 register to DMA buffer. */
+ *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2); /* */
+ *pRPS++ = (uint32_t) devpriv->ANABuf.PhysicalBase + (devpriv->AdcItems
<< 2);
+
+ /* Indicate ADC scan loop is finished. */
+ /* *pRPS++= RPS_CLRSIGNAL | RPS_SIGADC ; // Signal ReadADC() that scan
is done. */
+
+ /* invoke interrupt */
+ if (devpriv->ai_cmd_running == 1) {
+ *pRPS++ = RPS_IRQ;
+ }
+ /* Restart RPS program at its beginning. */
+ *pRPS++ = RPS_JUMP; /* Branch to start of RPS program. */
+ *pRPS++ = (uint32_t) devpriv->RPSBuf.PhysicalBase;
+
+ /* End of RPS program build */
+}
+
+/* TO COMPLETE, IF NECESSARY */
+static int s626_ai_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+
+ return -EINVAL;
+}
+
+static unsigned int s626_ai_reg_to_uint(int data) {
+ unsigned int tempdata;
+
+ tempdata = (data >> 18);
+ if (tempdata & 0x2000)
+ tempdata &= 0x1fff;
+ else
+ tempdata += (1 << 13);
+
+ return tempdata;
+}
+
+static int s626_ai_insn_read(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ uint16_t chan = CR_CHAN(insn->chan_desc);
+ uint16_t range = CR_RNG(insn->chan_desc);
+ uint16_t AdcSpec = 0;
+ uint16_t *data = (uint16_t *) insn->data;
+ uint32_t GpioImage;
+ int n;
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (devpriv == NULL) {
+ __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
+ return -ENODEV;
+ }
+
+ /* interrupt call test */
+ /* writel(IRQ_GPIO3,devpriv->base_addr+P_PSR); */
+ /* Writing a logical 1 into any of the RPS_PSR bits causes the
+ * corresponding interrupt to be generated if enabled
+ */
+
+ /* Convert application's ADC specification into form
+ * appropriate for register programming.
+ */
+ if (range == 0)
+ AdcSpec = (chan << 8) | (GSEL_BIPOLAR5V);
+ else
+ AdcSpec = (chan << 8) | (GSEL_BIPOLAR10V);
+
+ /* Switch ADC analog gain. */
+ DEBIwrite(s626ptr, LP_GSEL, AdcSpec); /* Set gain. */
+
+ /* Select ADC analog input channel. */
+ DEBIwrite(s626ptr, LP_ISEL, AdcSpec); /* Select channel. */
+
+ //for (n = 0; n < insn->n; n++)
+ for (n = 0; n < insn->data_size / sizeof(uint16_t); n++) {
+
+ /* Delay 10 microseconds for analog input settling. */
+ udelay(10);
+
+ /* Start ADC by pulsing GPIO1 low. */
+ GpioImage = RR7146(P_GPIO);
+ /* Assert ADC Start command */
+ WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
+ /* and stretch it out. */
+ WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
+ WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
+ /* Negate ADC Start command. */
+ WR7146(P_GPIO, GpioImage | GPIO1_HI);
+
+ /* Wait for ADC to complete (GPIO2 is asserted high when */
+ /* ADC not busy) and for data from previous conversion to */
+ /* shift into FB BUFFER 1 register. */
+
+ /* Wait for ADC done. */
+ while (!(RR7146(P_PSR) & PSR_GPIO2))
+ ;
+
+ /* Fetch ADC data. */
+ if (n != 0)
+ data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1));
+
+ /* Allow the ADC to stabilize for 4 microseconds before
+ * starting the next (final) conversion. This delay is
+ * necessary to allow sufficient time between last
+ * conversion finished and the start of the next
+ * conversion. Without this delay, the last conversion's
+ * data value is sometimes set to the previous
+ * conversion's data value.
+ */
+ udelay(4);
+ }
+
+ /* Start a dummy conversion to cause the data from the
+ * previous conversion to be shifted in. */
+ GpioImage = RR7146(P_GPIO);
+
+ /* Assert ADC Start command */
+ WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
+ /* and stretch it out. */
+ WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
+ WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
+ /* Negate ADC Start command. */
+ WR7146(P_GPIO, GpioImage | GPIO1_HI);
+
+ /* Wait for the data to arrive in FB BUFFER 1 register. */
+
+ /* Wait for ADC done. */
+ while (!(RR7146(P_PSR) & PSR_GPIO2))
+ ;
+
+ /* Fetch ADC data from audio interface's input shift register. */
+
+ /* Fetch ADC data. */
+ if (n != 0)
+ data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1));
+
+ return n;
+}
+
+static int s626_ai_load_polllist(uint8_t *ppl, a4l_cmd_t *cmd) {
+
+ int n;
+
+ for (n = 0; n < cmd->nb_chan; n++) {
+ if (CR_RNG((cmd->chan_descs)[n]) == 0)
+ ppl[n] = (CR_CHAN((cmd->chan_descs)[n])) | (RANGE_5V);
+ else
+ ppl[n] = (CR_CHAN((cmd->chan_descs)[n])) | (RANGE_10V);
+ }
+ if (n != 0)
+ ppl[n - 1] |= EOPL;
+
+ return n;
+}
+
+static int s626_ai_inttrig(struct a4l_subdevice * subdev,
+ unsigned long int trignum) {
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subdev->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (devpriv == NULL) {
+ __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
+ return -ENODEV;
+ }
+
+ if (trignum != 0)
+ return -EINVAL;
+
+ /* Start executing the RPS program. */
+ MC_ENABLE(P_MC1, MC1_ERPS1);
+
+ subdev->trigger = NULL;
+
+ return 1;
+}
+
+/* TO COMPLETE */
+static int s626_ai_cmd(struct a4l_subdevice * subdev, a4l_cmd_t * cmd) {
+ uint8_t ppl[16];
+ //struct comedi_cmd *cmd = &s->async->cmd;
+ struct enc_private *k;
+ int tick;
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subdev->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (devpriv == NULL) {
+ __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
+ return -ENODEV;
+ }
+
+ if (devpriv->ai_cmd_running) {
+ printk(KERN_ERR "s626_ai_cmd: Another ai_cmd is running\n");
+ return -EBUSY;
+ }
+ /* disable interrupt */
+ writel(0, devpriv->base_addr + P_IER);
+
+ /* clear interrupt request */
+ writel(IRQ_RPS1 | IRQ_GPIO3, devpriv->base_addr + P_ISR);
+
+ /* clear any pending interrupt */
+ s626_dio_clear_irq(s626ptr);
+ /* s626_enc_clear_irq(dev); */
+
+ /* reset ai_cmd_running flag */
+ devpriv->ai_cmd_running = 0;
+
+ /* test if cmd is valid */
+ if (cmd == NULL)
+ return -EINVAL;
+
+ if (a4l_get_irq(s626ptr->dev) == 0) {
+ __a4l_err("s626_ai_cmd: cannot run command without an irq\n");
+ return -EIO;
+ }
+
+ s626_ai_load_polllist(ppl, cmd);
+ devpriv->ai_cmd_running = 1;
+ devpriv->ai_convert_count = 0;
+
+ switch (cmd->scan_begin_src) {
+ case TRIG_FOLLOW:
+ break;
+ case TRIG_TIMER:
+ /* set a conter to generate adc trigger at scan_begin_arg interval */
+ k = &encpriv[5];
+ tick = s626_ns_to_timer((int *) &cmd->scan_begin_arg,
+ cmd->flags & TRIG_ROUND_MASK);
+
+ /* load timer value and enable interrupt */
+ s626_timer_load(s626ptr, k, tick);
+ k->SetEnable(s626ptr, k, CLKENAB_ALWAYS);
+ break;
+ case TRIG_EXT:
+ /* set the digital line and interrupt for scan trigger */
+ if (cmd->start_src != TRIG_EXT)
+ s626_dio_set_irq(s626ptr, cmd->scan_begin_arg);
+ break;
+ }
+
+ switch (cmd->convert_src) {
+ case TRIG_NOW:
+ break;
+ case TRIG_TIMER:
+ /* set a conter to generate adc trigger at convert_arg interval */
+ k = &encpriv[4];
+ tick = s626_ns_to_timer((int *) &cmd->convert_arg,
+ cmd->flags & TRIG_ROUND_MASK);
+
+ /* load timer value and enable interrupt */
+ s626_timer_load(s626ptr, k, tick);
+ k->SetEnable(s626ptr, k, CLKENAB_INDEX);
+ break;
+ case TRIG_EXT:
+ /* set the digital line and interrupt for convert trigger */
+ if (cmd->scan_begin_src != TRIG_EXT && cmd->start_src == TRIG_EXT)
+ s626_dio_set_irq(s626ptr, cmd->convert_arg);
+ break;
+ }
+
+ switch (cmd->stop_src) {
+ case TRIG_COUNT:
+ /* data arrives as one packet */
+ devpriv->ai_sample_count = cmd->stop_arg;
+ devpriv->ai_continous = 0;
+ break;
+ case TRIG_NONE:
+ /* continous acquisition */
+ devpriv->ai_continous = 1;
+ devpriv->ai_sample_count = 1;
+ break;
+ }
+
+ ResetADC(s626ptr, ppl, cmd);
+
+ switch (cmd->start_src) {
+ case TRIG_NOW:
+ /* Trigger ADC scan loop start by setting RPS Signal 0. */
+ /* MC_ENABLE( P_MC2, MC2_ADC_RPS ); */
+
+ /* Start executing the RPS program. */
+ MC_ENABLE(P_MC1, MC1_ERPS1);
+
+ subdev->trigger = NULL;
+ break;
+ case TRIG_EXT:
+ /* configure DIO channel for acquisition trigger */
+ s626_dio_set_irq(s626ptr, cmd->start_arg);
+
+ subdev->trigger = NULL;
+ break;
+ case TRIG_INT:
+ subdev->trigger = s626_ai_inttrig;
+ break;
+ }
+
+ /* enable interrupt */
+ writel(IRQ_GPIO3 | IRQ_RPS1, devpriv->base_addr + P_IER);
+
+ return 0;
+}
+
+#define TRIG_INVALID 0x00000000
+
+static inline int cfc_check_trigger_src(unsigned int *src, unsigned int
flags) {
+ unsigned int orig_src = *src;
+
+ *src = orig_src & flags;
+ if (*src == TRIG_INVALID || *src != orig_src)
+ return -EINVAL;
+ return 0;
+}
+
+static inline int cfc_check_trigger_is_unique(unsigned int src) {
+ /* this test is true if more than one _src bit is set */
+ if ((src & (src - 1)) != 0)
+ return -EINVAL;
+ return 0;
+}
+
+static inline int cfc_check_trigger_arg_is(unsigned int *arg, unsigned int
val) {
+ if (*arg != val) {
+ *arg = val;
+ return -EINVAL;
+ }
+ return 0;
+}
+
+static inline int cfc_check_trigger_arg_min(unsigned int *arg, unsigned
int val) {
+ if (*arg < val) {
+ *arg = val;
+ return -EINVAL;
+ }
+ return 0;
+}
+
+static inline int cfc_check_trigger_arg_max(unsigned int *arg, unsigned
int val) {
+ if (*arg > val) {
+ *arg = val;
+ return -EINVAL;
+ }
+ return 0;
+}
+
+static int s626_ai_cmdtest(struct a4l_subdevice * subdev, a4l_cmd_t * cmd)
{
+ int err = 0;
+ int tmp;
+
+ /* Step 1 : check if triggers are trivially valid */
+
+ err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT |
TRIG_EXT);
+ err |= cfc_check_trigger_src(&cmd->scan_begin_src,
+ TRIG_TIMER | TRIG_EXT | TRIG_FOLLOW);
+ err |= cfc_check_trigger_src(&cmd->convert_src,
+ TRIG_TIMER | TRIG_EXT | TRIG_NOW);
+ err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
+ err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
+
+ if (err)
+ return 1;
+
+ /* Step 2a : make sure trigger sources are unique */
+
+ err |= cfc_check_trigger_is_unique(cmd->start_src);
+ err |= cfc_check_trigger_is_unique(cmd->scan_begin_src);
+ err |= cfc_check_trigger_is_unique(cmd->convert_src);
+ err |= cfc_check_trigger_is_unique(cmd->stop_src);
+
+ /* Step 2b : and mutually compatible */
+
+ if (err)
+ return 2;
+
+ /* step 3: make sure arguments are trivially compatible */
+
+ if (cmd->start_src != TRIG_EXT)
+ err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
+ if (cmd->start_src == TRIG_EXT)
+ err |= cfc_check_trigger_arg_max(&cmd->start_arg, 39);
+
+ if (cmd->scan_begin_src == TRIG_EXT)
+ err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, 39);
+
+ if (cmd->convert_src == TRIG_EXT)
+ err |= cfc_check_trigger_arg_max(&cmd->convert_arg, 39);
+
+#define MAX_SPEED 200000 /* in nanoseconds */
+#define MIN_SPEED 2000000000 /* in nanoseconds */
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg, MAX_SPEED);
+ err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, MIN_SPEED);
+ } else {
+ /* external trigger */
+ /* should be level/edge, hi/lo specification here */
+ /* should specify multiple external triggers */
+ /* err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, 9); */
+ }
+ if (cmd->convert_src == TRIG_TIMER) {
+ err |= cfc_check_trigger_arg_min(&cmd->convert_arg, MAX_SPEED);
+ err |= cfc_check_trigger_arg_max(&cmd->convert_arg, MIN_SPEED);
+ } else {
+ /* external trigger */
+ /* see above */
+ /* err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, 9); */
+ }
+
+ err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->nb_chan);
+
+ if (cmd->stop_src == TRIG_COUNT)
+ err |= cfc_check_trigger_arg_max(&cmd->stop_arg, 0x00ffffff);
+ else
+ /* TRIG_NONE */
+ err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
+
+ if (err)
+ return 3;
+
+ /* step 4: fix up any arguments */
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ tmp = cmd->scan_begin_arg;
+ s626_ns_to_timer((int *) &cmd->scan_begin_arg,
+ cmd->flags & TRIG_ROUND_MASK);
+ if (tmp != cmd->scan_begin_arg)
+ err++;
+ }
+ if (cmd->convert_src == TRIG_TIMER) {
+ tmp = cmd->convert_arg;
+ s626_ns_to_timer((int *) &cmd->convert_arg, cmd->flags &
TRIG_ROUND_MASK);
+ if (tmp != cmd->convert_arg)
+ err++;
+ if (cmd->scan_begin_src == TRIG_TIMER
+ && cmd->scan_begin_arg < cmd->convert_arg * cmd->scan_end_arg) {
+ cmd->scan_begin_arg = cmd->convert_arg * cmd->scan_end_arg;
+ err++;
+ }
+ }
+
+ if (err)
+ return 4;
+
+ return 0;
+}
+
+static int s626_ai_cancel(struct a4l_subdevice * subdev) {
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subdev->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (devpriv == NULL) {
+ __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
+ return -ENODEV;
+ }
+
+ /* Stop RPS program in case it is currently running. */
+ MC_DISABLE(P_MC1, MC1_ERPS1);
+
+ /* disable master interrupt */
+ writel(0, devpriv->base_addr + P_IER);
+
+ devpriv->ai_cmd_running = 0;
+
+ return 0;
+}
+
+static int s626_ao_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ struct s626_subd_ao_private *subdpriv =
+ (struct s626_subd_ao_private *) subd->priv;
+ uint16_t *data = (uint16_t *) insn->data;
+ int chan = CR_CHAN(insn->chan_desc);
+ int16_t dacdata;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ dacdata = (int16_t) data[0];
+ dacdata -= (0x1fff);
+
+ subdpriv->readback[chan] = dacdata;
+
+ SetDAC(s626ptr, chan, dacdata);
+
+ return 0;
+}
+
+static int s626_ao_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ struct s626_subd_ao_private *subdpriv =
+ (struct s626_subd_ao_private *) subd->priv;
+ uint16_t *data = (uint16_t *) insn->data;
+ int chan = CR_CHAN(insn->chan_desc);
+
+ data[0] = subdpriv->readback[chan];
+
+ return 0;
+}
+
+/* *************** DIGITAL I/O FUNCTIONS ***************
+ * All DIO functions address a group of DIO channels by means of
+ * "group" argument. group may be 0, 1 or 2, which correspond to DIO
+ * ports A, B and C, respectively.
+ */
+
+static void s626_dio_init(struct s626_struct * s626ptr) {
+ uint16_t group;
+ a4l_subd_t *s;
+
+ // Prepare to treat writes to WRCapSel as capture disables.
+ DEBIwrite(s626ptr, LP_MISC1, MISC1_NOEDCAP);
+
+ // For each group of sixteen channels ...
+ for (group = 0; group < S626_DIO_BANKS; group++) {
+ s = a4l_get_subd(s626ptr->dev, group + 2);
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(s->priv)))->WRIntSel, 0); //
Disable all interrupts.
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(s->priv)))->WRCapSel,
0xFFFF); // Disable all event
+ // captures.
+ DEBIwrite(s626ptr,
+ ((struct s626_subd_dio_private *) (&(s->priv)))->WREdgSel, 0); //
Init all DIOs to
+ // default edge
+ // polarity.
+ DEBIwrite(s626ptr, ((struct s626_subd_dio_private *)
(&(s->priv)))->WRDOut,
+ 0); // Program all outputs
+ // to inactive state.
+ }
+}
+
+static int s626_dio_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ struct s626_subd_dio_private *subdpriv =
+ (struct s626_subd_dio_private *) subd->priv;
+ unsigned int *data = (unsigned int *) insn->data;
+ int chan = CR_CHAN(insn->chan_desc);
+ int group, mask;
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ group = chan >> 2;
+ mask = 0xF << (group << 2);
+
+ switch (data[0]) {
+ case A4L_INSN_CONFIG_DIO_OUTPUT:
+ subdpriv->state |= 1 << (group + 10); // bit 10/11 set the
+ // * group 1/2's mode
+ subdpriv->io_bits |= mask;
+ break;
+ case A4L_INSN_CONFIG_DIO_INPUT:
+ subdpriv->state &= ~(1 << (group + 10)); // 1 is output, 0 is
+ // * input.
+ subdpriv->io_bits &= ~mask;
+ break;
+ case A4L_INSN_CONFIG_DIO_QUERY:
+ data[1] = (subdpriv->io_bits & mask) ? A4L_OUTPUT : A4L_INPUT;
+ return 0;
+ default:
+ return -EINVAL;
+ }
+
+ outw(subdpriv->state, ADDR_REG(REG_DIO));
+
+ return 0;
+}
+
+/* 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 s626_dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ /*
+ * The insn data consists of a mask in data[0] and the new data in
+ * data[1]. The mask defines which bits we are concerning about.
+ * The new data must be anded with the mask. Each channel
+ * corresponds to a bit.
+ */
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ //a4l_dev_t *dev = subd->dev;
+ struct s626_subd_dio_private *subdpriv =
+ (struct s626_subd_dio_private *) subd->priv;
+ uint16_t *data = (uint16_t *) insn->data;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (data[0]) {
+ subdpriv->state &= ~data[0];
+ subdpriv->state |= data[0] & data[1];
+
+ // Write out the new digital output lines
+ DEBIwrite(s626ptr, subdpriv->WRDOut, subdpriv->state);
+ }
+ data[1] = DEBIread(s626ptr, subdpriv->RDDIn);
+
+ return 0;
+}
+
+static int s626_gpct_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ a4l_dev_t *dev = subd->dev;
+ struct s626_subd_gpct_private *subdpriv =
+ (struct s626_subd_gpct_private *) subd->priv;
+ unsigned int *data = (unsigned int *) insn->data;
+ int subdev_channel = CR_CHAN(insn->chan_desc);
+ int i;
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ a4l_dbg(1, drv_dbg, dev,
+ "s626_gpct_insn_config: Configuring Channel %d\n",
+ subdev_channel);
+
+ for (i = 0; i < MAX_GPCT_CONFIG_DATA; i++) {
+ subdpriv->config[subdev_channel].data[i] = data[i];
+ a4l_dbg(1, drv_dbg, dev, "data[%d]=%x\n", i, data[i]);
+ }
+
+ switch (data[0]) {
+ case A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER: {
+ uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
+ /* index. */
+ (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
+ (CLKSRC_COUNTER << BF_CLKSRC) | /* Operating mode is Counter. */
+ (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
+ /* ( CNTDIR_UP << BF_CLKPOL ) | // Count direction is Down. */
+ (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
+ (CLKENAB_INDEX << BF_CLKENAB);
+ /* uint16_t DisableIntSrc=TRUE; */
+ /* uint32_t Preloadvalue; //Counter initial value */
+ uint16_t valueSrclatch = LATCHSRC_AB_READ;
+ uint16_t enab = CLKENAB_ALWAYS;
+ struct enc_private *k =
+ &(subdpriv->enc_private_data[CR_CHAN(insn->chan_desc)]);
+
+ /* (data==NULL) ? (Preloadvalue=0) : (Preloadvalue=data[0]); */
+
+ k->SetMode(s626ptr, k, Setup, TRUE);
+ Preload(s626ptr, k, data[1]);
+ k->PulseIndex(s626ptr, k);
+ SetLatchSource(s626ptr, k, valueSrclatch);
+ k->SetEnable(s626ptr, k, (uint16_t) (enab != 0));
+ break;
+ }
+ default:
+ __a4l_err("s626_gpct_insn_config: unsupported GPCT_insn_config\n");
+ return -EINVAL;
+ break;
+ }
+
+ return 0;
+
+}
+
+static int s626_gpct_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ uint32_t *data = (uint32_t *) insn->data;
+ struct s626_subd_gpct_private *subdpriv =
+ (struct s626_subd_gpct_private *) subd->priv;
+ int i;
+ struct enc_private *k =
+ &(subdpriv->enc_private_data[CR_CHAN(insn->chan_desc)]);
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (insn->data_size <= 0) {
+ __a4l_err("s626_gpct_rinsn: data size should be > 0\n");
+ return -EINVAL;
+ }
+
+ for (i = 0; i < insn->data_size / sizeof(uint32_t); i++) {
+ data[i] = ReadLatch(s626ptr, k);
+ }
+
+ return 0;
+}
+
+static int s626_gpct_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
+ a4l_dev_t *dev = subd->dev;
+ struct s626_subd_gpct_private *subdpriv =
+ (struct s626_subd_gpct_private *) subd->priv;
+ uint32_t *data = (uint32_t *) insn->data;
+ int subdev_channel = CR_CHAN(insn->chan_desc);
+ short value;
+ union cmReg cmReg;
+
+ struct s626_priv *devpriv = NULL;
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == subd->dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ a4l_dbg(1, drv_dbg, dev,
+ "s626_gpct_winsn: GPCT_INSN_WRITE on channel %d\n",
+ subdev_channel);
+
+ cmReg.value = inw(ADDR_CHAN_REG(REG_C0M, subdev_channel));
+ a4l_dbg(1, drv_dbg, dev,
+ "s626_gpct_winsn: Counter Mode Register: %x\n", cmReg.value);
+
+ /* Check what Application of Counter this channel is configured for */
+ switch (subdpriv->config[subdev_channel].app) {
+ case PositionMeasurement:
+ a4l_dbg(1, drv_dbg, dev, "s626_gpct_winsn: 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:
+ a4l_dbg(1, drv_dbg, dev, "s626_gpct_winsn: 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
+ */
+ a4l_dbg(1, drv_dbg, dev, "s626_gpct_winsn: INSN_WRITE: PTG\n");
+ if ((data[1] > data[0]) && (data[0] > 0)) {
+ (subdpriv->config[subdev_channel]).data[0] = data[0];
+ (subdpriv->config[subdev_channel]).data[1] = data[1];
+ } else {
+ __a4l_err(
+ "s626_gpct_winsn: INSN_WRITE: PTG: Problem with Pulse params ->
%du %du\n",
+ data[0], data[1]);
+ return -EINVAL;
+ }
+
+ value = (short) ((*data >> 16) & 0xFFFF);
+ outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+ value = (short) (*data & 0xFFFF);
+ outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+ break;
+ default: /* Impossible */
+ __a4l_err(
+ "s626_gpct_winsn: INSN_WRITE: Functionality %d not implemented
yet\n",
+ subdpriv->config[subdev_channel].app);
+ return -EINVAL;
+ }
+
+ return 0;
+}
+
+/* --- Channels descriptor --- */
+
+static a4l_chdesc_t s626_chan_desc_ai = { .mode = A4L_CHAN_GLOBAL_CHANDESC,
+ .length = S626_AI_CHANS, .chans =
+ { { A4L_CHAN_AREF_GROUND, S626_AI_BITS }, }, };
+
+static a4l_chdesc_t s626_chan_desc_ao = { .mode = A4L_CHAN_GLOBAL_CHANDESC,
+ .length = S626_AO_CHANS, .chans =
+ { { A4L_CHAN_AREF_GROUND, S626_AO_BITS }, }, };
+
+static a4l_chdesc_t s626_chan_desc_dioA = { .mode =
A4L_CHAN_GLOBAL_CHANDESC,
+ .length = S626_DIO_CHANS, .chans =
+ { { A4L_CHAN_AREF_GROUND, S626_DIO_BITS }, }, };
+
+static a4l_chdesc_t s626_chan_desc_dioB = { .mode =
A4L_CHAN_GLOBAL_CHANDESC,
+ .length = S626_DIO_CHANS, .chans =
+ { { A4L_CHAN_AREF_GROUND, S626_DIO_BITS }, }, };
+
+static a4l_chdesc_t s626_chan_desc_dioC = { .mode =
A4L_CHAN_GLOBAL_CHANDESC,
+ .length = S626_DIO_CHANS, .chans =
+ { { A4L_CHAN_AREF_GROUND, S626_DIO_BITS }, }, };
+
+static a4l_chdesc_t s626_chan_desc_gpct = { .mode =
A4L_CHAN_GLOBAL_CHANDESC,
+ .length = S626_GPCT_CHANS, .chans = {
+ { A4L_CHAN_AREF_GROUND, S626_GPCT_BITS }, }, };
+
+/* --- Subdevice initialization functions --- */
+
+/* Analog input subdevice */
+static void setup_subd_ai(a4l_subd_t *subd) {
+ subd->flags = A4L_SUBD_AI | A4L_SUBD_MASK_READ;
+ subd->chan_desc = &s626_chan_desc_ai;
+ subd->rng_desc = &a4l_range_bipolar10;
+
+ subd->insn_config = s626_ai_insn_config;
+ subd->insn_read = s626_ai_insn_read;
+ subd->do_cmd = s626_ai_cmd;
+ subd->do_cmdtest = s626_ai_cmdtest;
+ subd->cancel = s626_ai_cancel;
+}
+
+/* Analog output subdevice */
+static void setup_subd_ao(a4l_subd_t *subd) {
+ subd->flags = A4L_SUBD_AO | A4L_SUBD_MASK_WRITE;
+ subd->chan_desc = &s626_chan_desc_ao;
+ subd->rng_desc = &a4l_range_bipolar10;
+
+ subd->insn_write = s626_ao_winsn;
+ subd->insn_read = s626_ao_rinsn;
+
+ memset(&(subd->priv), 0, sizeof(struct s626_subd_ao_private));
+}
+
+/* Digital i/o subdevice */
+static void setup_subd_dioA(a4l_subd_t *subd) {
+ subd->flags = A4L_SUBD_DIO;
+ subd->chan_desc = &s626_chan_desc_dioA;
+ subd->rng_desc = &range_digital;
+ subd->insn_bits = s626_dio_insn_bits;
+ subd->insn_config = s626_dio_insn_config;
+ memcpy(&(subd->priv), (const void *) (&s626_subd_dio_private_A),
+ sizeof(struct s626_subd_dio_private));
+}
+static void setup_subd_dioB(a4l_subd_t *subd) {
+ subd->flags = A4L_SUBD_DIO;
+ subd->chan_desc = &s626_chan_desc_dioB;
+ subd->rng_desc = &range_digital;
+ subd->insn_bits = s626_dio_insn_bits;
+ subd->insn_config = s626_dio_insn_config;
+ memcpy(&(subd->priv), (const void *) (&s626_subd_dio_private_B),
+ sizeof(struct s626_subd_dio_private));
+}
+static void setup_subd_dioC(a4l_subd_t *subd) {
+ subd->flags = A4L_SUBD_DIO;
+ subd->chan_desc = &s626_chan_desc_dioC;
+ subd->rng_desc = &range_digital;
+ subd->insn_bits = s626_dio_insn_bits;
+ subd->insn_config = s626_dio_insn_config;
+ memcpy(&(subd->priv), (const void *) (&s626_subd_dio_private_C),
+ sizeof(struct s626_subd_dio_private));
+}
+
+/* General purpose counter/timer (gpct) */
+static void setup_subd_gpct(a4l_subd_t *subd) {
+ subd->flags = A4L_SUBD_COUNTER;
+ subd->chan_desc = &s626_chan_desc_gpct;
+ subd->insn_read = s626_gpct_rinsn;
+ subd->insn_config = s626_gpct_insn_config;
+ subd->insn_write = s626_gpct_winsn;
+
+ //only the first field of the private structure for this subdevice
+ memcpy(&(subd->priv), (const void *) (&enc_private_data_init[0]),
+ sizeof(struct enc_private) * S626_GPCT_CHANS);
+}
+
+static struct setup_subd setup_subds[6] = { { .setup_func = setup_subd_ai,
+ .sizeof_priv = sizeof(struct s626_subd_ai_private), }, { .setup_func =
+ setup_subd_ao, .sizeof_priv = sizeof(struct s626_subd_ao_private), }, {
+ .setup_func = setup_subd_dioA, .sizeof_priv =
+ sizeof(struct s626_subd_dio_private), }, {
+ .setup_func = setup_subd_dioB, .sizeof_priv =
+ sizeof(struct s626_subd_dio_private), }, {
+ .setup_func = setup_subd_dioC, .sizeof_priv =
+ sizeof(struct s626_subd_dio_private), }, {
+ .setup_func = setup_subd_gpct, .sizeof_priv =
+ sizeof(struct s626_subd_gpct_private), }, };
+
+static void CountersInit(struct s626_struct * s626ptr) {
+ int chan;
+ struct enc_private *k;
+ uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | // Preload upon
+ // index.
+ (INDXSRC_SOFT << BF_INDXSRC) | // Disable hardware index.
+ (CLKSRC_COUNTER << BF_CLKSRC) | // Operating mode is counter.
+ (CLKPOL_POS << BF_CLKPOL) | // Active high clock.
+ (CNTDIR_UP << BF_CLKPOL) | // Count direction is up.
+ (CLKMULT_1X << BF_CLKMULT) | // Clock multiplier is 1x.
+ (CLKENAB_INDEX << BF_CLKENAB); // Enabled by index
+
+ // Disable all counter interrupts and clear any captured counter events.
+ for (chan = 0; chan < S626_ENCODER_CHANNELS; chan++) {
+
+ k = &(((struct s626_subd_gpct_private *) (a4l_get_subd(s626ptr->dev,
+ SUBD_ENC)->priv))->enc_private_data[chan]); // &encpriv[chan];
+
+ k->SetMode(s626ptr, k, Setup, TRUE);
+ k->SetIntSrc(s626ptr, k, 0);
+ k->ResetCapFlags(s626ptr, k);
+ k->SetEnable(s626ptr, k, CLKENAB_ALWAYS);
+ }
+}
+
+static void s626_initialize(struct s626_struct * s626ptr) {
+ struct s626_priv *devpriv = s626ptr->private;
+ dma_addr_t pPhysBuf;
+ uint16_t chan;
+ int i;
+
+ /* Enable DEBI and audio pins, enable I2C interface */
+ MC_ENABLE(P_MC1, MC1_DEBI | MC1_AUDIO | MC1_I2C);
+
+ /*
+ * Configure DEBI operating mode
+ *
+ * Local bus is 16 bits wide
+ * Declare DEBI transfer timeout interval
+ * Set up byte lane steering
+ * Intel-compatible local bus (DEBI never times out)
+ */
+ WR7146(P_DEBICFG,
+ DEBI_CFG_SLAVE16 | (DEBI_TOUT << DEBI_CFG_TOUT_BIT) | DEBI_SWAP |
DEBI_CFG_INTEL);
+
+ /* Disable MMU paging */
+ WR7146(P_DEBIPAGE, DEBI_PAGE_DISABLE);
+
+ /* Init GPIO so that ADC Start* is negated */
+ WR7146(P_GPIO, GPIO_BASE | GPIO1_HI);
+
+ /* I2C device address for onboard eeprom (revb) */
+ devpriv->I2CAdrs = 0xA0;
+
+ /*
+ * Issue an I2C ABORT command to halt any I2C
+ * operation in progress and reset BUSY flag.
+ */
+ WR7146(P_I2CSTAT, I2C_CLKSEL | I2C_ABORT);
+ MC_ENABLE(P_MC2, MC2_UPLD_IIC);
+ while ((RR7146(P_MC2) & MC2_UPLD_IIC) == 0)
+ ;
+
+ /*
+ * Per SAA7146 data sheet, write to STATUS
+ * reg twice to reset all I2C error flags.
+ */
+ for (i = 0; i < 2; i++) {
+ WR7146(P_I2CSTAT, I2C_CLKSEL);
+ MC_ENABLE(P_MC2, MC2_UPLD_IIC);
+ while (!MC_TEST(P_MC2, MC2_UPLD_IIC))
+ ;
+ }
+
+ /*
+ * Init audio interface functional attributes: set DAC/ADC
+ * serial clock rates, invert DAC serial clock so that
+ * DAC data setup times are satisfied, enable DAC serial
+ * clock out.
+ */
+ WR7146(P_ACON2, ACON2_INIT);
+
+ /*
+ * Set up TSL1 slot list, which is used to control the
+ * accumulation of ADC data: RSD1 = shift data in on SD1.
+ * SIB_A1 = store data uint8_t at next available location
+ * in FB BUFFER1 register.
+ */
+ WR7146(P_TSL1, RSD1 | SIB_A1);
+ WR7146(P_TSL1 + 4, RSD1 | SIB_A1 | EOS);
+
+ /* Enable TSL1 slot list so that it executes all the time */
+ WR7146(P_ACON1, ACON1_ADCSTART);
+
+ /*
+ * Initialize RPS registers used for ADC
+ */
+
+ /* Physical start of RPS program */
+ WR7146(P_RPSADDR1, (uint32_t)devpriv->RPSBuf.PhysicalBase);
+ /* RPS program performs no explicit mem writes */
+ WR7146(P_RPSPAGE1, 0);
+ /* Disable RPS timeouts */
+ WR7146(P_RPS1_TOUT, 0);
+
+#if 0
+ /*
+ * SAA7146 BUG WORKAROUND
+ *
+ * Initialize SAA7146 ADC interface to a known state by
+ * invoking ADCs until FB BUFFER 1 register shows that it
+ * is correctly receiving ADC data. This is necessary
+ * because the SAA7146 ADC interface does not start up in
+ * a defined state after a PCI reset.
+ */
+
+ {
+ uint8_t PollList;
+ uint16_t AdcData;
+ uint16_t StartVal;
+ uint16_t index;
+ unsigned int data[16];
+
+ /* Create a simple polling list for analog input channel 0 */
+ PollList = EOPL;
+ ResetADC(dev, &PollList);
+
+ /* Get initial ADC value */
+ s626_ai_rinsn(dev, dev->subdevices, NULL, data);
+ StartVal = data[0];
+
+ /*
+ * VERSION 2.01 CHANGE: TIMEOUT ADDED TO PREVENT HANGED EXECUTION.
+ *
+ * Invoke ADCs until the new ADC value differs from the initial
+ * value or a timeout occurs. The timeout protects against the
+ * possibility that the driver is restarting and the ADC data is a
+ * fixed value resulting from the applied ADC analog input being
+ * unusually quiet or at the rail.
+ */
+ for (index = 0; index < 500; index++) {
+ s626_ai_rinsn(dev, dev->subdevices, NULL, data);
+ AdcData = data[0];
+ if (AdcData != StartVal)
+ break;
+ }
+
+ }
+#endif /* SAA7146 BUG WORKAROUND */
+
+ /*
+ * Initialize the DAC interface
+ */
+
+ /*
+ * Init Audio2's output DMAC attributes:
+ * burst length = 1 DWORD
+ * threshold = 1 DWORD.
+ */
+ WR7146(P_PCI_BT_A, 0);
+
+ /*
+ * Init Audio2's output DMA physical addresses. The protection
+ * address is set to 1 DWORD past the base address so that a
+ * single DWORD will be transferred each time a DMA transfer is
+ * enabled.
+ */
+ pPhysBuf = devpriv->ANABuf.PhysicalBase + (DAC_WDMABUF_OS *
sizeof(uint32_t));
+ WR7146(P_BASEA2_OUT, (uint32_t) pPhysBuf);
+ WR7146(P_PROTA2_OUT, (uint32_t) (pPhysBuf + sizeof(uint32_t)));
+
+ /*
+ * Cache Audio2's output DMA buffer logical address. This is
+ * where DAC data is buffered for A2 output DMA transfers.
+ */
+ devpriv->pDacWBuf = (uint32_t *) devpriv->ANABuf.LogicalBase +
DAC_WDMABUF_OS;
+
+ /*
+ * Audio2's output channels does not use paging. The
+ * protection violation handling bit is set so that the
+ * DMAC will automatically halt and its PCI address pointer
+ * will be reset when the protection address is reached.
+ */
+ WR7146(P_PAGEA2_OUT, 8);
+
+ /*
+ * Initialize time slot list 2 (TSL2), which is used to control
+ * the clock generation for and serialization of data to be sent
+ * to the DAC devices. Slot 0 is a NOP that is used to trap TSL
+ * execution; this permits other slots to be safely modified
+ * without first turning off the TSL sequencer (which is
+ * apparently impossible to do). Also, SD3 (which is driven by a
+ * pull-up resistor) is shifted in and stored to the MSB of
+ * FB_BUFFER2 to be used as evidence that the slot sequence has
+ * not yet finished executing.
+ */
+
+ /* Slot 0: Trap TSL execution, shift 0xFF into FB_BUFFER2 */
+ SETVECT(0, XSD2 | RSD3 | SIB_A2 | EOS);
+
+ /*
+ * Initialize slot 1, which is constant. Slot 1 causes a
+ * DWORD to be transferred from audio channel 2's output FIFO
+ * to the FIFO's output buffer so that it can be serialized
+ * and sent to the DAC during subsequent slots. All remaining
+ * slots are dynamically populated as required by the target
+ * DAC device.
+ */
+
+ /* Slot 1: Fetch DWORD from Audio2's output FIFO */
+ SETVECT(1, LF_A2);
+
+ /* Start DAC's audio interface (TSL2) running */
+ WR7146(P_ACON1, ACON1_DACSTART);
+
+ /*
+ * Init Trim DACs to calibrated values. Do it twice because the
+ * SAA7146 audio channel does not always reset properly and
+ * sometimes causes the first few TrimDAC writes to malfunction.
+ */
+ LoadTrimDACs(s626ptr);
+ LoadTrimDACs(s626ptr);
+
+ /*
+ * Manually init all gate array hardware in case this is a soft
+ * reset (we have no way of determining whether this is a warm
+ * or cold start). This is necessary because the gate array will
+ * reset only in response to a PCI hard reset; there is no soft
+ * reset function.
+ */
+
+ /*
+ * Init all DAC outputs to 0V and init all DAC setpoint and
+ * polarity images.
+ */
+ for (chan = 0; chan < S626_DAC_CHANNELS; chan++)
+ SetDAC(s626ptr, chan, 0);
+
+ /* Init counters */
+ CountersInit(s626ptr);
+
+ /*
+ * Without modifying the state of the Battery Backup enab, disable
+ * the watchdog timer, set DIO channels 0-5 to operate in the
+ * standard DIO (vs. counter overflow) mode, disable the battery
+ * charger, and reset the watchdog interval selector to zero.
+ */
+ WriteMISC2(s626ptr,
+ (uint16_t) (DEBIread(s626ptr, LP_RDMISC2) & MISC2_BATT_ENABLE));
+
+ /* Initialize the digital I/O subsystem */
+
+ s626_dio_init(s626ptr);
+
+ /* enable interrupt test */
+ /* writel(IRQ_GPIO3 | IRQ_RPS1, devpriv->base_addr + P_IER); */
+}
+
+static int dev_s626_attach(a4l_dev_t *dev, a4l_lnkdesc_t *arg) {
+
+ int i, err = 0;
+ struct s626_struct * s626ptr = NULL;
+
+ a4l_info(dev, "Attaching s626\n");
+
+ s626ptr = kmalloc(sizeof(struct s626_struct), GFP_KERNEL);
+ if (s626ptr == NULL) {
+ __a4l_err("No memory for s626 structure\n");
+ return -ENOMEM;
+ }
+
+ //zero whole struct
+ memset(s626ptr, 0x00, sizeof(struct s626_struct));
+
+ s626ptr->dev = dev;
+
+ //init lock
+ a4l_lock_init(&s626ptr->lock);
+
+ s626ptr->private = kmalloc(sizeof(struct s626_priv), GFP_KERNEL);
+ if (s626ptr->private == NULL) {
+ __a4l_err("No memory for s626 private data\n");
+ return -ENOMEM;
+ }
+
+ //add item to the list
+ list_add(&(s626ptr->list), &s626_list);
+
+ err = pci_register_driver(&drv_pci_s626);
+
+ if (err < 0) {
+ __a4l_err("pci_register_driver = %d\n", err);
+ return -ENOMEM;
+ }
+
+ pci_set_master(s626ptr->pcidev);
+
+ err = pci_request_regions(s626ptr->pcidev, dev->driver->board_name);
+
+ if (err < 0) {
+ __a4l_err( "Can't request regions\n");
+ pci_disable_device(s626ptr->pcidev);
+ return -ENOMEM;
+ }
+
+ s626ptr->private->base_addr = ioremap(pci_resource_start(
s626ptr->pcidev, 0),
+ pci_resource_len( s626ptr->pcidev, 0));
+
+ if (s626ptr->private->base_addr == NULL) {
+ return -ENOMEM;
+ }
+
+ //disable master interrupt
+ writel(0, s626ptr->private->base_addr + P_IER);
+
+ // soft reset
+ writel(MC1_SOFT_RESET, s626ptr->private->base_addr + P_MC1);
+
+ // DMA FIXME DMA
+ err = s626_allocate_dma_buffers(s626ptr);
+ if (err) {
+ return err;
+ }
+
+ if (s626ptr->pcidev->irq) {
+ err = a4l_request_irq(dev, s626ptr->pcidev->irq, s626_irq_handler,
+ A4L_IRQ_SHARED, dev);
+
+ if (err < 0)
+ return err;
+ }
+
+ /* Allocate the subdevice structures. */
+ for (i = 0; i < 6; ++i) {
+ a4l_subd_t *subd = a4l_alloc_subd(setup_subds[i].sizeof_priv,
+ setup_subds[i].setup_func);
+
+ if (subd == NULL)
+ return -ENOMEM;
+
+ err = a4l_add_subd(dev, subd);
+ if (err != i)
+ return err;
+ }
+
+ // Running initialization
+ s626_initialize(s626ptr);
+
+ return 0;
+
+}
+
+static int dev_s626_detach(a4l_dev_t *dev) {
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+ struct s626_priv *devpriv = NULL;
+
+ a4l_info(dev, "Detaching s626\n");
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->dev == dev) {
+ devpriv = s626ptr->private;
+ break;
+ }
+ }
+
+ if (devpriv == NULL) {
+ __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
+ return -ENODEV;
+ }
+
+ if (s626ptr->private) {
+ /* stop ai_command */
+ s626ptr->private->ai_cmd_running = 0;
+
+ if (s626ptr->private->base_addr) {
+ /* interrupt mask */
+ WR7146(P_IER, 0);
+ /* Disable master interrupt. */
+ WR7146(P_ISR, IRQ_GPIO3 | IRQ_RPS1);
+ /* Clear board's IRQ status flag. */
+
+ /* Disable the watchdog timer and battery charger. */
+ WriteMISC2(s626ptr, 0);
+
+ /* Close all interfaces on 7146 device. */
+ WR7146(P_MC1, MC1_SHUTDOWN);
+ WR7146(P_ACON1, ACON1_BASE);
+
+ CloseDMAB(s626ptr, &s626ptr->private->RPSBuf, DMABUF_SIZE);
+ CloseDMAB(s626ptr, &s626ptr->private->ANABuf, DMABUF_SIZE);
+ }
+
+ if (a4l_get_irq(dev) != A4L_IRQ_UNUSED)
+ a4l_free_irq(dev, a4l_get_irq(dev));
+
+ if (s626ptr->private->base_addr)
+ iounmap(s626ptr->private->base_addr);
+ }
+
+ pci_release_regions(s626ptr->pcidev);
+ pci_disable_device(s626ptr->pcidev);
+
+ pci_unregister_driver(&drv_pci_s626);
+
+ if (s626ptr->private)
+ kfree(s626ptr->private);
+
+ list_del(&(s626ptr->list));
+
+ kfree(s626ptr);
+
+ return 0;
+}
+
+static int s626_pci_probe(struct pci_dev *dev, const struct pci_device_id
*ent) {
+ struct list_head *ptr;
+ struct s626_struct * s626ptr = NULL;
+ int err = 0;
+
+ //try to enable device on PCI
+ if (pci_enable_device(dev) < 0) {
+ __a4l_err("error enabling s626\n");
+ err = -EIO;
+ }
+
+ list_for_each( ptr, &s626_list) {
+ s626ptr = list_entry(ptr, struct s626_struct, list);
+ if (s626ptr->pcidev == NULL) {
+ s626ptr->pcidev = dev;
+ }
+ }
+
+ return err;
+}
+
+static void s626_pci_remove(struct pci_dev *dev) {
+}
+
+static a4l_drv_t drv_s626 = { .owner = THIS_MODULE, .board_name = "S626",
+ .attach = dev_s626_attach, .detach = dev_s626_detach, .privdata_size =
+ sizeof(struct s626_priv), };
+
+static int __init drv_s626_init(void) {
+ return a4l_register_drv(&drv_s626);
+}
+
+static void __exit drv_s626_cleanup(void) {
+ a4l_unregister_drv(&drv_s626);
+}
+
+MODULE_DESCRIPTION("Analogy driver for Sensoray Model 626 board.");
+MODULE_LICENSE("GPL");
+
+module_init(drv_s626_init);
+module_exit(drv_s626_cleanup);
+
diff --git a/ksrc/drivers/analogy/sensoray/s626.h
b/ksrc/drivers/analogy/sensoray/s626.h
new file mode 100755
index 0000000..feb2f86
--- /dev/null
+++ b/ksrc/drivers/analogy/sensoray/s626.h
@@ -0,0 +1,1136 @@
+/*
+ comedi/drivers/s626.h
+ Sensoray s626 Comedi driver, header file
+
+ COMEDI - Linux Control and Measurement Device Interface
+ Copyright (C) 2000 David A. Schleef <ds@schleef.org>
+
+ Based on Sensoray Model 626 Linux driver Version 0.2
+ Copyright (C) 2002-2004 Sensoray Co., Inc.
+
+ 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: s626.o (s626.ko)
+ Description: Sensoray 626 driver
+ Devices: Sensoray s626
+ Authors: Gianluca Palli <gpalli@deis.unibo.it>,
+ Updated: Thu, 12 Jul 2005
+ Status: experimental
+
+ Configuration Options:
+ analog input:
+ none
+
+ analog output:
+ none
+
+ digital channel:
+ s626 has 3 dio subdevices (2,3 and 4) each with 16 i/o channels
+ supported configuration options:
+ INSN_CONFIG_DIO_QUERY
+ COMEDI_INPUT
+ COMEDI_OUTPUT
+
+ encoder:
+ Every channel must be configured before reading.
+
+ Example code
+
+ insn.insn=INSN_CONFIG; // configuration instruction
+ insn.n=1; // number of operation (must be 1)
+ insn.data=&initialvalue; // initial value loaded into encoder
+ // during configuration
+ insn.subdev=5; // encoder subdevice
+ insn.chanspec=CR_PACK(encoder_channel,0,AREF_OTHER); // encoder_channel
+ // to configure
+
+ comedi_do_insn(cf,&insn); // executing configuration
+ */
+
+#if !defined(TRUE)
+#define TRUE (1)
+#endif
+
+#if !defined(FALSE)
+#define FALSE (0)
+#endif
+
+#include <linux/slab.h>
+
+#define S626_SIZE 0x0200
+#define DMABUF_SIZE 4096 /* 4k pages */
+
+#define S626_ADC_CHANNELS 16
+#define S626_DAC_CHANNELS 4
+#define S626_ENCODER_CHANNELS 6
+#define S626_DIO_CHANNELS 48
+#define S626_DIO_BANKS 3 /* Number of DIO groups. */
+#define S626_DIO_EXTCHANS 40 /* Number of */
+/* extended-capability */
+/* DIO channels. */
+
+#define NUM_TRIMDACS 12 /* Number of valid TrimDAC channels. */
+
+/* PCI bus interface types. */
+#define INTEL 1 /* Intel bus type. */
+#define MOTOROLA 2 /* Motorola bus type. */
+
+#define PLATFORM INTEL /* *** SELECT PLATFORM TYPE *** */
+
+#define RANGE_5V 0x10 /* +/-5V range */
+#define RANGE_10V 0x00 /* +/-10V range */
+
+#define EOPL 0x80 /* End of ADC poll list marker. */
+#define GSEL_BIPOLAR5V 0x00F0 /* LP_GSEL setting for 5V bipolar
range. */
+#define GSEL_BIPOLAR10V 0x00A0 /* LP_GSEL setting for 10V
bipolar range. */
+
+/* Error codes that must be visible to this base class. */
+#define ERR_ILLEGAL_PARM 0x00010000 /* Illegal function parameter
value was specified. */
+#define ERR_I2C 0x00020000 /* I2C error. */
+#define ERR_COUNTERSETUP 0x00200000 /* Illegal setup specified for
counter channel. */
+#define ERR_DEBI_TIMEOUT 0x00400000 /* DEBI transfer timed out. */
+
+/* Organization (physical order) and size (in DWORDs) of logical DMA
buffers contained by ANA_DMABUF. */
+#define ADC_DMABUF_DWORDS 40 /* ADC DMA buffer must hold 16
samples, plus pre/post garbage samples. */
+#define DAC_WDMABUF_DWORDS 1 /* DAC output DMA buffer holds a
single sample. */
+
+/* All remaining space in 4KB DMA buffer is available for the RPS1
program. */
+
+/* Address offsets, in DWORDS, from base of DMA buffer. */
+#define DAC_WDMABUF_OS ADC_DMABUF_DWORDS
+
+/* Interrupt enab bit in ISR and IER. */
+#define IRQ_GPIO3 0x00000040 /* IRQ enable for GPIO3. */
+#define IRQ_RPS1 0x10000000
+#define ISR_AFOU 0x00000800
+/* Audio fifo under/overflow detected. */
+
+#define IRQ_COINT1A 0x0400 /* conter 1A overflow interrupt
mask */
+#define IRQ_COINT1B 0x0800 /* conter 1B overflow interrupt
mask */
+#define IRQ_COINT2A 0x1000 /* conter 2A overflow interrupt
mask */
+#define IRQ_COINT2B 0x2000 /* conter 2B overflow interrupt
mask */
+#define IRQ_COINT3A 0x4000 /* conter 3A overflow interrupt
mask */
+#define IRQ_COINT3B 0x8000 /* conter 3B overflow interrupt
mask */
+
+/* RPS command codes. */
+#define RPS_CLRSIGNAL 0x00000000 /* CLEAR SIGNAL */
+#define RPS_SETSIGNAL 0x10000000 /* SET SIGNAL */
+#define RPS_NOP 0x00000000 /* NOP */
+#define RPS_PAUSE 0x20000000 /* PAUSE */
+#define RPS_UPLOAD 0x40000000 /* UPLOAD */
+#define RPS_JUMP 0x80000000 /* JUMP */
+#define RPS_LDREG 0x90000100 /* LDREG (1 uint32_t only) */
+#define RPS_STREG 0xA0000100 /* STREG (1 uint32_t only) */
+#define RPS_STOP 0x50000000 /* STOP */
+#define RPS_IRQ 0x60000000 /* IRQ */
+
+#define RPS_LOGICAL_OR 0x08000000 /* Logical OR conditionals. */
+#define RPS_INVERT 0x04000000 /* Test for negated semaphores. */
+#define RPS_DEBI 0x00000002 /* DEBI done */
+
+#define RPS_SIG0 0x00200000 /* RPS semaphore 0 (used by ADC). */
+#define RPS_SIG1 0x00400000 /* RPS semaphore 1 (used by DAC). */
+#define RPS_SIG2 0x00800000 /* RPS semaphore 2 (not used). */
+#define RPS_GPIO2 0x00080000 /* RPS GPIO2 */
+#define RPS_GPIO3 0x00100000 /* RPS GPIO3 */
+
+#define RPS_SIGADC RPS_SIG0 /* Trigger/status for ADC's RPS
program. */
+#define RPS_SIGDAC RPS_SIG1 /* Trigger/status for DAC's RPS
program. */
+
+/* RPS clock parameters. */
+#define RPSCLK_SCALAR 8 /* This is apparent ratio of PCI/RPS
clks (undocumented!!). */
+#define RPSCLK_PER_US (33 / RPSCLK_SCALAR) /* Number of RPS
clocks in one microsecond. */
+
+/* Event counter source addresses. */
+#define SBA_RPS_A0 0x27 /* Time of RPS0 busy, in PCI clocks. */
+
+/* GPIO constants. */
+#define GPIO_BASE 0x10004000 /* GPIO 0,2,3 = inputs, GPIO3 =
IRQ; GPIO1 = out. */
+#define GPIO1_LO 0x00000000 /* GPIO1 set to LOW. */
+#define GPIO1_HI 0x00001000 /* GPIO1 set to HIGH. */
+
+/* Primary Status Register (PSR) constants. */
+#define PSR_DEBI_E 0x00040000 /* DEBI event flag. */
+#define PSR_DEBI_S 0x00080000 /* DEBI status flag. */
+#define PSR_A2_IN 0x00008000 /* Audio output DMA2 protection
address reached. */
+#define PSR_AFOU 0x00000800 /* Audio FIFO under/overflow
detected. */
+#define PSR_GPIO2 0x00000020 /* GPIO2 input pin: 0=AdcBusy,
1=AdcIdle. */
+#define PSR_EC0S 0x00000001 /* Event counter 0 threshold
reached. */
+
+/* Secondary Status Register (SSR) constants. */
+#define SSR_AF2_OUT 0x00000200 /* Audio 2 output FIFO
under/overflow detected. */
+
+/* Master Control Register 1 (MC1) constants. */
+#define MC1_SOFT_RESET 0x80000000 /* Invoke 7146 soft reset. */
+#define MC1_SHUTDOWN 0x3FFF0000 /* Shut down all MC1-controlled
enables. */
+
+#define MC1_ERPS1 0x2000 /* enab/disable RPS task 1. */
+#define MC1_ERPS0 0x1000 /* enab/disable RPS task 0. */
+#define MC1_DEBI 0x0800 /* enab/disable DEBI pins. */
+#define MC1_AUDIO 0x0200 /* enab/disable audio port pins. */
+#define MC1_I2C 0x0100 /* enab/disable I2C interface. */
+#define MC1_A2OUT 0x0008 /* enab/disable transfer on A2 out. */
+#define MC1_A2IN 0x0004 /* enab/disable transfer on A2 in. */
+#define MC1_A1IN 0x0001 /* enab/disable transfer on A1 in. */
+
+/* Master Control Register 2 (MC2) constants. */
+#define MC2_UPLD_DEBIq 0x00020002 /* Upload DEBI registers. */
+#define MC2_UPLD_IICq 0x00010001 /* Upload I2C registers. */
+#define MC2_RPSSIG2_ONq 0x20002000 /* Assert RPS_SIG2. */
+#define MC2_RPSSIG1_ONq 0x10001000 /* Assert RPS_SIG1. */
+#define MC2_RPSSIG0_ONq 0x08000800 /* Assert RPS_SIG0. */
+#define MC2_UPLD_DEBI_MASKq 0x00000002 /* Upload DEBI mask. */
+#define MC2_UPLD_IIC_MASKq 0x00000001 /* Upload I2C mask. */
+#define MC2_RPSSIG2_MASKq 0x00002000 /* RPS_SIG2 bit mask. */
+#define MC2_RPSSIG1_MASKq 0x00001000 /* RPS_SIG1 bit mask. */
+#define MC2_RPSSIG0_MASKq 0x00000800 /* RPS_SIG0 bit mask. */
+
+#define MC2_DELAYTRIG_4USq MC2_RPSSIG1_ON
+#define MC2_DELAYBUSY_4USq MC2_RPSSIG1_MASK
+
+#define MC2_DELAYTRIG_6USq MC2_RPSSIG2_ON
+#define MC2_DELAYBUSY_6USq MC2_RPSSIG2_MASK
+
+#define MC2_UPLD_DEBI 0x0002 /* Upload DEBI. */
+#define MC2_UPLD_IIC 0x0001 /* Upload I2C. */
+#define MC2_RPSSIG2 0x2000 /* RPS signal 2 (not used). */
+#define MC2_RPSSIG1 0x1000 /* RPS signal 1 (DAC RPS busy). */
+#define MC2_RPSSIG0 0x0800 /* RPS signal 0 (ADC RPS busy). */
+
+#define MC2_ADC_RPS MC2_RPSSIG0 /* ADC RPS busy. */
+#define MC2_DAC_RPS MC2_RPSSIG1 /* DAC RPS busy. */
+
+/* ***** oldies ***** */
+#define MC2_UPLD_DEBIQ 0x00020002 /* Upload DEBI registers. */
+#define MC2_UPLD_IICQ 0x00010001 /* Upload I2C registers. */
+
+/* PCI BUS (SAA7146) REGISTER ADDRESS OFFSETS */
+#define P_PCI_BT_A 0x004C /* Audio DMA burst/threshold control.
*/
+#define P_DEBICFG 0x007C /* DEBI configuration. */
+#define P_DEBICMD 0x0080 /* DEBI command. */
+#define P_DEBIPAGE 0x0084 /* DEBI page. */
+#define P_DEBIAD 0x0088 /* DEBI target address. */
+#define P_I2CCTRL 0x008C /* I2C control. */
+#define P_I2CSTAT 0x0090 /* I2C status. */
+#define P_BASEA2_IN 0x00AC /* Audio input 2 base physical DMAbuf
+ * address. */
+#define P_PROTA2_IN 0x00B0 /* Audio input 2 physical DMAbuf
+ * protection address. */
+#define P_PAGEA2_IN 0x00B4 /* Audio input 2 paging attributes. */
+#define P_BASEA2_OUT 0x00B8 /* Audio output 2 base physical
DMAbuf
+ * address. */
+#define P_PROTA2_OUT 0x00BC /* Audio output 2 physical DMAbuf
+ * protection address. */
+#define P_PAGEA2_OUT 0x00C0 /* Audio output 2 paging attributes.
*/
+#define P_RPSPAGE0 0x00C4 /* RPS0 page. */
+#define P_RPSPAGE1 0x00C8 /* RPS1 page. */
+#define P_RPS0_TOUT 0x00D4 /* RPS0 time-out. */
+#define P_RPS1_TOUT 0x00D8 /* RPS1 time-out. */
+#define P_IER 0x00DC /* Interrupt enable. */
+#define P_GPIO 0x00E0 /* General-purpose I/O. */
+#define P_EC1SSR 0x00E4 /* Event counter set 1 source select. */
+#define P_ECT1R 0x00EC /* Event counter threshold set 1. */
+#define P_ACON1 0x00F4 /* Audio control 1. */
+#define P_ACON2 0x00F8 /* Audio control 2. */
+#define P_MC1 0x00FC /* Master control 1. */
+#define P_MC2 0x0100 /* Master control 2. */
+#define P_RPSADDR0 0x0104 /* RPS0 instruction pointer. */
+#define P_RPSADDR1 0x0108 /* RPS1 instruction pointer. */
+#define P_ISR 0x010C /* Interrupt status. */
+#define P_PSR 0x0110 /* Primary status. */
+#define P_SSR 0x0114 /* Secondary status. */
+#define P_EC1R 0x0118 /* Event counter set 1. */
+#define P_ADP4 0x0138 /* Logical audio DMA pointer of audio
+ * input FIFO A2_IN. */
+#define P_FB_BUFFER1 0x0144 /* Audio feedback buffer 1. */
+#define P_FB_BUFFER2 0x0148 /* Audio feedback buffer 2. */
+#define P_TSL1 0x0180 /* Audio time slot list 1. */
+#define P_TSL2 0x01C0 /* Audio time slot list 2. */
+
+/* LOCAL BUS (GATE ARRAY) REGISTER ADDRESS OFFSETS */
+/* Analog I/O registers: */
+#define LP_DACPOL 0x0082 /* Write DAC polarity. */
+#define LP_GSEL 0x0084 /* Write ADC gain. */
+#define LP_ISEL 0x0086 /* Write ADC channel select. */
+/* Digital I/O (write only): */
+#define LP_WRINTSELA 0x0042 /* Write A interrupt enable. */
+#define LP_WREDGSELA 0x0044 /* Write A edge selection. */
+#define LP_WRCAPSELA 0x0046 /* Write A capture enable. */
+#define LP_WRDOUTA 0x0048 /* Write A digital output. */
+#define LP_WRINTSELB 0x0052 /* Write B interrupt enable. */
+#define LP_WREDGSELB 0x0054 /* Write B edge selection. */
+#define LP_WRCAPSELB 0x0056 /* Write B capture enable. */
+#define LP_WRDOUTB 0x0058 /* Write B digital output. */
+#define LP_WRINTSELC 0x0062 /* Write C interrupt enable. */
+#define LP_WREDGSELC 0x0064 /* Write C edge selection. */
+#define LP_WRCAPSELC 0x0066 /* Write C capture enable. */
+#define LP_WRDOUTC 0x0068 /* Write C digital output. */
+
+/* Digital I/O (read only): */
+#define LP_RDDINA 0x0040 /* Read digital input. */
+#define LP_RDCAPFLGA 0x0048 /* Read edges captured. */
+#define LP_RDINTSELA 0x004A /* Read interrupt enable register.
*/
+#define LP_RDEDGSELA 0x004C /* Read edge selection register. */
+#define LP_RDCAPSELA 0x004E /* Read capture enable register. */
+#define LP_RDDINB 0x0050 /* Read digital input. */
+#define LP_RDCAPFLGB 0x0058 /* Read edges captured. */
+#define LP_RDINTSELB 0x005A /* Read interrupt enable register.
*/
+#define LP_RDEDGSELB 0x005C /* Read edge selection register. */
+#define LP_RDCAPSELB 0x005E /* Read capture enable register. */
+#define LP_RDDINC 0x0060 /* Read digital input. */
+#define LP_RDCAPFLGC 0x0068 /* Read edges captured. */
+#define LP_RDINTSELC 0x006A /* Read interrupt enable register.
*/
+#define LP_RDEDGSELC 0x006C /* Read edge selection register. */
+#define LP_RDCAPSELC 0x006E /* Read capture enable register. */
+
+/* Counter Registers (read/write): */
+#define LP_CR0A 0x0000 /* 0A setup register. */
+#define LP_CR0B 0x0002 /* 0B setup register. */
+#define LP_CR1A 0x0004 /* 1A setup register. */
+#define LP_CR1B 0x0006 /* 1B setup register. */
+#define LP_CR2A 0x0008 /* 2A setup register. */
+#define LP_CR2B 0x000A /* 2B setup register. */
+
+/* Counter PreLoad (write) and Latch (read) Registers: */
+#define LP_CNTR0ALSW 0x000C /* 0A lsw. */
+#define LP_CNTR0AMSW 0x000E /* 0A msw. */
+#define LP_CNTR0BLSW 0x0010 /* 0B lsw. */
+#define LP_CNTR0BMSW 0x0012 /* 0B msw. */
+#define LP_CNTR1ALSW 0x0014 /* 1A lsw. */
+#define LP_CNTR1AMSW 0x0016 /* 1A msw. */
+#define LP_CNTR1BLSW 0x0018 /* 1B lsw. */
+#define LP_CNTR1BMSW 0x001A /* 1B msw. */
+#define LP_CNTR2ALSW 0x001C /* 2A lsw. */
+#define LP_CNTR2AMSW 0x001E /* 2A msw. */
+#define LP_CNTR2BLSW 0x0020 /* 2B lsw. */
+#define LP_CNTR2BMSW 0x0022 /* 2B msw. */
+
+/* Miscellaneous Registers (read/write): */
+#define LP_MISC1 0x0088 /* Read/write Misc1. */
+#define LP_WRMISC2 0x0090 /* Write Misc2. */
+#define LP_RDMISC2 0x0082 /* Read Misc2. */
+
+/* Bit masks for MISC1 register that are the same for reads and writes. */
+#define MISC1_WENABLE 0x8000 /* enab writes to MISC2 (except
Clear
+ * Watchdog bit). */
+#define MISC1_WDISABLE 0x0000 /* Disable writes to MISC2. */
+#define MISC1_EDCAP 0x1000 /* enab edge capture on DIO chans
+ * specified by LP_WRCAPSELx. */
+#define MISC1_NOEDCAP 0x0000 /* Disable edge capture on specified
+ * DIO chans. */
+
+/* Bit masks for MISC1 register reads. */
+#define RDMISC1_WDTIMEOUT 0x4000 /* Watchdog timer timed out. */
+
+/* Bit masks for MISC2 register writes. */
+#define WRMISC2_WDCLEAR 0x8000 /* Reset watchdog timer to zero.
*/
+#define WRMISC2_CHARGE_ENABLE 0x4000 /* enab battery trickle
charging. */
+
+/* Bit masks for MISC2 register that are the same for reads and writes. */
+#define MISC2_BATT_ENABLE 0x0008 /* Backup battery enable. */
+#define MISC2_WDENABLE 0x0004 /* Watchdog timer enable. */
+#define MISC2_WDPERIOD_MASK 0x0003 /* Watchdog interval */
+/* select mask. */
+
+/* Bit masks for ACON1 register. */
+#define A2_RUN 0x40000000 /* Run A2 based on TSL2. */
+#define A1_RUN 0x20000000 /* Run A1 based on TSL1. */
+#define A1_SWAP 0x00200000 /* Use big-endian for A1. */
+#define A2_SWAP 0x00100000 /* Use big-endian for A2. */
+#define WS_MODES 0x00019999 /* WS0 = TSL1 trigger */
+/* input, WS1-WS4 = */
+/* CS* outputs. */
+
+#if PLATFORM == INTEL /* Base ACON1 config: always run A1 based
+ * on TSL1. */
+#define ACON1_BASE (WS_MODES | A1_RUN)
+#elif PLATFORM == MOTOROLA
+#define ACON1_BASE (WS_MODES | A1_RUN | A1_SWAP | A2_SWAP)
+#endif
+
+#define ACON1_ADCSTART ACON1_BASE /* Start ADC: run A1
+ * based on TSL1. */
+#define ACON1_DACSTART (ACON1_BASE | A2_RUN)
+/* Start transmit to DAC: run A2 based on TSL2. */
+#define ACON1_DACSTOP ACON1_BASE /* Halt A2. */
+
+/* Bit masks for ACON2 register. */
+#define A1_CLKSRC_BCLK1 0x00000000 /* A1 bit rate = BCLK1
(ADC). */
+#define A2_CLKSRC_X1 0x00800000 /* A2 bit rate = ACLK/1 (DACs).
*/
+#define A2_CLKSRC_X2 0x00C00000 /* A2 bit rate = ACLK/2 (DACs).
*/
+#define A2_CLKSRC_X4 0x01400000 /* A2 bit rate = ACLK/4 (DACs).
*/
+#define INVERT_BCLK2 0x00100000 /* Invert BCLK2 (DACs). */
+#define BCLK2_OE 0x00040000 /* enab BCLK2 (DACs). */
+#define ACON2_XORMASK 0x000C0000 /* XOR mask for ACON2 */
+/* active-low bits. */
+
+#define ACON2_INIT (ACON2_XORMASK ^ (A1_CLKSRC_BCLK1 | A2_CLKSRC_X2
| INVERT_BCLK2 | BCLK2_OE))
+
+/* Bit masks for timeslot records. */
+#define WS1 0x40000000 /* WS output to assert. */
+#define WS2 0x20000000
+#define WS3 0x10000000
+#define WS4 0x08000000
+#define RSD1 0x01000000 /* Shift A1 data in on SD1. */
+#define SDW_A1 0x00800000 /* Store rcv'd char at next
+ * char slot of DWORD1 buffer. */
+#define SIB_A1 0x00400000 /* Store rcv'd char at next
+ * char slot of FB1 buffer. */
+#define SF_A1 0x00200000 /* Write unsigned long
+ * buffer to input FIFO. */
+
+/* Select parallel-to-serial converter's data source: */
+#define XFIFO_0 0x00000000 /* Data fifo byte 0. */
+#define XFIFO_1 0x00000010 /* Data fifo byte 1. */
+#define XFIFO_2 0x00000020 /* Data fifo byte 2. */
+#define XFIFO_3 0x00000030 /* Data fifo byte 3. */
+#define XFB0 0x00000040 /* FB_BUFFER byte 0. */
+#define XFB1 0x00000050 /* FB_BUFFER byte 1. */
+#define XFB2 0x00000060 /* FB_BUFFER byte 2. */
+#define XFB3 0x00000070 /* FB_BUFFER byte 3. */
+#define SIB_A2 0x00000200 /* Store next dword from A2's
+ * input shifter to FB2 buffer. */
+#define SF_A2 0x00000100 /* Store next dword from A2's
+ * input shifter to its input
+ * fifo. */
+#define LF_A2 0x00000080 /* Load next dword from A2's
+ * output fifo into its
+ * output dword buffer. */
+#define XSD2 0x00000008 /* Shift data out on SD2. */
+#define RSD3 0x00001800 /* Shift data in on SD3. */
+#define RSD2 0x00001000 /* Shift data in on SD2. */
+#define LOW_A2 0x00000002 /* Drive last SD low */
+/* for 7 clks, then */
+/* tri-state. */
+#define EOS 0x00000001 /* End of superframe. */
+
+/* I2C configuration constants. */
+#define I2C_CLKSEL 0x0400
+/* I2C bit rate = PCIclk/480 = 68.75 KHz. */
+
+#define I2C_BITRATE 68.75
+/* I2C bus data bit rate (determined by I2C_CLKSEL) in KHz. */
+
+#define I2C_WRTIME 15.0
+/* Worst case time, in msec, for EEPROM internal write op. */
+
+/* I2C manifest constants. */
+
+/* Max retries to wait for EEPROM write. */
+#define I2C_RETRIES (I2C_WRTIME * I2C_BITRATE / 9.0)
+#define I2C_ERR 0x0002 /* I2C control/status */
+/* flag ERROR. */
+#define I2C_BUSY 0x0001 /* I2C control/status */
+/* flag BUSY. */
+#define I2C_ABORT 0x0080 /* I2C status flag ABORT. */
+#define I2C_ATTRSTART 0x3 /* I2C attribute START. */
+#define I2C_ATTRCONT 0x2 /* I2C attribute CONT. */
+#define I2C_ATTRSTOP 0x1 /* I2C attribute STOP. */
+#define I2C_ATTRNOP 0x0 /* I2C attribute NOP. */
+
+/* I2C read command | EEPROM address. */
+#define I2CR (devpriv->I2CAdrs | 1)
+
+/* I2C write command | EEPROM address. */
+#define I2CW (devpriv->I2CAdrs)
+
+/* Code macros used for constructing I2C command bytes. */
+#define I2C_B2(ATTR, VAL) (((ATTR) << 6) | ((VAL) << 24))
+#define I2C_B1(ATTR, VAL) (((ATTR) << 4) | ((VAL) << 16))
+#define I2C_B0(ATTR, VAL) (((ATTR) << 2) | ((VAL) << 8))
+
+/* oldest */
+#define P_DEBICFGq 0x007C /* DEBI configuration. */
+#define P_DEBICMDq 0x0080 /* DEBI command. */
+#define P_DEBIPAGEq 0x0084 /* DEBI page. */
+#define P_DEBIADq 0x0088 /* DEBI target address. */
+
+#define DEBI_CFG_TOQ 0x03C00000 /* timeout (15 PCI cycles) */
+#define DEBI_CFG_FASTQ 0x10000000 /* fast mode enable */
+#define DEBI_CFG_16Q 0x00080000 /* 16-bit access enable */
+#define DEBI_CFG_INCQ 0x00040000 /* enable address increment */
+#define DEBI_CFG_TIMEROFFQ 0x00010000 /* disable timer */
+#define DEBI_CMD_RDQ 0x00050000 /* read immediate 2 bytes */
+#define DEBI_CMD_WRQ 0x00040000 /* write immediate 2 bytes */
+#define DEBI_PAGE_DISABLEQ 0x00000000 /* paging disable */
+
+/* DEBI command constants. */
+#define DEBI_CMD_SIZE16 (2 << 17) /* Transfer size is */
+/* always 2 bytes. */
+#define DEBI_CMD_READ 0x00010000 /* Read operation. */
+#define DEBI_CMD_WRITE 0x00000000 /* Write operation. */
+
+/* Read immediate 2 bytes. */
+#define DEBI_CMD_RDWORD (DEBI_CMD_READ | DEBI_CMD_SIZE16)
+
+/* Write immediate 2 bytes. */
+#define DEBI_CMD_WRWORD (DEBI_CMD_WRITE | DEBI_CMD_SIZE16)
+
+/* DEBI configuration constants. */
+#define DEBI_CFG_XIRQ_EN 0x80000000 /* enab external */
+/* interrupt on GPIO3. */
+#define DEBI_CFG_XRESUME 0x40000000 /* Resume block */
+/* transfer when XIRQ */
+/* deasserted. */
+#define DEBI_CFG_FAST 0x10000000 /* Fast mode enable. */
+
+/* 4-bit field that specifies DEBI timeout value in PCI clock cycles: */
+#define DEBI_CFG_TOUT_BIT 22 /* Finish DEBI cycle after */
+/* this many clocks. */
+
+/* 2-bit field that specifies Endian byte lane steering: */
+#define DEBI_CFG_SWAP_NONE 0x00000000 /* Straight - don't */
+/* swap any bytes */
+/* (Intel). */
+#define DEBI_CFG_SWAP_2 0x00100000 /* 2-byte swap (Motorola).
*/
+#define DEBI_CFG_SWAP_4 0x00200000 /* 4-byte swap. */
+#define DEBI_CFG_16 0x00080000 /* Slave is able to */
+/* serve 16-bit */
+/* cycles. */
+
+#define DEBI_CFG_SLAVE16 0x00080000 /* Slave is able to */
+/* serve 16-bit */
+/* cycles. */
+#define DEBI_CFG_INC 0x00040000 /* enab address */
+/* increment for block */
+/* transfers. */
+#define DEBI_CFG_INTEL 0x00020000 /* Intel style local bus. */
+#define DEBI_CFG_TIMEROFF 0x00010000 /* Disable timer. */
+
+#if PLATFORM == INTEL
+
+#define DEBI_TOUT 7 /* Wait 7 PCI clocks */
+/* (212 ns) before */
+/* polling RDY. */
+
+/* Intel byte lane steering (pass through all byte lanes). */
+#define DEBI_SWAP DEBI_CFG_SWAP_NONE
+
+#elif PLATFORM == MOTOROLA
+
+#define DEBI_TOUT 15 /* Wait 15 PCI clocks (454 ns) */
+/* maximum before timing out. */
+#define DEBI_SWAP DEBI_CFG_SWAP_2 /* Motorola byte lane
steering. */
+
+#endif
+
+/* DEBI page table constants. */
+#define DEBI_PAGE_DISABLE 0x00000000 /* Paging disable. */
+
+/* ******* EXTRA FROM OTHER SANSORAY * .h ******* */
+
+/* LoadSrc values: */
+#define LOADSRC_INDX 0 /* Preload core in response to */
+/* Index. */
+#define LOADSRC_OVER 1 /* Preload core in response to */
+/* Overflow. */
+#define LOADSRCB_OVERA 2 /* Preload B core in response */
+/* to A Overflow. */
+#define LOADSRC_NONE 3 /* Never preload core. */
+
+/* IntSrc values: */
+#define INTSRC_NONE 0 /* Interrupts disabled. */
+#define INTSRC_OVER 1 /* Interrupt on Overflow. */
+#define INTSRC_INDX 2 /* Interrupt on Index. */
+#define INTSRC_BOTH 3 /* Interrupt on Index or Overflow. */
+
+/* LatchSrc values: */
+#define LATCHSRC_AB_READ 0 /* Latch on read. */
+#define LATCHSRC_A_INDXA 1 /* Latch A on A Index. */
+#define LATCHSRC_B_INDXB 2 /* Latch B on B Index. */
+#define LATCHSRC_B_OVERA 3 /* Latch B on A Overflow. */
+
+/* IndxSrc values: */
+#define INDXSRC_HARD 0 /* Hardware or software index. */
+#define INDXSRC_SOFT 1 /* Software index only. */
+
+/* IndxPol values: */
+#define INDXPOL_POS 0 /* Index input is active high. */
+#define INDXPOL_NEG 1 /* Index input is active low. */
+
+/* ClkSrc values: */
+#define CLKSRC_COUNTER 0 /* Counter mode. */
+#define CLKSRC_TIMER 2 /* Timer mode. */
+#define CLKSRC_EXTENDER 3 /* Extender mode. */
+
+/* ClkPol values: */
+#define CLKPOL_POS 0 /* Counter/Extender clock is */
+/* active high. */
+#define CLKPOL_NEG 1 /* Counter/Extender clock is */
+/* active low. */
+#define CNTDIR_UP 0 /* Timer counts up. */
+#define CNTDIR_DOWN 1 /* Timer counts down. */
+
+/* ClkEnab values: */
+#define CLKENAB_ALWAYS 0 /* Clock always enabled. */
+#define CLKENAB_INDEX 1 /* Clock is enabled by index. */
+
+/* ClkMult values: */
+#define CLKMULT_4X 0 /* 4x clock multiplier. */
+#define CLKMULT_2X 1 /* 2x clock multiplier. */
+#define CLKMULT_1X 2 /* 1x clock multiplier. */
+
+/* Bit Field positions in COUNTER_SETUP structure: */
+#define BF_LOADSRC 9 /* Preload trigger. */
+#define BF_INDXSRC 7 /* Index source. */
+#define BF_INDXPOL 6 /* Index polarity. */
+#define BF_CLKSRC 4 /* Clock source. */
+#define BF_CLKPOL 3 /* Clock polarity/count direction. */
+#define BF_CLKMULT 1 /* Clock multiplier. */
+#define BF_CLKENAB 0 /* Clock enable. */
+
+/* Enumerated counter operating modes specified by ClkSrc bit field in */
+/* a COUNTER_SETUP. */
+
+#define CLKSRC_COUNTER 0 /* Counter: ENC_C clock, ENC_D */
+/* direction. */
+#define CLKSRC_TIMER 2 /* Timer: SYS_C clock, */
+/* direction specified by */
+/* ClkPol. */
+#define CLKSRC_EXTENDER 3 /* Extender: OVR_A clock, */
+/* ENC_D direction. */
+
+/* Enumerated counter clock multipliers. */
+
+#define MULT_X0 0x0003 /* Supports no multipliers; */
+/* fixed physical multiplier = */
+/* 3. */
+#define MULT_X1 0x0002 /* Supports multiplier x1; */
+/* fixed physical multiplier = */
+/* 2. */
+#define MULT_X2 0x0001 /* Supports multipliers x1, */
+/* x2; physical multipliers = */
+/* 1 or 2. */
+#define MULT_X4 0x0000 /* Supports multipliers x1, */
+/* x2, x4; physical */
+/* multipliers = 0, 1 or 2. */
+
+/* Sanity-check limits for parameters. */
+
+#define NUM_COUNTERS 6 /* Maximum valid counter */
+/* logical channel number. */
+#define NUM_INTSOURCES 4
+#define NUM_LATCHSOURCES 4
+#define NUM_CLKMULTS 4
+#define NUM_CLKSOURCES 4
+#define NUM_CLKPOLS 2
+#define NUM_INDEXPOLS 2
+#define NUM_INDEXSOURCES 2
+#define NUM_LOADTRIGS 4
+
+/* Bit field positions in CRA and CRB counter control registers. */
+
+/* Bit field positions in CRA: */
+#define CRABIT_INDXSRC_B 14 /* B index source. */
+#define CRABIT_CLKSRC_B 12 /* B clock source. */
+#define CRABIT_INDXPOL_A 11 /* A index polarity. */
+#define CRABIT_LOADSRC_A 9 /* A preload trigger. */
+#define CRABIT_CLKMULT_A 7 /* A clock multiplier. */
+#define CRABIT_INTSRC_A 5 /* A interrupt source. */
+#define CRABIT_CLKPOL_A 4 /* A clock polarity. */
+#define CRABIT_INDXSRC_A 2 /* A index source. */
+#define CRABIT_CLKSRC_A 0 /* A clock source. */
+
+/* Bit field positions in CRB: */
+#define CRBBIT_INTRESETCMD 15 /* Interrupt reset command. */
+#define CRBBIT_INTRESET_B 14 /* B interrupt reset enable. */
+#define CRBBIT_INTRESET_A 13 /* A interrupt reset enable. */
+#define CRBBIT_CLKENAB_A 12 /* A clock enable. */
+#define CRBBIT_INTSRC_B 10 /* B interrupt source. */
+#define CRBBIT_LATCHSRC 8 /* A/B latch source. */
+#define CRBBIT_LOADSRC_B 6 /* B preload trigger. */
+#define CRBBIT_CLKMULT_B 3 /* B clock multiplier. */
+#define CRBBIT_CLKENAB_B 2 /* B clock enable. */
+#define CRBBIT_INDXPOL_B 1 /* B index polarity. */
+#define CRBBIT_CLKPOL_B 0 /* B clock polarity. */
+
+/* Bit field masks for CRA and CRB. */
+
+#define CRAMSK_INDXSRC_B ((uint16_t)(3 << CRABIT_INDXSRC_B))
+#define CRAMSK_CLKSRC_B ((uint16_t)(3 << CRABIT_CLKSRC_B))
+#define CRAMSK_INDXPOL_A ((uint16_t)(1 << CRABIT_INDXPOL_A))
+#define CRAMSK_LOADSRC_A ((uint16_t)(3 << CRABIT_LOADSRC_A))
+#define CRAMSK_CLKMULT_A ((uint16_t)(3 << CRABIT_CLKMULT_A))
+#define CRAMSK_INTSRC_A ((uint16_t)(3 << CRABIT_INTSRC_A))
+#define CRAMSK_CLKPOL_A ((uint16_t)(3 << CRABIT_CLKPOL_A))
+#define CRAMSK_INDXSRC_A ((uint16_t)(3 << CRABIT_INDXSRC_A))
+#define CRAMSK_CLKSRC_A ((uint16_t)(3 << CRABIT_CLKSRC_A))
+
+#define CRBMSK_INTRESETCMD ((uint16_t)(1 << CRBBIT_INTRESETCMD))
+#define CRBMSK_INTRESET_B ((uint16_t)(1 << CRBBIT_INTRESET_B))
+#define CRBMSK_INTRESET_A ((uint16_t)(1 << CRBBIT_INTRESET_A))
+#define CRBMSK_CLKENAB_A ((uint16_t)(1 << CRBBIT_CLKENAB_A))
+#define CRBMSK_INTSRC_B ((uint16_t)(3 << CRBBIT_INTSRC_B))
+#define CRBMSK_LATCHSRC ((uint16_t)(3 << CRBBIT_LATCHSRC))
+#define CRBMSK_LOADSRC_B ((uint16_t)(3 << CRBBIT_LOADSRC_B))
+#define CRBMSK_CLKMULT_B ((uint16_t)(3 << CRBBIT_CLKMULT_B))
+#define CRBMSK_CLKENAB_B ((uint16_t)(1 << CRBBIT_CLKENAB_B))
+#define CRBMSK_INDXPOL_B ((uint16_t)(1 << CRBBIT_INDXPOL_B))
+#define CRBMSK_CLKPOL_B ((uint16_t)(1 << CRBBIT_CLKPOL_B))
+
+#define CRBMSK_INTCTRL (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A |
CRBMSK_INTRESET_B) /* Interrupt reset control bits. */
+
+/* Bit field positions for standardized SETUP structure. */
+
+#define STDBIT_INTSRC 13
+#define STDBIT_LATCHSRC 11
+#define STDBIT_LOADSRC 9
+#define STDBIT_INDXSRC 7
+#define STDBIT_INDXPOL 6
+#define STDBIT_CLKSRC 4
+#define STDBIT_CLKPOL 3
+#define STDBIT_CLKMULT 1
+#define STDBIT_CLKENAB 0
+
+/* Bit field masks for standardized SETUP structure. */
+
+#define STDMSK_INTSRC ((uint16_t)(3 << STDBIT_INTSRC))
+#define STDMSK_LATCHSRC ((uint16_t)(3 << STDBIT_LATCHSRC))
+#define STDMSK_LOADSRC ((uint16_t)(3 << STDBIT_LOADSRC))
+#define STDMSK_INDXSRC ((uint16_t)(1 << STDBIT_INDXSRC))
+#define STDMSK_INDXPOL ((uint16_t)(1 << STDBIT_INDXPOL))
+#define STDMSK_CLKSRC ((uint16_t)(3 << STDBIT_CLKSRC))
+#define STDMSK_CLKPOL ((uint16_t)(1 << STDBIT_CLKPOL))
+#define STDMSK_CLKMULT ((uint16_t)(3 << STDBIT_CLKMULT))
+#define STDMSK_CLKENAB ((uint16_t)(1 << STDBIT_CLKENAB))
+
+struct bufferDMA {
+ dma_addr_t PhysicalBase;
+ void *LogicalBase;
+ uint32_t DMAHandle;
+};
+
+#define SUBD_AI 0
+#define SUBD_AO 1
+#define SUBD_DIO_A 2
+#define SUBD_DIO_B 3
+#define SUBD_DIO_C 4
+#define SUBD_ENC 5
+
+/* Board description */
+#define S626_GPCT_CHANS 6
+#define S626_GPCT_BITS 24
+#define S626_AI_CHANS 16
+#define S626_AI_BITS 16
+#define S626_AI_TIMEOUT 100
+#define S626_AO_CHANS 4
+#define S626_AO_BITS 16
+#define S626_DIO_CHANS 16
+#define S626_DIO_BITS 1
+
+/* Ports */
+#define S626_IOSIZE 0x40 /* 64 bytes */
+#define S626_DEFAULT_ADDRESS 0x2C0 /* Manufacturing default */
+
+/* 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
+
+#define ISR_ADC_DONE 0x4
+
+#define ADDR_REG(reg) (s626ptr->private->io_base + (reg))
+#define ADDR_CHAN_REG(reg, chan) (s626ptr->private->io_base + (reg) +
(chan) * 8)
+
+/* #define WR7146(REGARDS,CTRLWORD)
+ writel(CTRLWORD,(uint32_t)(devpriv->base_addr+(REGARDS))) */
+#define WR7146(REGARDS, CTRLWORD) writel(CTRLWORD,
devpriv->base_addr+(REGARDS))
+
+/* enab/disable a function or test status bit(s) that are accessed */
+/* through Main Control Registers 1 or 2. */
+#define MC_ENABLE(REGADRS, CTRLWORD) writel(((uint32_t)(CTRLWORD) << 16)
| (uint32_t)(CTRLWORD), devpriv->base_addr+(REGADRS))
+
+#define MC_DISABLE(REGADRS, CTRLWORD) writel((uint32_t)(CTRLWORD) << 16 ,
devpriv->base_addr+(REGADRS))
+
+#define MC_TEST(REGADRS, CTRLWORD) ((readl(devpriv->base_addr+(REGADRS))
& CTRLWORD) != 0)
+
+/* #define WR7146(REGARDS,CTRLWORD)
+ writel(CTRLWORD,(uint32_t)(devpriv->base_addr+(REGARDS))) */
+#define WR7146(REGARDS, CTRLWORD) writel(CTRLWORD,
devpriv->base_addr+(REGARDS))
+
+/* #define RR7146(REGARDS)
+ readl((uint32_t)(devpriv->base_addr+(REGARDS))) */
+#define RR7146(REGARDS) readl(devpriv->base_addr+(REGARDS))
+
+#define NUMBER_OF_SUBDEVICES 1
+
+#define BUGFIX_STREG(REGADRS) (REGADRS - 4)
+
+/* Write a time slot control record to TSL2. */
+#define VECTPORT(VECTNUM) (P_TSL2 + ((VECTNUM) << 2))
+#define SETVECT(VECTNUM, VECTVAL) WR7146(VECTPORT(VECTNUM), (VECTVAL))
+
+/* Slot 0 base settings. */
+#define VECT0 (XSD2 | RSD3 | SIB_A2)
+/* Slot 0 always shifts in 0xFF and store it to FB_BUFFER2. */
+
+#define encpriv ( (struct enc_private *) &((
a4l_get_subd(s626ptr->dev, 5) )->priv) )
+
+/* Counter overflow/index event flag masks for RDMISC2. */
+#define INDXMASK(C) (1 << (((C) > 2) ? ((C) * 2 - 1) : ((C) * 2 + 4)))
+#define OVERMASK(C) (1 << (((C) > 2) ? ((C) * 2 + 5) : ((C) * 2 + 10)))
+#define EVBITS(C) { 0, OVERMASK(C), INDXMASK(C), OVERMASK(C) |
INDXMASK(C) }
+
+struct s626_priv {
+ unsigned long io_base;
+
+ void __iomem *base_addr;
+ uint8_t ai_cmd_running; /* ai_cmd is running */
+ uint8_t ai_continous; /* continous acquisition */
+ int ai_sample_count; /* number of samples to acquire */
+ unsigned int ai_sample_timer;
+ /* time between samples in units of the timer */
+ int ai_convert_count; /* conversion counter */
+ unsigned int ai_convert_timer;
+ /* time between conversion in units of the timer */
+ uint16_t CounterIntEnabs;
+ /* Counter interrupt enable mask for MISC2 register. */
+ uint8_t AdcItems; /* Number of items in ADC poll list. */
+ struct bufferDMA RPSBuf; /* DMA buffer used to hold ADC (RPS1) program.
*/
+ struct bufferDMA ANABuf;
+ /* DMA buffer used to receive ADC data and hold DAC data. */
+ uint32_t *pDacWBuf;
+ /* Pointer to logical adrs of DMA buffer used to hold DAC data. */
+ uint16_t Dacpol; /* Image of DAC polarity register. */
+ uint8_t TrimSetpoint[12]; /* Images of TrimDAC setpoints */
+ /* Charge Enabled (0 or WRMISC2_CHARGE_ENABLE). */
+ uint32_t I2CAdrs;
+ /* I2C device address for onboard EEPROM (board rev dependent). */
+ /* short I2Cards; */
+ unsigned int ao_readback[S626_DAC_CHANNELS];
+};
+
+struct s626_struct {
+ struct list_head list;
+ a4l_lock_t lock;
+
+ struct pci_dev * pcidev;
+ a4l_dev_t * dev;
+
+ resource_size_t phys_addr;
+ void * io_addr;
+ resource_size_t daq_phys_addr;
+ void * daq_io_addr;
+
+ struct s626_priv * private;
+};
+
+/* COUNTER OBJECT ------------------------------------------------ */
+struct enc_private {
+ /* Pointers to functions that differ for A and B counters: */
+ uint16_t (*GetEnable)(struct s626_struct * s626ptr, struct enc_private
*); /* Return clock enable. */
+ uint16_t (*GetIntSrc)(struct s626_struct * s626ptr, struct enc_private
*); /* Return interrupt source. */
+ uint16_t (*GetLoadTrig)(struct s626_struct * s626ptr, struct enc_private
*); /* Return preload trigger source. */
+ uint16_t (*GetMode)(struct s626_struct * s626ptr, struct enc_private *);
/* Return standardized operating mode. */
+ void (*PulseIndex)(struct s626_struct * s626ptr, struct enc_private *);
/* Generate soft index strobe. */
+ void (*SetEnable)(struct s626_struct * s626ptr, struct enc_private *,
+ uint16_t enab); /* Program clock enable. */
+ void (*SetIntSrc)(struct s626_struct * s626ptr, struct enc_private *,
+ uint16_t IntSource); /* Program interrupt source. */
+ void (*SetLoadTrig)(struct s626_struct * s626ptr, struct enc_private *,
+ uint16_t Trig); /* Program preload trigger source. */
+ void (*SetMode)(struct s626_struct * s626ptr, struct enc_private *,
+ uint16_t Setup, uint16_t DisableIntSrc); /* Program standardized
operating mode. */
+ void (*ResetCapFlags)(struct s626_struct * s626ptr, struct enc_private
*); /* Reset event capture flags. */
+
+ uint16_t MyCRA; /* Address of CRA register. */
+ uint16_t MyCRB; /* Address of CRB register. */
+ uint16_t MyLatchLsw; /* Address of Latch least-significant-word */
+ /* register. */
+ uint16_t MyEventBits[4]; /* Bit translations for IntSrc -->RDMISC2. */
+};
+
+struct s626_subd_dio_private {
+ uint16_t RDDIn;
+ uint16_t WRDOut;
+ uint16_t RDEdgSel;
+ uint16_t WREdgSel;
+ uint16_t RDCapSel;
+ uint16_t WRCapSel;
+ uint16_t RDCapFlg;
+ uint16_t RDIntSel;
+ uint16_t WRIntSel;
+ int io_bits;
+ unsigned int state;
+};
+
+struct counter_mode_register_t {
+#if defined (__LITTLE_ENDIAN_BITFIELD)
+ 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;
+#elif defined(__BIG_ENDIAN_BITFIELD)
+unsigned short reserved:1;
+unsigned short preloadRegSel:1;
+unsigned short outputRegLatchCtrl:1;
+unsigned short countDirCtrl:1;
+unsigned short countDir:1;
+unsigned short clockSource:2;
+unsigned short ctEnableCtrl:2;
+unsigned short hwCtEnableSource:2;
+unsigned short autoLoadResetRcap:3;
+unsigned short coutPolarity:1;
+unsigned short coutSource:1;
+#else
+#error Unknown bit field order
+#endif
+};
+
+union cmReg {
+ struct counter_mode_register_t reg;
+ unsigned short value;
+};
+
+/* Application Classes for GPCT Subdevices */
+enum S626_GPCT_APP_CLASS {
+ CountingAndTimeMeasurement,
+ SinglePulseGeneration,
+ PulseTrainGeneration,
+ PositionMeasurement,
+ Miscellaneous
+};
+
+/* GPCT subdevices configuration */
+#define MAX_GPCT_CONFIG_DATA 6
+
+struct s626GPCTConfig {
+ enum S626_GPCT_APP_CLASS app;
+ int data[MAX_GPCT_CONFIG_DATA];
+};
+
+struct setup_subd {
+ void (*setup_func)(a4l_subd_t *);
+ int sizeof_priv;
+};
+
+struct s626_subd_gpct_private {
+ struct enc_private enc_private_data[S626_GPCT_CHANS];
+ struct s626GPCTConfig config[S626_GPCT_CHANS];
+};
+
+struct s626_subd_ai_private {
+ uint16_t config;
+};
+
+struct s626_subd_ao_private {
+ uint16_t readback[S626_AO_CHANS];
+};
+
+static void ResetCapFlags_A(struct s626_struct * s626ptr, struct
enc_private *k);
+
+static void ResetCapFlags_B(struct s626_struct * s626ptr, struct
enc_private *k);
+
+static uint16_t GetMode_A(struct s626_struct * s626ptr, struct enc_private
*k);
+
+static uint16_t GetMode_B(struct s626_struct * s626ptr, struct enc_private
*k);
+
+static void SetMode_A(struct s626_struct * s626ptr, struct enc_private *k,
+ uint16_t Setup, uint16_t DisableIntSrc);
+
+static void SetMode_B(struct s626_struct * s626ptr, struct enc_private *k,
+ uint16_t Setup, uint16_t DisableIntSrc);
+
+static void SetEnable_A(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t enab);
+
+static void SetEnable_B(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t enab);
+
+static uint16_t GetEnable_A(struct s626_struct * s626ptr, struct
enc_private *k);
+
+static uint16_t GetEnable_B(struct s626_struct * s626ptr, struct
enc_private *k);
+
+static void SetLoadTrig_A(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t Trig);
+
+static void SetLoadTrig_B(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t Trig);
+
+static uint16_t GetLoadTrig_A(struct s626_struct * s626ptr,
+ struct enc_private *k);
+
+static uint16_t GetLoadTrig_B(struct s626_struct * s626ptr,
+ struct enc_private *k);
+
+static void SetIntSrc_A(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t IntSource);
+
+static void SetIntSrc_B(struct s626_struct * s626ptr, struct enc_private
*k,
+ uint16_t IntSource);
+
+static uint16_t GetIntSrc_A(struct s626_struct * s626ptr, struct
enc_private *k);
+
+static uint16_t GetIntSrc_B(struct s626_struct * s626ptr, struct
enc_private *k);
+
+static void PulseIndex_A(struct s626_struct * s626ptr, struct enc_private
*k);
+
+static void PulseIndex_B(struct s626_struct * s626ptr, struct enc_private
*k);
+
+static void CloseDMAB(struct s626_struct * s626ptr, struct bufferDMA *pdma,
+ size_t bsize);
+
+static uint16_t DEBIread(struct s626_struct * s626ptr, uint16_t addr);
+
+static void DEBIwrite(struct s626_struct * s626ptr, uint16_t addr,
+ uint16_t wdata);
+
+static void DEBItransfer(struct s626_struct * s626ptr);
+
+static void DEBIreplace(struct s626_struct * s626ptr, uint16_t addr,
+ uint16_t mask, uint16_t wdata);
+
+static uint32_t I2Chandshake(struct s626_struct * s626ptr, uint32_t val);
+
+static uint8_t I2Cread(struct s626_struct * s626ptr, uint8_t addr);
+
+static void WriteMISC2(struct s626_struct * s626ptr, uint16_t NewImage);
+
+static void Preload(struct s626_struct * s626ptr, struct enc_private *k,
+ uint32_t value);
+
+static void SendDAC(struct s626_struct * s626ptr, uint32_t val);
+
+static void SetDAC(struct s626_struct * s626ptr, uint16_t chan, short
dacdata);
+
+static void WriteTrimDAC(struct s626_struct * s626ptr, uint8_t LogicalChan,
+ uint8_t DacData);
+
+static void LoadTrimDACs(struct s626_struct * s626ptr);
+
+static uint32_t ReadLatch(struct s626_struct * s626ptr, struct enc_private
*k);
+
+static void SetLatchSource(struct s626_struct * s626ptr, struct
enc_private *k,
+ uint16_t value);
+
+static void s626_timer_load(struct s626_struct * s626ptr, struct
enc_private *k,
+ int tick);
+
+int s626_irq_handler(unsigned int irq, void *d);
+
+static int s626_ns_to_timer(int *nanosec, int round_mode);
+
+static int s626_allocate_dma_buffers(struct s626_struct * s626ptr);
+
+static int s626_dio_clear_irq(struct s626_struct * s626ptr);
+
+static int s626_dio_set_irq(struct s626_struct * s626ptr, unsigned int
chan);
+
+static int s626_dio_reset_irq(struct s626_struct * s626ptr, unsigned int
group,
+ unsigned int mask);
+
+static void ResetADC(struct s626_struct * s626ptr, uint8_t *ppl,
+ a4l_cmd_t * cmd);
+
+static int s626_ai_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static unsigned int s626_ai_reg_to_uint(int data);
+
+static int s626_ai_insn_read(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s626_ai_load_polllist(uint8_t *ppl, a4l_cmd_t *cmd);
+
+static int s626_ai_inttrig(struct a4l_subdevice * subdev,
+ unsigned long int trignum);
+
+static int s626_ai_cmd(struct a4l_subdevice * subdev, a4l_cmd_t * cmd);
+
+static inline int cfc_check_trigger_src(unsigned int *src, unsigned int
flags);
+
+static inline int cfc_check_trigger_is_unique(unsigned int src);
+
+static inline int cfc_check_trigger_arg_is(unsigned int *arg, unsigned int
val);
+
+static inline int cfc_check_trigger_arg_min(unsigned int *arg, unsigned
int val);
+
+static inline int cfc_check_trigger_arg_max(unsigned int *arg, unsigned
int val);
+
+static int s626_ai_cmdtest(struct a4l_subdevice * subdev, a4l_cmd_t * cmd);
+
+static int s626_ai_cancel(struct a4l_subdevice * subdev);
+
+static int s626_ao_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s626_ao_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static void s626_dio_init(struct s626_struct * s626ptr);
+
+static int s626_dio_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s626_dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s626_gpct_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s626_gpct_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s626_gpct_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static void setup_subd_ai(a4l_subd_t *subd);
+
+static void setup_subd_ao(a4l_subd_t *subd);
+
+static void setup_subd_dioA(a4l_subd_t *subd);
+
+static void setup_subd_dioB(a4l_subd_t *subd);
+
+static void setup_subd_dioC(a4l_subd_t *subd);
+
+static void setup_subd_gpct(a4l_subd_t *subd);
+
+static void CountersInit(struct s626_struct * s626ptr);
+
+static void s626_initialize(struct s626_struct * s626ptr);
+
+static int dev_s626_attach(a4l_dev_t *dev, a4l_lnkdesc_t *arg);
+
+static int dev_s626_detach(a4l_dev_t *dev);
+
+static int s626_pci_probe(struct pci_dev *dev, const struct pci_device_id
*ent);
+
+static void s626_pci_remove(struct pci_dev *dev);
--
1.7.9.5
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^ permalink raw reply related [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-02-28 14:12 [Xenomai] Sensoray 626 analogy driver Wojciech Domski
@ 2014-03-04 20:14 ` Wojciech Domski
2014-03-22 16:36 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-03-04 20:14 UTC (permalink / raw)
To: xenomai
Dear all,
Could I ask you to offer some insight into the Analogy driver for
Sensoray 626 which has been placed here as a patch?
Best regards,
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
W dniu 2014-02-28 15:12, Wojciech Domski pisze:
> Hello,
>
> I have prepared Analogy driver for Sensoray 626. I kindly ask you for
> review.
>
> You can find patch in the attachment and below.
>
> Best regards,
> Wojciech Domski
>
> From 3c8991a6686486edaa5faf1dd8cf972e40a6499d Mon Sep 17 00:00:00 2001
> From: Wojciech Domski <wojciech.domski@gmail.com
> <mailto:wojciech.domski@gmail.com>>
> Date: Fri, 28 Feb 2014 14:58:38 +0100
> Subject: [PATCH] Added new Sensoray driver for model 626
>
> ---
> ksrc/drivers/analogy/sensoray/Config.in | 1 +
> ksrc/drivers/analogy/sensoray/Kconfig | 5 +
> ksrc/drivers/analogy/sensoray/Makefile | 14 +-
> ksrc/drivers/analogy/sensoray/s626.c | 2843
> +++++++++++++++++++++++++++++++
> ksrc/drivers/analogy/sensoray/s626.h | 1136 ++++++++++++
> 5 files changed, 3998 insertions(+), 1 deletion(-)
> create mode 100755 ksrc/drivers/analogy/sensoray/s626.c
> create mode 100755 ksrc/drivers/analogy/sensoray/s626.h
>
> diff --git a/ksrc/drivers/analogy/sensoray/Config.in
> b/ksrc/drivers/analogy/sensoray/Config.in
> index 00e956c..03e3eda 100644
> --- a/ksrc/drivers/analogy/sensoray/Config.in
> +++ b/ksrc/drivers/analogy/sensoray/Config.in
> @@ -1,2 +1,3 @@
>
> dep_tristate 'Sensoray Model 526 driver'
> CONFIG_XENO_DRIVERS_ANALOGY_S526 $CONFIG_XENO_DRIVERS_ANALOGY
> +dep_tristate 'Sensoray Model 626 driver'
> CONFIG_XENO_DRIVERS_ANALOGY_S626 $CONFIG_XENO_DRIVERS_ANALOGY
> diff --git a/ksrc/drivers/analogy/sensoray/Kconfig
> b/ksrc/drivers/analogy/sensoray/Kconfig
> index ce5aa51..ae626f4 100644
> --- a/ksrc/drivers/analogy/sensoray/Kconfig
> +++ b/ksrc/drivers/analogy/sensoray/Kconfig
> @@ -3,3 +3,8 @@ config XENO_DRIVERS_ANALOGY_S526
> depends on XENO_DRIVERS_ANALOGY
> tristate "Sensoray Model 526 driver"
> default n
> +
> +config XENO_DRIVERS_ANALOGY_S626
> + depends on XENO_DRIVERS_ANALOGY
> + tristate "Sensoray Model 626 driver"
> + default n
> diff --git a/ksrc/drivers/analogy/sensoray/Makefile
> b/ksrc/drivers/analogy/sensoray/Makefile
> index e5e97c9..c90001a 100644
> --- a/ksrc/drivers/analogy/sensoray/Makefile
> +++ b/ksrc/drivers/analogy/sensoray/Makefile
> @@ -6,8 +6,12 @@ EXTRA_CFLAGS += -D__IN_XENOMAI__ -Iinclude/xenomai
>
> obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += analogy_s526.o
>
> +obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S626) += analogy_s626.o
> +
> analogy_s526-y := s526.o
>
> +analogy_s626-y := s626.o
> +
> else
>
> # Makefile flag for Linux v2.4
> @@ -16,9 +20,13 @@ O_TARGET := built-in.o
>
> obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += analogy_s526.o
>
> +obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S626) += analogy_s626.o
> +
> analogy_s526-objs := s526.o
>
> -export-objs := $(analogy_s526-objs)
> +analogy_s626-objs := s626.o
> +
> +export-objs := $(analogy_s526-objs) $(analogy_s626-objs)
>
> EXTRA_CFLAGS += -D__IN_XENOMAI__ -I$(TOPDIR)/include/xenomai
> -I$(TOPDIR)/include/xenomai/compat
>
> @@ -27,4 +35,8 @@ include $(TOPDIR)/Rules.make
> analogy_s526.o: $(analogy_s526-objs)
> $(LD) -r -o $@ $(analogy_s526-objs)
>
> +analogy_s626.o: $(analogy_s626-objs)
> + $(LD) -r -o $@ $(analogy_s626-objs)
> +
> +
> endif
> diff --git a/ksrc/drivers/analogy/sensoray/s626.c
> b/ksrc/drivers/analogy/sensoray/s626.c
> new file mode 100755
> index 0000000..6b9011a
> --- /dev/null
> +++ b/ksrc/drivers/analogy/sensoray/s626.c
> @@ -0,0 +1,2843 @@
> +/**
> + * @file
> + * Analogy driver for Sensoray Model 626 board
> + *
> + * Copyright (C) 2014 Wojciech Domski <wojciech.domski@gmail.com
> <mailto:wojciech.domski@gmail.com>>
> + * Copyright (C) 2014 Mariusz Janiak <mariusz.janiak@pwr.wroc.pl
> <mailto:mariusz.janiak@pwr.wroc.pl>>
> + *
> + * Derived from comedi:
> + * Copyright (C) 2000 David A. Schleef <ds@schleef.org
> <mailto:ds@schleef.org>>
> + *
> + * This code 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 code 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 Xenomai; if not, write to the Free Software Foundation,
> + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
> + */
> +/*
> + * Original code comes from comedi linux-next staging driver
> + * Board documentation: http://www.sensoray.com/products/626.htm
> + * Everything should work as in comedi.
> + */
> +
> +#include <linux/module.h>
> +#include <linux/ioport.h>
> +#include <asm/byteorder.h>
> +#include <analogy/analogy_driver.h>
> +#include <linux/pci.h>
> +
> +#include <analogy/driver.h>
> +#include <analogy/device.h>
> +
> +#include "s626.h"
> +
> +static LIST_HEAD(s626_list);
> +
> +/* TrimDac LogicalChan-to-PhysicalChan mapping table. */
> +static uint8_t trimchan[] = { 10, 9, 8, 3, 2, 7, 6, 1, 0, 5, 4 };
> +
> +/* TrimDac LogicalChan-to-EepromAdrs mapping table. */
> +static uint8_t trimadrs[] = { 0x40, 0x41, 0x42, 0x50, 0x51, 0x52,
> 0x53, 0x60,
> + 0x61, 0x62, 0x63 };
> +
> +/*
> + * For devices with vendor:device id == 0x1131:0x7146 you must specify
> + * also subvendor:subdevice ids, because otherwise it will conflict with
> + * Philips SAA7146 media/dvb based cards.
> + */
> +static struct pci_device_id s626_pci_table[] = { { 0x1131, 0x7146,
> 0x6000,
> + 0x0626, 0, 0, 0 }, { 0x1131, 0x7146, 0x6000, 626, 0, 0, 0 }, { 0,
> } };
> +
> +MODULE_DEVICE_TABLE(pci, s626_pci_table);
> +
> +static struct pci_driver drv_pci_s626 = { .name = "S626", .id_table =
> + s626_pci_table, .probe = s626_pci_probe, .remove =
> s626_pci_remove, };
> +
> +static struct s626_subd_dio_private s626_subd_dio_private_A = { .RDDIn =
> + LP_RDDINA, .WRDOut = LP_WRDOUTA, .RDEdgSel = LP_RDEDGSELA,
> .WREdgSel =
> + LP_WREDGSELA, .RDCapSel = LP_RDCAPSELA, .WRCapSel = LP_WRCAPSELA,
> + .RDCapFlg = LP_RDCAPFLGA, .RDIntSel = LP_RDINTSELA,
> + .WRIntSel = LP_WRINTSELA, .io_bits = 0, .state = 0, };
> +
> +static struct s626_subd_dio_private s626_subd_dio_private_B = { .RDDIn =
> + LP_RDDINB, .WRDOut = LP_WRDOUTB, .RDEdgSel = LP_RDEDGSELB,
> .WREdgSel =
> + LP_WREDGSELB, .RDCapSel = LP_RDCAPSELB, .WRCapSel = LP_WRCAPSELB,
> + .RDCapFlg = LP_RDCAPFLGB, .RDIntSel = LP_RDINTSELB,
> + .WRIntSel = LP_WRINTSELB, .io_bits = 0, .state = 0, };
> +
> +static struct s626_subd_dio_private s626_subd_dio_private_C = { .RDDIn =
> + LP_RDDINC, .WRDOut = LP_WRDOUTC, .RDEdgSel = LP_RDEDGSELC,
> .WREdgSel =
> + LP_WREDGSELC, .RDCapSel = LP_RDCAPSELC, .WRCapSel = LP_WRCAPSELC,
> + .RDCapFlg = LP_RDCAPFLGC, .RDIntSel = LP_RDINTSELC,
> + .WRIntSel = LP_WRINTSELC, .io_bits = 0, .state = 0, };
> +
> +/* ****** PRIVATE COUNTER FUNCTIONS ****** */
> +
> +/* Reset a counter's index and overflow event capture flags. */
> +
> +static void ResetCapFlags_A(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + DEBIreplace(s626ptr, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
> + CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A);
> +}
> +
> +static void ResetCapFlags_B(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + DEBIreplace(s626ptr, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
> + CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B);
> +}
> +
> +/* Return counter setup in a format (COUNTER_SETUP) that is
> consistent */
> +/* for both A and B counters. */
> +
> +static uint16_t GetMode_A(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + register uint16_t cra;
> + register uint16_t crb;
> + register uint16_t setup;
> +
> + /* Fetch CRA and CRB register images. */
> + cra = DEBIread(s626ptr, k->MyCRA);
> + crb = DEBIread(s626ptr, k->MyCRB);
> +
> + /* Populate the standardized counter setup bit fields. Note: */
> + /* IndexSrc is restricted to ENC_X or IndxPol. */
> + setup = ((cra & STDMSK_LOADSRC) /* LoadSrc = LoadSrcA. */
> + | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC)
> /* LatchSrc = LatchSrcA. */
> + | ((cra << (STDBIT_INTSRC - CRABIT_INTSRC_A)) & STDMSK_INTSRC) /*
> IntSrc = IntSrcA. */
> + | ((cra << (STDBIT_INDXSRC - (CRABIT_INDXSRC_A + 1))) &
> STDMSK_INDXSRC) /* IndxSrc = IndxSrcA<1>. */
> + | ((cra >> (CRABIT_INDXPOL_A - STDBIT_INDXPOL)) & STDMSK_INDXPOL)
> /* IndxPol = IndxPolA. */
> + | ((crb >> (CRBBIT_CLKENAB_A - STDBIT_CLKENAB)) & STDMSK_CLKENAB));
> /* ClkEnab = ClkEnabA. */
> +
> + /* Adjust mode-dependent parameters. */
> + if (cra & (2 << CRABIT_CLKSRC_A)) /* If Timer mode (ClkSrcA<1> ==
> 1): */
> + setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */
> + | ((cra << (STDBIT_CLKPOL - CRABIT_CLKSRC_A)) & STDMSK_CLKPOL)
> /* Set ClkPol to indicate count direction (ClkSrcA<0>). */
> + | (MULT_X1 << STDBIT_CLKMULT)); /* ClkMult must be 1x in Timer
> mode. */
> +
> + else
> + /* If Counter mode (ClkSrcA<1> == 0): */
> + setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Counter
> mode. */
> + | ((cra >> (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) & STDMSK_CLKPOL)
> /* Pass through ClkPol. */
> + | (((cra & CRAMSK_CLKMULT_A) == (MULT_X0 <<
> CRABIT_CLKMULT_A)) ? /* Force ClkMult to 1x if not legal, else pass
> through. */
> + (MULT_X1 << STDBIT_CLKMULT) : ((cra
> + >> (CRABIT_CLKMULT_A - STDBIT_CLKMULT)) & STDMSK_CLKMULT)));
> +
> + /* Return adjusted counter setup. */
> + return setup;
> +}
> +
> +static uint16_t GetMode_B(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + register uint16_t cra;
> + register uint16_t crb;
> + register uint16_t setup;
> +
> + /* Fetch CRA and CRB register images. */
> + cra = DEBIread(s626ptr, k->MyCRA);
> + crb = DEBIread(s626ptr, k->MyCRB);
> +
> + /* Populate the standardized counter setup bit fields. Note: */
> + /* IndexSrc is restricted to ENC_X or IndxPol. */
> + setup = (((crb << (STDBIT_INTSRC - CRBBIT_INTSRC_B)) &
> STDMSK_INTSRC) /* IntSrc = IntSrcB. */
> + | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC)
> /* LatchSrc = LatchSrcB. */
> + | ((crb << (STDBIT_LOADSRC - CRBBIT_LOADSRC_B)) & STDMSK_LOADSRC)
> /* LoadSrc = LoadSrcB. */
> + | ((crb << (STDBIT_INDXPOL - CRBBIT_INDXPOL_B)) & STDMSK_INDXPOL)
> /* IndxPol = IndxPolB. */
> + | ((crb >> (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) & STDMSK_CLKENAB)
> /* ClkEnab = ClkEnabB. */
> + | ((cra >> ((CRABIT_INDXSRC_B + 1) - STDBIT_INDXSRC)) &
> STDMSK_INDXSRC)); /* IndxSrc = IndxSrcB<1>. */
> +
> + /* Adjust mode-dependent parameters. */
> + if ((crb & CRBMSK_CLKMULT_B) == (MULT_X0 << CRBBIT_CLKMULT_B)) /*
> If Extender mode (ClkMultB == MULT_X0): */
> + setup |= ((CLKSRC_EXTENDER << STDBIT_CLKSRC) /* Indicate Extender
> mode. */
> + | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */
> + | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL));
> /* Set ClkPol equal to Timer count direction (ClkSrcB<0>). */
> +
> + else if (cra & (2 << CRABIT_CLKSRC_B)) /* If Timer mode
> (ClkSrcB<1> == 1): */
> + setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */
> + | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */
> + | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL));
> /* Set ClkPol equal to Timer count direction (ClkSrcB<0>). */
> +
> + else
> + /* If Counter mode (ClkSrcB<1> == 0): */
> + setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Timer
> mode. */
> + | ((crb >> (CRBBIT_CLKMULT_B - STDBIT_CLKMULT)) & STDMSK_CLKMULT)
> /* Clock multiplier is passed through. */
> + | ((crb << (STDBIT_CLKPOL - CRBBIT_CLKPOL_B)) & STDMSK_CLKPOL));
> /* Clock polarity is passed through. */
> +
> + /* Return adjusted counter setup. */
> + return setup;
> +}
> +
> +/*
> + * Set the operating mode for the specified counter. The setup
> + * parameter is treated as a COUNTER_SETUP data type. The following
> + * parameters are programmable (all other parms are ignored): ClkMult,
> + * ClkPol, ClkEnab, IndexSrc, IndexPol, LoadSrc.
> + */
> +
> +static void SetMode_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Setup, uint16_t DisableIntSrc) {
> + struct s626_priv *devpriv = s626ptr->private;
> + register uint16_t cra;
> + register uint16_t crb;
> + register uint16_t setup = Setup; /* Cache the Standard Setup. */
> +
> + /* Initialize CRA and CRB images. */
> + cra = ((setup & CRAMSK_LOADSRC_A) /* Preload trigger is passed
> through. */
> + | ((setup & STDMSK_INDXSRC) >> (STDBIT_INDXSRC - (CRABIT_INDXSRC_A
> + 1)))); /* IndexSrc is restricted to ENC_X or IndxPol. */
> +
> + crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A /* Reset any pending
> CounterA event captures. */
> + | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_A -
> STDBIT_CLKENAB))); /* Clock enable is passed through. */
> +
> + /* Force IntSrc to Disabled if DisableIntSrc is asserted. */
> + if (!DisableIntSrc)
> + cra |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC -
> CRABIT_INTSRC_A));
> +
> + /* Populate all mode-dependent attributes of CRA & CRB images. */
> + switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) {
> + case CLKSRC_EXTENDER: /* Extender Mode: Force to Timer mode */
> + /* (Extender valid only for B counters). */
> +
> + case CLKSRC_TIMER: /* Timer Mode: */
> + cra |= ((2 << CRABIT_CLKSRC_A) /* ClkSrcA<1> selects system
> clock */
> + | ((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRABIT_CLKSRC_A))
> /* with count direction (ClkSrcA<0>) obtained from ClkPol. */
> + | (1 << CRABIT_CLKPOL_A) /* ClkPolA behaves as always-on clock
> enable. */
> + | (MULT_X1 << CRABIT_CLKMULT_A)); /* ClkMult must be 1x. */
> + break;
> +
> + default: /* Counter Mode: */
> + cra |= (CLKSRC_COUNTER /* Select ENC_C and ENC_D as
> clock/direction inputs. */
> + | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKPOL_A - STDBIT_CLKPOL))
> /* Clock polarity is passed through. */
> + | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT))
> ? /* Force multiplier to x1 if not legal, otherwise pass through. */
> + (MULT_X1 << CRABIT_CLKMULT_A) : ((setup & STDMSK_CLKMULT)
> + << (CRABIT_CLKMULT_A - STDBIT_CLKMULT))));
> + break;
> + }
> +
> + /* Force positive index polarity if IndxSrc is software-driven
> only, */
> + /* otherwise pass it through. */
> + if (~setup & STDMSK_INDXSRC)
> + cra |= ((setup & STDMSK_INDXPOL) << (CRABIT_INDXPOL_A -
> STDBIT_INDXPOL));
> +
> + /* If IntSrc has been forced to Disabled, update the MISC2
> interrupt */
> + /* enable mask to indicate the counter interrupt is disabled. */
> + if (DisableIntSrc)
> + devpriv->CounterIntEnabs &= ~k->MyEventBits[3];
> +
> + /* While retaining CounterB and LatchSrc configurations, program
> the */
> + /* new counter operating mode. */
> + DEBIreplace(s626ptr, k->MyCRA, CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B,
> cra);
> + DEBIreplace(s626ptr, k->MyCRB,
> + (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)), crb);
> +}
> +
> +static void SetMode_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Setup, uint16_t DisableIntSrc) {
> + struct s626_priv *devpriv = s626ptr->private;
> + register uint16_t cra;
> + register uint16_t crb;
> + register uint16_t setup = Setup; /* Cache the Standard Setup. */
> +
> + /* Initialize CRA and CRB images. */
> + cra = ((setup & STDMSK_INDXSRC) << ((CRABIT_INDXSRC_B + 1) -
> STDBIT_INDXSRC)); /* IndexSrc field is restricted to ENC_X or IndxPol. */
> +
> + crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B /* Reset event
> captures and disable interrupts. */
> + | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_B - STDBIT_CLKENAB))
> /* Clock enable is passed through. */
> + | ((setup & STDMSK_LOADSRC) >> (STDBIT_LOADSRC -
> CRBBIT_LOADSRC_B))); /* Preload trigger source is passed through. */
> +
> + /* Force IntSrc to Disabled if DisableIntSrc is asserted. */
> + if (!DisableIntSrc)
> + crb |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC -
> CRBBIT_INTSRC_B));
> +
> + /* Populate all mode-dependent attributes of CRA & CRB images. */
> + switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) {
> + case CLKSRC_TIMER: /* Timer Mode: */
> + cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB<1> selects system
> clock */
> + | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B -
> STDBIT_CLKPOL))); /* with direction (ClkSrcB<0>) obtained from
> ClkPol. */
> + crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB behaves as always-on
> clock enable. */
> + | (MULT_X1 << CRBBIT_CLKMULT_B)); /* ClkMultB must be 1x. */
> + break;
> +
> + case CLKSRC_EXTENDER: /* Extender Mode: */
> + cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB source is OverflowA
> (same as "timer") */
> + | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B -
> STDBIT_CLKPOL))); /* with direction obtained from ClkPol. */
> + crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB controls IndexB --
> always set to active. */
> + | (MULT_X0 << CRBBIT_CLKMULT_B)); /* ClkMultB selects
> OverflowA as the clock source. */
> + break;
> +
> + default: /* Counter Mode: */
> + cra |= (CLKSRC_COUNTER << CRABIT_CLKSRC_B); /* Select ENC_C and
> ENC_D as clock/direction inputs. */
> + crb |= (((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL -
> CRBBIT_CLKPOL_B)) /* ClkPol is passed through. */
> + | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT))
> ? /* Force ClkMult to x1 if not legal, otherwise pass through. */
> + (MULT_X1 << CRBBIT_CLKMULT_B) : ((setup & STDMSK_CLKMULT)
> + << (CRBBIT_CLKMULT_B - STDBIT_CLKMULT))));
> + break;
> + }
> +
> + /* Force positive index polarity if IndxSrc is software-driven
> only, */
> + /* otherwise pass it through. */
> + if (~setup & STDMSK_INDXSRC)
> + crb |= ((setup & STDMSK_INDXPOL) >> (STDBIT_INDXPOL -
> CRBBIT_INDXPOL_B));
> +
> + /* If IntSrc has been forced to Disabled, update the MISC2
> interrupt */
> + /* enable mask to indicate the counter interrupt is disabled. */
> + if (DisableIntSrc)
> + devpriv->CounterIntEnabs &= ~k->MyEventBits[3];
> +
> + /* While retaining CounterA and LatchSrc configurations, program
> the */
> + /* new counter operating mode. */
> + DEBIreplace(s626ptr, k->MyCRA,
> + (uint16_t) (~(CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B)), cra);
> + DEBIreplace(s626ptr, k->MyCRB, CRBMSK_CLKENAB_A | CRBMSK_LATCHSRC,
> crb);
> +}
> +
> +/* Return/set a counter's enable. enab: 0=always enabled, 1=enabled
> by index. */
> +
> +static void SetEnable_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t enab) {
> + DEBIreplace(s626ptr, k->MyCRB,
> + (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)),
> + (uint16_t) (enab << CRBBIT_CLKENAB_A));
> +}
> +
> +static void SetEnable_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t enab) {
> + DEBIreplace(s626ptr, k->MyCRB,
> + (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_B)),
> + (uint16_t) (enab << CRBBIT_CLKENAB_B));
> +}
> +
> +static uint16_t GetEnable_A(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_CLKENAB_A) & 1;
> +}
> +
> +static uint16_t GetEnable_B(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_CLKENAB_B) & 1;
> +}
> +
> +/*
> + * static uint16_t GetLatchSource(struct comedi_device *dev, struct
> enc_private *k )
> + * {
> + * return ( DEBIread(s626ptr, dev, k->MyCRB) >> CRBBIT_LATCHSRC ) & 3;
> + * }
> + */
> +
> +/*
> + * Return/set the event that will trigger transfer of the preload
> + * register into the counter. 0=ThisCntr_Index, 1=ThisCntr_Overflow,
> + * 2=OverflowA (B counters only), 3=disabled.
> + */
> +
> +static void SetLoadTrig_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Trig) {
> + DEBIreplace(s626ptr, k->MyCRA, (uint16_t) (~CRAMSK_LOADSRC_A),
> + (uint16_t) (Trig << CRABIT_LOADSRC_A));
> +}
> +
> +static void SetLoadTrig_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Trig) {
> + DEBIreplace(s626ptr, k->MyCRB,
> + (uint16_t) (~(CRBMSK_LOADSRC_B | CRBMSK_INTCTRL)),
> + (uint16_t) (Trig << CRBBIT_LOADSRC_B));
> +}
> +
> +static uint16_t GetLoadTrig_A(struct s626_struct * s626ptr,
> + struct enc_private *k) {
> + return (DEBIread(s626ptr, k->MyCRA) >> CRABIT_LOADSRC_A) & 3;
> +}
> +
> +static uint16_t GetLoadTrig_B(struct s626_struct * s626ptr,
> + struct enc_private *k) {
> + return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_LOADSRC_B) & 3;
> +}
> +
> +/* Return/set counter interrupt source and clear any captured
> + * index/overflow events. IntSource: 0=Disabled, 1=OverflowOnly,
> + * 2=IndexOnly, 3=IndexAndOverflow.
> + */
> +
> +static void SetIntSrc_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t IntSource) {
> + struct s626_priv *devpriv = s626ptr->private;
> +
> + /* Reset any pending counter overflow or index captures. */
> + DEBIreplace(s626ptr, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
> + CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A);
> +
> + /* Program counter interrupt source. */
> + DEBIreplace(s626ptr, k->MyCRA, ~CRAMSK_INTSRC_A,
> + (uint16_t) (IntSource << CRABIT_INTSRC_A));
> +
> + /* Update MISC2 interrupt enable mask. */
> + devpriv->CounterIntEnabs = (devpriv->CounterIntEnabs &
> ~k->MyEventBits[3])
> + | k->MyEventBits[IntSource];
> +}
> +
> +static void SetIntSrc_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t IntSource) {
> + struct s626_priv *devpriv = s626ptr->private;
> + uint16_t crb;
> +
> + /* Cache writeable CRB register image. */
> + crb = DEBIread(s626ptr, k->MyCRB) & ~CRBMSK_INTCTRL;
> +
> + /* Reset any pending counter overflow or index captures. */
> + DEBIwrite(s626ptr, k->MyCRB,
> + (uint16_t) (crb | CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B));
> +
> + /* Program counter interrupt source. */
> + DEBIwrite(s626ptr, k->MyCRB,
> + (uint16_t) ((crb & ~CRBMSK_INTSRC_B) | (IntSource <<
> CRBBIT_INTSRC_B)));
> +
> + /* Update MISC2 interrupt enable mask. */
> + devpriv->CounterIntEnabs = (devpriv->CounterIntEnabs &
> ~k->MyEventBits[3])
> + | k->MyEventBits[IntSource];
> +}
> +
> +static uint16_t GetIntSrc_A(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + return (DEBIread(s626ptr, k->MyCRA) >> CRABIT_INTSRC_A) & 3;
> +}
> +
> +static uint16_t GetIntSrc_B(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + return (DEBIread(s626ptr, k->MyCRB) >> CRBBIT_INTSRC_B) & 3;
> +}
> +
> +/* Generate an index pulse. */
> +
> +static void PulseIndex_A(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + register uint16_t cra;
> +
> + cra = DEBIread(s626ptr, k->MyCRA); /* Pulse index. */
> + DEBIwrite(s626ptr, k->MyCRA, (uint16_t) (cra ^ CRAMSK_INDXPOL_A));
> + DEBIwrite(s626ptr, k->MyCRA, cra);
> +}
> +
> +static void PulseIndex_B(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + register uint16_t crb;
> +
> + crb = DEBIread(s626ptr, k->MyCRB) & ~CRBMSK_INTCTRL; /* Pulse
> index. */
> + DEBIwrite(s626ptr, k->MyCRB, (uint16_t) (crb ^ CRBMSK_INDXPOL_B));
> + DEBIwrite(s626ptr, k->MyCRB, crb);
> +}
> +
> +static struct enc_private enc_private_data_init[] = { {
> + .GetEnable = GetEnable_A, .GetIntSrc = GetIntSrc_A, .GetLoadTrig =
> + GetLoadTrig_A, .GetMode = GetMode_A, .PulseIndex = PulseIndex_A,
> + .SetEnable = SetEnable_A, .SetIntSrc = SetIntSrc_A, .SetLoadTrig =
> + SetLoadTrig_A, .SetMode = SetMode_A, .ResetCapFlags =
> ResetCapFlags_A,
> + .MyCRA = LP_CR0A, .MyCRB = LP_CR0B, .MyLatchLsw = LP_CNTR0ALSW,
> + .MyEventBits = EVBITS(0), }, { .GetEnable = GetEnable_A, .GetIntSrc =
> + GetIntSrc_A, .GetLoadTrig = GetLoadTrig_A, .GetMode = GetMode_A,
> + .PulseIndex = PulseIndex_A, .SetEnable = SetEnable_A, .SetIntSrc =
> + SetIntSrc_A, .SetLoadTrig = SetLoadTrig_A, .SetMode = SetMode_A,
> + .ResetCapFlags = ResetCapFlags_A, .MyCRA = LP_CR1A, .MyCRB = LP_CR1B,
> + .MyLatchLsw = LP_CNTR1ALSW, .MyEventBits = EVBITS(1), }, {
> .GetEnable =
> + GetEnable_A, .GetIntSrc = GetIntSrc_A, .GetLoadTrig = GetLoadTrig_A,
> + .GetMode = GetMode_A, .PulseIndex = PulseIndex_A, .SetEnable =
> SetEnable_A,
> + .SetIntSrc = SetIntSrc_A, .SetLoadTrig = SetLoadTrig_A,
> + .SetMode = SetMode_A, .ResetCapFlags = ResetCapFlags_A, .MyCRA =
> LP_CR2A,
> + .MyCRB = LP_CR2B, .MyLatchLsw = LP_CNTR2ALSW, .MyEventBits =
> EVBITS(2), }, {
> + .GetEnable = GetEnable_B, .GetIntSrc = GetIntSrc_B, .GetLoadTrig =
> + GetLoadTrig_B, .GetMode = GetMode_B, .PulseIndex = PulseIndex_B,
> + .SetEnable = SetEnable_B, .SetIntSrc = SetIntSrc_B, .SetLoadTrig =
> + SetLoadTrig_B, .SetMode = SetMode_B, .ResetCapFlags =
> ResetCapFlags_B,
> + .MyCRA = LP_CR0A, .MyCRB = LP_CR0B, .MyLatchLsw = LP_CNTR0BLSW,
> + .MyEventBits = EVBITS(3), }, { .GetEnable = GetEnable_B, .GetIntSrc =
> + GetIntSrc_B, .GetLoadTrig = GetLoadTrig_B, .GetMode = GetMode_B,
> + .PulseIndex = PulseIndex_B, .SetEnable = SetEnable_B, .SetIntSrc =
> + SetIntSrc_B, .SetLoadTrig = SetLoadTrig_B, .SetMode = SetMode_B,
> + .ResetCapFlags = ResetCapFlags_B, .MyCRA = LP_CR1A, .MyCRB = LP_CR1B,
> + .MyLatchLsw = LP_CNTR1BLSW, .MyEventBits = EVBITS(4), }, {
> .GetEnable =
> + GetEnable_B, .GetIntSrc = GetIntSrc_B, .GetLoadTrig = GetLoadTrig_B,
> + .GetMode = GetMode_B, .PulseIndex = PulseIndex_B, .SetEnable =
> SetEnable_B,
> + .SetIntSrc = SetIntSrc_B, .SetLoadTrig = SetLoadTrig_B,
> + .SetMode = SetMode_B, .ResetCapFlags = ResetCapFlags_B, .MyCRA =
> LP_CR2A,
> + .MyCRB = LP_CR2B, .MyLatchLsw = LP_CNTR2BLSW, .MyEventBits =
> EVBITS(5), }, };
> +
> +static void CloseDMAB(struct s626_struct * s626ptr, struct bufferDMA
> *pdma,
> + size_t bsize) {
> + struct pci_dev *pcidev = s626ptr->pcidev;
> + void *vbptr;
> + dma_addr_t vpptr;
> +
> + if (pdma == NULL)
> + return;
> + /* find the matching allocation from the board struct */
> +
> + vbptr = pdma->LogicalBase;
> + vpptr = pdma->PhysicalBase;
> + if (vbptr) {
> + pci_free_consistent(pcidev, bsize, vbptr, vpptr);
> + pdma->LogicalBase = NULL;
> + pdma->PhysicalBase = 0;
> + }
> +}
> +
> +/* Initialize the DEBI interface for all transfers. */
> +
> +static uint16_t DEBIread(struct s626_struct * s626ptr, uint16_t addr) {
> + struct s626_priv *devpriv = s626ptr->private;
> + uint16_t retval;
> +
> + /* Set up DEBI control register value in shadow RAM. */
> + WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr);
> +
> + /* Execute the DEBI transfer. */
> + DEBItransfer(s626ptr);
> +
> + /* Fetch target register value. */
> + retval = (uint16_t) RR7146(P_DEBIAD);
> +
> + /* Return register value. */
> + return retval;
> +}
> +
> +/* Write a value to a gate array register. */
> +static void DEBIwrite(struct s626_struct * s626ptr, uint16_t addr,
> + uint16_t wdata) {
> + struct s626_priv *devpriv = s626ptr->private;
> +
> + /* Set up DEBI control register value in shadow RAM. */
> + WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr);
> + WR7146(P_DEBIAD, wdata);
> +
> + /* Execute the DEBI transfer. */
> + DEBItransfer(s626ptr);
> +}
> +
> +/* Execute a DEBI transfer. This must be called from within a */
> +/* critical section. */
> +static void DEBItransfer(struct s626_struct * s626ptr) {
> + struct s626_priv *devpriv = s626ptr->private;
> +
> + /* Initiate upload of shadow RAM to DEBI control register. */
> + MC_ENABLE(P_MC2, MC2_UPLD_DEBI);
> +
> + /* Wait for completion of upload from shadow RAM to DEBI control */
> + /* register. */
> + while (!MC_TEST(P_MC2, MC2_UPLD_DEBI))
> + ;
> +
> + /* Wait until DEBI transfer is done. */
> + while (RR7146(P_PSR) & PSR_DEBI_S)
> + ;
> +}
> +
> +static void DEBIreplace(struct s626_struct * s626ptr, uint16_t addr,
> + uint16_t mask, uint16_t wdata) {
> + struct s626_priv *devpriv = s626ptr->private;
> +
> + /* Copy target gate array register into P_DEBIAD register. */
> + WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr);
> + /* Set up DEBI control reg value in shadow RAM. */
> + DEBItransfer(s626ptr); /* Execute the DEBI Read transfer. */
> +
> + /* Write back the modified image. */
> + WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr);
> + /* Set up DEBI control reg value in shadow RAM. */
> +
> + WR7146(P_DEBIAD, wdata | ((uint16_t) RR7146(P_DEBIAD) & mask));
> + /* Modify the register image. */
> + DEBItransfer(s626ptr); /* Execute the DEBI Write transfer. */
> +}
> +
> +/* ************** EEPROM ACCESS FUNCTIONS ************** */
> +
> +static uint32_t I2Chandshake(struct s626_struct * s626ptr, uint32_t
> val) {
> + struct s626_priv *devpriv = s626ptr->private;
> +
> + /* Write I2C command to I2C Transfer Control shadow register. */
> + WR7146(P_I2CCTRL, val);
> +
> + /* Upload I2C shadow registers into working registers and wait for */
> + /* upload confirmation. */
> +
> + MC_ENABLE(P_MC2, MC2_UPLD_IIC);
> + while (!MC_TEST(P_MC2, MC2_UPLD_IIC))
> + ;
> +
> + /* Wait until I2C bus transfer is finished or an error occurs. */
> + while ((RR7146(P_I2CCTRL) & (I2C_BUSY | I2C_ERR)) == I2C_BUSY)
> + ;
> +
> + /* Return non-zero if I2C error occurred. */
> + return RR7146(P_I2CCTRL) & I2C_ERR;
> +
> +}
> +
> +/* Read uint8_t from EEPROM. */
> +static uint8_t I2Cread(struct s626_struct * s626ptr, uint8_t addr) {
> + struct s626_priv *devpriv = s626ptr->private;
> + uint8_t rtnval;
> +
> + /* Send EEPROM target address. */
> + if (I2Chandshake(s626ptr, I2C_B2(I2C_ATTRSTART, I2CW)
> + /* Byte2 = I2C command: write to I2C EEPROM device. */
> + | I2C_B1(I2C_ATTRSTOP, addr)
> + /* Byte1 = EEPROM internal target address. */
> + | I2C_B0(I2C_ATTRNOP, 0))) { /* Byte0 = Not sent. */
> + /* Abort function and declare error if handshake failed. */
> + return 0;
> + }
> + /* Execute EEPROM read. */
> + if (I2Chandshake(s626ptr, I2C_B2(I2C_ATTRSTART, I2CR)
> +
> + /* Byte2 = I2C */
> + /* command: read */
> + /* from I2C EEPROM */
> + /* device. */
> + | I2C_B1(I2C_ATTRSTOP, 0)
> +
> + /* Byte1 receives */
> + /* uint8_t from */
> + /* EEPROM. */
> + | I2C_B0(I2C_ATTRNOP, 0))) { /* Byte0 = Not sent. */
> +
> + /* Abort function and declare error if handshake failed. */
> + return 0;
> + }
> + /* Return copy of EEPROM value. */
> + rtnval = (uint8_t) (RR7146(P_I2CCTRL) >> 16);
> + return rtnval;
> +}
> +
> +static void WriteMISC2(struct s626_struct * s626ptr, uint16_t NewImage) {
> + DEBIwrite(s626ptr, LP_MISC1, MISC1_WENABLE); /* enab writes to */
> + /* MISC2 register. */
> + DEBIwrite(s626ptr, LP_WRMISC2, NewImage); /* Write new image to
> MISC2. */
> + DEBIwrite(s626ptr, LP_MISC1, MISC1_WDISABLE); /* Disable writes to
> MISC2. */
> +}
> +
> +/* Write value into counter preload register. */
> +static void Preload(struct s626_struct * s626ptr, struct enc_private *k,
> + uint32_t value) {
> + DEBIwrite(s626ptr, (uint16_t) (k->MyLatchLsw), (uint16_t) value);
> + DEBIwrite(s626ptr, (uint16_t) (k->MyLatchLsw + 2), (uint16_t)
> (value >> 16));
> +}
> +
> +/* Private helper function: Transmit serial data to DAC via Audio
> + * channel 2. Assumes: (1) TSL2 slot records initialized, and (2)
> + * Dacpol contains valid target image.
> + */
> +static void SendDAC(struct s626_struct * s626ptr, uint32_t val) {
> + struct s626_priv *devpriv = s626ptr->private;
> +
> + /* START THE SERIAL CLOCK RUNNING ------------- */
> +
> + /* Assert DAC polarity control and enable gating of DAC serial clock
> + * and audio bit stream signals. At this point in time we must be
> + * assured of being in time slot 0. If we are not in slot 0, the
> + * serial clock and audio stream signals will be disabled; this is
> + * because the following DEBIwrite statement (which enables signals
> + * to be passed through the gate array) would execute before the
> + * trailing edge of WS1/WS3 (which turns off the signals), thus
> + * causing the signals to be inactive during the DAC write.
> + */
> + DEBIwrite(s626ptr, LP_DACPOL, devpriv->Dacpol);
> +
> + /* TRANSFER OUTPUT DWORD VALUE INTO A2'S OUTPUT FIFO
> ---------------- */
> +
> + /* Copy DAC setpoint value to DAC's output DMA buffer. */
> +
> + /* WR7146( (uint32_t)devpriv->pDacWBuf, val ); */
> + *devpriv->pDacWBuf = val;
> +
> + /* enab the output DMA transfer. This will cause the DMAC to copy
> + * the DAC's data value to A2's output FIFO. The DMA transfer will
> + * then immediately terminate because the protection address is
> + * reached upon transfer of the first DWORD value.
> + */
> + MC_ENABLE(P_MC1, MC1_A2OUT);
> +
> + /* While the DMA transfer is executing ... */
> +
> + /* Reset Audio2 output FIFO's underflow flag (along with any other
> + * FIFO underflow/overflow flags). When set, this flag will
> + * indicate that we have emerged from slot 0.
> + */
> + WR7146(P_ISR, ISR_AFOU);
> +
> + /* Wait for the DMA transfer to finish so that there will be data
> + * available in the FIFO when time slot 1 tries to transfer a DWORD
> + * from the FIFO to the output buffer register. We test for DMA
> + * Done by polling the DMAC enable flag; this flag is automatically
> + * cleared when the transfer has finished.
> + */
> + while ((RR7146(P_MC1) & MC1_A2OUT) != 0)
> + ;
> +
> + /* START THE OUTPUT STREAM TO THE TARGET DAC -------------------- */
> +
> + /* FIFO data is now available, so we enable execution of time slots
> + * 1 and higher by clearing the EOS flag in slot 0. Note that SD3
> + * will be shifted in and stored in FB_BUFFER2 for end-of-slot-list
> + * detection.
> + */
> + SETVECT(0, XSD2 | RSD3 | SIB_A2);
> +
> + /* Wait for slot 1 to execute to ensure that the Packet will be
> + * transmitted. This is detected by polling the Audio2 output FIFO
> + * underflow flag, which will be set when slot 1 execution has
> + * finished transferring the DAC's data DWORD from the output FIFO
> + * to the output buffer register.
> + */
> + while ((RR7146(P_SSR) & SSR_AF2_OUT) == 0)
> + ;
> +
> + /* Set up to trap execution at slot 0 when the TSL sequencer cycles
> + * back to slot 0 after executing the EOS in slot 5. Also,
> + * simultaneously shift out and in the 0x00 that is ALWAYS the value
> + * stored in the last byte to be shifted out of the FIFO's DWORD
> + * buffer register.
> + */
> + SETVECT(0, XSD2 | XFIFO_2 | RSD2 | SIB_A2 | EOS);
> +
> + /* WAIT FOR THE TRANSACTION TO FINISH ----------------------- */
> +
> + /* Wait for the TSL to finish executing all time slots before
> + * exiting this function. We must do this so that the next DAC
> + * write doesn't start, thereby enabling clock/chip select signals:
> + *
> + * 1. Before the TSL sequence cycles back to slot 0, which disables
> + * the clock/cs signal gating and traps slot // list execution.
> + * we have not yet finished slot 5 then the clock/cs signals are
> + * still gated and we have not finished transmitting the stream.
> + *
> + * 2. While slots 2-5 are executing due to a late slot 0 trap. In
> + * this case, the slot sequence is currently repeating, but with
> + * clock/cs signals disabled. We must wait for slot 0 to trap
> + * execution before setting up the next DAC setpoint DMA transfer
> + * and enabling the clock/cs signals. To detect the end of slot 5,
> + * we test for the FB_BUFFER2 MSB contents to be equal to 0xFF. If
> + * the TSL has not yet finished executing slot 5 ...
> + */
> + if ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0) {
> + /* The trap was set on time and we are still executing somewhere
> + * in slots 2-5, so we now wait for slot 0 to execute and trap
> + * TSL execution. This is detected when FB_BUFFER2 MSB changes
> + * from 0xFF to 0x00, which slot 0 causes to happen by shifting
> + * out/in on SD2 the 0x00 that is always referenced by slot 5.
> + */
> + while ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0)
> + ;
> + }
> + /* Either (1) we were too late setting the slot 0 trap; the TSL
> + * sequencer restarted slot 0 before we could set the EOS trap flag,
> + * or (2) we were not late and execution is now trapped at slot 0.
> + * In either case, we must now change slot 0 so that it will store
> + * value 0xFF (instead of 0x00) to FB_BUFFER2 next time it executes.
> + * In order to do this, we reprogram slot 0 so that it will shift in
> + * SD3, which is driven only by a pull-up resistor.
> + */
> + SETVECT(0, RSD3 | SIB_A2 | EOS);
> +
> + /* Wait for slot 0 to execute, at which time the TSL is setup for
> + * the next DAC write. This is detected when FB_BUFFER2 MSB changes
> + * from 0x00 to 0xFF.
> + */
> + while ((RR7146(P_FB_BUFFER2) & 0xFF000000) == 0)
> + ;
> +}
> +
> +/* Private helper function: Write setpoint to an application DAC
> channel. */
> +static void SetDAC(struct s626_struct * s626ptr, uint16_t chan, short
> dacdata) {
> + struct s626_priv *devpriv = s626ptr->private;
> + register uint16_t signmask;
> + register uint32_t WSImage;
> +
> + /* Adjust DAC data polarity and set up Polarity Control Register */
> + /* image. */
> + signmask = 1 << chan;
> + if (dacdata < 0) {
> + dacdata = -dacdata;
> + devpriv->Dacpol |= signmask;
> + } else
> + devpriv->Dacpol &= ~signmask;
> +
> + /* Limit DAC setpoint value to valid range. */
> + if ((uint16_t) dacdata > 0x1FFF)
> + dacdata = 0x1FFF;
> +
> + /* Set up TSL2 records (aka "vectors") for DAC update. Vectors V2
> + * and V3 transmit the setpoint to the target DAC. V4 and V5 send
> + * data to a non-existent TrimDac channel just to keep the clock
> + * running after sending data to the target DAC. This is necessary
> + * to eliminate the clock glitch that would otherwise occur at the
> + * end of the target DAC's serial data stream. When the sequence
> + * restarts at V0 (after executing V5), the gate array automatically
> + * disables gating for the DAC clock and all DAC chip selects.
> + */
> +
> + WSImage = (chan & 2) ? WS1 : WS2;
> + /* Choose DAC chip select to be asserted. */
> + SETVECT(2, XSD2 | XFIFO_1 | WSImage);
> + /* Slot 2: Transmit high data byte to target DAC. */
> + SETVECT(3, XSD2 | XFIFO_0 | WSImage);
> + /* Slot 3: Transmit low data byte to target DAC. */
> + SETVECT(4, XSD2 | XFIFO_3 | WS3);
> + /* Slot 4: Transmit to non-existent TrimDac channel to keep clock */
> + SETVECT(5, XSD2 | XFIFO_2 | WS3 | EOS);
> + /* Slot 5: running after writing target DAC's low data byte. */
> +
> + /* Construct and transmit target DAC's serial packet:
> + * ( A10D DDDD ),( DDDD DDDD ),( 0x0F ),( 0x00 ) where A is chan<0>,
> + * and D<12:0> is the DAC setpoint. Append a WORD value (that writes
> + * to a non-existent TrimDac channel) that serves to keep the clock
> + * running after the packet has been sent to the target DAC.
> + */
> + SendDAC(s626ptr, 0x0F000000
> + /* Continue clock after target DAC data (write to non-existent
> trimdac). */
> + | 0x00004000
> + /* Address the two main dual-DAC devices (TSL's chip select enables
> + * target device). */
> + | ((uint32_t) (chan & 1) << 15)
> + /* Address the DAC channel within the device. */
> + | (uint32_t) dacdata); /* Include DAC setpoint data. */
> +
> +}
> +
> +static void WriteTrimDAC(struct s626_struct * s626ptr, uint8_t
> LogicalChan,
> + uint8_t DacData) {
> +
> + struct s626_priv *devpriv = s626ptr->private;
> + uint32_t chan;
> +
> + /* Save the new setpoint in case the application needs to read it
> back later. */
> + devpriv->TrimSetpoint[LogicalChan] = (uint8_t) DacData;
> +
> + /* Map logical channel number to physical channel number. */
> + chan = (uint32_t) trimchan[LogicalChan];
> +
> + /* Set up TSL2 records for TrimDac write operation. All slots shift
> + * 0xFF in from pulled-up SD3 so that the end of the slot sequence
> + * can be detected.
> + */
> +
> + SETVECT(2, XSD2 | XFIFO_1 | WS3);
> + /* Slot 2: Send high uint8_t to target TrimDac. */
> + SETVECT(3, XSD2 | XFIFO_0 | WS3);
> + /* Slot 3: Send low uint8_t to target TrimDac. */
> + SETVECT(4, XSD2 | XFIFO_3 | WS1);
> + /* Slot 4: Send NOP high uint8_t to DAC0 to keep clock running. */
> + SETVECT(5, XSD2 | XFIFO_2 | WS1 | EOS);
> + /* Slot 5: Send NOP low uint8_t to DAC0. */
> +
> + /* Construct and transmit target DAC's serial packet:
> + * ( 0000 AAAA ), ( DDDD DDDD ),( 0x00 ),( 0x00 ) where A<3:0> is the
> + * DAC channel's address, and D<7:0> is the DAC setpoint. Append a
> + * WORD value (that writes a channel 0 NOP command to a non-existent
> + * main DAC channel) that serves to keep the clock running after the
> + * packet has been sent to the target DAC.
> + */
> +
> + /* Address the DAC channel within the trimdac device. */
> + SendDAC(s626ptr, ((uint32_t) chan << 8) | (uint32_t) DacData); /*
> Include DAC setpoint data. */
> +}
> +
> +static void LoadTrimDACs(struct s626_struct * s626ptr) {
> + register uint8_t i;
> +
> + /* Copy TrimDac setpoint values from EEPROM to TrimDacs. */
> + for (i = 0; i < ARRAY_SIZE(trimchan); i++)
> + WriteTrimDAC(s626ptr, i, I2Cread(s626ptr, trimadrs[i]));
> +}
> +
> +/* ****** COUNTER FUNCTIONS ******* */
> +/* All counter functions address a specific counter by means of the
> + * "Counter" argument, which is a logical counter number. The Counter
> + * argument may have any of the following legal values: 0=0A, 1=1A,
> + * 2=2A, 3=0B, 4=1B, 5=2B.
> + */
> +
> +/* Read a counter's output latch. */
> +static uint32_t ReadLatch(struct s626_struct * s626ptr, struct
> enc_private *k) {
> + register uint32_t value;
> +
> + /* Latch counts and fetch LSW of latched counts value. */
> + value = (uint32_t) DEBIread(s626ptr, k->MyLatchLsw);
> +
> + /* Fetch MSW of latched counts and combine with LSW. */
> + value |= ((uint32_t) DEBIread(s626ptr, k->MyLatchLsw + 2) << 16);
> +
> + /* Return latched counts. */
> + return value;
> +}
> +
> +/* Return/set a counter pair's latch trigger source. 0: On read
> + * access, 1: A index latches A, 2: B index latches B, 3: A overflow
> + * latches B.
> + */
> +static void SetLatchSource(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t value) {
> + DEBIreplace(s626ptr, k->MyCRB,
> + (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_LATCHSRC)),
> + (uint16_t) (value << CRBBIT_LATCHSRC));
> +}
> +
> +static void s626_timer_load(struct s626_struct * s626ptr, struct
> enc_private *k,
> + int tick) {
> + uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
> + /* index. */
> + (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
> + (CLKSRC_TIMER << BF_CLKSRC) | /* Operating mode is Timer. */
> + (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
> + (CNTDIR_DOWN << BF_CLKPOL) | /* Count direction is Down. */
> + (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
> + (CLKENAB_INDEX << BF_CLKENAB);
> + uint16_t valueSrclatch = LATCHSRC_A_INDXA;
> + /* uint16_t enab=CLKENAB_ALWAYS; */
> +
> + k->SetMode(s626ptr, k, Setup, FALSE);
> +
> + /* Set the preload register */
> + Preload(s626ptr, k, tick);
> +
> + /* Software index pulse forces the preload register to load */
> + /* into the counter */
> + k->SetLoadTrig(s626ptr, k, 0);
> + k->PulseIndex(s626ptr, k);
> +
> + /* set reload on counter overflow */
> + k->SetLoadTrig(s626ptr, k, 1);
> +
> + /* set interrupt on overflow */
> + k->SetIntSrc(s626ptr, k, INTSRC_OVER);
> +
> + SetLatchSource(s626ptr, k, valueSrclatch);
> + /* k->SetEnable(dev,k,(uint16_t)(enab != 0)); */
> +}
> +
> +int s626_irq_handler(unsigned int irq, void *d) {
> + a4l_dev_t *dev = NULL;
> + struct s626_priv *devpriv = NULL;
> + a4l_subd_t *s;
> + a4l_cmd_t *cmd;
> + struct enc_private *k;
> + unsigned long flags;
> + int32_t *readaddr;
> + uint32_t irqtype, irqstatus;
> + int i = 0;
> + short tempdata;
> + uint8_t group;
> + uint16_t irqbit;
> +
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (a4l_get_irq(s626ptr->dev) == irq) {
> + dev = s626ptr->dev;
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (dev == NULL) {
> + __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
> + return -ENODEV;
> + }
> +
> + //if (dev->attached == 0)
> + //return IRQ_NONE;
> + // lock to avoid race with comedi_poll
> + a4l_lock_irqsave(&dev->lock, flags);
> +
> + // save interrupt enable register state
> + irqstatus = readl(devpriv->base_addr + P_IER);
> +
> + // read interrupt type
> + irqtype = readl(devpriv->base_addr + P_ISR);
> +
> + // disable master interrupt
> + writel(0, devpriv->base_addr + P_IER);
> +
> + // clear interrupt
> + writel(irqtype, devpriv->base_addr + P_ISR);
> +
> + switch (irqtype) {
> + case IRQ_RPS1: // end_of_scan occurs
> + // manage ai subdevice
> + s = a4l_get_subd(dev, SUBD_AI);
> + cmd = a4l_get_cmd(s);
> +
> + // Init ptr to DMA buffer that holds new ADC data. We skip the
> + // first uint16_t in the buffer because it contains junk data from
> + // the final ADC of the previous poll list scan.
> +
> + readaddr = (int32_t *) devpriv->ANABuf.LogicalBase + 1;
> +
> + // get the data and hand it over to comedi
> + for (i = 0; i < (cmd->nb_chan); i++) {
> + // Convert ADC data to 16-bit integer values and copy to
> application
> + // buffer.
> + tempdata = s626_ai_reg_to_uint((int) *readaddr);
> + readaddr++;
> +
> + // put data into read buffer
> + // comedi_buf_put(s->async, tempdata);
> + /*
> + if (cfc_write_to_buffer(s, tempdata) == 0)
> + printk
> + ("s626_irq_handler: cfc_write_to_buffer error!\n");
> + */
> + }
> +
> + // end of scan occurs
> + //s->async->events |= COMEDI_CB_EOS;
> +
> + if (!(devpriv->ai_continous))
> + devpriv->ai_sample_count--;
> + if (devpriv->ai_sample_count <= 0) {
> + devpriv->ai_cmd_running = 0;
> +
> + // Stop RPS program.
> + MC_DISABLE(P_MC1, MC1_ERPS1);
> +
> + // send end of acquisition
> + //s->async->events |= COMEDI_CB_EOA;
> +
> + // disable master interrupt
> + irqstatus = 0;
> + }
> +
> + if (devpriv->ai_cmd_running && cmd->scan_begin_src == TRIG_EXT)
> + s626_dio_set_irq(s626ptr, cmd->scan_begin_arg);
> + // tell comedi that data is there
> + //comedi_event(dev, s);
> + break;
> + case IRQ_GPIO3: // check dio and conter interrupt
> + // manage ai subdevice
> + s = a4l_get_subd(dev, SUBD_AI);
> + cmd = a4l_get_cmd(s);
> +
> + // s626_dio_clear_irq(dev);
> +
> + for (group = 0; group < S626_DIO_BANKS; group++) {
> + irqbit = 0;
> + // read interrupt type
> + irqbit = DEBIread(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> + group + 2)->priv)))->RDCapFlg);
> +
> + // check if interrupt is generated from dio channels
> + if (irqbit) {
> + s626_dio_reset_irq(s626ptr, group, irqbit);
> + if (devpriv->ai_cmd_running) {
> + // check if interrupt is an ai acquisition start trigger
> + if ((irqbit >> (cmd->start_arg - (16 * group)))
> + == 1&& cmd->start_src == TRIG_EXT) {
> + // Start executing the RPS program.
> +MC_ENABLE (P_MC1, MC1_ERPS1);
> +
> + if (cmd->scan_begin_src ==
> + TRIG_EXT) {
> + s626_dio_set_irq(s626ptr,cmd->scan_begin_arg);
> + }
> + }
> + if ((irqbit >> (cmd->scan_begin_arg -
> + (16 * group)))
> + == 1
> + && cmd->scan_begin_src ==
> + TRIG_EXT) {
> + // Trigger ADC scan loop start by setting RPS Signal 0.
> + MC_ENABLE(P_MC2, MC2_ADC_RPS);
> +
> + if (cmd->convert_src ==
> + TRIG_EXT) {
> + devpriv->ai_convert_count
> + = cmd->nb_chan;
> +
> + s626_dio_set_irq(s626ptr, cmd->convert_arg);
> + }
> +
> + if (cmd->convert_src ==
> + TRIG_TIMER) {
> + k = &encpriv[5];
> + devpriv->ai_convert_count
> + = cmd->nb_chan;
> + k->SetEnable(s626ptr,k,
> + CLKENAB_ALWAYS);
> + }
> + }
> + if ((irqbit >> (cmd->convert_arg -
> + (16 * group)))
> + == 1
> + && cmd->convert_src == TRIG_EXT) {
> + // Trigger ADC scan loop start by setting RPS Signal 0.
> + MC_ENABLE(P_MC2, MC2_ADC_RPS);
> +
> + devpriv->ai_convert_count--;
> +
> + if (devpriv->ai_convert_count >
> + 0) {
> + s626_dio_set_irq(s626ptr,cmd->convert_arg);
> + }
> + }
> + }
> + break;
> + }
> + }
> +
> + // read interrupt type
> + irqbit = DEBIread(s626ptr, LP_RDMISC2);
> +
> + // check interrupt on counters
> + if (irqbit & IRQ_COINT1A) {
> + k = &encpriv[0];
> +
> + // clear interrupt capture flag
> + k->ResetCapFlags(s626ptr, k);
> + }
> + if (irqbit & IRQ_COINT2A) {
> + k = &encpriv[1];
> +
> + // clear interrupt capture flag
> + k->ResetCapFlags(s626ptr, k);
> + }
> + if (irqbit & IRQ_COINT3A) {
> + k = &encpriv[2];
> +
> + // clear interrupt capture flag
> + k->ResetCapFlags(s626ptr, k);
> + }
> + if (irqbit & IRQ_COINT1B) {
> + k = &encpriv[3];
> +
> + // clear interrupt capture flag
> + k->ResetCapFlags(s626ptr, k);
> + }
> + if (irqbit & IRQ_COINT2B) {
> + k = &encpriv[4];
> +
> + // clear interrupt capture flag
> + k->ResetCapFlags(s626ptr, k);
> +
> + if (devpriv->ai_convert_count > 0) {
> + devpriv->ai_convert_count--;
> + if (devpriv->ai_convert_count == 0)
> + k->SetEnable(s626ptr, k, CLKENAB_INDEX);
> +
> + if (cmd->convert_src == TRIG_TIMER) {
> + // Trigger ADC scan loop start by setting RPS Signal 0.
> + MC_ENABLE(P_MC2, MC2_ADC_RPS);
> + }
> + }
> + }
> + if (irqbit & IRQ_COINT3B) {
> + k = &encpriv[5];
> +
> + // clear interrupt capture flag
> + k->ResetCapFlags(s626ptr, k);
> +
> + if (cmd->scan_begin_src == TRIG_TIMER) {
> + // Trigger ADC scan loop start by setting RPS Signal 0.
> + MC_ENABLE(P_MC2, MC2_ADC_RPS);
> + }
> +
> + if (cmd->convert_src == TRIG_TIMER) {
> + k = &encpriv[4];
> + devpriv->ai_convert_count = cmd->nb_chan;
> + k->SetEnable(s626ptr, k, CLKENAB_ALWAYS);
> + }
> + }
> + break;
> + }
> +
> + // enable interrupt
> + writel(irqstatus, devpriv->base_addr + P_IER);
> +
> + a4l_unlock_irqrestore(&dev->lock, flags);
> +
> + return IRQ_HANDLED;
> +}
> +
> +/* This function doesn't require a particular form, this is just what
> + * happens to be used in some of the drivers. It should convert ns
> + * nanoseconds to a counter value suitable for programming the device.
> + * Also, it should adjust ns so that it cooresponds to the actual time
> + * that the device will use. */
> +static int s626_ns_to_timer(int *nanosec, int round_mode) {
> + int divider, base;
> +
> + base = 500; /* 2MHz internal clock */
> +
> + switch (round_mode) {
> + case TRIG_ROUND_NEAREST:
> + default:
> + divider = (*nanosec + base / 2) / base;
> + break;
> + case TRIG_ROUND_DOWN:
> + divider = (*nanosec) / base;
> + break;
> + case TRIG_ROUND_UP:
> + divider = (*nanosec + base - 1) / base;
> + break;
> + }
> +
> + *nanosec = base * divider;
> + return divider - 1;
> +}
> +
> +static int s626_allocate_dma_buffers(struct s626_struct * s626ptr) {
> + struct pci_dev *pcidev = s626ptr->pcidev;
> + struct s626_priv *devpriv = s626ptr->private;
> + void *addr;
> + dma_addr_t appdma;
> +
> + addr = pci_alloc_consistent(pcidev, DMABUF_SIZE, &appdma);
> + if (!addr)
> + return -ENOMEM;
> + devpriv->ANABuf.LogicalBase = addr;
> + devpriv->ANABuf.PhysicalBase = appdma;
> +
> + addr = pci_alloc_consistent(pcidev, DMABUF_SIZE, &appdma);
> + if (!addr)
> + return -ENOMEM;
> + devpriv->RPSBuf.LogicalBase = addr;
> + devpriv->RPSBuf.PhysicalBase = appdma;
> +
> + return 0;
> +}
> +
> +static int s626_dio_clear_irq(struct s626_struct * s626ptr) {
> + unsigned int group;
> +
> + /* disable edge capture write command */
> + DEBIwrite(s626ptr, LP_MISC1, MISC1_NOEDCAP);
> +
> + for (group = 0; group < S626_DIO_BANKS; group++) {
> + /* clear pending events and interrupt */
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> + group + 2)->priv)))->WRCapSel, 0xffff);
> + }
> +
> + return 0;
> +}
> +
> +static int s626_dio_set_irq(struct s626_struct * s626ptr, unsigned
> int chan) {
> + unsigned int group;
> + unsigned int bitmask;
> + unsigned int status;
> +
> + /* select dio bank */
> + group = chan / 16;
> + bitmask = 1 << (chan - (16 * group));
> +
> + /* set channel to capture positive edge */
> + status =
> + DEBIread(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> + group + 2)->priv)))->RDEdgSel);
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> group + 2)->priv)))->WREdgSel,
> + bitmask | status);
> +
> + /* enable interrupt on selected channel */
> + status =
> + DEBIread(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> + group + 2)->priv)))->RDIntSel);
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> group + 2)->priv)))->WRIntSel,
> + bitmask | status);
> +
> + /* enable edge capture write command */
> + DEBIwrite(s626ptr, LP_MISC1, MISC1_EDCAP);
> +
> + /* enable edge capture on selected channel */
> + status =
> + DEBIread(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> + group + 2)->priv)))->RDCapSel);
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> group + 2)->priv)))->WRCapSel,
> + bitmask | status);
> +
> + return 0;
> +}
> +
> +static int s626_dio_reset_irq(struct s626_struct * s626ptr, unsigned
> int group,
> + unsigned int mask) {
> + /* disable edge capture write command */
> + DEBIwrite(s626ptr, LP_MISC1, MISC1_NOEDCAP);
> +
> + /* enable edge capture on selected channel */
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(a4l_get_subd(s626ptr->dev,
> group + 2)->priv)))->WRCapSel,
> + mask);
> +
> + return 0;
> +}
> +
> +/*
> + * this functions build the RPS program for hardware driven acquistion
> + */
> +static void ResetADC(struct s626_struct * s626ptr, uint8_t *ppl,
> + a4l_cmd_t * cmd) {
> + struct s626_priv *devpriv = s626ptr->private;
> + register uint32_t *pRPS;
> + uint32_t JmpAdrs;
> + uint16_t i;
> + uint16_t n;
> + uint32_t LocalPPL;
> +
> + /* Stop RPS program in case it is currently running. */
> + MC_DISABLE(P_MC1, MC1_ERPS1);
> +
> + /* Set starting logical address to write RPS commands. */
> + pRPS = (uint32_t *) devpriv->RPSBuf.LogicalBase;
> +
> + /* Initialize RPS instruction pointer. */
> + WR7146(P_RPSADDR1, (uint32_t) devpriv->RPSBuf.PhysicalBase);
> +
> + /* Construct RPS program in RPSBuf DMA buffer */
> +
> + if (cmd != NULL && cmd->scan_begin_src != TRIG_FOLLOW) {
> + /* Wait for Start trigger. */
> + *pRPS++ = RPS_PAUSE | RPS_SIGADC;
> + *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC;
> + }
> +
> + /* SAA7146 BUG WORKAROUND Do a dummy DEBI Write. This is necessary
> + * because the first RPS DEBI Write following a non-RPS DEBI write
> + * seems to always fail. If we don't do this dummy write, the ADC
> + * gain might not be set to the value required for the first slot in
> + * the poll list; the ADC gain would instead remain unchanged from
> + * the previously programmed value.
> + */
> + *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2);
> + /* Write DEBI Write command and address to shadow RAM. */
> +
> + *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL;
> + *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2);
> + /* Write DEBI immediate data to shadow RAM: */
> +
> + *pRPS++ = GSEL_BIPOLAR5V;
> + /* arbitrary immediate data value. */
> +
> + *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI;
> + /* Reset "shadow RAM uploaded" flag. */
> + *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */
> + *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to
> finish. */
> +
> + /* Digitize all slots in the poll list. This is implemented as a
> + * for loop to limit the slot count to 16 in case the application
> + * forgot to set the EOPL flag in the final slot.
> + */
> + for (devpriv->AdcItems = 0; devpriv->AdcItems < 16;
> devpriv->AdcItems++) {
> + /* Convert application's poll list item to private board class
> + * format. Each app poll list item is an uint8_t with form
> + * (EOPL,x,x,RANGE,CHAN<3:0>), where RANGE code indicates 0 =
> + * +-10V, 1 = +-5V, and EOPL = End of Poll List marker.
> + */
> + LocalPPL = (*ppl << 8) | (*ppl & 0x10 ? GSEL_BIPOLAR5V :
> GSEL_BIPOLAR10V);
> +
> + /* Switch ADC analog gain. */
> + *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2); /* Write DEBI command */
> + /* and address to */
> + /* shadow RAM. */
> + *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL;
> + *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2); /* Write DEBI */
> + /* immediate data to */
> + /* shadow RAM. */
> + *pRPS++ = LocalPPL;
> + *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI; /* Reset "shadow RAM
> uploaded" */
> + /* flag. */
> + *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */
> + *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to */
> + /* finish. */
> +
> + /* Select ADC analog input channel. */
> + *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2);
> + /* Write DEBI command and address to shadow RAM. */
> + *pRPS++ = DEBI_CMD_WRWORD | LP_ISEL;
> + *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2);
> + /* Write DEBI immediate data to shadow RAM. */
> + *pRPS++ = LocalPPL;
> + *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI;
> + /* Reset "shadow RAM uploaded" flag. */
> +
> + *pRPS++ = RPS_UPLOAD | RPS_DEBI;
> + /* Invoke shadow RAM upload. */
> +
> + *pRPS++ = RPS_PAUSE | RPS_DEBI;
> + /* Wait for shadow upload to finish. */
> +
> + /* Delay at least 10 microseconds for analog input settling.
> + * Instead of padding with NOPs, we use RPS_JUMP instructions
> + * here; this allows us to produce a longer delay than is
> + * possible with NOPs because each RPS_JUMP flushes the RPS'
> + * instruction prefetch pipeline.
> + */
> + JmpAdrs = (uint32_t) devpriv->RPSBuf.PhysicalBase
> + + (uint32_t) ((unsigned long) pRPS
> + - (unsigned long) devpriv->RPSBuf.LogicalBase);
> + for (i = 0; i < (10 * RPSCLK_PER_US / 2); i++) {
> + JmpAdrs += 8; /* Repeat to implement time delay: */
> + *pRPS++ = RPS_JUMP; /* Jump to next RPS instruction. */
> + *pRPS++ = JmpAdrs;
> + }
> +
> + if (cmd != NULL && cmd->convert_src != TRIG_NOW) {
> + /* Wait for Start trigger. */
> + *pRPS++ = RPS_PAUSE | RPS_SIGADC;
> + *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC;
> + }
> + /* Start ADC by pulsing GPIO1. */
> + *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */
> + *pRPS++ = GPIO_BASE | GPIO1_LO;
> + *pRPS++ = RPS_NOP;
> + /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */
> + *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */
> + *pRPS++ = GPIO_BASE | GPIO1_HI;
> +
> + /* Wait for ADC to complete (GPIO2 is asserted high when ADC not
> + * busy) and for data from previous conversion to shift into FB
> + * BUFFER 1 register.
> + */
> + *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */
> +
> + /* Transfer ADC data from FB BUFFER 1 register to DMA buffer. */
> + *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2);
> + *pRPS++ = (uint32_t) devpriv->ANABuf.PhysicalBase
> + + (devpriv->AdcItems << 2);
> +
> + /* If this slot's EndOfPollList flag is set, all channels have */
> + /* now been processed. */
> + if (*ppl++ & EOPL) {
> + devpriv->AdcItems++; /* Adjust poll list item count. */
> + break; /* Exit poll list processing loop. */
> + }
> + }
> +
> + /* VERSION 2.01 CHANGE: DELAY CHANGED FROM 250NS to 2US. Allow the
> + * ADC to stabilize for 2 microseconds before starting the final
> + * (dummy) conversion. This delay is necessary to allow sufficient
> + * time between last conversion finished and the start of the dummy
> + * conversion. Without this delay, the last conversion's data value
> + * is sometimes set to the previous conversion's data value.
> + */
> + for (n = 0; n < (2 * RPSCLK_PER_US); n++)
> + *pRPS++ = RPS_NOP;
> +
> + /* Start a dummy conversion to cause the data from the last
> + * conversion of interest to be shifted in.
> + */
> + *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */
> + *pRPS++ = GPIO_BASE | GPIO1_LO;
> + *pRPS++ = RPS_NOP;
> + /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */
> + *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */
> + *pRPS++ = GPIO_BASE | GPIO1_HI;
> +
> + /* Wait for the data from the last conversion of interest to arrive
> + * in FB BUFFER 1 register.
> + */
> + *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */
> +
> + /* Transfer final ADC data from FB BUFFER 1 register to DMA buffer. */
> + *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2); /* */
> + *pRPS++ = (uint32_t) devpriv->ANABuf.PhysicalBase +
> (devpriv->AdcItems << 2);
> +
> + /* Indicate ADC scan loop is finished. */
> + /* *pRPS++= RPS_CLRSIGNAL | RPS_SIGADC ; // Signal ReadADC() that
> scan is done. */
> +
> + /* invoke interrupt */
> + if (devpriv->ai_cmd_running == 1) {
> + *pRPS++ = RPS_IRQ;
> + }
> + /* Restart RPS program at its beginning. */
> + *pRPS++ = RPS_JUMP; /* Branch to start of RPS program. */
> + *pRPS++ = (uint32_t) devpriv->RPSBuf.PhysicalBase;
> +
> + /* End of RPS program build */
> +}
> +
> +/* TO COMPLETE, IF NECESSARY */
> +static int s626_ai_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> +
> + return -EINVAL;
> +}
> +
> +static unsigned int s626_ai_reg_to_uint(int data) {
> + unsigned int tempdata;
> +
> + tempdata = (data >> 18);
> + if (tempdata & 0x2000)
> + tempdata &= 0x1fff;
> + else
> + tempdata += (1 << 13);
> +
> + return tempdata;
> +}
> +
> +static int s626_ai_insn_read(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + uint16_t chan = CR_CHAN(insn->chan_desc);
> + uint16_t range = CR_RNG(insn->chan_desc);
> + uint16_t AdcSpec = 0;
> + uint16_t *data = (uint16_t *) insn->data;
> + uint32_t GpioImage;
> + int n;
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (devpriv == NULL) {
> + __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
> + return -ENODEV;
> + }
> +
> + /* interrupt call test */
> + /* writel(IRQ_GPIO3,devpriv->base_addr+P_PSR); */
> + /* Writing a logical 1 into any of the RPS_PSR bits causes the
> + * corresponding interrupt to be generated if enabled
> + */
> +
> + /* Convert application's ADC specification into form
> + * appropriate for register programming.
> + */
> + if (range == 0)
> + AdcSpec = (chan << 8) | (GSEL_BIPOLAR5V);
> + else
> + AdcSpec = (chan << 8) | (GSEL_BIPOLAR10V);
> +
> + /* Switch ADC analog gain. */
> + DEBIwrite(s626ptr, LP_GSEL, AdcSpec); /* Set gain. */
> +
> + /* Select ADC analog input channel. */
> + DEBIwrite(s626ptr, LP_ISEL, AdcSpec); /* Select channel. */
> +
> + //for (n = 0; n < insn->n; n++)
> + for (n = 0; n < insn->data_size / sizeof(uint16_t); n++) {
> +
> + /* Delay 10 microseconds for analog input settling. */
> + udelay(10);
> +
> + /* Start ADC by pulsing GPIO1 low. */
> + GpioImage = RR7146(P_GPIO);
> + /* Assert ADC Start command */
> + WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
> + /* and stretch it out. */
> + WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
> + WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
> + /* Negate ADC Start command. */
> + WR7146(P_GPIO, GpioImage | GPIO1_HI);
> +
> + /* Wait for ADC to complete (GPIO2 is asserted high when */
> + /* ADC not busy) and for data from previous conversion to */
> + /* shift into FB BUFFER 1 register. */
> +
> + /* Wait for ADC done. */
> + while (!(RR7146(P_PSR) & PSR_GPIO2))
> + ;
> +
> + /* Fetch ADC data. */
> + if (n != 0)
> + data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1));
> +
> + /* Allow the ADC to stabilize for 4 microseconds before
> + * starting the next (final) conversion. This delay is
> + * necessary to allow sufficient time between last
> + * conversion finished and the start of the next
> + * conversion. Without this delay, the last conversion's
> + * data value is sometimes set to the previous
> + * conversion's data value.
> + */
> + udelay(4);
> + }
> +
> + /* Start a dummy conversion to cause the data from the
> + * previous conversion to be shifted in. */
> + GpioImage = RR7146(P_GPIO);
> +
> + /* Assert ADC Start command */
> + WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
> + /* and stretch it out. */
> + WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
> + WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
> + /* Negate ADC Start command. */
> + WR7146(P_GPIO, GpioImage | GPIO1_HI);
> +
> + /* Wait for the data to arrive in FB BUFFER 1 register. */
> +
> + /* Wait for ADC done. */
> + while (!(RR7146(P_PSR) & PSR_GPIO2))
> + ;
> +
> + /* Fetch ADC data from audio interface's input shift register. */
> +
> + /* Fetch ADC data. */
> + if (n != 0)
> + data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1));
> +
> + return n;
> +}
> +
> +static int s626_ai_load_polllist(uint8_t *ppl, a4l_cmd_t *cmd) {
> +
> + int n;
> +
> + for (n = 0; n < cmd->nb_chan; n++) {
> + if (CR_RNG((cmd->chan_descs)[n]) == 0)
> + ppl[n] = (CR_CHAN((cmd->chan_descs)[n])) | (RANGE_5V);
> + else
> + ppl[n] = (CR_CHAN((cmd->chan_descs)[n])) | (RANGE_10V);
> + }
> + if (n != 0)
> + ppl[n - 1] |= EOPL;
> +
> + return n;
> +}
> +
> +static int s626_ai_inttrig(struct a4l_subdevice * subdev,
> + unsigned long int trignum) {
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subdev->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (devpriv == NULL) {
> + __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
> + return -ENODEV;
> + }
> +
> + if (trignum != 0)
> + return -EINVAL;
> +
> + /* Start executing the RPS program. */
> + MC_ENABLE(P_MC1, MC1_ERPS1);
> +
> + subdev->trigger = NULL;
> +
> + return 1;
> +}
> +
> +/* TO COMPLETE */
> +static int s626_ai_cmd(struct a4l_subdevice * subdev, a4l_cmd_t * cmd) {
> + uint8_t ppl[16];
> + //struct comedi_cmd *cmd = &s->async->cmd;
> + struct enc_private *k;
> + int tick;
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subdev->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (devpriv == NULL) {
> + __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
> + return -ENODEV;
> + }
> +
> + if (devpriv->ai_cmd_running) {
> + printk(KERN_ERR "s626_ai_cmd: Another ai_cmd is running\n");
> + return -EBUSY;
> + }
> + /* disable interrupt */
> + writel(0, devpriv->base_addr + P_IER);
> +
> + /* clear interrupt request */
> + writel(IRQ_RPS1 | IRQ_GPIO3, devpriv->base_addr + P_ISR);
> +
> + /* clear any pending interrupt */
> + s626_dio_clear_irq(s626ptr);
> + /* s626_enc_clear_irq(dev); */
> +
> + /* reset ai_cmd_running flag */
> + devpriv->ai_cmd_running = 0;
> +
> + /* test if cmd is valid */
> + if (cmd == NULL)
> + return -EINVAL;
> +
> + if (a4l_get_irq(s626ptr->dev) == 0) {
> + __a4l_err("s626_ai_cmd: cannot run command without an irq\n");
> + return -EIO;
> + }
> +
> + s626_ai_load_polllist(ppl, cmd);
> + devpriv->ai_cmd_running = 1;
> + devpriv->ai_convert_count = 0;
> +
> + switch (cmd->scan_begin_src) {
> + case TRIG_FOLLOW:
> + break;
> + case TRIG_TIMER:
> + /* set a conter to generate adc trigger at scan_begin_arg
> interval */
> + k = &encpriv[5];
> + tick = s626_ns_to_timer((int *) &cmd->scan_begin_arg,
> + cmd->flags & TRIG_ROUND_MASK);
> +
> + /* load timer value and enable interrupt */
> + s626_timer_load(s626ptr, k, tick);
> + k->SetEnable(s626ptr, k, CLKENAB_ALWAYS);
> + break;
> + case TRIG_EXT:
> + /* set the digital line and interrupt for scan trigger */
> + if (cmd->start_src != TRIG_EXT)
> + s626_dio_set_irq(s626ptr, cmd->scan_begin_arg);
> + break;
> + }
> +
> + switch (cmd->convert_src) {
> + case TRIG_NOW:
> + break;
> + case TRIG_TIMER:
> + /* set a conter to generate adc trigger at convert_arg interval */
> + k = &encpriv[4];
> + tick = s626_ns_to_timer((int *) &cmd->convert_arg,
> + cmd->flags & TRIG_ROUND_MASK);
> +
> + /* load timer value and enable interrupt */
> + s626_timer_load(s626ptr, k, tick);
> + k->SetEnable(s626ptr, k, CLKENAB_INDEX);
> + break;
> + case TRIG_EXT:
> + /* set the digital line and interrupt for convert trigger */
> + if (cmd->scan_begin_src != TRIG_EXT && cmd->start_src == TRIG_EXT)
> + s626_dio_set_irq(s626ptr, cmd->convert_arg);
> + break;
> + }
> +
> + switch (cmd->stop_src) {
> + case TRIG_COUNT:
> + /* data arrives as one packet */
> + devpriv->ai_sample_count = cmd->stop_arg;
> + devpriv->ai_continous = 0;
> + break;
> + case TRIG_NONE:
> + /* continous acquisition */
> + devpriv->ai_continous = 1;
> + devpriv->ai_sample_count = 1;
> + break;
> + }
> +
> + ResetADC(s626ptr, ppl, cmd);
> +
> + switch (cmd->start_src) {
> + case TRIG_NOW:
> + /* Trigger ADC scan loop start by setting RPS Signal 0. */
> + /* MC_ENABLE( P_MC2, MC2_ADC_RPS ); */
> +
> + /* Start executing the RPS program. */
> + MC_ENABLE(P_MC1, MC1_ERPS1);
> +
> + subdev->trigger = NULL;
> + break;
> + case TRIG_EXT:
> + /* configure DIO channel for acquisition trigger */
> + s626_dio_set_irq(s626ptr, cmd->start_arg);
> +
> + subdev->trigger = NULL;
> + break;
> + case TRIG_INT:
> + subdev->trigger = s626_ai_inttrig;
> + break;
> + }
> +
> + /* enable interrupt */
> + writel(IRQ_GPIO3 | IRQ_RPS1, devpriv->base_addr + P_IER);
> +
> + return 0;
> +}
> +
> +#define TRIG_INVALID 0x00000000
> +
> +static inline int cfc_check_trigger_src(unsigned int *src, unsigned
> int flags) {
> + unsigned int orig_src = *src;
> +
> + *src = orig_src & flags;
> + if (*src == TRIG_INVALID || *src != orig_src)
> + return -EINVAL;
> + return 0;
> +}
> +
> +static inline int cfc_check_trigger_is_unique(unsigned int src) {
> + /* this test is true if more than one _src bit is set */
> + if ((src & (src - 1)) != 0)
> + return -EINVAL;
> + return 0;
> +}
> +
> +static inline int cfc_check_trigger_arg_is(unsigned int *arg,
> unsigned int val) {
> + if (*arg != val) {
> + *arg = val;
> + return -EINVAL;
> + }
> + return 0;
> +}
> +
> +static inline int cfc_check_trigger_arg_min(unsigned int *arg,
> unsigned int val) {
> + if (*arg < val) {
> + *arg = val;
> + return -EINVAL;
> + }
> + return 0;
> +}
> +
> +static inline int cfc_check_trigger_arg_max(unsigned int *arg,
> unsigned int val) {
> + if (*arg > val) {
> + *arg = val;
> + return -EINVAL;
> + }
> + return 0;
> +}
> +
> +static int s626_ai_cmdtest(struct a4l_subdevice * subdev, a4l_cmd_t *
> cmd) {
> + int err = 0;
> + int tmp;
> +
> + /* Step 1 : check if triggers are trivially valid */
> +
> + err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT |
> TRIG_EXT);
> + err |= cfc_check_trigger_src(&cmd->scan_begin_src,
> + TRIG_TIMER | TRIG_EXT | TRIG_FOLLOW);
> + err |= cfc_check_trigger_src(&cmd->convert_src,
> + TRIG_TIMER | TRIG_EXT | TRIG_NOW);
> + err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
> + err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
> +
> + if (err)
> + return 1;
> +
> + /* Step 2a : make sure trigger sources are unique */
> +
> + err |= cfc_check_trigger_is_unique(cmd->start_src);
> + err |= cfc_check_trigger_is_unique(cmd->scan_begin_src);
> + err |= cfc_check_trigger_is_unique(cmd->convert_src);
> + err |= cfc_check_trigger_is_unique(cmd->stop_src);
> +
> + /* Step 2b : and mutually compatible */
> +
> + if (err)
> + return 2;
> +
> + /* step 3: make sure arguments are trivially compatible */
> +
> + if (cmd->start_src != TRIG_EXT)
> + err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
> + if (cmd->start_src == TRIG_EXT)
> + err |= cfc_check_trigger_arg_max(&cmd->start_arg, 39);
> +
> + if (cmd->scan_begin_src == TRIG_EXT)
> + err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, 39);
> +
> + if (cmd->convert_src == TRIG_EXT)
> + err |= cfc_check_trigger_arg_max(&cmd->convert_arg, 39);
> +
> +#define MAX_SPEED 200000 /* in nanoseconds */
> +#define MIN_SPEED 2000000000 /* in nanoseconds */
> +
> + if (cmd->scan_begin_src == TRIG_TIMER) {
> + err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg, MAX_SPEED);
> + err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, MIN_SPEED);
> + } else {
> + /* external trigger */
> + /* should be level/edge, hi/lo specification here */
> + /* should specify multiple external triggers */
> + /* err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, 9); */
> + }
> + if (cmd->convert_src == TRIG_TIMER) {
> + err |= cfc_check_trigger_arg_min(&cmd->convert_arg, MAX_SPEED);
> + err |= cfc_check_trigger_arg_max(&cmd->convert_arg, MIN_SPEED);
> + } else {
> + /* external trigger */
> + /* see above */
> + /* err |= cfc_check_trigger_arg_max(&cmd->scan_begin_arg, 9); */
> + }
> +
> + err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->nb_chan);
> +
> + if (cmd->stop_src == TRIG_COUNT)
> + err |= cfc_check_trigger_arg_max(&cmd->stop_arg, 0x00ffffff);
> + else
> + /* TRIG_NONE */
> + err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
> +
> + if (err)
> + return 3;
> +
> + /* step 4: fix up any arguments */
> +
> + if (cmd->scan_begin_src == TRIG_TIMER) {
> + tmp = cmd->scan_begin_arg;
> + s626_ns_to_timer((int *) &cmd->scan_begin_arg,
> + cmd->flags & TRIG_ROUND_MASK);
> + if (tmp != cmd->scan_begin_arg)
> + err++;
> + }
> + if (cmd->convert_src == TRIG_TIMER) {
> + tmp = cmd->convert_arg;
> + s626_ns_to_timer((int *) &cmd->convert_arg, cmd->flags &
> TRIG_ROUND_MASK);
> + if (tmp != cmd->convert_arg)
> + err++;
> + if (cmd->scan_begin_src == TRIG_TIMER
> + && cmd->scan_begin_arg < cmd->convert_arg * cmd->scan_end_arg) {
> + cmd->scan_begin_arg = cmd->convert_arg * cmd->scan_end_arg;
> + err++;
> + }
> + }
> +
> + if (err)
> + return 4;
> +
> + return 0;
> +}
> +
> +static int s626_ai_cancel(struct a4l_subdevice * subdev) {
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subdev->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (devpriv == NULL) {
> + __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
> + return -ENODEV;
> + }
> +
> + /* Stop RPS program in case it is currently running. */
> + MC_DISABLE(P_MC1, MC1_ERPS1);
> +
> + /* disable master interrupt */
> + writel(0, devpriv->base_addr + P_IER);
> +
> + devpriv->ai_cmd_running = 0;
> +
> + return 0;
> +}
> +
> +static int s626_ao_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + struct s626_subd_ao_private *subdpriv =
> + (struct s626_subd_ao_private *) subd->priv;
> + uint16_t *data = (uint16_t *) insn->data;
> + int chan = CR_CHAN(insn->chan_desc);
> + int16_t dacdata;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + dacdata = (int16_t) data[0];
> + dacdata -= (0x1fff);
> +
> + subdpriv->readback[chan] = dacdata;
> +
> + SetDAC(s626ptr, chan, dacdata);
> +
> + return 0;
> +}
> +
> +static int s626_ao_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + struct s626_subd_ao_private *subdpriv =
> + (struct s626_subd_ao_private *) subd->priv;
> + uint16_t *data = (uint16_t *) insn->data;
> + int chan = CR_CHAN(insn->chan_desc);
> +
> + data[0] = subdpriv->readback[chan];
> +
> + return 0;
> +}
> +
> +/* *************** DIGITAL I/O FUNCTIONS ***************
> + * All DIO functions address a group of DIO channels by means of
> + * "group" argument. group may be 0, 1 or 2, which correspond to DIO
> + * ports A, B and C, respectively.
> + */
> +
> +static void s626_dio_init(struct s626_struct * s626ptr) {
> + uint16_t group;
> + a4l_subd_t *s;
> +
> + // Prepare to treat writes to WRCapSel as capture disables.
> + DEBIwrite(s626ptr, LP_MISC1, MISC1_NOEDCAP);
> +
> + // For each group of sixteen channels ...
> + for (group = 0; group < S626_DIO_BANKS; group++) {
> + s = a4l_get_subd(s626ptr->dev, group + 2);
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(s->priv)))->WRIntSel,
> 0); // Disable all interrupts.
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(s->priv)))->WRCapSel,
> 0xFFFF); // Disable all event
> + // captures.
> + DEBIwrite(s626ptr,
> + ((struct s626_subd_dio_private *) (&(s->priv)))->WREdgSel,
> 0); // Init all DIOs to
> + // default edge
> + // polarity.
> + DEBIwrite(s626ptr, ((struct s626_subd_dio_private *)
> (&(s->priv)))->WRDOut,
> + 0); // Program all outputs
> + // to inactive state.
> + }
> +}
> +
> +static int s626_dio_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + struct s626_subd_dio_private *subdpriv =
> + (struct s626_subd_dio_private *) subd->priv;
> + unsigned int *data = (unsigned int *) insn->data;
> + int chan = CR_CHAN(insn->chan_desc);
> + int group, mask;
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + group = chan >> 2;
> + mask = 0xF << (group << 2);
> +
> + switch (data[0]) {
> + case A4L_INSN_CONFIG_DIO_OUTPUT:
> + subdpriv->state |= 1 << (group + 10); // bit 10/11 set the
> + // * group 1/2's mode
> + subdpriv->io_bits |= mask;
> + break;
> + case A4L_INSN_CONFIG_DIO_INPUT:
> + subdpriv->state &= ~(1 << (group + 10)); // 1 is output, 0 is
> + // * input.
> + subdpriv->io_bits &= ~mask;
> + break;
> + case A4L_INSN_CONFIG_DIO_QUERY:
> + data[1] = (subdpriv->io_bits & mask) ? A4L_OUTPUT : A4L_INPUT;
> + return 0;
> + default:
> + return -EINVAL;
> + }
> +
> + outw(subdpriv->state, ADDR_REG(REG_DIO));
> +
> + return 0;
> +}
> +
> +/* 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 s626_dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + /*
> + * The insn data consists of a mask in data[0] and the new data in
> + * data[1]. The mask defines which bits we are concerning about.
> + * The new data must be anded with the mask. Each channel
> + * corresponds to a bit.
> + */
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + //a4l_dev_t *dev = subd->dev;
> + struct s626_subd_dio_private *subdpriv =
> + (struct s626_subd_dio_private *) subd->priv;
> + uint16_t *data = (uint16_t *) insn->data;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (data[0]) {
> + subdpriv->state &= ~data[0];
> + subdpriv->state |= data[0] & data[1];
> +
> + // Write out the new digital output lines
> + DEBIwrite(s626ptr, subdpriv->WRDOut, subdpriv->state);
> + }
> + data[1] = DEBIread(s626ptr, subdpriv->RDDIn);
> +
> + return 0;
> +}
> +
> +static int s626_gpct_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + a4l_dev_t *dev = subd->dev;
> + struct s626_subd_gpct_private *subdpriv =
> + (struct s626_subd_gpct_private *) subd->priv;
> + unsigned int *data = (unsigned int *) insn->data;
> + int subdev_channel = CR_CHAN(insn->chan_desc);
> + int i;
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + a4l_dbg(1, drv_dbg, dev,
> + "s626_gpct_insn_config: Configuring Channel %d\n",
> + subdev_channel);
> +
> + for (i = 0; i < MAX_GPCT_CONFIG_DATA; i++) {
> + subdpriv->config[subdev_channel].data[i] = data[i];
> + a4l_dbg(1, drv_dbg, dev, "data[%d]=%x\n", i, data[i]);
> + }
> +
> + switch (data[0]) {
> + case A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER: {
> + uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
> + /* index. */
> + (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
> + (CLKSRC_COUNTER << BF_CLKSRC) | /* Operating mode is Counter. */
> + (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
> + /* ( CNTDIR_UP << BF_CLKPOL ) | // Count direction is Down. */
> + (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
> + (CLKENAB_INDEX << BF_CLKENAB);
> + /* uint16_t DisableIntSrc=TRUE; */
> + /* uint32_t Preloadvalue; //Counter initial value */
> + uint16_t valueSrclatch = LATCHSRC_AB_READ;
> + uint16_t enab = CLKENAB_ALWAYS;
> + struct enc_private *k =
> + &(subdpriv->enc_private_data[CR_CHAN(insn->chan_desc)]);
> +
> + /* (data==NULL) ? (Preloadvalue=0) : (Preloadvalue=data[0]); */
> +
> + k->SetMode(s626ptr, k, Setup, TRUE);
> + Preload(s626ptr, k, data[1]);
> + k->PulseIndex(s626ptr, k);
> + SetLatchSource(s626ptr, k, valueSrclatch);
> + k->SetEnable(s626ptr, k, (uint16_t) (enab != 0));
> + break;
> + }
> + default:
> + __a4l_err("s626_gpct_insn_config: unsupported GPCT_insn_config\n");
> + return -EINVAL;
> + break;
> + }
> +
> + return 0;
> +
> +}
> +
> +static int s626_gpct_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + uint32_t *data = (uint32_t *) insn->data;
> + struct s626_subd_gpct_private *subdpriv =
> + (struct s626_subd_gpct_private *) subd->priv;
> + int i;
> + struct enc_private *k =
> + &(subdpriv->enc_private_data[CR_CHAN(insn->chan_desc)]);
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (insn->data_size <= 0) {
> + __a4l_err("s626_gpct_rinsn: data size should be > 0\n");
> + return -EINVAL;
> + }
> +
> + for (i = 0; i < insn->data_size / sizeof(uint32_t); i++) {
> + data[i] = ReadLatch(s626ptr, k);
> + }
> +
> + return 0;
> +}
> +
> +static int s626_gpct_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn) {
> + a4l_dev_t *dev = subd->dev;
> + struct s626_subd_gpct_private *subdpriv =
> + (struct s626_subd_gpct_private *) subd->priv;
> + uint32_t *data = (uint32_t *) insn->data;
> + int subdev_channel = CR_CHAN(insn->chan_desc);
> + short value;
> + union cmReg cmReg;
> +
> + struct s626_priv *devpriv = NULL;
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == subd->dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + a4l_dbg(1, drv_dbg, dev,
> + "s626_gpct_winsn: GPCT_INSN_WRITE on channel %d\n",
> + subdev_channel);
> +
> + cmReg.value = inw(ADDR_CHAN_REG(REG_C0M, subdev_channel));
> + a4l_dbg(1, drv_dbg, dev,
> + "s626_gpct_winsn: Counter Mode Register: %x\n", cmReg.value);
> +
> + /* Check what Application of Counter this channel is configured for */
> + switch (subdpriv->config[subdev_channel].app) {
> + case PositionMeasurement:
> + a4l_dbg(1, drv_dbg, dev, "s626_gpct_winsn: 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:
> + a4l_dbg(1, drv_dbg, dev, "s626_gpct_winsn: 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
> + */
> + a4l_dbg(1, drv_dbg, dev, "s626_gpct_winsn: INSN_WRITE: PTG\n");
> + if ((data[1] > data[0]) && (data[0] > 0)) {
> + (subdpriv->config[subdev_channel]).data[0] = data[0];
> + (subdpriv->config[subdev_channel]).data[1] = data[1];
> + } else {
> + __a4l_err(
> + "s626_gpct_winsn: INSN_WRITE: PTG: Problem with Pulse
> params -> %du %du\n",
> + data[0], data[1]);
> + return -EINVAL;
> + }
> +
> + value = (short) ((*data >> 16) & 0xFFFF);
> + outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
> + value = (short) (*data & 0xFFFF);
> + outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
> + break;
> + default: /* Impossible */
> + __a4l_err(
> + "s626_gpct_winsn: INSN_WRITE: Functionality %d not
> implemented yet\n",
> + subdpriv->config[subdev_channel].app);
> + return -EINVAL;
> + }
> +
> + return 0;
> +}
> +
> +/* --- Channels descriptor --- */
> +
> +static a4l_chdesc_t s626_chan_desc_ai = { .mode =
> A4L_CHAN_GLOBAL_CHANDESC,
> + .length = S626_AI_CHANS, .chans =
> + { { A4L_CHAN_AREF_GROUND, S626_AI_BITS }, }, };
> +
> +static a4l_chdesc_t s626_chan_desc_ao = { .mode =
> A4L_CHAN_GLOBAL_CHANDESC,
> + .length = S626_AO_CHANS, .chans =
> + { { A4L_CHAN_AREF_GROUND, S626_AO_BITS }, }, };
> +
> +static a4l_chdesc_t s626_chan_desc_dioA = { .mode =
> A4L_CHAN_GLOBAL_CHANDESC,
> + .length = S626_DIO_CHANS, .chans =
> + { { A4L_CHAN_AREF_GROUND, S626_DIO_BITS }, }, };
> +
> +static a4l_chdesc_t s626_chan_desc_dioB = { .mode =
> A4L_CHAN_GLOBAL_CHANDESC,
> + .length = S626_DIO_CHANS, .chans =
> + { { A4L_CHAN_AREF_GROUND, S626_DIO_BITS }, }, };
> +
> +static a4l_chdesc_t s626_chan_desc_dioC = { .mode =
> A4L_CHAN_GLOBAL_CHANDESC,
> + .length = S626_DIO_CHANS, .chans =
> + { { A4L_CHAN_AREF_GROUND, S626_DIO_BITS }, }, };
> +
> +static a4l_chdesc_t s626_chan_desc_gpct = { .mode =
> A4L_CHAN_GLOBAL_CHANDESC,
> + .length = S626_GPCT_CHANS, .chans = {
> + { A4L_CHAN_AREF_GROUND, S626_GPCT_BITS }, }, };
> +
> +/* --- Subdevice initialization functions --- */
> +
> +/* Analog input subdevice */
> +static void setup_subd_ai(a4l_subd_t *subd) {
> + subd->flags = A4L_SUBD_AI | A4L_SUBD_MASK_READ;
> + subd->chan_desc = &s626_chan_desc_ai;
> + subd->rng_desc = &a4l_range_bipolar10;
> +
> + subd->insn_config = s626_ai_insn_config;
> + subd->insn_read = s626_ai_insn_read;
> + subd->do_cmd = s626_ai_cmd;
> + subd->do_cmdtest = s626_ai_cmdtest;
> + subd->cancel = s626_ai_cancel;
> +}
> +
> +/* Analog output subdevice */
> +static void setup_subd_ao(a4l_subd_t *subd) {
> + subd->flags = A4L_SUBD_AO | A4L_SUBD_MASK_WRITE;
> + subd->chan_desc = &s626_chan_desc_ao;
> + subd->rng_desc = &a4l_range_bipolar10;
> +
> + subd->insn_write = s626_ao_winsn;
> + subd->insn_read = s626_ao_rinsn;
> +
> + memset(&(subd->priv), 0, sizeof(struct s626_subd_ao_private));
> +}
> +
> +/* Digital i/o subdevice */
> +static void setup_subd_dioA(a4l_subd_t *subd) {
> + subd->flags = A4L_SUBD_DIO;
> + subd->chan_desc = &s626_chan_desc_dioA;
> + subd->rng_desc = &range_digital;
> + subd->insn_bits = s626_dio_insn_bits;
> + subd->insn_config = s626_dio_insn_config;
> + memcpy(&(subd->priv), (const void *) (&s626_subd_dio_private_A),
> + sizeof(struct s626_subd_dio_private));
> +}
> +static void setup_subd_dioB(a4l_subd_t *subd) {
> + subd->flags = A4L_SUBD_DIO;
> + subd->chan_desc = &s626_chan_desc_dioB;
> + subd->rng_desc = &range_digital;
> + subd->insn_bits = s626_dio_insn_bits;
> + subd->insn_config = s626_dio_insn_config;
> + memcpy(&(subd->priv), (const void *) (&s626_subd_dio_private_B),
> + sizeof(struct s626_subd_dio_private));
> +}
> +static void setup_subd_dioC(a4l_subd_t *subd) {
> + subd->flags = A4L_SUBD_DIO;
> + subd->chan_desc = &s626_chan_desc_dioC;
> + subd->rng_desc = &range_digital;
> + subd->insn_bits = s626_dio_insn_bits;
> + subd->insn_config = s626_dio_insn_config;
> + memcpy(&(subd->priv), (const void *) (&s626_subd_dio_private_C),
> + sizeof(struct s626_subd_dio_private));
> +}
> +
> +/* General purpose counter/timer (gpct) */
> +static void setup_subd_gpct(a4l_subd_t *subd) {
> + subd->flags = A4L_SUBD_COUNTER;
> + subd->chan_desc = &s626_chan_desc_gpct;
> + subd->insn_read = s626_gpct_rinsn;
> + subd->insn_config = s626_gpct_insn_config;
> + subd->insn_write = s626_gpct_winsn;
> +
> + //only the first field of the private structure for this subdevice
> + memcpy(&(subd->priv), (const void *) (&enc_private_data_init[0]),
> + sizeof(struct enc_private) * S626_GPCT_CHANS);
> +}
> +
> +static struct setup_subd setup_subds[6] = { { .setup_func =
> setup_subd_ai,
> + .sizeof_priv = sizeof(struct s626_subd_ai_private), }, {
> .setup_func =
> + setup_subd_ao, .sizeof_priv = sizeof(struct
> s626_subd_ao_private), }, {
> + .setup_func = setup_subd_dioA, .sizeof_priv =
> + sizeof(struct s626_subd_dio_private), }, {
> + .setup_func = setup_subd_dioB, .sizeof_priv =
> + sizeof(struct s626_subd_dio_private), }, {
> + .setup_func = setup_subd_dioC, .sizeof_priv =
> + sizeof(struct s626_subd_dio_private), }, {
> + .setup_func = setup_subd_gpct, .sizeof_priv =
> + sizeof(struct s626_subd_gpct_private), }, };
> +
> +static void CountersInit(struct s626_struct * s626ptr) {
> + int chan;
> + struct enc_private *k;
> + uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | // Preload upon
> + // index.
> + (INDXSRC_SOFT << BF_INDXSRC) | // Disable hardware index.
> + (CLKSRC_COUNTER << BF_CLKSRC) | // Operating mode is counter.
> + (CLKPOL_POS << BF_CLKPOL) | // Active high clock.
> + (CNTDIR_UP << BF_CLKPOL) | // Count direction is up.
> + (CLKMULT_1X << BF_CLKMULT) | // Clock multiplier is 1x.
> + (CLKENAB_INDEX << BF_CLKENAB); // Enabled by index
> +
> + // Disable all counter interrupts and clear any captured counter
> events.
> + for (chan = 0; chan < S626_ENCODER_CHANNELS; chan++) {
> +
> + k = &(((struct s626_subd_gpct_private *) (a4l_get_subd(s626ptr->dev,
> + SUBD_ENC)->priv))->enc_private_data[chan]); // &encpriv[chan];
> +
> + k->SetMode(s626ptr, k, Setup, TRUE);
> + k->SetIntSrc(s626ptr, k, 0);
> + k->ResetCapFlags(s626ptr, k);
> + k->SetEnable(s626ptr, k, CLKENAB_ALWAYS);
> + }
> +}
> +
> +static void s626_initialize(struct s626_struct * s626ptr) {
> + struct s626_priv *devpriv = s626ptr->private;
> + dma_addr_t pPhysBuf;
> + uint16_t chan;
> + int i;
> +
> + /* Enable DEBI and audio pins, enable I2C interface */
> + MC_ENABLE(P_MC1, MC1_DEBI | MC1_AUDIO | MC1_I2C);
> +
> + /*
> + * Configure DEBI operating mode
> + *
> + * Local bus is 16 bits wide
> + * Declare DEBI transfer timeout interval
> + * Set up byte lane steering
> + * Intel-compatible local bus (DEBI never times out)
> + */
> + WR7146(P_DEBICFG,
> + DEBI_CFG_SLAVE16 | (DEBI_TOUT << DEBI_CFG_TOUT_BIT) | DEBI_SWAP
> | DEBI_CFG_INTEL);
> +
> + /* Disable MMU paging */
> + WR7146(P_DEBIPAGE, DEBI_PAGE_DISABLE);
> +
> + /* Init GPIO so that ADC Start* is negated */
> + WR7146(P_GPIO, GPIO_BASE | GPIO1_HI);
> +
> + /* I2C device address for onboard eeprom (revb) */
> + devpriv->I2CAdrs = 0xA0;
> +
> + /*
> + * Issue an I2C ABORT command to halt any I2C
> + * operation in progress and reset BUSY flag.
> + */
> + WR7146(P_I2CSTAT, I2C_CLKSEL | I2C_ABORT);
> + MC_ENABLE(P_MC2, MC2_UPLD_IIC);
> + while ((RR7146(P_MC2) & MC2_UPLD_IIC) == 0)
> + ;
> +
> + /*
> + * Per SAA7146 data sheet, write to STATUS
> + * reg twice to reset all I2C error flags.
> + */
> + for (i = 0; i < 2; i++) {
> + WR7146(P_I2CSTAT, I2C_CLKSEL);
> + MC_ENABLE(P_MC2, MC2_UPLD_IIC);
> + while (!MC_TEST(P_MC2, MC2_UPLD_IIC))
> + ;
> + }
> +
> + /*
> + * Init audio interface functional attributes: set DAC/ADC
> + * serial clock rates, invert DAC serial clock so that
> + * DAC data setup times are satisfied, enable DAC serial
> + * clock out.
> + */
> + WR7146(P_ACON2, ACON2_INIT);
> +
> + /*
> + * Set up TSL1 slot list, which is used to control the
> + * accumulation of ADC data: RSD1 = shift data in on SD1.
> + * SIB_A1 = store data uint8_t at next available location
> + * in FB BUFFER1 register.
> + */
> + WR7146(P_TSL1, RSD1 | SIB_A1);
> + WR7146(P_TSL1 + 4, RSD1 | SIB_A1 | EOS);
> +
> + /* Enable TSL1 slot list so that it executes all the time */
> + WR7146(P_ACON1, ACON1_ADCSTART);
> +
> + /*
> + * Initialize RPS registers used for ADC
> + */
> +
> + /* Physical start of RPS program */
> + WR7146(P_RPSADDR1, (uint32_t)devpriv->RPSBuf.PhysicalBase);
> + /* RPS program performs no explicit mem writes */
> + WR7146(P_RPSPAGE1, 0);
> + /* Disable RPS timeouts */
> + WR7146(P_RPS1_TOUT, 0);
> +
> +#if 0
> + /*
> + * SAA7146 BUG WORKAROUND
> + *
> + * Initialize SAA7146 ADC interface to a known state by
> + * invoking ADCs until FB BUFFER 1 register shows that it
> + * is correctly receiving ADC data. This is necessary
> + * because the SAA7146 ADC interface does not start up in
> + * a defined state after a PCI reset.
> + */
> +
> + {
> + uint8_t PollList;
> + uint16_t AdcData;
> + uint16_t StartVal;
> + uint16_t index;
> + unsigned int data[16];
> +
> + /* Create a simple polling list for analog input channel 0 */
> + PollList = EOPL;
> + ResetADC(dev, &PollList);
> +
> + /* Get initial ADC value */
> + s626_ai_rinsn(dev, dev->subdevices, NULL, data);
> + StartVal = data[0];
> +
> + /*
> + * VERSION 2.01 CHANGE: TIMEOUT ADDED TO PREVENT HANGED EXECUTION.
> + *
> + * Invoke ADCs until the new ADC value differs from the initial
> + * value or a timeout occurs. The timeout protects against the
> + * possibility that the driver is restarting and the ADC data is a
> + * fixed value resulting from the applied ADC analog input being
> + * unusually quiet or at the rail.
> + */
> + for (index = 0; index < 500; index++) {
> + s626_ai_rinsn(dev, dev->subdevices, NULL, data);
> + AdcData = data[0];
> + if (AdcData != StartVal)
> + break;
> + }
> +
> + }
> +#endif /* SAA7146 BUG WORKAROUND */
> +
> + /*
> + * Initialize the DAC interface
> + */
> +
> + /*
> + * Init Audio2's output DMAC attributes:
> + * burst length = 1 DWORD
> + * threshold = 1 DWORD.
> + */
> + WR7146(P_PCI_BT_A, 0);
> +
> + /*
> + * Init Audio2's output DMA physical addresses. The protection
> + * address is set to 1 DWORD past the base address so that a
> + * single DWORD will be transferred each time a DMA transfer is
> + * enabled.
> + */
> + pPhysBuf = devpriv->ANABuf.PhysicalBase + (DAC_WDMABUF_OS *
> sizeof(uint32_t));
> + WR7146(P_BASEA2_OUT, (uint32_t) pPhysBuf);
> + WR7146(P_PROTA2_OUT, (uint32_t) (pPhysBuf + sizeof(uint32_t)));
> +
> + /*
> + * Cache Audio2's output DMA buffer logical address. This is
> + * where DAC data is buffered for A2 output DMA transfers.
> + */
> + devpriv->pDacWBuf = (uint32_t *) devpriv->ANABuf.LogicalBase +
> DAC_WDMABUF_OS;
> +
> + /*
> + * Audio2's output channels does not use paging. The
> + * protection violation handling bit is set so that the
> + * DMAC will automatically halt and its PCI address pointer
> + * will be reset when the protection address is reached.
> + */
> + WR7146(P_PAGEA2_OUT, 8);
> +
> + /*
> + * Initialize time slot list 2 (TSL2), which is used to control
> + * the clock generation for and serialization of data to be sent
> + * to the DAC devices. Slot 0 is a NOP that is used to trap TSL
> + * execution; this permits other slots to be safely modified
> + * without first turning off the TSL sequencer (which is
> + * apparently impossible to do). Also, SD3 (which is driven by a
> + * pull-up resistor) is shifted in and stored to the MSB of
> + * FB_BUFFER2 to be used as evidence that the slot sequence has
> + * not yet finished executing.
> + */
> +
> + /* Slot 0: Trap TSL execution, shift 0xFF into FB_BUFFER2 */
> + SETVECT(0, XSD2 | RSD3 | SIB_A2 | EOS);
> +
> + /*
> + * Initialize slot 1, which is constant. Slot 1 causes a
> + * DWORD to be transferred from audio channel 2's output FIFO
> + * to the FIFO's output buffer so that it can be serialized
> + * and sent to the DAC during subsequent slots. All remaining
> + * slots are dynamically populated as required by the target
> + * DAC device.
> + */
> +
> + /* Slot 1: Fetch DWORD from Audio2's output FIFO */
> + SETVECT(1, LF_A2);
> +
> + /* Start DAC's audio interface (TSL2) running */
> + WR7146(P_ACON1, ACON1_DACSTART);
> +
> + /*
> + * Init Trim DACs to calibrated values. Do it twice because the
> + * SAA7146 audio channel does not always reset properly and
> + * sometimes causes the first few TrimDAC writes to malfunction.
> + */
> + LoadTrimDACs(s626ptr);
> + LoadTrimDACs(s626ptr);
> +
> + /*
> + * Manually init all gate array hardware in case this is a soft
> + * reset (we have no way of determining whether this is a warm
> + * or cold start). This is necessary because the gate array will
> + * reset only in response to a PCI hard reset; there is no soft
> + * reset function.
> + */
> +
> + /*
> + * Init all DAC outputs to 0V and init all DAC setpoint and
> + * polarity images.
> + */
> + for (chan = 0; chan < S626_DAC_CHANNELS; chan++)
> + SetDAC(s626ptr, chan, 0);
> +
> + /* Init counters */
> + CountersInit(s626ptr);
> +
> + /*
> + * Without modifying the state of the Battery Backup enab, disable
> + * the watchdog timer, set DIO channels 0-5 to operate in the
> + * standard DIO (vs. counter overflow) mode, disable the battery
> + * charger, and reset the watchdog interval selector to zero.
> + */
> + WriteMISC2(s626ptr,
> + (uint16_t) (DEBIread(s626ptr, LP_RDMISC2) & MISC2_BATT_ENABLE));
> +
> + /* Initialize the digital I/O subsystem */
> +
> + s626_dio_init(s626ptr);
> +
> + /* enable interrupt test */
> + /* writel(IRQ_GPIO3 | IRQ_RPS1, devpriv->base_addr + P_IER); */
> +}
> +
> +static int dev_s626_attach(a4l_dev_t *dev, a4l_lnkdesc_t *arg) {
> +
> + int i, err = 0;
> + struct s626_struct * s626ptr = NULL;
> +
> + a4l_info(dev, "Attaching s626\n");
> +
> + s626ptr = kmalloc(sizeof(struct s626_struct), GFP_KERNEL);
> + if (s626ptr == NULL) {
> + __a4l_err("No memory for s626 structure\n");
> + return -ENOMEM;
> + }
> +
> + //zero whole struct
> + memset(s626ptr, 0x00, sizeof(struct s626_struct));
> +
> + s626ptr->dev = dev;
> +
> + //init lock
> + a4l_lock_init(&s626ptr->lock);
> +
> + s626ptr->private = kmalloc(sizeof(struct s626_priv), GFP_KERNEL);
> + if (s626ptr->private == NULL) {
> + __a4l_err("No memory for s626 private data\n");
> + return -ENOMEM;
> + }
> +
> + //add item to the list
> + list_add(&(s626ptr->list), &s626_list);
> +
> + err = pci_register_driver(&drv_pci_s626);
> +
> + if (err < 0) {
> + __a4l_err("pci_register_driver = %d\n", err);
> + return -ENOMEM;
> + }
> +
> + pci_set_master(s626ptr->pcidev);
> +
> + err = pci_request_regions(s626ptr->pcidev, dev->driver->board_name);
> +
> + if (err < 0) {
> + __a4l_err( "Can't request regions\n");
> + pci_disable_device(s626ptr->pcidev);
> + return -ENOMEM;
> + }
> +
> + s626ptr->private->base_addr = ioremap(pci_resource_start(
> s626ptr->pcidev, 0),
> + pci_resource_len( s626ptr->pcidev, 0));
> +
> + if (s626ptr->private->base_addr == NULL) {
> + return -ENOMEM;
> + }
> +
> + //disable master interrupt
> + writel(0, s626ptr->private->base_addr + P_IER);
> +
> + // soft reset
> + writel(MC1_SOFT_RESET, s626ptr->private->base_addr + P_MC1);
> +
> + // DMA FIXME DMA
> + err = s626_allocate_dma_buffers(s626ptr);
> + if (err) {
> + return err;
> + }
> +
> + if (s626ptr->pcidev->irq) {
> + err = a4l_request_irq(dev, s626ptr->pcidev->irq, s626_irq_handler,
> + A4L_IRQ_SHARED, dev);
> +
> + if (err < 0)
> + return err;
> + }
> +
> + /* Allocate the subdevice structures. */
> + for (i = 0; i < 6; ++i) {
> + a4l_subd_t *subd = a4l_alloc_subd(setup_subds[i].sizeof_priv,
> + setup_subds[i].setup_func);
> +
> + if (subd == NULL)
> + return -ENOMEM;
> +
> + err = a4l_add_subd(dev, subd);
> + if (err != i)
> + return err;
> + }
> +
> + // Running initialization
> + s626_initialize(s626ptr);
> +
> + return 0;
> +
> +}
> +
> +static int dev_s626_detach(a4l_dev_t *dev) {
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> + struct s626_priv *devpriv = NULL;
> +
> + a4l_info(dev, "Detaching s626\n");
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->dev == dev) {
> + devpriv = s626ptr->private;
> + break;
> + }
> + }
> +
> + if (devpriv == NULL) {
> + __a4l_err( "Inside %s, error, no device\n", __PRETTY_FUNCTION__);
> + return -ENODEV;
> + }
> +
> + if (s626ptr->private) {
> + /* stop ai_command */
> + s626ptr->private->ai_cmd_running = 0;
> +
> + if (s626ptr->private->base_addr) {
> + /* interrupt mask */
> + WR7146(P_IER, 0);
> + /* Disable master interrupt. */
> + WR7146(P_ISR, IRQ_GPIO3 | IRQ_RPS1);
> + /* Clear board's IRQ status flag. */
> +
> + /* Disable the watchdog timer and battery charger. */
> + WriteMISC2(s626ptr, 0);
> +
> + /* Close all interfaces on 7146 device. */
> + WR7146(P_MC1, MC1_SHUTDOWN);
> + WR7146(P_ACON1, ACON1_BASE);
> +
> + CloseDMAB(s626ptr, &s626ptr->private->RPSBuf, DMABUF_SIZE);
> + CloseDMAB(s626ptr, &s626ptr->private->ANABuf, DMABUF_SIZE);
> + }
> +
> + if (a4l_get_irq(dev) != A4L_IRQ_UNUSED)
> + a4l_free_irq(dev, a4l_get_irq(dev));
> +
> + if (s626ptr->private->base_addr)
> + iounmap(s626ptr->private->base_addr);
> + }
> +
> + pci_release_regions(s626ptr->pcidev);
> + pci_disable_device(s626ptr->pcidev);
> +
> + pci_unregister_driver(&drv_pci_s626);
> +
> + if (s626ptr->private)
> + kfree(s626ptr->private);
> +
> + list_del(&(s626ptr->list));
> +
> + kfree(s626ptr);
> +
> + return 0;
> +}
> +
> +static int s626_pci_probe(struct pci_dev *dev, const struct
> pci_device_id *ent) {
> + struct list_head *ptr;
> + struct s626_struct * s626ptr = NULL;
> + int err = 0;
> +
> + //try to enable device on PCI
> + if (pci_enable_device(dev) < 0) {
> + __a4l_err("error enabling s626\n");
> + err = -EIO;
> + }
> +
> + list_for_each( ptr, &s626_list) {
> + s626ptr = list_entry(ptr, struct s626_struct, list);
> + if (s626ptr->pcidev == NULL) {
> + s626ptr->pcidev = dev;
> + }
> + }
> +
> + return err;
> +}
> +
> +static void s626_pci_remove(struct pci_dev *dev) {
> +}
> +
> +static a4l_drv_t drv_s626 = { .owner = THIS_MODULE, .board_name = "S626",
> + .attach = dev_s626_attach, .detach = dev_s626_detach,
> .privdata_size =
> + sizeof(struct s626_priv), };
> +
> +static int __init drv_s626_init(void) {
> + return a4l_register_drv(&drv_s626);
> +}
> +
> +static void __exit drv_s626_cleanup(void) {
> + a4l_unregister_drv(&drv_s626);
> +}
> +
> +MODULE_DESCRIPTION("Analogy driver for Sensoray Model 626 board.");
> +MODULE_LICENSE("GPL");
> +
> +module_init(drv_s626_init);
> +module_exit(drv_s626_cleanup);
> +
> diff --git a/ksrc/drivers/analogy/sensoray/s626.h
> b/ksrc/drivers/analogy/sensoray/s626.h
> new file mode 100755
> index 0000000..feb2f86
> --- /dev/null
> +++ b/ksrc/drivers/analogy/sensoray/s626.h
> @@ -0,0 +1,1136 @@
> +/*
> + comedi/drivers/s626.h
> + Sensoray s626 Comedi driver, header file
> +
> + COMEDI - Linux Control and Measurement Device Interface
> + Copyright (C) 2000 David A. Schleef <ds@schleef.org
> <mailto:ds@schleef.org>>
> +
> + Based on Sensoray Model 626 Linux driver Version 0.2
> + Copyright (C) 2002-2004 Sensoray Co., Inc.
> +
> + 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: s626.o (s626.ko)
> + Description: Sensoray 626 driver
> + Devices: Sensoray s626
> + Authors: Gianluca Palli <gpalli@deis.unibo.it
> <mailto:gpalli@deis.unibo.it>>,
> + Updated: Thu, 12 Jul 2005
> + Status: experimental
> +
> + Configuration Options:
> + analog input:
> + none
> +
> + analog output:
> + none
> +
> + digital channel:
> + s626 has 3 dio subdevices (2,3 and 4) each with 16 i/o channels
> + supported configuration options:
> + INSN_CONFIG_DIO_QUERY
> + COMEDI_INPUT
> + COMEDI_OUTPUT
> +
> + encoder:
> + Every channel must be configured before reading.
> +
> + Example code
> +
> + insn.insn=INSN_CONFIG; // configuration instruction
> + insn.n=1; // number of operation (must be 1)
> + insn.data=&initialvalue; // initial value loaded into encoder
> + // during configuration
> + insn.subdev=5; // encoder subdevice
> + insn.chanspec=CR_PACK(encoder_channel,0,AREF_OTHER); // encoder_channel
> + // to configure
> +
> + comedi_do_insn(cf,&insn); // executing configuration
> + */
> +
> +#if !defined(TRUE)
> +#define TRUE (1)
> +#endif
> +
> +#if !defined(FALSE)
> +#define FALSE (0)
> +#endif
> +
> +#include <linux/slab.h>
> +
> +#define S626_SIZE 0x0200
> +#define DMABUF_SIZE 4096 /* 4k pages */
> +
> +#define S626_ADC_CHANNELS 16
> +#define S626_DAC_CHANNELS 4
> +#define S626_ENCODER_CHANNELS 6
> +#define S626_DIO_CHANNELS 48
> +#define S626_DIO_BANKS 3 /* Number of DIO groups. */
> +#define S626_DIO_EXTCHANS 40 /* Number of */
> +/* extended-capability */
> +/* DIO channels. */
> +
> +#define NUM_TRIMDACS 12 /* Number of valid TrimDAC channels. */
> +
> +/* PCI bus interface types. */
> +#define INTEL 1 /* Intel bus type. */
> +#define MOTOROLA 2 /* Motorola bus type. */
> +
> +#define PLATFORM INTEL /* *** SELECT PLATFORM TYPE *** */
> +
> +#define RANGE_5V 0x10 /* +/-5V range */
> +#define RANGE_10V 0x00 /* +/-10V range */
> +
> +#define EOPL 0x80 /* End of ADC poll list marker. */
> +#define GSEL_BIPOLAR5V 0x00F0 /* LP_GSEL setting for 5V
> bipolar range. */
> +#define GSEL_BIPOLAR10V 0x00A0 /* LP_GSEL setting for 10V
> bipolar range. */
> +
> +/* Error codes that must be visible to this base class. */
> +#define ERR_ILLEGAL_PARM 0x00010000 /* Illegal function
> parameter value was specified. */
> +#define ERR_I2C 0x00020000 /* I2C error. */
> +#define ERR_COUNTERSETUP 0x00200000 /* Illegal setup specified
> for counter channel. */
> +#define ERR_DEBI_TIMEOUT 0x00400000 /* DEBI transfer timed out. */
> +
> +/* Organization (physical order) and size (in DWORDs) of logical DMA
> buffers contained by ANA_DMABUF. */
> +#define ADC_DMABUF_DWORDS 40 /* ADC DMA buffer must hold 16
> samples, plus pre/post garbage samples. */
> +#define DAC_WDMABUF_DWORDS 1 /* DAC output DMA buffer holds a
> single sample. */
> +
> +/* All remaining space in 4KB DMA buffer is available for the RPS1
> program. */
> +
> +/* Address offsets, in DWORDS, from base of DMA buffer. */
> +#define DAC_WDMABUF_OS ADC_DMABUF_DWORDS
> +
> +/* Interrupt enab bit in ISR and IER. */
> +#define IRQ_GPIO3 0x00000040 /* IRQ enable for GPIO3. */
> +#define IRQ_RPS1 0x10000000
> +#define ISR_AFOU 0x00000800
> +/* Audio fifo under/overflow detected. */
> +
> +#define IRQ_COINT1A 0x0400 /* conter 1A overflow
> interrupt mask */
> +#define IRQ_COINT1B 0x0800 /* conter 1B overflow
> interrupt mask */
> +#define IRQ_COINT2A 0x1000 /* conter 2A overflow
> interrupt mask */
> +#define IRQ_COINT2B 0x2000 /* conter 2B overflow
> interrupt mask */
> +#define IRQ_COINT3A 0x4000 /* conter 3A overflow
> interrupt mask */
> +#define IRQ_COINT3B 0x8000 /* conter 3B overflow
> interrupt mask */
> +
> +/* RPS command codes. */
> +#define RPS_CLRSIGNAL 0x00000000 /* CLEAR SIGNAL */
> +#define RPS_SETSIGNAL 0x10000000 /* SET SIGNAL */
> +#define RPS_NOP 0x00000000 /* NOP */
> +#define RPS_PAUSE 0x20000000 /* PAUSE */
> +#define RPS_UPLOAD 0x40000000 /* UPLOAD */
> +#define RPS_JUMP 0x80000000 /* JUMP */
> +#define RPS_LDREG 0x90000100 /* LDREG (1 uint32_t only) */
> +#define RPS_STREG 0xA0000100 /* STREG (1 uint32_t only) */
> +#define RPS_STOP 0x50000000 /* STOP */
> +#define RPS_IRQ 0x60000000 /* IRQ */
> +
> +#define RPS_LOGICAL_OR 0x08000000 /* Logical OR
> conditionals. */
> +#define RPS_INVERT 0x04000000 /* Test for negated
> semaphores. */
> +#define RPS_DEBI 0x00000002 /* DEBI done */
> +
> +#define RPS_SIG0 0x00200000 /* RPS semaphore 0 (used by
> ADC). */
> +#define RPS_SIG1 0x00400000 /* RPS semaphore 1 (used by
> DAC). */
> +#define RPS_SIG2 0x00800000 /* RPS semaphore 2 (not used). */
> +#define RPS_GPIO2 0x00080000 /* RPS GPIO2 */
> +#define RPS_GPIO3 0x00100000 /* RPS GPIO3 */
> +
> +#define RPS_SIGADC RPS_SIG0 /* Trigger/status for ADC's
> RPS program. */
> +#define RPS_SIGDAC RPS_SIG1 /* Trigger/status for DAC's
> RPS program. */
> +
> +/* RPS clock parameters. */
> +#define RPSCLK_SCALAR 8 /* This is apparent ratio of
> PCI/RPS clks (undocumented!!). */
> +#define RPSCLK_PER_US (33 / RPSCLK_SCALAR) /* Number of
> RPS clocks in one microsecond. */
> +
> +/* Event counter source addresses. */
> +#define SBA_RPS_A0 0x27 /* Time of RPS0 busy, in PCI
> clocks. */
> +
> +/* GPIO constants. */
> +#define GPIO_BASE 0x10004000 /* GPIO 0,2,3 = inputs, GPIO3
> = IRQ; GPIO1 = out. */
> +#define GPIO1_LO 0x00000000 /* GPIO1 set to LOW. */
> +#define GPIO1_HI 0x00001000 /* GPIO1 set to HIGH. */
> +
> +/* Primary Status Register (PSR) constants. */
> +#define PSR_DEBI_E 0x00040000 /* DEBI event flag. */
> +#define PSR_DEBI_S 0x00080000 /* DEBI status flag. */
> +#define PSR_A2_IN 0x00008000 /* Audio output DMA2
> protection address reached. */
> +#define PSR_AFOU 0x00000800 /* Audio FIFO under/overflow
> detected. */
> +#define PSR_GPIO2 0x00000020 /* GPIO2 input pin:
> 0=AdcBusy, 1=AdcIdle. */
> +#define PSR_EC0S 0x00000001 /* Event counter 0 threshold
> reached. */
> +
> +/* Secondary Status Register (SSR) constants. */
> +#define SSR_AF2_OUT 0x00000200 /* Audio 2 output FIFO
> under/overflow detected. */
> +
> +/* Master Control Register 1 (MC1) constants. */
> +#define MC1_SOFT_RESET 0x80000000 /* Invoke 7146 soft
> reset. */
> +#define MC1_SHUTDOWN 0x3FFF0000 /* Shut down all
> MC1-controlled enables. */
> +
> +#define MC1_ERPS1 0x2000 /* enab/disable RPS task 1. */
> +#define MC1_ERPS0 0x1000 /* enab/disable RPS task 0. */
> +#define MC1_DEBI 0x0800 /* enab/disable DEBI pins. */
> +#define MC1_AUDIO 0x0200 /* enab/disable audio port pins. */
> +#define MC1_I2C 0x0100 /* enab/disable I2C interface. */
> +#define MC1_A2OUT 0x0008 /* enab/disable transfer on A2
> out. */
> +#define MC1_A2IN 0x0004 /* enab/disable transfer on A2 in. */
> +#define MC1_A1IN 0x0001 /* enab/disable transfer on A1 in. */
> +
> +/* Master Control Register 2 (MC2) constants. */
> +#define MC2_UPLD_DEBIq 0x00020002 /* Upload DEBI registers. */
> +#define MC2_UPLD_IICq 0x00010001 /* Upload I2C registers. */
> +#define MC2_RPSSIG2_ONq 0x20002000 /* Assert RPS_SIG2. */
> +#define MC2_RPSSIG1_ONq 0x10001000 /* Assert RPS_SIG1. */
> +#define MC2_RPSSIG0_ONq 0x08000800 /* Assert RPS_SIG0. */
> +#define MC2_UPLD_DEBI_MASKq 0x00000002 /* Upload DEBI mask. */
> +#define MC2_UPLD_IIC_MASKq 0x00000001 /* Upload I2C mask. */
> +#define MC2_RPSSIG2_MASKq 0x00002000 /* RPS_SIG2 bit mask. */
> +#define MC2_RPSSIG1_MASKq 0x00001000 /* RPS_SIG1 bit mask. */
> +#define MC2_RPSSIG0_MASKq 0x00000800 /* RPS_SIG0 bit mask. */
> +
> +#define MC2_DELAYTRIG_4USq MC2_RPSSIG1_ON
> +#define MC2_DELAYBUSY_4USq MC2_RPSSIG1_MASK
> +
> +#define MC2_DELAYTRIG_6USq MC2_RPSSIG2_ON
> +#define MC2_DELAYBUSY_6USq MC2_RPSSIG2_MASK
> +
> +#define MC2_UPLD_DEBI 0x0002 /* Upload DEBI. */
> +#define MC2_UPLD_IIC 0x0001 /* Upload I2C. */
> +#define MC2_RPSSIG2 0x2000 /* RPS signal 2 (not used). */
> +#define MC2_RPSSIG1 0x1000 /* RPS signal 1 (DAC RPS busy). */
> +#define MC2_RPSSIG0 0x0800 /* RPS signal 0 (ADC RPS busy). */
> +
> +#define MC2_ADC_RPS MC2_RPSSIG0 /* ADC RPS busy. */
> +#define MC2_DAC_RPS MC2_RPSSIG1 /* DAC RPS busy. */
> +
> +/* ***** oldies ***** */
> +#define MC2_UPLD_DEBIQ 0x00020002 /* Upload DEBI registers. */
> +#define MC2_UPLD_IICQ 0x00010001 /* Upload I2C registers. */
> +
> +/* PCI BUS (SAA7146) REGISTER ADDRESS OFFSETS */
> +#define P_PCI_BT_A 0x004C /* Audio DMA burst/threshold
> control. */
> +#define P_DEBICFG 0x007C /* DEBI configuration. */
> +#define P_DEBICMD 0x0080 /* DEBI command. */
> +#define P_DEBIPAGE 0x0084 /* DEBI page. */
> +#define P_DEBIAD 0x0088 /* DEBI target address. */
> +#define P_I2CCTRL 0x008C /* I2C control. */
> +#define P_I2CSTAT 0x0090 /* I2C status. */
> +#define P_BASEA2_IN 0x00AC /* Audio input 2 base physical
> DMAbuf
> + * address. */
> +#define P_PROTA2_IN 0x00B0 /* Audio input 2 physical DMAbuf
> + * protection address. */
> +#define P_PAGEA2_IN 0x00B4 /* Audio input 2 paging
> attributes. */
> +#define P_BASEA2_OUT 0x00B8 /* Audio output 2 base physical
> DMAbuf
> + * address. */
> +#define P_PROTA2_OUT 0x00BC /* Audio output 2 physical DMAbuf
> + * protection address. */
> +#define P_PAGEA2_OUT 0x00C0 /* Audio output 2 paging
> attributes. */
> +#define P_RPSPAGE0 0x00C4 /* RPS0 page. */
> +#define P_RPSPAGE1 0x00C8 /* RPS1 page. */
> +#define P_RPS0_TOUT 0x00D4 /* RPS0 time-out. */
> +#define P_RPS1_TOUT 0x00D8 /* RPS1 time-out. */
> +#define P_IER 0x00DC /* Interrupt enable. */
> +#define P_GPIO 0x00E0 /* General-purpose I/O. */
> +#define P_EC1SSR 0x00E4 /* Event counter set 1 source
> select. */
> +#define P_ECT1R 0x00EC /* Event counter threshold set 1. */
> +#define P_ACON1 0x00F4 /* Audio control 1. */
> +#define P_ACON2 0x00F8 /* Audio control 2. */
> +#define P_MC1 0x00FC /* Master control 1. */
> +#define P_MC2 0x0100 /* Master control 2. */
> +#define P_RPSADDR0 0x0104 /* RPS0 instruction pointer. */
> +#define P_RPSADDR1 0x0108 /* RPS1 instruction pointer. */
> +#define P_ISR 0x010C /* Interrupt status. */
> +#define P_PSR 0x0110 /* Primary status. */
> +#define P_SSR 0x0114 /* Secondary status. */
> +#define P_EC1R 0x0118 /* Event counter set 1. */
> +#define P_ADP4 0x0138 /* Logical audio DMA pointer of audio
> + * input FIFO A2_IN. */
> +#define P_FB_BUFFER1 0x0144 /* Audio feedback buffer 1. */
> +#define P_FB_BUFFER2 0x0148 /* Audio feedback buffer 2. */
> +#define P_TSL1 0x0180 /* Audio time slot list 1. */
> +#define P_TSL2 0x01C0 /* Audio time slot list 2. */
> +
> +/* LOCAL BUS (GATE ARRAY) REGISTER ADDRESS OFFSETS */
> +/* Analog I/O registers: */
> +#define LP_DACPOL 0x0082 /* Write DAC polarity. */
> +#define LP_GSEL 0x0084 /* Write ADC gain. */
> +#define LP_ISEL 0x0086 /* Write ADC channel select. */
> +/* Digital I/O (write only): */
> +#define LP_WRINTSELA 0x0042 /* Write A interrupt enable. */
> +#define LP_WREDGSELA 0x0044 /* Write A edge selection. */
> +#define LP_WRCAPSELA 0x0046 /* Write A capture enable. */
> +#define LP_WRDOUTA 0x0048 /* Write A digital output. */
> +#define LP_WRINTSELB 0x0052 /* Write B interrupt enable. */
> +#define LP_WREDGSELB 0x0054 /* Write B edge selection. */
> +#define LP_WRCAPSELB 0x0056 /* Write B capture enable. */
> +#define LP_WRDOUTB 0x0058 /* Write B digital output. */
> +#define LP_WRINTSELC 0x0062 /* Write C interrupt enable. */
> +#define LP_WREDGSELC 0x0064 /* Write C edge selection. */
> +#define LP_WRCAPSELC 0x0066 /* Write C capture enable. */
> +#define LP_WRDOUTC 0x0068 /* Write C digital output. */
> +
> +/* Digital I/O (read only): */
> +#define LP_RDDINA 0x0040 /* Read digital input. */
> +#define LP_RDCAPFLGA 0x0048 /* Read edges captured. */
> +#define LP_RDINTSELA 0x004A /* Read interrupt enable
> register. */
> +#define LP_RDEDGSELA 0x004C /* Read edge selection
> register. */
> +#define LP_RDCAPSELA 0x004E /* Read capture enable
> register. */
> +#define LP_RDDINB 0x0050 /* Read digital input. */
> +#define LP_RDCAPFLGB 0x0058 /* Read edges captured. */
> +#define LP_RDINTSELB 0x005A /* Read interrupt enable
> register. */
> +#define LP_RDEDGSELB 0x005C /* Read edge selection
> register. */
> +#define LP_RDCAPSELB 0x005E /* Read capture enable
> register. */
> +#define LP_RDDINC 0x0060 /* Read digital input. */
> +#define LP_RDCAPFLGC 0x0068 /* Read edges captured. */
> +#define LP_RDINTSELC 0x006A /* Read interrupt enable
> register. */
> +#define LP_RDEDGSELC 0x006C /* Read edge selection
> register. */
> +#define LP_RDCAPSELC 0x006E /* Read capture enable
> register. */
> +
> +/* Counter Registers (read/write): */
> +#define LP_CR0A 0x0000 /* 0A setup register. */
> +#define LP_CR0B 0x0002 /* 0B setup register. */
> +#define LP_CR1A 0x0004 /* 1A setup register. */
> +#define LP_CR1B 0x0006 /* 1B setup register. */
> +#define LP_CR2A 0x0008 /* 2A setup register. */
> +#define LP_CR2B 0x000A /* 2B setup register. */
> +
> +/* Counter PreLoad (write) and Latch (read) Registers: */
> +#define LP_CNTR0ALSW 0x000C /* 0A lsw. */
> +#define LP_CNTR0AMSW 0x000E /* 0A msw. */
> +#define LP_CNTR0BLSW 0x0010 /* 0B lsw. */
> +#define LP_CNTR0BMSW 0x0012 /* 0B msw. */
> +#define LP_CNTR1ALSW 0x0014 /* 1A lsw. */
> +#define LP_CNTR1AMSW 0x0016 /* 1A msw. */
> +#define LP_CNTR1BLSW 0x0018 /* 1B lsw. */
> +#define LP_CNTR1BMSW 0x001A /* 1B msw. */
> +#define LP_CNTR2ALSW 0x001C /* 2A lsw. */
> +#define LP_CNTR2AMSW 0x001E /* 2A msw. */
> +#define LP_CNTR2BLSW 0x0020 /* 2B lsw. */
> +#define LP_CNTR2BMSW 0x0022 /* 2B msw. */
> +
> +/* Miscellaneous Registers (read/write): */
> +#define LP_MISC1 0x0088 /* Read/write Misc1. */
> +#define LP_WRMISC2 0x0090 /* Write Misc2. */
> +#define LP_RDMISC2 0x0082 /* Read Misc2. */
> +
> +/* Bit masks for MISC1 register that are the same for reads and
> writes. */
> +#define MISC1_WENABLE 0x8000 /* enab writes to MISC2
> (except Clear
> + * Watchdog bit). */
> +#define MISC1_WDISABLE 0x0000 /* Disable writes to MISC2. */
> +#define MISC1_EDCAP 0x1000 /* enab edge capture on DIO chans
> + * specified by LP_WRCAPSELx. */
> +#define MISC1_NOEDCAP 0x0000 /* Disable edge capture on
> specified
> + * DIO chans. */
> +
> +/* Bit masks for MISC1 register reads. */
> +#define RDMISC1_WDTIMEOUT 0x4000 /* Watchdog timer timed out. */
> +
> +/* Bit masks for MISC2 register writes. */
> +#define WRMISC2_WDCLEAR 0x8000 /* Reset watchdog timer to
> zero. */
> +#define WRMISC2_CHARGE_ENABLE 0x4000 /* enab battery trickle
> charging. */
> +
> +/* Bit masks for MISC2 register that are the same for reads and
> writes. */
> +#define MISC2_BATT_ENABLE 0x0008 /* Backup battery enable. */
> +#define MISC2_WDENABLE 0x0004 /* Watchdog timer enable. */
> +#define MISC2_WDPERIOD_MASK 0x0003 /* Watchdog interval */
> +/* select mask. */
> +
> +/* Bit masks for ACON1 register. */
> +#define A2_RUN 0x40000000 /* Run A2 based on TSL2. */
> +#define A1_RUN 0x20000000 /* Run A1 based on TSL1. */
> +#define A1_SWAP 0x00200000 /* Use big-endian for A1. */
> +#define A2_SWAP 0x00100000 /* Use big-endian for A2. */
> +#define WS_MODES 0x00019999 /* WS0 = TSL1 trigger */
> +/* input, WS1-WS4 = */
> +/* CS* outputs. */
> +
> +#if PLATFORM == INTEL /* Base ACON1 config: always run A1 based
> + * on TSL1. */
> +#define ACON1_BASE (WS_MODES | A1_RUN)
> +#elif PLATFORM == MOTOROLA
> +#define ACON1_BASE (WS_MODES | A1_RUN | A1_SWAP | A2_SWAP)
> +#endif
> +
> +#define ACON1_ADCSTART ACON1_BASE /* Start ADC: run A1
> + * based on TSL1. */
> +#define ACON1_DACSTART (ACON1_BASE | A2_RUN)
> +/* Start transmit to DAC: run A2 based on TSL2. */
> +#define ACON1_DACSTOP ACON1_BASE /* Halt A2. */
> +
> +/* Bit masks for ACON2 register. */
> +#define A1_CLKSRC_BCLK1 0x00000000 /* A1 bit rate = BCLK1
> (ADC). */
> +#define A2_CLKSRC_X1 0x00800000 /* A2 bit rate = ACLK/1
> (DACs). */
> +#define A2_CLKSRC_X2 0x00C00000 /* A2 bit rate = ACLK/2
> (DACs). */
> +#define A2_CLKSRC_X4 0x01400000 /* A2 bit rate = ACLK/4
> (DACs). */
> +#define INVERT_BCLK2 0x00100000 /* Invert BCLK2 (DACs). */
> +#define BCLK2_OE 0x00040000 /* enab BCLK2 (DACs). */
> +#define ACON2_XORMASK 0x000C0000 /* XOR mask for ACON2 */
> +/* active-low bits. */
> +
> +#define ACON2_INIT (ACON2_XORMASK ^ (A1_CLKSRC_BCLK1 |
> A2_CLKSRC_X2 | INVERT_BCLK2 | BCLK2_OE))
> +
> +/* Bit masks for timeslot records. */
> +#define WS1 0x40000000 /* WS output to assert. */
> +#define WS2 0x20000000
> +#define WS3 0x10000000
> +#define WS4 0x08000000
> +#define RSD1 0x01000000 /* Shift A1 data in on SD1. */
> +#define SDW_A1 0x00800000 /* Store rcv'd char at next
> + * char slot of DWORD1 buffer. */
> +#define SIB_A1 0x00400000 /* Store rcv'd char at next
> + * char slot of FB1 buffer. */
> +#define SF_A1 0x00200000 /* Write unsigned long
> + * buffer to input FIFO. */
> +
> +/* Select parallel-to-serial converter's data source: */
> +#define XFIFO_0 0x00000000 /* Data fifo byte 0. */
> +#define XFIFO_1 0x00000010 /* Data fifo byte 1. */
> +#define XFIFO_2 0x00000020 /* Data fifo byte 2. */
> +#define XFIFO_3 0x00000030 /* Data fifo byte 3. */
> +#define XFB0 0x00000040 /* FB_BUFFER byte 0. */
> +#define XFB1 0x00000050 /* FB_BUFFER byte 1. */
> +#define XFB2 0x00000060 /* FB_BUFFER byte 2. */
> +#define XFB3 0x00000070 /* FB_BUFFER byte 3. */
> +#define SIB_A2 0x00000200 /* Store next dword from A2's
> + * input shifter to FB2 buffer. */
> +#define SF_A2 0x00000100 /* Store next dword from A2's
> + * input shifter to its input
> + * fifo. */
> +#define LF_A2 0x00000080 /* Load next dword from A2's
> + * output fifo into its
> + * output dword buffer. */
> +#define XSD2 0x00000008 /* Shift data out on SD2. */
> +#define RSD3 0x00001800 /* Shift data in on SD3. */
> +#define RSD2 0x00001000 /* Shift data in on SD2. */
> +#define LOW_A2 0x00000002 /* Drive last SD low */
> +/* for 7 clks, then */
> +/* tri-state. */
> +#define EOS 0x00000001 /* End of superframe. */
> +
> +/* I2C configuration constants. */
> +#define I2C_CLKSEL 0x0400
> +/* I2C bit rate = PCIclk/480 = 68.75 KHz. */
> +
> +#define I2C_BITRATE 68.75
> +/* I2C bus data bit rate (determined by I2C_CLKSEL) in KHz. */
> +
> +#define I2C_WRTIME 15.0
> +/* Worst case time, in msec, for EEPROM internal write op. */
> +
> +/* I2C manifest constants. */
> +
> +/* Max retries to wait for EEPROM write. */
> +#define I2C_RETRIES (I2C_WRTIME * I2C_BITRATE / 9.0)
> +#define I2C_ERR 0x0002 /* I2C control/status */
> +/* flag ERROR. */
> +#define I2C_BUSY 0x0001 /* I2C control/status */
> +/* flag BUSY. */
> +#define I2C_ABORT 0x0080 /* I2C status flag ABORT. */
> +#define I2C_ATTRSTART 0x3 /* I2C attribute START. */
> +#define I2C_ATTRCONT 0x2 /* I2C attribute CONT. */
> +#define I2C_ATTRSTOP 0x1 /* I2C attribute STOP. */
> +#define I2C_ATTRNOP 0x0 /* I2C attribute NOP. */
> +
> +/* I2C read command | EEPROM address. */
> +#define I2CR (devpriv->I2CAdrs | 1)
> +
> +/* I2C write command | EEPROM address. */
> +#define I2CW (devpriv->I2CAdrs)
> +
> +/* Code macros used for constructing I2C command bytes. */
> +#define I2C_B2(ATTR, VAL) (((ATTR) << 6) | ((VAL) << 24))
> +#define I2C_B1(ATTR, VAL) (((ATTR) << 4) | ((VAL) << 16))
> +#define I2C_B0(ATTR, VAL) (((ATTR) << 2) | ((VAL) << 8))
> +
> +/* oldest */
> +#define P_DEBICFGq 0x007C /* DEBI configuration. */
> +#define P_DEBICMDq 0x0080 /* DEBI command. */
> +#define P_DEBIPAGEq 0x0084 /* DEBI page. */
> +#define P_DEBIADq 0x0088 /* DEBI target address. */
> +
> +#define DEBI_CFG_TOQ 0x03C00000 /* timeout (15 PCI cycles) */
> +#define DEBI_CFG_FASTQ 0x10000000 /* fast mode enable */
> +#define DEBI_CFG_16Q 0x00080000 /* 16-bit access enable */
> +#define DEBI_CFG_INCQ 0x00040000 /* enable address
> increment */
> +#define DEBI_CFG_TIMEROFFQ 0x00010000 /* disable timer */
> +#define DEBI_CMD_RDQ 0x00050000 /* read immediate 2 bytes */
> +#define DEBI_CMD_WRQ 0x00040000 /* write immediate 2 bytes */
> +#define DEBI_PAGE_DISABLEQ 0x00000000 /* paging disable */
> +
> +/* DEBI command constants. */
> +#define DEBI_CMD_SIZE16 (2 << 17) /* Transfer size is */
> +/* always 2 bytes. */
> +#define DEBI_CMD_READ 0x00010000 /* Read operation. */
> +#define DEBI_CMD_WRITE 0x00000000 /* Write operation. */
> +
> +/* Read immediate 2 bytes. */
> +#define DEBI_CMD_RDWORD (DEBI_CMD_READ | DEBI_CMD_SIZE16)
> +
> +/* Write immediate 2 bytes. */
> +#define DEBI_CMD_WRWORD (DEBI_CMD_WRITE | DEBI_CMD_SIZE16)
> +
> +/* DEBI configuration constants. */
> +#define DEBI_CFG_XIRQ_EN 0x80000000 /* enab external */
> +/* interrupt on GPIO3. */
> +#define DEBI_CFG_XRESUME 0x40000000 /* Resume block */
> +/* transfer when XIRQ */
> +/* deasserted. */
> +#define DEBI_CFG_FAST 0x10000000 /* Fast mode enable. */
> +
> +/* 4-bit field that specifies DEBI timeout value in PCI clock cycles: */
> +#define DEBI_CFG_TOUT_BIT 22 /* Finish DEBI cycle after */
> +/* this many clocks. */
> +
> +/* 2-bit field that specifies Endian byte lane steering: */
> +#define DEBI_CFG_SWAP_NONE 0x00000000 /* Straight - don't */
> +/* swap any bytes */
> +/* (Intel). */
> +#define DEBI_CFG_SWAP_2 0x00100000 /* 2-byte swap
> (Motorola). */
> +#define DEBI_CFG_SWAP_4 0x00200000 /* 4-byte swap. */
> +#define DEBI_CFG_16 0x00080000 /* Slave is able to */
> +/* serve 16-bit */
> +/* cycles. */
> +
> +#define DEBI_CFG_SLAVE16 0x00080000 /* Slave is able to */
> +/* serve 16-bit */
> +/* cycles. */
> +#define DEBI_CFG_INC 0x00040000 /* enab address */
> +/* increment for block */
> +/* transfers. */
> +#define DEBI_CFG_INTEL 0x00020000 /* Intel style local bus. */
> +#define DEBI_CFG_TIMEROFF 0x00010000 /* Disable timer. */
> +
> +#if PLATFORM == INTEL
> +
> +#define DEBI_TOUT 7 /* Wait 7 PCI clocks */
> +/* (212 ns) before */
> +/* polling RDY. */
> +
> +/* Intel byte lane steering (pass through all byte lanes). */
> +#define DEBI_SWAP DEBI_CFG_SWAP_NONE
> +
> +#elif PLATFORM == MOTOROLA
> +
> +#define DEBI_TOUT 15 /* Wait 15 PCI clocks (454 ns) */
> +/* maximum before timing out. */
> +#define DEBI_SWAP DEBI_CFG_SWAP_2 /* Motorola byte lane
> steering. */
> +
> +#endif
> +
> +/* DEBI page table constants. */
> +#define DEBI_PAGE_DISABLE 0x00000000 /* Paging disable. */
> +
> +/* ******* EXTRA FROM OTHER SANSORAY * .h ******* */
> +
> +/* LoadSrc values: */
> +#define LOADSRC_INDX 0 /* Preload core in response to */
> +/* Index. */
> +#define LOADSRC_OVER 1 /* Preload core in response to */
> +/* Overflow. */
> +#define LOADSRCB_OVERA 2 /* Preload B core in response */
> +/* to A Overflow. */
> +#define LOADSRC_NONE 3 /* Never preload core. */
> +
> +/* IntSrc values: */
> +#define INTSRC_NONE 0 /* Interrupts disabled. */
> +#define INTSRC_OVER 1 /* Interrupt on Overflow. */
> +#define INTSRC_INDX 2 /* Interrupt on Index. */
> +#define INTSRC_BOTH 3 /* Interrupt on Index or Overflow. */
> +
> +/* LatchSrc values: */
> +#define LATCHSRC_AB_READ 0 /* Latch on read. */
> +#define LATCHSRC_A_INDXA 1 /* Latch A on A Index. */
> +#define LATCHSRC_B_INDXB 2 /* Latch B on B Index. */
> +#define LATCHSRC_B_OVERA 3 /* Latch B on A Overflow. */
> +
> +/* IndxSrc values: */
> +#define INDXSRC_HARD 0 /* Hardware or software index. */
> +#define INDXSRC_SOFT 1 /* Software index only. */
> +
> +/* IndxPol values: */
> +#define INDXPOL_POS 0 /* Index input is active high. */
> +#define INDXPOL_NEG 1 /* Index input is active low. */
> +
> +/* ClkSrc values: */
> +#define CLKSRC_COUNTER 0 /* Counter mode. */
> +#define CLKSRC_TIMER 2 /* Timer mode. */
> +#define CLKSRC_EXTENDER 3 /* Extender mode. */
> +
> +/* ClkPol values: */
> +#define CLKPOL_POS 0 /* Counter/Extender clock is */
> +/* active high. */
> +#define CLKPOL_NEG 1 /* Counter/Extender clock is */
> +/* active low. */
> +#define CNTDIR_UP 0 /* Timer counts up. */
> +#define CNTDIR_DOWN 1 /* Timer counts down. */
> +
> +/* ClkEnab values: */
> +#define CLKENAB_ALWAYS 0 /* Clock always enabled. */
> +#define CLKENAB_INDEX 1 /* Clock is enabled by index. */
> +
> +/* ClkMult values: */
> +#define CLKMULT_4X 0 /* 4x clock multiplier. */
> +#define CLKMULT_2X 1 /* 2x clock multiplier. */
> +#define CLKMULT_1X 2 /* 1x clock multiplier. */
> +
> +/* Bit Field positions in COUNTER_SETUP structure: */
> +#define BF_LOADSRC 9 /* Preload trigger. */
> +#define BF_INDXSRC 7 /* Index source. */
> +#define BF_INDXPOL 6 /* Index polarity. */
> +#define BF_CLKSRC 4 /* Clock source. */
> +#define BF_CLKPOL 3 /* Clock polarity/count direction. */
> +#define BF_CLKMULT 1 /* Clock multiplier. */
> +#define BF_CLKENAB 0 /* Clock enable. */
> +
> +/* Enumerated counter operating modes specified by ClkSrc bit field
> in */
> +/* a COUNTER_SETUP. */
> +
> +#define CLKSRC_COUNTER 0 /* Counter: ENC_C clock, ENC_D */
> +/* direction. */
> +#define CLKSRC_TIMER 2 /* Timer: SYS_C clock, */
> +/* direction specified by */
> +/* ClkPol. */
> +#define CLKSRC_EXTENDER 3 /* Extender: OVR_A clock, */
> +/* ENC_D direction. */
> +
> +/* Enumerated counter clock multipliers. */
> +
> +#define MULT_X0 0x0003 /* Supports no multipliers; */
> +/* fixed physical multiplier = */
> +/* 3. */
> +#define MULT_X1 0x0002 /* Supports multiplier x1; */
> +/* fixed physical multiplier = */
> +/* 2. */
> +#define MULT_X2 0x0001 /* Supports multipliers x1, */
> +/* x2; physical multipliers = */
> +/* 1 or 2. */
> +#define MULT_X4 0x0000 /* Supports multipliers x1, */
> +/* x2, x4; physical */
> +/* multipliers = 0, 1 or 2. */
> +
> +/* Sanity-check limits for parameters. */
> +
> +#define NUM_COUNTERS 6 /* Maximum valid counter */
> +/* logical channel number. */
> +#define NUM_INTSOURCES 4
> +#define NUM_LATCHSOURCES 4
> +#define NUM_CLKMULTS 4
> +#define NUM_CLKSOURCES 4
> +#define NUM_CLKPOLS 2
> +#define NUM_INDEXPOLS 2
> +#define NUM_INDEXSOURCES 2
> +#define NUM_LOADTRIGS 4
> +
> +/* Bit field positions in CRA and CRB counter control registers. */
> +
> +/* Bit field positions in CRA: */
> +#define CRABIT_INDXSRC_B 14 /* B index source. */
> +#define CRABIT_CLKSRC_B 12 /* B clock source. */
> +#define CRABIT_INDXPOL_A 11 /* A index polarity. */
> +#define CRABIT_LOADSRC_A 9 /* A preload trigger. */
> +#define CRABIT_CLKMULT_A 7 /* A clock multiplier. */
> +#define CRABIT_INTSRC_A 5 /* A interrupt source. */
> +#define CRABIT_CLKPOL_A 4 /* A clock polarity. */
> +#define CRABIT_INDXSRC_A 2 /* A index source. */
> +#define CRABIT_CLKSRC_A 0 /* A clock source. */
> +
> +/* Bit field positions in CRB: */
> +#define CRBBIT_INTRESETCMD 15 /* Interrupt reset command. */
> +#define CRBBIT_INTRESET_B 14 /* B interrupt reset enable. */
> +#define CRBBIT_INTRESET_A 13 /* A interrupt reset enable. */
> +#define CRBBIT_CLKENAB_A 12 /* A clock enable. */
> +#define CRBBIT_INTSRC_B 10 /* B interrupt source. */
> +#define CRBBIT_LATCHSRC 8 /* A/B latch source. */
> +#define CRBBIT_LOADSRC_B 6 /* B preload trigger. */
> +#define CRBBIT_CLKMULT_B 3 /* B clock multiplier. */
> +#define CRBBIT_CLKENAB_B 2 /* B clock enable. */
> +#define CRBBIT_INDXPOL_B 1 /* B index polarity. */
> +#define CRBBIT_CLKPOL_B 0 /* B clock polarity. */
> +
> +/* Bit field masks for CRA and CRB. */
> +
> +#define CRAMSK_INDXSRC_B ((uint16_t)(3 << CRABIT_INDXSRC_B))
> +#define CRAMSK_CLKSRC_B ((uint16_t)(3 << CRABIT_CLKSRC_B))
> +#define CRAMSK_INDXPOL_A ((uint16_t)(1 << CRABIT_INDXPOL_A))
> +#define CRAMSK_LOADSRC_A ((uint16_t)(3 << CRABIT_LOADSRC_A))
> +#define CRAMSK_CLKMULT_A ((uint16_t)(3 << CRABIT_CLKMULT_A))
> +#define CRAMSK_INTSRC_A ((uint16_t)(3 << CRABIT_INTSRC_A))
> +#define CRAMSK_CLKPOL_A ((uint16_t)(3 << CRABIT_CLKPOL_A))
> +#define CRAMSK_INDXSRC_A ((uint16_t)(3 << CRABIT_INDXSRC_A))
> +#define CRAMSK_CLKSRC_A ((uint16_t)(3 << CRABIT_CLKSRC_A))
> +
> +#define CRBMSK_INTRESETCMD ((uint16_t)(1 << CRBBIT_INTRESETCMD))
> +#define CRBMSK_INTRESET_B ((uint16_t)(1 << CRBBIT_INTRESET_B))
> +#define CRBMSK_INTRESET_A ((uint16_t)(1 << CRBBIT_INTRESET_A))
> +#define CRBMSK_CLKENAB_A ((uint16_t)(1 << CRBBIT_CLKENAB_A))
> +#define CRBMSK_INTSRC_B ((uint16_t)(3 << CRBBIT_INTSRC_B))
> +#define CRBMSK_LATCHSRC ((uint16_t)(3 << CRBBIT_LATCHSRC))
> +#define CRBMSK_LOADSRC_B ((uint16_t)(3 << CRBBIT_LOADSRC_B))
> +#define CRBMSK_CLKMULT_B ((uint16_t)(3 << CRBBIT_CLKMULT_B))
> +#define CRBMSK_CLKENAB_B ((uint16_t)(1 << CRBBIT_CLKENAB_B))
> +#define CRBMSK_INDXPOL_B ((uint16_t)(1 << CRBBIT_INDXPOL_B))
> +#define CRBMSK_CLKPOL_B ((uint16_t)(1 << CRBBIT_CLKPOL_B))
> +
> +#define CRBMSK_INTCTRL (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A
> | CRBMSK_INTRESET_B) /* Interrupt reset control bits. */
> +
> +/* Bit field positions for standardized SETUP structure. */
> +
> +#define STDBIT_INTSRC 13
> +#define STDBIT_LATCHSRC 11
> +#define STDBIT_LOADSRC 9
> +#define STDBIT_INDXSRC 7
> +#define STDBIT_INDXPOL 6
> +#define STDBIT_CLKSRC 4
> +#define STDBIT_CLKPOL 3
> +#define STDBIT_CLKMULT 1
> +#define STDBIT_CLKENAB 0
> +
> +/* Bit field masks for standardized SETUP structure. */
> +
> +#define STDMSK_INTSRC ((uint16_t)(3 << STDBIT_INTSRC))
> +#define STDMSK_LATCHSRC ((uint16_t)(3 << STDBIT_LATCHSRC))
> +#define STDMSK_LOADSRC ((uint16_t)(3 << STDBIT_LOADSRC))
> +#define STDMSK_INDXSRC ((uint16_t)(1 << STDBIT_INDXSRC))
> +#define STDMSK_INDXPOL ((uint16_t)(1 << STDBIT_INDXPOL))
> +#define STDMSK_CLKSRC ((uint16_t)(3 << STDBIT_CLKSRC))
> +#define STDMSK_CLKPOL ((uint16_t)(1 << STDBIT_CLKPOL))
> +#define STDMSK_CLKMULT ((uint16_t)(3 << STDBIT_CLKMULT))
> +#define STDMSK_CLKENAB ((uint16_t)(1 << STDBIT_CLKENAB))
> +
> +struct bufferDMA {
> + dma_addr_t PhysicalBase;
> + void *LogicalBase;
> + uint32_t DMAHandle;
> +};
> +
> +#define SUBD_AI 0
> +#define SUBD_AO 1
> +#define SUBD_DIO_A 2
> +#define SUBD_DIO_B 3
> +#define SUBD_DIO_C 4
> +#define SUBD_ENC 5
> +
> +/* Board description */
> +#define S626_GPCT_CHANS 6
> +#define S626_GPCT_BITS 24
> +#define S626_AI_CHANS 16
> +#define S626_AI_BITS 16
> +#define S626_AI_TIMEOUT 100
> +#define S626_AO_CHANS 4
> +#define S626_AO_BITS 16
> +#define S626_DIO_CHANS 16
> +#define S626_DIO_BITS 1
> +
> +/* Ports */
> +#define S626_IOSIZE 0x40 /* 64 bytes */
> +#define S626_DEFAULT_ADDRESS 0x2C0 /* Manufacturing default */
> +
> +/* 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
> +
> +#define ISR_ADC_DONE 0x4
> +
> +#define ADDR_REG(reg) (s626ptr->private->io_base + (reg))
> +#define ADDR_CHAN_REG(reg, chan) (s626ptr->private->io_base + (reg) +
> (chan) * 8)
> +
> +/* #define WR7146(REGARDS,CTRLWORD)
> + writel(CTRLWORD,(uint32_t)(devpriv->base_addr+(REGARDS))) */
> +#define WR7146(REGARDS, CTRLWORD) writel(CTRLWORD,
> devpriv->base_addr+(REGARDS))
> +
> +/* enab/disable a function or test status bit(s) that are accessed */
> +/* through Main Control Registers 1 or 2. */
> +#define MC_ENABLE(REGADRS, CTRLWORD) writel(((uint32_t)(CTRLWORD) <<
> 16) | (uint32_t)(CTRLWORD), devpriv->base_addr+(REGADRS))
> +
> +#define MC_DISABLE(REGADRS, CTRLWORD) writel((uint32_t)(CTRLWORD) <<
> 16 , devpriv->base_addr+(REGADRS))
> +
> +#define MC_TEST(REGADRS, CTRLWORD)
> ((readl(devpriv->base_addr+(REGADRS)) & CTRLWORD) != 0)
> +
> +/* #define WR7146(REGARDS,CTRLWORD)
> + writel(CTRLWORD,(uint32_t)(devpriv->base_addr+(REGARDS))) */
> +#define WR7146(REGARDS, CTRLWORD) writel(CTRLWORD,
> devpriv->base_addr+(REGARDS))
> +
> +/* #define RR7146(REGARDS)
> + readl((uint32_t)(devpriv->base_addr+(REGARDS))) */
> +#define RR7146(REGARDS) readl(devpriv->base_addr+(REGARDS))
> +
> +#define NUMBER_OF_SUBDEVICES 1
> +
> +#define BUGFIX_STREG(REGADRS) (REGADRS - 4)
> +
> +/* Write a time slot control record to TSL2. */
> +#define VECTPORT(VECTNUM) (P_TSL2 + ((VECTNUM) << 2))
> +#define SETVECT(VECTNUM, VECTVAL) WR7146(VECTPORT(VECTNUM), (VECTVAL))
> +
> +/* Slot 0 base settings. */
> +#define VECT0 (XSD2 | RSD3 | SIB_A2)
> +/* Slot 0 always shifts in 0xFF and store it to FB_BUFFER2. */
> +
> +#define encpriv ( (struct enc_private *) &((
> a4l_get_subd(s626ptr->dev, 5) )->priv) )
> +
> +/* Counter overflow/index event flag masks for RDMISC2. */
> +#define INDXMASK(C) (1 << (((C) > 2) ? ((C) * 2 - 1) : ((C) * 2 + 4)))
> +#define OVERMASK(C) (1 << (((C) > 2) ? ((C) * 2 + 5) : ((C) * 2 + 10)))
> +#define EVBITS(C) { 0, OVERMASK(C), INDXMASK(C), OVERMASK(C) |
> INDXMASK(C) }
> +
> +struct s626_priv {
> + unsigned long io_base;
> +
> + void __iomem *base_addr;
> + uint8_t ai_cmd_running; /* ai_cmd is running */
> + uint8_t ai_continous; /* continous acquisition */
> + int ai_sample_count; /* number of samples to acquire */
> + unsigned int ai_sample_timer;
> + /* time between samples in units of the timer */
> + int ai_convert_count; /* conversion counter */
> + unsigned int ai_convert_timer;
> + /* time between conversion in units of the timer */
> + uint16_t CounterIntEnabs;
> + /* Counter interrupt enable mask for MISC2 register. */
> + uint8_t AdcItems; /* Number of items in ADC poll list. */
> + struct bufferDMA RPSBuf; /* DMA buffer used to hold ADC (RPS1)
> program. */
> + struct bufferDMA ANABuf;
> + /* DMA buffer used to receive ADC data and hold DAC data. */
> + uint32_t *pDacWBuf;
> + /* Pointer to logical adrs of DMA buffer used to hold DAC data. */
> + uint16_t Dacpol; /* Image of DAC polarity register. */
> + uint8_t TrimSetpoint[12]; /* Images of TrimDAC setpoints */
> + /* Charge Enabled (0 or WRMISC2_CHARGE_ENABLE). */
> + uint32_t I2CAdrs;
> + /* I2C device address for onboard EEPROM (board rev dependent). */
> + /* short I2Cards; */
> + unsigned int ao_readback[S626_DAC_CHANNELS];
> +};
> +
> +struct s626_struct {
> + struct list_head list;
> + a4l_lock_t lock;
> +
> + struct pci_dev * pcidev;
> + a4l_dev_t * dev;
> +
> + resource_size_t phys_addr;
> + void * io_addr;
> + resource_size_t daq_phys_addr;
> + void * daq_io_addr;
> +
> + struct s626_priv * private;
> +};
> +
> +/* COUNTER OBJECT ------------------------------------------------ */
> +struct enc_private {
> + /* Pointers to functions that differ for A and B counters: */
> + uint16_t (*GetEnable)(struct s626_struct * s626ptr, struct
> enc_private *); /* Return clock enable. */
> + uint16_t (*GetIntSrc)(struct s626_struct * s626ptr, struct
> enc_private *); /* Return interrupt source. */
> + uint16_t (*GetLoadTrig)(struct s626_struct * s626ptr, struct
> enc_private *); /* Return preload trigger source. */
> + uint16_t (*GetMode)(struct s626_struct * s626ptr, struct
> enc_private *); /* Return standardized operating mode. */
> + void (*PulseIndex)(struct s626_struct * s626ptr, struct enc_private
> *); /* Generate soft index strobe. */
> + void (*SetEnable)(struct s626_struct * s626ptr, struct enc_private *,
> + uint16_t enab); /* Program clock enable. */
> + void (*SetIntSrc)(struct s626_struct * s626ptr, struct enc_private *,
> + uint16_t IntSource); /* Program interrupt source. */
> + void (*SetLoadTrig)(struct s626_struct * s626ptr, struct enc_private *,
> + uint16_t Trig); /* Program preload trigger source. */
> + void (*SetMode)(struct s626_struct * s626ptr, struct enc_private *,
> + uint16_t Setup, uint16_t DisableIntSrc); /* Program
> standardized operating mode. */
> + void (*ResetCapFlags)(struct s626_struct * s626ptr, struct
> enc_private *); /* Reset event capture flags. */
> +
> + uint16_t MyCRA; /* Address of CRA register. */
> + uint16_t MyCRB; /* Address of CRB register. */
> + uint16_t MyLatchLsw; /* Address of Latch least-significant-word */
> + /* register. */
> + uint16_t MyEventBits[4]; /* Bit translations for IntSrc
> -->RDMISC2. */
> +};
> +
> +struct s626_subd_dio_private {
> + uint16_t RDDIn;
> + uint16_t WRDOut;
> + uint16_t RDEdgSel;
> + uint16_t WREdgSel;
> + uint16_t RDCapSel;
> + uint16_t WRCapSel;
> + uint16_t RDCapFlg;
> + uint16_t RDIntSel;
> + uint16_t WRIntSel;
> + int io_bits;
> + unsigned int state;
> +};
> +
> +struct counter_mode_register_t {
> +#if defined (__LITTLE_ENDIAN_BITFIELD)
> + 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;
> +#elif defined(__BIG_ENDIAN_BITFIELD)
> +unsigned short reserved:1;
> +unsigned short preloadRegSel:1;
> +unsigned short outputRegLatchCtrl:1;
> +unsigned short countDirCtrl:1;
> +unsigned short countDir:1;
> +unsigned short clockSource:2;
> +unsigned short ctEnableCtrl:2;
> +unsigned short hwCtEnableSource:2;
> +unsigned short autoLoadResetRcap:3;
> +unsigned short coutPolarity:1;
> +unsigned short coutSource:1;
> +#else
> +#error Unknown bit field order
> +#endif
> +};
> +
> +union cmReg {
> + struct counter_mode_register_t reg;
> + unsigned short value;
> +};
> +
> +/* Application Classes for GPCT Subdevices */
> +enum S626_GPCT_APP_CLASS {
> + CountingAndTimeMeasurement,
> + SinglePulseGeneration,
> + PulseTrainGeneration,
> + PositionMeasurement,
> + Miscellaneous
> +};
> +
> +/* GPCT subdevices configuration */
> +#define MAX_GPCT_CONFIG_DATA 6
> +
> +struct s626GPCTConfig {
> + enum S626_GPCT_APP_CLASS app;
> + int data[MAX_GPCT_CONFIG_DATA];
> +};
> +
> +struct setup_subd {
> + void (*setup_func)(a4l_subd_t *);
> + int sizeof_priv;
> +};
> +
> +struct s626_subd_gpct_private {
> + struct enc_private enc_private_data[S626_GPCT_CHANS];
> + struct s626GPCTConfig config[S626_GPCT_CHANS];
> +};
> +
> +struct s626_subd_ai_private {
> + uint16_t config;
> +};
> +
> +struct s626_subd_ao_private {
> + uint16_t readback[S626_AO_CHANS];
> +};
> +
> +static void ResetCapFlags_A(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void ResetCapFlags_B(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static uint16_t GetMode_A(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static uint16_t GetMode_B(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void SetMode_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Setup, uint16_t DisableIntSrc);
> +
> +static void SetMode_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Setup, uint16_t DisableIntSrc);
> +
> +static void SetEnable_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t enab);
> +
> +static void SetEnable_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t enab);
> +
> +static uint16_t GetEnable_A(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static uint16_t GetEnable_B(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void SetLoadTrig_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Trig);
> +
> +static void SetLoadTrig_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t Trig);
> +
> +static uint16_t GetLoadTrig_A(struct s626_struct * s626ptr,
> + struct enc_private *k);
> +
> +static uint16_t GetLoadTrig_B(struct s626_struct * s626ptr,
> + struct enc_private *k);
> +
> +static void SetIntSrc_A(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t IntSource);
> +
> +static void SetIntSrc_B(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t IntSource);
> +
> +static uint16_t GetIntSrc_A(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static uint16_t GetIntSrc_B(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void PulseIndex_A(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void PulseIndex_B(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void CloseDMAB(struct s626_struct * s626ptr, struct bufferDMA
> *pdma,
> + size_t bsize);
> +
> +static uint16_t DEBIread(struct s626_struct * s626ptr, uint16_t addr);
> +
> +static void DEBIwrite(struct s626_struct * s626ptr, uint16_t addr,
> + uint16_t wdata);
> +
> +static void DEBItransfer(struct s626_struct * s626ptr);
> +
> +static void DEBIreplace(struct s626_struct * s626ptr, uint16_t addr,
> + uint16_t mask, uint16_t wdata);
> +
> +static uint32_t I2Chandshake(struct s626_struct * s626ptr, uint32_t val);
> +
> +static uint8_t I2Cread(struct s626_struct * s626ptr, uint8_t addr);
> +
> +static void WriteMISC2(struct s626_struct * s626ptr, uint16_t NewImage);
> +
> +static void Preload(struct s626_struct * s626ptr, struct enc_private *k,
> + uint32_t value);
> +
> +static void SendDAC(struct s626_struct * s626ptr, uint32_t val);
> +
> +static void SetDAC(struct s626_struct * s626ptr, uint16_t chan, short
> dacdata);
> +
> +static void WriteTrimDAC(struct s626_struct * s626ptr, uint8_t
> LogicalChan,
> + uint8_t DacData);
> +
> +static void LoadTrimDACs(struct s626_struct * s626ptr);
> +
> +static uint32_t ReadLatch(struct s626_struct * s626ptr, struct
> enc_private *k);
> +
> +static void SetLatchSource(struct s626_struct * s626ptr, struct
> enc_private *k,
> + uint16_t value);
> +
> +static void s626_timer_load(struct s626_struct * s626ptr, struct
> enc_private *k,
> + int tick);
> +
> +int s626_irq_handler(unsigned int irq, void *d);
> +
> +static int s626_ns_to_timer(int *nanosec, int round_mode);
> +
> +static int s626_allocate_dma_buffers(struct s626_struct * s626ptr);
> +
> +static int s626_dio_clear_irq(struct s626_struct * s626ptr);
> +
> +static int s626_dio_set_irq(struct s626_struct * s626ptr, unsigned
> int chan);
> +
> +static int s626_dio_reset_irq(struct s626_struct * s626ptr, unsigned
> int group,
> + unsigned int mask);
> +
> +static void ResetADC(struct s626_struct * s626ptr, uint8_t *ppl,
> + a4l_cmd_t * cmd);
> +
> +static int s626_ai_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static unsigned int s626_ai_reg_to_uint(int data);
> +
> +static int s626_ai_insn_read(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static int s626_ai_load_polllist(uint8_t *ppl, a4l_cmd_t *cmd);
> +
> +static int s626_ai_inttrig(struct a4l_subdevice * subdev,
> + unsigned long int trignum);
> +
> +static int s626_ai_cmd(struct a4l_subdevice * subdev, a4l_cmd_t * cmd);
> +
> +static inline int cfc_check_trigger_src(unsigned int *src, unsigned
> int flags);
> +
> +static inline int cfc_check_trigger_is_unique(unsigned int src);
> +
> +static inline int cfc_check_trigger_arg_is(unsigned int *arg,
> unsigned int val);
> +
> +static inline int cfc_check_trigger_arg_min(unsigned int *arg,
> unsigned int val);
> +
> +static inline int cfc_check_trigger_arg_max(unsigned int *arg,
> unsigned int val);
> +
> +static int s626_ai_cmdtest(struct a4l_subdevice * subdev, a4l_cmd_t *
> cmd);
> +
> +static int s626_ai_cancel(struct a4l_subdevice * subdev);
> +
> +static int s626_ao_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static int s626_ao_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static void s626_dio_init(struct s626_struct * s626ptr);
> +
> +static int s626_dio_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static int s626_dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static int s626_gpct_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static int s626_gpct_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static int s626_gpct_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
> +
> +static void setup_subd_ai(a4l_subd_t *subd);
> +
> +static void setup_subd_ao(a4l_subd_t *subd);
> +
> +static void setup_subd_dioA(a4l_subd_t *subd);
> +
> +static void setup_subd_dioB(a4l_subd_t *subd);
> +
> +static void setup_subd_dioC(a4l_subd_t *subd);
> +
> +static void setup_subd_gpct(a4l_subd_t *subd);
> +
> +static void CountersInit(struct s626_struct * s626ptr);
> +
> +static void s626_initialize(struct s626_struct * s626ptr);
> +
> +static int dev_s626_attach(a4l_dev_t *dev, a4l_lnkdesc_t *arg);
> +
> +static int dev_s626_detach(a4l_dev_t *dev);
> +
> +static int s626_pci_probe(struct pci_dev *dev, const struct
> pci_device_id *ent);
> +
> +static void s626_pci_remove(struct pci_dev *dev);
> --
> 1.7.9.5
>
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-04 20:14 ` Wojciech Domski
@ 2014-03-22 16:36 ` Gilles Chanteperdrix
2014-03-24 12:09 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-03-22 16:36 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 03/04/2014 09:14 PM, Wojciech Domski wrote:
> Dear all,
>
> Could I ask you to offer some insight into the Analogy driver for
> Sensoray 626 which has been placed here as a patch?
Hi,
I have just read your patch, it looks fine, except for a few detailss.
First, the coding style. You use mixed-case identifiers, whereas the
tradition is to use lower case with underscores, and you do not seem to
indent with tabs, which is also the rule for kernel code. Your code also
contains some code in commentaries, which makes it uselessly hard to read.
Second, I see a lot of busy wait loops, for instance for things such as
I2C transfers, but I2C transfers are usually slow, so busy waiting for
the end of an I2C transfer in a critical section (as the comments say),
will create large masking sections for the rest of the system, which is
unacceptable for Xenomai, as we try hard to guarantee low latencies.
Regards.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-22 16:36 ` Gilles Chanteperdrix
@ 2014-03-24 12:09 ` Wojciech Domski
2014-03-24 12:19 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-03-24 12:09 UTC (permalink / raw)
Cc: xenomai
W dniu 22.03.2014 17:36, Gilles Chanteperdrix pisze:
> First, the coding style. You use mixed-case identifiers, whereas the
> tradition is to use lower case with underscores, and you do not seem to
> indent with tabs, which is also the rule for kernel code. Your code also
> contains some code in commentaries, which makes it uselessly hard to read.
Yes, this needs my attention. However, it is not critical.
>
> Second, I see a lot of busy wait loops, for instance for things such as
> I2C transfers, but I2C transfers are usually slow, so busy waiting for
> the end of an I2C transfer in a critical section (as the comments say),
> will create large masking sections for the rest of the system, which is
> unacceptable for Xenomai, as we try hard to guarantee low latencies.
Yes, you have right. Could you elaborate on this a bit more?
Inside the kernel module there are plenty of while loops. Could you tell
me if I
could use rtdm_task_busy_sleep() function inside those loops?
Would such solution be acceptable inside Xenomai kernel module?
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
^ permalink raw reply [flat|nested] 16+ messages in thread
* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-24 12:09 ` Wojciech Domski
@ 2014-03-24 12:19 ` Gilles Chanteperdrix
2014-03-25 10:26 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-03-24 12:19 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 03/24/2014 01:09 PM, Wojciech Domski wrote:
> W dniu 22.03.2014 17:36, Gilles Chanteperdrix pisze:
>> First, the coding style. You use mixed-case identifiers, whereas the
>> tradition is to use lower case with underscores, and you do not seem to
>> indent with tabs, which is also the rule for kernel code. Your code also
>> contains some code in commentaries, which makes it uselessly hard to read.
> Yes, this needs my attention. However, it is not critical.
Not critical, but mandatory.
>>
>> Second, I see a lot of busy wait loops, for instance for things such as
>> I2C transfers, but I2C transfers are usually slow, so busy waiting for
>> the end of an I2C transfer in a critical section (as the comments say),
>> will create large masking sections for the rest of the system, which is
>> unacceptable for Xenomai, as we try hard to guarantee low latencies.
> Yes, you have right. Could you elaborate on this a bit more?
> Inside the kernel module there are plenty of while loops. Could you tell
> me if I
> could use rtdm_task_busy_sleep() function inside those loops?
>
> Would such solution be acceptable inside Xenomai kernel module?
The solution which would be acceptable is not to have busy waits, except
for very short durations. But for instance transferring a byte on I2C
takes around 20us at 400 kHz, a 20us masking section is unacceptable.
rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
it is not acceptable either.
Use a thread or a timer to reschedule while you wait for the end of the
transfer, instead of busy waiting.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-24 12:19 ` Gilles Chanteperdrix
@ 2014-03-25 10:26 ` Wojciech Domski
2014-03-25 11:16 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-03-25 10:26 UTC (permalink / raw)
To: xenomai
W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
> The solution which would be acceptable is not to have busy waits, except
> for very short durations. But for instance transferring a byte on I2C
> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
> it is not acceptable either.
>
> Use a thread or a timer to reschedule while you wait for the end of the
> transfer, instead of busy waiting.
Dear Gilles,
As you mentioned before the driver has few places like this:
while(!FLAG1);
while(!FLAG2);
Would a solution of creating a separate task for this purpose be ok?
task()
{
while(!FLAG1);
while(!FLAG2);
}
In the place of those loops a piece of code responsible for creating and
joining task would be put instead:
rtdm_task_init();
rtdm_task_join_nrt();
Best regards,
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 10:26 ` Wojciech Domski
@ 2014-03-25 11:16 ` Gilles Chanteperdrix
2014-03-25 11:28 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-03-25 11:16 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 03/25/2014 11:26 AM, Wojciech Domski wrote:
> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>> The solution which would be acceptable is not to have busy waits, except
>> for very short durations. But for instance transferring a byte on I2C
>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>> it is not acceptable either.
>>
>> Use a thread or a timer to reschedule while you wait for the end of the
>> transfer, instead of busy waiting.
> Dear Gilles,
>
> As you mentioned before the driver has few places like this:
>
> while(!FLAG1);
> while(!FLAG2);
>
> Would a solution of creating a separate task for this purpose be ok?
>
> task()
> {
> while(!FLAG1);
> while(!FLAG2);
> }
I was rather thinking about rtdm_task_sleep() instead.
>
> In the place of those loops a piece of code responsible for creating and
> joining task would be put instead:
>
> rtdm_task_init();
> rtdm_task_join_nrt();
This will not work for code currently running in interrupt handlers. An
interrupt handler can not call rtdm_task_join_nrt(). You will rather
have to wake up the thread, not reenabling the interrupt at the end of
the handler, and reenable the interrupt in the thread when the job is
done. Or alternatively, fire a timer instead of waking up a thread.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 11:16 ` Gilles Chanteperdrix
@ 2014-03-25 11:28 ` Wojciech Domski
2014-03-25 11:36 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-03-25 11:28 UTC (permalink / raw)
To: xenomai
W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>> The solution which would be acceptable is not to have busy waits, except
>>> for very short durations. But for instance transferring a byte on I2C
>>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>>> it is not acceptable either.
>>>
>>> Use a thread or a timer to reschedule while you wait for the end of the
>>> transfer, instead of busy waiting.
>> Dear Gilles,
>>
>> As you mentioned before the driver has few places like this:
>>
>> while(!FLAG1);
>> while(!FLAG2);
>>
>> Would a solution of creating a separate task for this purpose be ok?
>>
>> task()
>> {
>> while(!FLAG1);
>> while(!FLAG2);
>> }
> I was rather thinking about rtdm_task_sleep() instead.
>
>> In the place of those loops a piece of code responsible for creating and
>> joining task would be put instead:
>>
>> rtdm_task_init();
>> rtdm_task_join_nrt();
> This will not work for code currently running in interrupt handlers. An
> interrupt handler can not call rtdm_task_join_nrt(). You will rather
> have to wake up the thread, not reenabling the interrupt at the end of
> the handler, and reenable the interrupt in the thread when the job is
> done. Or alternatively, fire a timer instead of waking up a thread.
>
>
Dear Gilles,
If what I have understood correctly, basically what you mean is changing:
while(!FLAG) ;
into
while(!FLAG)
rtdm_task_sleep();
Xenomai's documentation that rtdm_task_sleep() can be always
rescheduled. In my opinion
this solution is sufficient and meets Xenomai requirements.
Best regards,
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 11:28 ` Wojciech Domski
@ 2014-03-25 11:36 ` Gilles Chanteperdrix
2014-03-25 11:54 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-03-25 11:36 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 03/25/2014 12:28 PM, Wojciech Domski wrote:
> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>> The solution which would be acceptable is not to have busy waits, except
>>>> for very short durations. But for instance transferring a byte on I2C
>>>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>>>> it is not acceptable either.
>>>>
>>>> Use a thread or a timer to reschedule while you wait for the end of the
>>>> transfer, instead of busy waiting.
>>> Dear Gilles,
>>>
>>> As you mentioned before the driver has few places like this:
>>>
>>> while(!FLAG1);
>>> while(!FLAG2);
>>>
>>> Would a solution of creating a separate task for this purpose be ok?
>>>
>>> task()
>>> {
>>> while(!FLAG1);
>>> while(!FLAG2);
>>> }
>> I was rather thinking about rtdm_task_sleep() instead.
>>
>>> In the place of those loops a piece of code responsible for creating and
>>> joining task would be put instead:
>>>
>>> rtdm_task_init();
>>> rtdm_task_join_nrt();
>> This will not work for code currently running in interrupt handlers. An
>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>> have to wake up the thread, not reenabling the interrupt at the end of
>> the handler, and reenable the interrupt in the thread when the job is
>> done. Or alternatively, fire a timer instead of waking up a thread.
>>
>>
> Dear Gilles,
>
> If what I have understood correctly, basically what you mean is changing:
>
> while(!FLAG) ;
>
> into
>
> while(!FLAG)
> rtdm_task_sleep();
>
> Xenomai's documentation that rtdm_task_sleep() can be always
> rescheduled. In my opinion
> this solution is sufficient and meets Xenomai requirements.
This solution will not work if the busy loop was in an irq handler. You
can not call rtdm_task_sleep from the context of an irq handler.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 11:36 ` Gilles Chanteperdrix
@ 2014-03-25 11:54 ` Wojciech Domski
2014-03-25 11:58 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-03-25 11:54 UTC (permalink / raw)
To: xenomai
W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>>> The solution which would be acceptable is not to have busy waits, except
>>>>> for very short durations. But for instance transferring a byte on I2C
>>>>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>>>>> it is not acceptable either.
>>>>>
>>>>> Use a thread or a timer to reschedule while you wait for the end of the
>>>>> transfer, instead of busy waiting.
>>>> Dear Gilles,
>>>>
>>>> As you mentioned before the driver has few places like this:
>>>>
>>>> while(!FLAG1);
>>>> while(!FLAG2);
>>>>
>>>> Would a solution of creating a separate task for this purpose be ok?
>>>>
>>>> task()
>>>> {
>>>> while(!FLAG1);
>>>> while(!FLAG2);
>>>> }
>>> I was rather thinking about rtdm_task_sleep() instead.
>>>
>>>> In the place of those loops a piece of code responsible for creating and
>>>> joining task would be put instead:
>>>>
>>>> rtdm_task_init();
>>>> rtdm_task_join_nrt();
>>> This will not work for code currently running in interrupt handlers. An
>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>>> have to wake up the thread, not reenabling the interrupt at the end of
>>> the handler, and reenable the interrupt in the thread when the job is
>>> done. Or alternatively, fire a timer instead of waking up a thread.
>>>
>>>
>> Dear Gilles,
>>
>> If what I have understood correctly, basically what you mean is changing:
>>
>> while(!FLAG) ;
>>
>> into
>>
>> while(!FLAG)
>> rtdm_task_sleep();
>>
>> Xenomai's documentation that rtdm_task_sleep() can be always
>> rescheduled. In my opinion
>> this solution is sufficient and meets Xenomai requirements.
> This solution will not work if the busy loop was in an irq handler. You
> can not call rtdm_task_sleep from the context of an irq handler.
>
>
Ok, now I get your point.
However, what do you mean exactly by rescheduling while waiting? Do you
mean something like
putting all irq services into another thread and only in irq handler
notify the separate thread
to do the job accordingly?
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 11:54 ` Wojciech Domski
@ 2014-03-25 11:58 ` Gilles Chanteperdrix
2014-03-25 12:14 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-03-25 11:58 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 03/25/2014 12:54 PM, Wojciech Domski wrote:
> W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
>> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
>>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>>>> The solution which would be acceptable is not to have busy waits, except
>>>>>> for very short durations. But for instance transferring a byte on I2C
>>>>>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>>>>>> it is not acceptable either.
>>>>>>
>>>>>> Use a thread or a timer to reschedule while you wait for the end of the
>>>>>> transfer, instead of busy waiting.
>>>>> Dear Gilles,
>>>>>
>>>>> As you mentioned before the driver has few places like this:
>>>>>
>>>>> while(!FLAG1);
>>>>> while(!FLAG2);
>>>>>
>>>>> Would a solution of creating a separate task for this purpose be ok?
>>>>>
>>>>> task()
>>>>> {
>>>>> while(!FLAG1);
>>>>> while(!FLAG2);
>>>>> }
>>>> I was rather thinking about rtdm_task_sleep() instead.
>>>>
>>>>> In the place of those loops a piece of code responsible for creating and
>>>>> joining task would be put instead:
>>>>>
>>>>> rtdm_task_init();
>>>>> rtdm_task_join_nrt();
>>>> This will not work for code currently running in interrupt handlers. An
>>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>>>> have to wake up the thread, not reenabling the interrupt at the end of
>>>> the handler, and reenable the interrupt in the thread when the job is
>>>> done. Or alternatively, fire a timer instead of waking up a thread.
>>>>
>>>>
>>> Dear Gilles,
>>>
>>> If what I have understood correctly, basically what you mean is changing:
>>>
>>> while(!FLAG) ;
>>>
>>> into
>>>
>>> while(!FLAG)
>>> rtdm_task_sleep();
>>>
>>> Xenomai's documentation that rtdm_task_sleep() can be always
>>> rescheduled. In my opinion
>>> this solution is sufficient and meets Xenomai requirements.
>> This solution will not work if the busy loop was in an irq handler. You
>> can not call rtdm_task_sleep from the context of an irq handler.
>>
>>
> Ok, now I get your point.
>
> However, what do you mean exactly by rescheduling while waiting? Do you
> mean something like
> putting all irq services into another thread and only in irq handler
> notify the separate thread
> to do the job accordingly?
Well, I do not know exactly, I have not looked at the details of the
driver, you are supposed to do that. But you may be able to split the
interrupt code in two parts: a first part that will run in interrupt
mode, and a second part that will run as a thread. The irq handler would
wake the thread up at the end of the first part, and return without
reenabling the interrupt at interrupt controller level. The thread would
execute, sleep during the I2C transfers as needed, and reenable the
interrupt before going back to sleep.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 11:58 ` Gilles Chanteperdrix
@ 2014-03-25 12:14 ` Wojciech Domski
2014-03-25 12:33 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-03-25 12:14 UTC (permalink / raw)
To: xenomai
W dniu 25.03.2014 12:58, Gilles Chanteperdrix pisze:
> On 03/25/2014 12:54 PM, Wojciech Domski wrote:
>> W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
>>> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
>>>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>>>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>>>>> The solution which would be acceptable is not to have busy waits, except
>>>>>>> for very short durations. But for instance transferring a byte on I2C
>>>>>>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>>>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>>>>>>> it is not acceptable either.
>>>>>>>
>>>>>>> Use a thread or a timer to reschedule while you wait for the end of the
>>>>>>> transfer, instead of busy waiting.
>>>>>> Dear Gilles,
>>>>>>
>>>>>> As you mentioned before the driver has few places like this:
>>>>>>
>>>>>> while(!FLAG1);
>>>>>> while(!FLAG2);
>>>>>>
>>>>>> Would a solution of creating a separate task for this purpose be ok?
>>>>>>
>>>>>> task()
>>>>>> {
>>>>>> while(!FLAG1);
>>>>>> while(!FLAG2);
>>>>>> }
>>>>> I was rather thinking about rtdm_task_sleep() instead.
>>>>>
>>>>>> In the place of those loops a piece of code responsible for creating and
>>>>>> joining task would be put instead:
>>>>>>
>>>>>> rtdm_task_init();
>>>>>> rtdm_task_join_nrt();
>>>>> This will not work for code currently running in interrupt handlers. An
>>>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>>>>> have to wake up the thread, not reenabling the interrupt at the end of
>>>>> the handler, and reenable the interrupt in the thread when the job is
>>>>> done. Or alternatively, fire a timer instead of waking up a thread.
>>>>>
>>>>>
>>>> Dear Gilles,
>>>>
>>>> If what I have understood correctly, basically what you mean is changing:
>>>>
>>>> while(!FLAG) ;
>>>>
>>>> into
>>>>
>>>> while(!FLAG)
>>>> rtdm_task_sleep();
>>>>
>>>> Xenomai's documentation that rtdm_task_sleep() can be always
>>>> rescheduled. In my opinion
>>>> this solution is sufficient and meets Xenomai requirements.
>>> This solution will not work if the busy loop was in an irq handler. You
>>> can not call rtdm_task_sleep from the context of an irq handler.
>>>
>>>
>> Ok, now I get your point.
>>
>> However, what do you mean exactly by rescheduling while waiting? Do you
>> mean something like
>> putting all irq services into another thread and only in irq handler
>> notify the separate thread
>> to do the job accordingly?
> Well, I do not know exactly, I have not looked at the details of the
> driver, you are supposed to do that. But you may be able to split the
> interrupt code in two parts: a first part that will run in interrupt
> mode, and a second part that will run as a thread. The irq handler would
> wake the thread up at the end of the first part, and return without
> reenabling the interrupt at interrupt controller level. The thread would
> execute, sleep during the I2C transfers as needed, and reenable the
> interrupt before going back to sleep.
>
>
So would it be a good practise to create a new task for irq service with
rtdm_task_init();
inside attach function and join it with
rtdm_task_join_nrt();
inside detach function?
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 12:14 ` Wojciech Domski
@ 2014-03-25 12:33 ` Gilles Chanteperdrix
2014-04-10 12:25 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-03-25 12:33 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 03/25/2014 01:14 PM, Wojciech Domski wrote:
> W dniu 25.03.2014 12:58, Gilles Chanteperdrix pisze:
>> On 03/25/2014 12:54 PM, Wojciech Domski wrote:
>>> W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
>>>> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
>>>>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>>>>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>>>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>>>>>> The solution which would be acceptable is not to have busy waits, except
>>>>>>>> for very short durations. But for instance transferring a byte on I2C
>>>>>>>> takes around 20us at 400 kHz, a 20us masking section is unacceptable.
>>>>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop, so, no,
>>>>>>>> it is not acceptable either.
>>>>>>>>
>>>>>>>> Use a thread or a timer to reschedule while you wait for the end of the
>>>>>>>> transfer, instead of busy waiting.
>>>>>>> Dear Gilles,
>>>>>>>
>>>>>>> As you mentioned before the driver has few places like this:
>>>>>>>
>>>>>>> while(!FLAG1);
>>>>>>> while(!FLAG2);
>>>>>>>
>>>>>>> Would a solution of creating a separate task for this purpose be ok?
>>>>>>>
>>>>>>> task()
>>>>>>> {
>>>>>>> while(!FLAG1);
>>>>>>> while(!FLAG2);
>>>>>>> }
>>>>>> I was rather thinking about rtdm_task_sleep() instead.
>>>>>>
>>>>>>> In the place of those loops a piece of code responsible for creating and
>>>>>>> joining task would be put instead:
>>>>>>>
>>>>>>> rtdm_task_init();
>>>>>>> rtdm_task_join_nrt();
>>>>>> This will not work for code currently running in interrupt handlers. An
>>>>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>>>>>> have to wake up the thread, not reenabling the interrupt at the end of
>>>>>> the handler, and reenable the interrupt in the thread when the job is
>>>>>> done. Or alternatively, fire a timer instead of waking up a thread.
>>>>>>
>>>>>>
>>>>> Dear Gilles,
>>>>>
>>>>> If what I have understood correctly, basically what you mean is changing:
>>>>>
>>>>> while(!FLAG) ;
>>>>>
>>>>> into
>>>>>
>>>>> while(!FLAG)
>>>>> rtdm_task_sleep();
>>>>>
>>>>> Xenomai's documentation that rtdm_task_sleep() can be always
>>>>> rescheduled. In my opinion
>>>>> this solution is sufficient and meets Xenomai requirements.
>>>> This solution will not work if the busy loop was in an irq handler. You
>>>> can not call rtdm_task_sleep from the context of an irq handler.
>>>>
>>>>
>>> Ok, now I get your point.
>>>
>>> However, what do you mean exactly by rescheduling while waiting? Do you
>>> mean something like
>>> putting all irq services into another thread and only in irq handler
>>> notify the separate thread
>>> to do the job accordingly?
>> Well, I do not know exactly, I have not looked at the details of the
>> driver, you are supposed to do that. But you may be able to split the
>> interrupt code in two parts: a first part that will run in interrupt
>> mode, and a second part that will run as a thread. The irq handler would
>> wake the thread up at the end of the first part, and return without
>> reenabling the interrupt at interrupt controller level. The thread would
>> execute, sleep during the I2C transfers as needed, and reenable the
>> interrupt before going back to sleep.
>>
>>
> So would it be a good practise to create a new task for irq service with
>
> rtdm_task_init();
>
> inside attach function and join it with
>
> rtdm_task_join_nrt();
>
> inside detach function?
I do not know the details about analogy drivers, so, again, it is left
to you to read other analogy drivers and see where is the best place to
do what you want to do.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-03-25 12:33 ` Gilles Chanteperdrix
@ 2014-04-10 12:25 ` Wojciech Domski
2014-04-10 22:01 ` Gilles Chanteperdrix
0 siblings, 1 reply; 16+ messages in thread
From: Wojciech Domski @ 2014-04-10 12:25 UTC (permalink / raw)
To: xenomai
2014-03-25 13:33 GMT+01:00 Gilles Chanteperdrix <
gilles.chanteperdrix@xenomai.org>:
> On 03/25/2014 01:14 PM, Wojciech Domski wrote:
> > W dniu 25.03.2014 12:58, Gilles Chanteperdrix pisze:
> >> On 03/25/2014 12:54 PM, Wojciech Domski wrote:
> >>> W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
> >>>> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
> >>>>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
> >>>>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
> >>>>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
> >>>>>>>> The solution which would be acceptable is not to have busy waits,
> except
> >>>>>>>> for very short durations. But for instance transferring a byte on
> I2C
> >>>>>>>> takes around 20us at 400 kHz, a 20us masking section is
> unacceptable.
> >>>>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop,
> so, no,
> >>>>>>>> it is not acceptable either.
> >>>>>>>>
> >>>>>>>> Use a thread or a timer to reschedule while you wait for the end
> of the
> >>>>>>>> transfer, instead of busy waiting.
> >>>>>>> Dear Gilles,
> >>>>>>>
> >>>>>>> As you mentioned before the driver has few places like this:
> >>>>>>>
> >>>>>>> while(!FLAG1);
> >>>>>>> while(!FLAG2);
> >>>>>>>
> >>>>>>> Would a solution of creating a separate task for this purpose be
> ok?
> >>>>>>>
> >>>>>>> task()
> >>>>>>> {
> >>>>>>> while(!FLAG1);
> >>>>>>> while(!FLAG2);
> >>>>>>> }
> >>>>>> I was rather thinking about rtdm_task_sleep() instead.
> >>>>>>
> >>>>>>> In the place of those loops a piece of code responsible for
> creating and
> >>>>>>> joining task would be put instead:
> >>>>>>>
> >>>>>>> rtdm_task_init();
> >>>>>>> rtdm_task_join_nrt();
> >>>>>> This will not work for code currently running in interrupt
> handlers. An
> >>>>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
> >>>>>> have to wake up the thread, not reenabling the interrupt at the end
> of
> >>>>>> the handler, and reenable the interrupt in the thread when the job
> is
> >>>>>> done. Or alternatively, fire a timer instead of waking up a thread.
> >>>>>>
> >>>>>>
> >>>>> Dear Gilles,
> >>>>>
> >>>>> If what I have understood correctly, basically what you mean is
> changing:
> >>>>>
> >>>>> while(!FLAG) ;
> >>>>>
> >>>>> into
> >>>>>
> >>>>> while(!FLAG)
> >>>>> rtdm_task_sleep();
> >>>>>
> >>>>> Xenomai's documentation that rtdm_task_sleep() can be always
> >>>>> rescheduled. In my opinion
> >>>>> this solution is sufficient and meets Xenomai requirements.
> >>>> This solution will not work if the busy loop was in an irq handler.
> You
> >>>> can not call rtdm_task_sleep from the context of an irq handler.
> >>>>
> >>>>
> >>> Ok, now I get your point.
> >>>
> >>> However, what do you mean exactly by rescheduling while waiting? Do you
> >>> mean something like
> >>> putting all irq services into another thread and only in irq handler
> >>> notify the separate thread
> >>> to do the job accordingly?
> >> Well, I do not know exactly, I have not looked at the details of the
> >> driver, you are supposed to do that. But you may be able to split the
> >> interrupt code in two parts: a first part that will run in interrupt
> >> mode, and a second part that will run as a thread. The irq handler would
> >> wake the thread up at the end of the first part, and return without
> >> reenabling the interrupt at interrupt controller level. The thread would
> >> execute, sleep during the I2C transfers as needed, and reenable the
> >> interrupt before going back to sleep.
> >>
> >>
> > So would it be a good practise to create a new task for irq service with
> >
> > rtdm_task_init();
> >
> > inside attach function and join it with
> >
> > rtdm_task_join_nrt();
> >
> > inside detach function?
>
> I do not know the details about analogy drivers, so, again, it is left
> to you to read other analogy drivers and see where is the best place to
> do what you want to do.
>
>
> --
> Gilles.
>
Dear Gilles,
I have altered the driver according to your advices.
If I had omitted something please let me know.
Please find a patch enclosed in the attachment.
Best regards,
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
-------------- next part --------------
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Type: text/x-patch
Size: 141659 bytes
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^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-04-10 12:25 ` Wojciech Domski
@ 2014-04-10 22:01 ` Gilles Chanteperdrix
2014-07-07 10:38 ` Wojciech Domski
0 siblings, 1 reply; 16+ messages in thread
From: Gilles Chanteperdrix @ 2014-04-10 22:01 UTC (permalink / raw)
To: Wojciech Domski; +Cc: xenomai
On 04/10/2014 02:25 PM, Wojciech Domski wrote:
> 2014-03-25 13:33 GMT+01:00 Gilles Chanteperdrix <
> gilles.chanteperdrix@xenomai.org>:
>
>> On 03/25/2014 01:14 PM, Wojciech Domski wrote:
>>> W dniu 25.03.2014 12:58, Gilles Chanteperdrix pisze:
>>>> On 03/25/2014 12:54 PM, Wojciech Domski wrote:
>>>>> W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
>>>>>> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
>>>>>>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>>>>>>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>>>>>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>>>>>>>> The solution which would be acceptable is not to have busy waits,
>> except
>>>>>>>>>> for very short durations. But for instance transferring a byte on
>> I2C
>>>>>>>>>> takes around 20us at 400 kHz, a 20us masking section is
>> unacceptable.
>>>>>>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop,
>> so, no,
>>>>>>>>>> it is not acceptable either.
>>>>>>>>>>
>>>>>>>>>> Use a thread or a timer to reschedule while you wait for the end
>> of the
>>>>>>>>>> transfer, instead of busy waiting.
>>>>>>>>> Dear Gilles,
>>>>>>>>>
>>>>>>>>> As you mentioned before the driver has few places like this:
>>>>>>>>>
>>>>>>>>> while(!FLAG1);
>>>>>>>>> while(!FLAG2);
>>>>>>>>>
>>>>>>>>> Would a solution of creating a separate task for this purpose be
>> ok?
>>>>>>>>>
>>>>>>>>> task()
>>>>>>>>> {
>>>>>>>>> while(!FLAG1);
>>>>>>>>> while(!FLAG2);
>>>>>>>>> }
>>>>>>>> I was rather thinking about rtdm_task_sleep() instead.
>>>>>>>>
>>>>>>>>> In the place of those loops a piece of code responsible for
>> creating and
>>>>>>>>> joining task would be put instead:
>>>>>>>>>
>>>>>>>>> rtdm_task_init();
>>>>>>>>> rtdm_task_join_nrt();
>>>>>>>> This will not work for code currently running in interrupt
>> handlers. An
>>>>>>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>>>>>>>> have to wake up the thread, not reenabling the interrupt at the end
>> of
>>>>>>>> the handler, and reenable the interrupt in the thread when the job
>> is
>>>>>>>> done. Or alternatively, fire a timer instead of waking up a thread.
>>>>>>>>
>>>>>>>>
>>>>>>> Dear Gilles,
>>>>>>>
>>>>>>> If what I have understood correctly, basically what you mean is
>> changing:
>>>>>>>
>>>>>>> while(!FLAG) ;
>>>>>>>
>>>>>>> into
>>>>>>>
>>>>>>> while(!FLAG)
>>>>>>> rtdm_task_sleep();
>>>>>>>
>>>>>>> Xenomai's documentation that rtdm_task_sleep() can be always
>>>>>>> rescheduled. In my opinion
>>>>>>> this solution is sufficient and meets Xenomai requirements.
>>>>>> This solution will not work if the busy loop was in an irq handler.
>> You
>>>>>> can not call rtdm_task_sleep from the context of an irq handler.
>>>>>>
>>>>>>
>>>>> Ok, now I get your point.
>>>>>
>>>>> However, what do you mean exactly by rescheduling while waiting? Do you
>>>>> mean something like
>>>>> putting all irq services into another thread and only in irq handler
>>>>> notify the separate thread
>>>>> to do the job accordingly?
>>>> Well, I do not know exactly, I have not looked at the details of the
>>>> driver, you are supposed to do that. But you may be able to split the
>>>> interrupt code in two parts: a first part that will run in interrupt
>>>> mode, and a second part that will run as a thread. The irq handler would
>>>> wake the thread up at the end of the first part, and return without
>>>> reenabling the interrupt at interrupt controller level. The thread would
>>>> execute, sleep during the I2C transfers as needed, and reenable the
>>>> interrupt before going back to sleep.
>>>>
>>>>
>>> So would it be a good practise to create a new task for irq service with
>>>
>>> rtdm_task_init();
>>>
>>> inside attach function and join it with
>>>
>>> rtdm_task_join_nrt();
>>>
>>> inside detach function?
>>
>> I do not know the details about analogy drivers, so, again, it is left
>> to you to read other analogy drivers and see where is the best place to
>> do what you want to do.
>>
>>
>> --
>> Gilles.
>>
>
> Dear Gilles,
>
> I have altered the driver according to your advices.
> If I had omitted something please let me know.
>
> Please find a patch enclosed in the attachment.
>
> Best regards,
> Wojciech Domski
>
> Domski.pl
>
> Wojciech.Domski.pl
> -------------- next part --------------
> A non-text attachment was scrubbed...
> Name: s626_patch.patch
> Type: text/x-patch
> Size: 141659 bytes
> Desc: not available
> URL: <http://www.xenomai.org/pipermail/xenomai/attachments/20140410/e7191247/attachment.bin>
scripts/checkpatch.pl attchment.bin:
total: 325 errors, 392 warnings, 3991 lines checked
Please fix these errors.
--
Gilles.
^ permalink raw reply [flat|nested] 16+ messages in thread* Re: [Xenomai] Sensoray 626 analogy driver
2014-04-10 22:01 ` Gilles Chanteperdrix
@ 2014-07-07 10:38 ` Wojciech Domski
0 siblings, 0 replies; 16+ messages in thread
From: Wojciech Domski @ 2014-07-07 10:38 UTC (permalink / raw)
To: Gilles Chanteperdrix; +Cc: xenomai
W dniu 11.04.2014 00:01, Gilles Chanteperdrix pisze:
> On 04/10/2014 02:25 PM, Wojciech Domski wrote:
>> 2014-03-25 13:33 GMT+01:00 Gilles Chanteperdrix <
>> gilles.chanteperdrix@xenomai.org>:
>>
>>> On 03/25/2014 01:14 PM, Wojciech Domski wrote:
>>>> W dniu 25.03.2014 12:58, Gilles Chanteperdrix pisze:
>>>>> On 03/25/2014 12:54 PM, Wojciech Domski wrote:
>>>>>> W dniu 25.03.2014 12:36, Gilles Chanteperdrix pisze:
>>>>>>> On 03/25/2014 12:28 PM, Wojciech Domski wrote:
>>>>>>>> W dniu 25.03.2014 12:16, Gilles Chanteperdrix pisze:
>>>>>>>>> On 03/25/2014 11:26 AM, Wojciech Domski wrote:
>>>>>>>>>> W dniu 24.03.2014 13:19, Gilles Chanteperdrix pisze:
>>>>>>>>>>> The solution which would be acceptable is not to have busy waits,
>>> except
>>>>>>>>>>> for very short durations. But for instance transferring a byte on
>>> I2C
>>>>>>>>>>> takes around 20us at 400 kHz, a 20us masking section is
>>> unacceptable.
>>>>>>>>>>> rtdm_task_busy_sleep, as the name suggests is a busy wait loop,
>>> so, no,
>>>>>>>>>>> it is not acceptable either.
>>>>>>>>>>>
>>>>>>>>>>> Use a thread or a timer to reschedule while you wait for the end
>>> of the
>>>>>>>>>>> transfer, instead of busy waiting.
>>>>>>>>>> Dear Gilles,
>>>>>>>>>>
>>>>>>>>>> As you mentioned before the driver has few places like this:
>>>>>>>>>>
>>>>>>>>>> while(!FLAG1);
>>>>>>>>>> while(!FLAG2);
>>>>>>>>>>
>>>>>>>>>> Would a solution of creating a separate task for this purpose be
>>> ok?
>>>>>>>>>> task()
>>>>>>>>>> {
>>>>>>>>>> while(!FLAG1);
>>>>>>>>>> while(!FLAG2);
>>>>>>>>>> }
>>>>>>>>> I was rather thinking about rtdm_task_sleep() instead.
>>>>>>>>>
>>>>>>>>>> In the place of those loops a piece of code responsible for
>>> creating and
>>>>>>>>>> joining task would be put instead:
>>>>>>>>>>
>>>>>>>>>> rtdm_task_init();
>>>>>>>>>> rtdm_task_join_nrt();
>>>>>>>>> This will not work for code currently running in interrupt
>>> handlers. An
>>>>>>>>> interrupt handler can not call rtdm_task_join_nrt(). You will rather
>>>>>>>>> have to wake up the thread, not reenabling the interrupt at the end
>>> of
>>>>>>>>> the handler, and reenable the interrupt in the thread when the job
>>> is
>>>>>>>>> done. Or alternatively, fire a timer instead of waking up a thread.
>>>>>>>>>
>>>>>>>>>
>>>>>>>> Dear Gilles,
>>>>>>>>
>>>>>>>> If what I have understood correctly, basically what you mean is
>>> changing:
>>>>>>>> while(!FLAG) ;
>>>>>>>>
>>>>>>>> into
>>>>>>>>
>>>>>>>> while(!FLAG)
>>>>>>>> rtdm_task_sleep();
>>>>>>>>
>>>>>>>> Xenomai's documentation that rtdm_task_sleep() can be always
>>>>>>>> rescheduled. In my opinion
>>>>>>>> this solution is sufficient and meets Xenomai requirements.
>>>>>>> This solution will not work if the busy loop was in an irq handler.
>>> You
>>>>>>> can not call rtdm_task_sleep from the context of an irq handler.
>>>>>>>
>>>>>>>
>>>>>> Ok, now I get your point.
>>>>>>
>>>>>> However, what do you mean exactly by rescheduling while waiting? Do you
>>>>>> mean something like
>>>>>> putting all irq services into another thread and only in irq handler
>>>>>> notify the separate thread
>>>>>> to do the job accordingly?
>>>>> Well, I do not know exactly, I have not looked at the details of the
>>>>> driver, you are supposed to do that. But you may be able to split the
>>>>> interrupt code in two parts: a first part that will run in interrupt
>>>>> mode, and a second part that will run as a thread. The irq handler would
>>>>> wake the thread up at the end of the first part, and return without
>>>>> reenabling the interrupt at interrupt controller level. The thread would
>>>>> execute, sleep during the I2C transfers as needed, and reenable the
>>>>> interrupt before going back to sleep.
>>>>>
>>>>>
>>>> So would it be a good practise to create a new task for irq service with
>>>>
>>>> rtdm_task_init();
>>>>
>>>> inside attach function and join it with
>>>>
>>>> rtdm_task_join_nrt();
>>>>
>>>> inside detach function?
>>> I do not know the details about analogy drivers, so, again, it is left
>>> to you to read other analogy drivers and see where is the best place to
>>> do what you want to do.
>>>
>>>
>>> --
>>> Gilles.
>>>
>> Dear Gilles,
>>
>> I have altered the driver according to your advices.
>> If I had omitted something please let me know.
>>
>> Please find a patch enclosed in the attachment.
>>
>> Best regards,
>> Wojciech Domski
>>
>> Domski.pl
>>
>> Wojciech.Domski.pl
>> -------------- next part --------------
>> A non-text attachment was scrubbed...
>> Name: s626_patch.patch
>> Type: text/x-patch
>> Size: 141659 bytes
>> Desc: not available
>> URL: <http://www.xenomai.org/pipermail/xenomai/attachments/20140410/e7191247/attachment.bin>
> scripts/checkpatch.pl attchment.bin:
>
> total: 325 errors, 392 warnings, 3991 lines checked
>
> Please fix these errors.
>
>
Dear Gilles,
In the attachment you will find patch for xenomai including support for
analogy Sensoray 626.
May I ask you to include this patch to main xenomai tree?
Best regards,
Wojciech Domski
Domski.pl
Wojciech.Domski.pl
-------------- next part --------------
A non-text attachment was scrubbed...
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Type: text/x-patch
Size: 186779 bytes
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URL: <http://www.xenomai.org/pipermail/xenomai/attachments/20140707/ba436549/attachment.bin>
^ permalink raw reply [flat|nested] 16+ messages in thread
end of thread, other threads:[~2014-07-07 10:38 UTC | newest]
Thread overview: 16+ messages (download: mbox.gz / follow: Atom feed)
-- links below jump to the message on this page --
2014-02-28 14:12 [Xenomai] Sensoray 626 analogy driver Wojciech Domski
2014-03-04 20:14 ` Wojciech Domski
2014-03-22 16:36 ` Gilles Chanteperdrix
2014-03-24 12:09 ` Wojciech Domski
2014-03-24 12:19 ` Gilles Chanteperdrix
2014-03-25 10:26 ` Wojciech Domski
2014-03-25 11:16 ` Gilles Chanteperdrix
2014-03-25 11:28 ` Wojciech Domski
2014-03-25 11:36 ` Gilles Chanteperdrix
2014-03-25 11:54 ` Wojciech Domski
2014-03-25 11:58 ` Gilles Chanteperdrix
2014-03-25 12:14 ` Wojciech Domski
2014-03-25 12:33 ` Gilles Chanteperdrix
2014-04-10 12:25 ` Wojciech Domski
2014-04-10 22:01 ` Gilles Chanteperdrix
2014-07-07 10:38 ` Wojciech Domski
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