3 Sensoray s626 Comedi driver
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 2000 David A. Schleef <ds@schleef.org>
8 Based on Sensoray Model 626 Linux driver Version 0.2
9 Copyright (C) 2002-2004 Sensoray Co., Inc.
11 This program is free software; you can redistribute it and/or modify
12 it under the terms of the GNU General Public License as published by
13 the Free Software Foundation; either version 2 of the License, or
14 (at your option) any later version.
16 This program is distributed in the hope that it will be useful,
17 but WITHOUT ANY WARRANTY; without even the implied warranty of
18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 GNU General Public License for more details.
21 You should have received a copy of the GNU General Public License
22 along with this program; if not, write to the Free Software
23 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
29 Description: Sensoray 626 driver
30 Devices: [Sensoray] 626 (s626)
31 Authors: Gianluca Palli <gpalli@deis.unibo.it>,
32 Updated: Fri, 15 Feb 2008 10:28:42 +0000
35 Configuration options:
36 [0] - PCI bus of device (optional)
37 [1] - PCI slot of device (optional)
38 If bus/slot is not specified, the first supported
39 PCI device found will be used.
41 INSN_CONFIG instructions:
49 s626 has 3 dio subdevices (2,3 and 4) each with 16 i/o channels
50 supported configuration options:
56 Every channel must be configured before reading.
60 insn.insn=INSN_CONFIG; //configuration instruction
61 insn.n=1; //number of operation (must be 1)
62 insn.data=&initialvalue; //initial value loaded into encoder
63 //during configuration
64 insn.subdev=5; //encoder subdevice
65 insn.chanspec=CR_PACK(encoder_channel,0,AREF_OTHER); //encoder_channel
68 comedi_do_insn(cf,&insn); //executing configuration
71 #include <linux/kernel.h>
72 #include <linux/types.h>
74 #include "../comedidev.h"
76 #include "comedi_pci.h"
78 #include "comedi_fc.h"
81 MODULE_AUTHOR("Gianluca Palli <gpalli@deis.unibo.it>");
82 MODULE_DESCRIPTION("Sensoray 626 Comedi driver module");
83 MODULE_LICENSE("GPL");
85 typedef struct s626_board_struct {
96 static const s626_board s626_boards[] = {
99 ai_chans : S626_ADC_CHANNELS,
101 ao_chans : S626_DAC_CHANNELS,
103 dio_chans : S626_DIO_CHANNELS,
104 dio_banks : S626_DIO_BANKS,
105 enc_chans : S626_ENCODER_CHANNELS,
109 #define thisboard ((const s626_board *)dev->board_ptr)
110 #define PCI_VENDOR_ID_S626 0x1131
111 #define PCI_DEVICE_ID_S626 0x7146
113 static DEFINE_PCI_DEVICE_TABLE(s626_pci_table) = {
114 {PCI_VENDOR_ID_S626, PCI_DEVICE_ID_S626, PCI_ANY_ID, PCI_ANY_ID, 0, 0,
119 MODULE_DEVICE_TABLE(pci, s626_pci_table);
121 static int s626_attach(comedi_device *dev, comedi_devconfig *it);
122 static int s626_detach(comedi_device *dev);
124 static comedi_driver driver_s626 = {
126 module : THIS_MODULE,
127 attach : s626_attach,
128 detach : s626_detach,
132 struct pci_dev *pdev;
136 uint8_t ai_cmd_running; /* ai_cmd is running */
137 uint8_t ai_continous; /* continous aquisition */
138 int ai_sample_count; /* number of samples to aquire */
139 unsigned int ai_sample_timer;
140 /* time between samples in units of the timer */
141 int ai_convert_count; /* conversion counter */
142 unsigned int ai_convert_timer;
143 /* time between conversion in units of the timer */
144 uint16_t CounterIntEnabs;
145 /* Counter interrupt enable mask for MISC2 register. */
146 uint8_t AdcItems; /* Number of items in ADC poll list. */
147 DMABUF RPSBuf; /* DMA buffer used to hold ADC (RPS1) program. */
149 /* DMA buffer used to receive ADC data and hold DAC data. */
151 /* Pointer to logical adrs of DMA buffer used to hold DAC data. */
152 uint16_t Dacpol; /* Image of DAC polarity register. */
153 uint8_t TrimSetpoint[12]; /* Images of TrimDAC setpoints */
154 uint16_t ChargeEnabled; /* Image of MISC2 Battery */
155 /* Charge Enabled (0 or WRMISC2_CHARGE_ENABLE). */
156 uint16_t WDInterval; /* Image of MISC2 watchdog interval control bits. */
158 /* I2C device address for onboard EEPROM (board rev dependent). */
160 lsampl_t ao_readback[S626_DAC_CHANNELS];
175 static dio_private dio_private_A = {
178 RDEdgSel : LP_RDEDGSELA,
179 WREdgSel : LP_WREDGSELA,
180 RDCapSel : LP_RDCAPSELA,
181 WRCapSel : LP_WRCAPSELA,
182 RDCapFlg : LP_RDCAPFLGA,
183 RDIntSel : LP_RDINTSELA,
184 WRIntSel : LP_WRINTSELA,
187 static dio_private dio_private_B = {
190 RDEdgSel : LP_RDEDGSELB,
191 WREdgSel : LP_WREDGSELB,
192 RDCapSel : LP_RDCAPSELB,
193 WRCapSel : LP_WRCAPSELB,
194 RDCapFlg : LP_RDCAPFLGB,
195 RDIntSel : LP_RDINTSELB,
196 WRIntSel : LP_WRINTSELB,
199 static dio_private dio_private_C = {
202 RDEdgSel : LP_RDEDGSELC,
203 WREdgSel : LP_WREDGSELC,
204 RDCapSel : LP_RDCAPSELC,
205 WRCapSel : LP_WRCAPSELC,
206 RDCapFlg : LP_RDCAPFLGC,
207 RDIntSel : LP_RDINTSELC,
208 WRIntSel : LP_WRINTSELC,
211 /* to group dio devices (48 bits mask and data are not allowed ???)
212 static dio_private *dio_private_word[]={
219 #define devpriv ((s626_private *)dev->private)
220 #define diopriv ((dio_private *)s->private)
222 COMEDI_PCI_INITCLEANUP_NOMODULE(driver_s626, s626_pci_table);
225 static int s626_ai_insn_config(comedi_device *dev, comedi_subdevice *s,
226 comedi_insn *insn, lsampl_t *data);
227 /* static int s626_ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data); */
228 static int s626_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
229 comedi_insn *insn, lsampl_t *data);
230 static int s626_ai_cmd(comedi_device *dev, comedi_subdevice *s);
231 static int s626_ai_cmdtest(comedi_device *dev, comedi_subdevice *s,
233 static int s626_ai_cancel(comedi_device *dev, comedi_subdevice *s);
234 static int s626_ao_winsn(comedi_device *dev, comedi_subdevice *s,
235 comedi_insn *insn, lsampl_t *data);
236 static int s626_ao_rinsn(comedi_device *dev, comedi_subdevice *s,
237 comedi_insn *insn, lsampl_t *data);
238 static int s626_dio_insn_bits(comedi_device *dev, comedi_subdevice *s,
239 comedi_insn *insn, lsampl_t *data);
240 static int s626_dio_insn_config(comedi_device *dev, comedi_subdevice *s,
241 comedi_insn *insn, lsampl_t *data);
242 static int s626_dio_set_irq(comedi_device *dev, unsigned int chan);
243 static int s626_dio_reset_irq(comedi_device *dev, unsigned int gruop,
245 static int s626_dio_clear_irq(comedi_device *dev);
246 static int s626_enc_insn_config(comedi_device *dev, comedi_subdevice *s,
247 comedi_insn *insn, lsampl_t *data);
248 static int s626_enc_insn_read(comedi_device *dev, comedi_subdevice *s,
249 comedi_insn *insn, lsampl_t *data);
250 static int s626_enc_insn_write(comedi_device *dev, comedi_subdevice *s,
251 comedi_insn *insn, lsampl_t *data);
252 static int s626_ns_to_timer(int *nanosec, int round_mode);
253 static int s626_ai_load_polllist(uint8_t *ppl, comedi_cmd *cmd);
254 static int s626_ai_inttrig(comedi_device *dev, comedi_subdevice *s,
255 unsigned int trignum);
256 static irqreturn_t s626_irq_handler(int irq, void *d PT_REGS_ARG);
257 static lsampl_t s626_ai_reg_to_uint(int data);
258 /* static lsampl_t s626_uint_to_reg(comedi_subdevice *s, int data); */
260 /* end ioctl routines */
262 /* internal routines */
263 static void s626_dio_init(comedi_device *dev);
264 static void ResetADC(comedi_device *dev, uint8_t *ppl);
265 static void LoadTrimDACs(comedi_device *dev);
266 static void WriteTrimDAC(comedi_device *dev, uint8_t LogicalChan,
268 static uint8_t I2Cread(comedi_device *dev, uint8_t addr);
269 static uint32_t I2Chandshake(comedi_device *dev, uint32_t val);
270 static void SetDAC(comedi_device *dev, uint16_t chan, short dacdata);
271 static void SendDAC(comedi_device *dev, uint32_t val);
272 static void WriteMISC2(comedi_device *dev, uint16_t NewImage);
273 static void DEBItransfer(comedi_device *dev);
274 static uint16_t DEBIread(comedi_device *dev, uint16_t addr);
275 static void DEBIwrite(comedi_device *dev, uint16_t addr, uint16_t wdata);
276 static void DEBIreplace(comedi_device *dev, uint16_t addr, uint16_t mask,
278 static void CloseDMAB(comedi_device *dev, DMABUF *pdma, size_t bsize);
280 /* COUNTER OBJECT ------------------------------------------------ */
281 typedef struct enc_private_struct {
282 /* Pointers to functions that differ for A and B counters: */
283 uint16_t(*GetEnable) (comedi_device *dev, struct enc_private_struct *); /* Return clock enable. */
284 uint16_t(*GetIntSrc) (comedi_device *dev, struct enc_private_struct *); /* Return interrupt source. */
285 uint16_t(*GetLoadTrig) (comedi_device *dev, struct enc_private_struct *); /* Return preload trigger source. */
286 uint16_t(*GetMode) (comedi_device *dev, struct enc_private_struct *); /* Return standardized operating mode. */
287 void (*PulseIndex) (comedi_device *dev, struct enc_private_struct *); /* Generate soft index strobe. */
288 void (*SetEnable) (comedi_device *dev, struct enc_private_struct *, uint16_t enab); /* Program clock enable. */
289 void (*SetIntSrc) (comedi_device *dev, struct enc_private_struct *, uint16_t IntSource); /* Program interrupt source. */
290 void (*SetLoadTrig) (comedi_device *dev, struct enc_private_struct *, uint16_t Trig); /* Program preload trigger source. */
291 void (*SetMode) (comedi_device *dev, struct enc_private_struct *, uint16_t Setup, uint16_t DisableIntSrc); /* Program standardized operating mode. */
292 void (*ResetCapFlags) (comedi_device *dev, struct enc_private_struct *); /* Reset event capture flags. */
294 uint16_t MyCRA; /* Address of CRA register. */
295 uint16_t MyCRB; /* Address of CRB register. */
296 uint16_t MyLatchLsw; /* Address of Latch least-significant-word */
298 uint16_t MyEventBits[4]; /* Bit translations for IntSrc -->RDMISC2. */
299 } enc_private; /* counter object */
301 #define encpriv ((enc_private *)(dev->subdevices+5)->private)
303 /* counters routines */
304 static void s626_timer_load(comedi_device *dev, enc_private *k, int tick);
305 static uint32_t ReadLatch(comedi_device *dev, enc_private *k);
306 static void ResetCapFlags_A(comedi_device *dev, enc_private *k);
307 static void ResetCapFlags_B(comedi_device *dev, enc_private *k);
308 static uint16_t GetMode_A(comedi_device *dev, enc_private *k);
309 static uint16_t GetMode_B(comedi_device *dev, enc_private *k);
310 static void SetMode_A(comedi_device *dev, enc_private *k, uint16_t Setup,
311 uint16_t DisableIntSrc);
312 static void SetMode_B(comedi_device *dev, enc_private *k, uint16_t Setup,
313 uint16_t DisableIntSrc);
314 static void SetEnable_A(comedi_device *dev, enc_private *k, uint16_t enab);
315 static void SetEnable_B(comedi_device *dev, enc_private *k, uint16_t enab);
316 static uint16_t GetEnable_A(comedi_device *dev, enc_private *k);
317 static uint16_t GetEnable_B(comedi_device *dev, enc_private *k);
318 static void SetLatchSource(comedi_device *dev, enc_private *k,
320 /* static uint16_t GetLatchSource(comedi_device *dev, enc_private *k ); */
321 static void SetLoadTrig_A(comedi_device *dev, enc_private *k, uint16_t Trig);
322 static void SetLoadTrig_B(comedi_device *dev, enc_private *k, uint16_t Trig);
323 static uint16_t GetLoadTrig_A(comedi_device *dev, enc_private *k);
324 static uint16_t GetLoadTrig_B(comedi_device *dev, enc_private *k);
325 static void SetIntSrc_B(comedi_device *dev, enc_private *k,
327 static void SetIntSrc_A(comedi_device *dev, enc_private *k,
329 static uint16_t GetIntSrc_A(comedi_device *dev, enc_private *k);
330 static uint16_t GetIntSrc_B(comedi_device *dev, enc_private *k);
331 /* static void SetClkMult(comedi_device *dev, enc_private *k, uint16_t value ) ; */
332 /* static uint16_t GetClkMult(comedi_device *dev, enc_private *k ) ; */
333 /* static void SetIndexPol(comedi_device *dev, enc_private *k, uint16_t value ); */
334 /* static uint16_t GetClkPol(comedi_device *dev, enc_private *k ) ; */
335 /* static void SetIndexSrc( comedi_device *dev,enc_private *k, uint16_t value ); */
336 /* static uint16_t GetClkSrc( comedi_device *dev,enc_private *k ); */
337 /* static void SetIndexSrc( comedi_device *dev,enc_private *k, uint16_t value ); */
338 /* static uint16_t GetIndexSrc( comedi_device *dev,enc_private *k ); */
339 static void PulseIndex_A(comedi_device *dev, enc_private *k);
340 static void PulseIndex_B(comedi_device *dev, enc_private *k);
341 static void Preload(comedi_device *dev, enc_private *k, uint32_t value);
342 static void CountersInit(comedi_device *dev);
343 /* end internal routines */
345 /* Counter objects constructor. */
347 /* Counter overflow/index event flag masks for RDMISC2. */
348 #define INDXMASK(C) ( 1 << ( ( (C) > 2 ) ? ( (C) * 2 - 1 ) : ( (C) * 2 + 4 ) ) )
349 #define OVERMASK(C) ( 1 << ( ( (C) > 2 ) ? ( (C) * 2 + 5 ) : ( (C) * 2 + 10 ) ) )
350 #define EVBITS(C) { 0, OVERMASK(C), INDXMASK(C), OVERMASK(C) | INDXMASK(C) }
352 /* Translation table to map IntSrc into equivalent RDMISC2 event flag bits. */
353 /* static const uint16_t EventBits[][4] = { EVBITS(0), EVBITS(1), EVBITS(2), EVBITS(3), EVBITS(4), EVBITS(5) }; */
356 static enc_private enc_private_data[] = {
358 GetEnable:GetEnable_A,
359 GetIntSrc : GetIntSrc_A,
360 GetLoadTrig : GetLoadTrig_A,
362 PulseIndex : PulseIndex_A,
363 SetEnable : SetEnable_A,
364 SetIntSrc : SetIntSrc_A,
365 SetLoadTrig : SetLoadTrig_A,
367 ResetCapFlags : ResetCapFlags_A,
370 MyLatchLsw : LP_CNTR0ALSW,
371 MyEventBits : EVBITS(0),
374 GetEnable:GetEnable_A,
375 GetIntSrc : GetIntSrc_A,
376 GetLoadTrig : GetLoadTrig_A,
378 PulseIndex : PulseIndex_A,
379 SetEnable : SetEnable_A,
380 SetIntSrc : SetIntSrc_A,
381 SetLoadTrig : SetLoadTrig_A,
383 ResetCapFlags : ResetCapFlags_A,
386 MyLatchLsw : LP_CNTR1ALSW,
387 MyEventBits : EVBITS(1),
390 GetEnable:GetEnable_A,
391 GetIntSrc : GetIntSrc_A,
392 GetLoadTrig : GetLoadTrig_A,
394 PulseIndex : PulseIndex_A,
395 SetEnable : SetEnable_A,
396 SetIntSrc : SetIntSrc_A,
397 SetLoadTrig : SetLoadTrig_A,
399 ResetCapFlags : ResetCapFlags_A,
402 MyLatchLsw : LP_CNTR2ALSW,
403 MyEventBits : EVBITS(2),
406 GetEnable:GetEnable_B,
407 GetIntSrc : GetIntSrc_B,
408 GetLoadTrig : GetLoadTrig_B,
410 PulseIndex : PulseIndex_B,
411 SetEnable : SetEnable_B,
412 SetIntSrc : SetIntSrc_B,
413 SetLoadTrig : SetLoadTrig_B,
415 ResetCapFlags : ResetCapFlags_B,
418 MyLatchLsw : LP_CNTR0BLSW,
419 MyEventBits : EVBITS(3),
422 GetEnable:GetEnable_B,
423 GetIntSrc : GetIntSrc_B,
424 GetLoadTrig : GetLoadTrig_B,
426 PulseIndex : PulseIndex_B,
427 SetEnable : SetEnable_B,
428 SetIntSrc : SetIntSrc_B,
429 SetLoadTrig : SetLoadTrig_B,
431 ResetCapFlags : ResetCapFlags_B,
434 MyLatchLsw : LP_CNTR1BLSW,
435 MyEventBits : EVBITS(4),
438 GetEnable:GetEnable_B,
439 GetIntSrc : GetIntSrc_B,
440 GetLoadTrig : GetLoadTrig_B,
442 PulseIndex : PulseIndex_B,
443 SetEnable : SetEnable_B,
444 SetIntSrc : SetIntSrc_B,
445 SetLoadTrig : SetLoadTrig_B,
447 ResetCapFlags : ResetCapFlags_B,
450 MyLatchLsw : LP_CNTR2BLSW,
451 MyEventBits : EVBITS(5),
455 /* enab/disable a function or test status bit(s) that are accessed */
456 /* through Main Control Registers 1 or 2. */
457 #define MC_ENABLE( REGADRS, CTRLWORD ) writel( ( (uint32_t)( CTRLWORD ) << 16 ) | (uint32_t)( CTRLWORD ), devpriv->base_addr+( REGADRS ) )
459 #define MC_DISABLE( REGADRS, CTRLWORD ) writel( (uint32_t)( CTRLWORD ) << 16 , devpriv->base_addr+( REGADRS ) )
461 #define MC_TEST( REGADRS, CTRLWORD ) ( ( readl(devpriv->base_addr+( REGADRS )) & CTRLWORD ) != 0 )
463 /* #define WR7146(REGARDS,CTRLWORD)
464 writel(CTRLWORD,(uint32_t)(devpriv->base_addr+(REGARDS))) */
465 #define WR7146(REGARDS, CTRLWORD) writel(CTRLWORD, devpriv->base_addr+(REGARDS))
467 /* #define RR7146(REGARDS)
468 readl((uint32_t)(devpriv->base_addr+(REGARDS))) */
469 #define RR7146(REGARDS) readl(devpriv->base_addr+(REGARDS))
471 #define BUGFIX_STREG(REGADRS) ( REGADRS - 4 )
473 /* Write a time slot control record to TSL2. */
474 #define VECTPORT( VECTNUM ) (P_TSL2 + ( (VECTNUM) << 2 ))
475 #define SETVECT( VECTNUM, VECTVAL ) WR7146(VECTPORT( VECTNUM ), (VECTVAL))
477 /* Code macros used for constructing I2C command bytes. */
478 #define I2C_B2(ATTR, VAL) ( ( (ATTR) << 6 ) | ( (VAL) << 24 ) )
479 #define I2C_B1(ATTR, VAL) ( ( (ATTR) << 4 ) | ( (VAL) << 16 ) )
480 #define I2C_B0(ATTR, VAL) ( ( (ATTR) << 2 ) | ( (VAL) << 8 ) )
482 static const comedi_lrange s626_range_table = { 2, {
488 static int s626_attach(comedi_device *dev, comedi_devconfig *it)
490 /* uint8_t PollList; */
491 /* uint16_t AdcData; */
492 /* uint16_t StartVal; */
493 /* uint16_t index; */
494 /* unsigned int data[16]; */
498 resource_size_t resourceStart;
501 struct pci_dev *pdev;
503 if (alloc_private(dev, sizeof(s626_private)) < 0)
506 for (pdev = pci_get_device(PCI_VENDOR_ID_S626, PCI_DEVICE_ID_S626,
508 pdev = pci_get_device(PCI_VENDOR_ID_S626,
509 PCI_DEVICE_ID_S626, pdev)) {
510 if (it->options[0] || it->options[1]) {
511 if (pdev->bus->number == it->options[0] &&
512 PCI_SLOT(pdev->devfn) == it->options[1]) {
513 /* matches requested bus/slot */
517 /* no bus/slot specified */
521 devpriv->pdev = pdev;
524 printk("s626_attach: Board not present!!!\n");
528 if ((result = comedi_pci_enable(pdev, "s626")) < 0) {
529 printk("s626_attach: comedi_pci_enable fails\n");
532 devpriv->got_regions = 1;
534 resourceStart = pci_resource_start(devpriv->pdev, 0);
536 devpriv->base_addr = ioremap(resourceStart, SIZEOF_ADDRESS_SPACE);
537 if (devpriv->base_addr == NULL) {
538 printk("s626_attach: IOREMAP failed\n");
542 if (devpriv->base_addr) {
543 /* disable master interrupt */
544 writel(0, devpriv->base_addr + P_IER);
547 writel(MC1_SOFT_RESET, devpriv->base_addr + P_MC1);
549 /* DMA FIXME DMA// */
550 DEBUG("s626_attach: DMA ALLOCATION\n");
552 /* adc buffer allocation */
553 devpriv->allocatedBuf = 0;
555 if ((devpriv->ANABuf.LogicalBase =
556 pci_alloc_consistent(devpriv->pdev, DMABUF_SIZE,
558 printk("s626_attach: DMA Memory mapping error\n");
562 devpriv->ANABuf.PhysicalBase = appdma;
564 DEBUG("s626_attach: AllocDMAB ADC Logical=%p, bsize=%d, Physical=0x%x\n", devpriv->ANABuf.LogicalBase, DMABUF_SIZE, (uint32_t) devpriv->ANABuf.PhysicalBase);
566 devpriv->allocatedBuf++;
568 if ((devpriv->RPSBuf.LogicalBase =
569 pci_alloc_consistent(devpriv->pdev, DMABUF_SIZE,
571 printk("s626_attach: DMA Memory mapping error\n");
575 devpriv->RPSBuf.PhysicalBase = appdma;
577 DEBUG("s626_attach: AllocDMAB RPS Logical=%p, bsize=%d, Physical=0x%x\n", devpriv->RPSBuf.LogicalBase, DMABUF_SIZE, (uint32_t) devpriv->RPSBuf.PhysicalBase);
579 devpriv->allocatedBuf++;
583 dev->board_ptr = s626_boards;
584 dev->board_name = thisboard->name;
586 if (alloc_subdevices(dev, 6) < 0)
589 dev->iobase = (unsigned long)devpriv->base_addr;
590 dev->irq = devpriv->pdev->irq;
592 /* set up interrupt handler */
594 printk(" unknown irq (bad)\n");
596 if ((ret = comedi_request_irq(dev->irq, s626_irq_handler,
597 IRQF_SHARED, "s626", dev)) < 0) {
598 printk(" irq not available\n");
603 DEBUG("s626_attach: -- it opts %d,%d -- \n",
604 it->options[0], it->options[1]);
606 s = dev->subdevices + 0;
607 /* analog input subdevice */
608 dev->read_subdev = s;
609 /* we support single-ended (ground) and differential */
610 s->type = COMEDI_SUBD_AI;
611 s->subdev_flags = SDF_READABLE | SDF_DIFF | SDF_CMD_READ;
612 s->n_chan = thisboard->ai_chans;
613 s->maxdata = (0xffff >> 2);
614 s->range_table = &s626_range_table;
615 s->len_chanlist = thisboard->ai_chans; /* This is the maximum chanlist
616 length that the board can
618 s->insn_config = s626_ai_insn_config;
619 s->insn_read = s626_ai_insn_read;
620 s->do_cmd = s626_ai_cmd;
621 s->do_cmdtest = s626_ai_cmdtest;
622 s->cancel = s626_ai_cancel;
624 s = dev->subdevices + 1;
625 /* analog output subdevice */
626 s->type = COMEDI_SUBD_AO;
627 s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
628 s->n_chan = thisboard->ao_chans;
629 s->maxdata = (0x3fff);
630 s->range_table = &range_bipolar10;
631 s->insn_write = s626_ao_winsn;
632 s->insn_read = s626_ao_rinsn;
634 s = dev->subdevices + 2;
635 /* digital I/O subdevice */
636 s->type = COMEDI_SUBD_DIO;
637 s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
638 s->n_chan = S626_DIO_CHANNELS;
641 s->private = &dio_private_A;
642 s->range_table = &range_digital;
643 s->insn_config = s626_dio_insn_config;
644 s->insn_bits = s626_dio_insn_bits;
646 s = dev->subdevices + 3;
647 /* digital I/O subdevice */
648 s->type = COMEDI_SUBD_DIO;
649 s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
653 s->private = &dio_private_B;
654 s->range_table = &range_digital;
655 s->insn_config = s626_dio_insn_config;
656 s->insn_bits = s626_dio_insn_bits;
658 s = dev->subdevices + 4;
659 /* digital I/O subdevice */
660 s->type = COMEDI_SUBD_DIO;
661 s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
665 s->private = &dio_private_C;
666 s->range_table = &range_digital;
667 s->insn_config = s626_dio_insn_config;
668 s->insn_bits = s626_dio_insn_bits;
670 s = dev->subdevices + 5;
671 /* encoder (counter) subdevice */
672 s->type = COMEDI_SUBD_COUNTER;
673 s->subdev_flags = SDF_WRITABLE | SDF_READABLE | SDF_LSAMPL;
674 s->n_chan = thisboard->enc_chans;
675 s->private = enc_private_data;
676 s->insn_config = s626_enc_insn_config;
677 s->insn_read = s626_enc_insn_read;
678 s->insn_write = s626_enc_insn_write;
679 s->maxdata = 0xffffff;
680 s->range_table = &range_unknown;
682 /* stop ai_command */
683 devpriv->ai_cmd_running = 0;
685 if (devpriv->base_addr && (devpriv->allocatedBuf == 2)) {
689 /* enab DEBI and audio pins, enable I2C interface. */
690 MC_ENABLE(P_MC1, MC1_DEBI | MC1_AUDIO | MC1_I2C);
691 /* Configure DEBI operating mode. */
692 WR7146(P_DEBICFG, DEBI_CFG_SLAVE16 /* Local bus is 16 */
694 | (DEBI_TOUT << DEBI_CFG_TOUT_BIT) /* Declare DEBI */
695 /* transfer timeout */
697 | DEBI_SWAP /* Set up byte lane */
699 | DEBI_CFG_INTEL); /* Intel-compatible */
700 /* local bus (DEBI */
701 /* never times out). */
702 DEBUG("s626_attach: %d debi init -- %d\n",
703 DEBI_CFG_SLAVE16 | (DEBI_TOUT << DEBI_CFG_TOUT_BIT) |
704 DEBI_SWAP | DEBI_CFG_INTEL,
705 DEBI_CFG_INTEL | DEBI_CFG_TOQ | DEBI_CFG_INCQ |
708 /* DEBI INIT S626 WR7146( P_DEBICFG, DEBI_CFG_INTEL | DEBI_CFG_TOQ */
709 /* | DEBI_CFG_INCQ| DEBI_CFG_16Q); //end */
711 /* Paging is disabled. */
712 WR7146(P_DEBIPAGE, DEBI_PAGE_DISABLE); /* Disable MMU paging. */
714 /* Init GPIO so that ADC Start* is negated. */
715 WR7146(P_GPIO, GPIO_BASE | GPIO1_HI);
717 /* IsBoardRevA is a boolean that indicates whether the board is RevA.
719 * VERSION 2.01 CHANGE: REV A & B BOARDS NOW SUPPORTED BY DYNAMIC
720 * EEPROM ADDRESS SELECTION. Initialize the I2C interface, which
721 * is used to access the onboard serial EEPROM. The EEPROM's I2C
722 * DeviceAddress is hardwired to a value that is dependent on the
723 * 626 board revision. On all board revisions, the EEPROM stores
724 * TrimDAC calibration constants for analog I/O. On RevB and
725 * higher boards, the DeviceAddress is hardwired to 0 to enable
726 * the EEPROM to also store the PCI SubVendorID and SubDeviceID;
727 * this is the address at which the SAA7146 expects a
728 * configuration EEPROM to reside. On RevA boards, the EEPROM
729 * device address, which is hardwired to 4, prevents the SAA7146
730 * from retrieving PCI sub-IDs, so the SAA7146 uses its built-in
731 * default values, instead.
734 /* devpriv->I2Cards= IsBoardRevA ? 0xA8 : 0xA0; // Set I2C EEPROM */
735 /* DeviceType (0xA0) */
736 /* and DeviceAddress<<1. */
738 devpriv->I2CAdrs = 0xA0; /* I2C device address for onboard */
741 /* Issue an I2C ABORT command to halt any I2C operation in */
742 /* progress and reset BUSY flag. */
743 WR7146(P_I2CSTAT, I2C_CLKSEL | I2C_ABORT);
744 /* Write I2C control: abort any I2C activity. */
745 MC_ENABLE(P_MC2, MC2_UPLD_IIC);
746 /* Invoke command upload */
747 while ((RR7146(P_MC2) & MC2_UPLD_IIC) == 0);
748 /* and wait for upload to complete. */
750 /* Per SAA7146 data sheet, write to STATUS reg twice to
751 * reset all I2C error flags. */
752 for (i = 0; i < 2; i++) {
753 WR7146(P_I2CSTAT, I2C_CLKSEL);
754 /* Write I2C control: reset error flags. */
755 MC_ENABLE(P_MC2, MC2_UPLD_IIC); /* Invoke command upload */
756 while (!MC_TEST(P_MC2, MC2_UPLD_IIC));
757 /* and wait for upload to complete. */
760 /* Init audio interface functional attributes: set DAC/ADC
761 * serial clock rates, invert DAC serial clock so that
762 * DAC data setup times are satisfied, enable DAC serial
766 WR7146(P_ACON2, ACON2_INIT);
768 /* Set up TSL1 slot list, which is used to control the
769 * accumulation of ADC data: RSD1 = shift data in on SD1.
770 * SIB_A1 = store data uint8_t at next available location in
771 * FB BUFFER1 register. */
772 WR7146(P_TSL1, RSD1 | SIB_A1);
773 /* Fetch ADC high data uint8_t. */
774 WR7146(P_TSL1 + 4, RSD1 | SIB_A1 | EOS);
775 /* Fetch ADC low data uint8_t; end of TSL1. */
777 /* enab TSL1 slot list so that it executes all the time. */
778 WR7146(P_ACON1, ACON1_ADCSTART);
780 /* Initialize RPS registers used for ADC. */
782 /* Physical start of RPS program. */
783 WR7146(P_RPSADDR1, (uint32_t) devpriv->RPSBuf.PhysicalBase);
785 WR7146(P_RPSPAGE1, 0);
786 /* RPS program performs no explicit mem writes. */
787 WR7146(P_RPS1_TOUT, 0); /* Disable RPS timeouts. */
789 /* SAA7146 BUG WORKAROUND. Initialize SAA7146 ADC interface
790 * to a known state by invoking ADCs until FB BUFFER 1
791 * register shows that it is correctly receiving ADC data.
792 * This is necessary because the SAA7146 ADC interface does
793 * not start up in a defined state after a PCI reset.
796 /* PollList = EOPL; // Create a simple polling */
797 /* // list for analog input */
799 /* ResetADC( dev, &PollList ); */
801 /* s626_ai_rinsn(dev,dev->subdevices,NULL,data); //( &AdcData ); // */
802 /* //Get initial ADC */
805 /* StartVal = data[0]; */
807 /* // VERSION 2.01 CHANGE: TIMEOUT ADDED TO PREVENT HANGED EXECUTION. */
808 /* // Invoke ADCs until the new ADC value differs from the initial */
809 /* // value or a timeout occurs. The timeout protects against the */
810 /* // possibility that the driver is restarting and the ADC data is a */
811 /* // fixed value resulting from the applied ADC analog input being */
812 /* // unusually quiet or at the rail. */
814 /* for ( index = 0; index < 500; index++ ) */
816 /* s626_ai_rinsn(dev,dev->subdevices,NULL,data); */
817 /* AdcData = data[0]; //ReadADC( &AdcData ); */
818 /* if ( AdcData != StartVal ) */
824 /* init the DAC interface */
826 /* Init Audio2's output DMAC attributes: burst length = 1
827 * DWORD, threshold = 1 DWORD.
829 WR7146(P_PCI_BT_A, 0);
831 /* Init Audio2's output DMA physical addresses. The protection
832 * address is set to 1 DWORD past the base address so that a
833 * single DWORD will be transferred each time a DMA transfer is
837 devpriv->ANABuf.PhysicalBase +
838 (DAC_WDMABUF_OS * sizeof(uint32_t));
840 WR7146(P_BASEA2_OUT, (uint32_t) pPhysBuf); /* Buffer base adrs. */
841 WR7146(P_PROTA2_OUT, (uint32_t) (pPhysBuf + sizeof(uint32_t))); /* Protection address. */
843 /* Cache Audio2's output DMA buffer logical address. This is
844 * where DAC data is buffered for A2 output DMA transfers. */
846 (uint32_t *) devpriv->ANABuf.LogicalBase +
849 /* Audio2's output channels does not use paging. The protection
850 * violation handling bit is set so that the DMAC will
851 * automatically halt and its PCI address pointer will be reset
852 * when the protection address is reached. */
854 WR7146(P_PAGEA2_OUT, 8);
856 /* Initialize time slot list 2 (TSL2), which is used to control
857 * the clock generation for and serialization of data to be sent
858 * to the DAC devices. Slot 0 is a NOP that is used to trap TSL
859 * execution; this permits other slots to be safely modified
860 * without first turning off the TSL sequencer (which is
861 * apparently impossible to do). Also, SD3 (which is driven by a
862 * pull-up resistor) is shifted in and stored to the MSB of
863 * FB_BUFFER2 to be used as evidence that the slot sequence has
864 * not yet finished executing.
867 SETVECT(0, XSD2 | RSD3 | SIB_A2 | EOS);
868 /* Slot 0: Trap TSL execution, shift 0xFF into FB_BUFFER2. */
870 /* Initialize slot 1, which is constant. Slot 1 causes a
871 * DWORD to be transferred from audio channel 2's output FIFO
872 * to the FIFO's output buffer so that it can be serialized
873 * and sent to the DAC during subsequent slots. All remaining
874 * slots are dynamically populated as required by the target
878 /* Slot 1: Fetch DWORD from Audio2's output FIFO. */
880 /* Start DAC's audio interface (TSL2) running. */
881 WR7146(P_ACON1, ACON1_DACSTART);
883 /* end init DAC interface */
885 /* Init Trim DACs to calibrated values. Do it twice because the
886 * SAA7146 audio channel does not always reset properly and
887 * sometimes causes the first few TrimDAC writes to malfunction.
891 LoadTrimDACs(dev); /* Insurance. */
893 /* Manually init all gate array hardware in case this is a soft
894 * reset (we have no way of determining whether this is a warm
895 * or cold start). This is necessary because the gate array will
896 * reset only in response to a PCI hard reset; there is no soft
899 /* Init all DAC outputs to 0V and init all DAC setpoint and
902 for (chan = 0; chan < S626_DAC_CHANNELS; chan++)
903 SetDAC(dev, chan, 0);
905 /* Init image of WRMISC2 Battery Charger Enabled control bit.
906 * This image is used when the state of the charger control bit,
907 * which has no direct hardware readback mechanism, is queried.
909 devpriv->ChargeEnabled = 0;
911 /* Init image of watchdog timer interval in WRMISC2. This image
912 * maintains the value of the control bits of MISC2 are
913 * continuously reset to zero as long as the WD timer is disabled.
915 devpriv->WDInterval = 0;
917 /* Init Counter Interrupt enab mask for RDMISC2. This mask is
918 * applied against MISC2 when testing to determine which timer
919 * events are requesting interrupt service.
921 devpriv->CounterIntEnabs = 0;
926 /* Without modifying the state of the Battery Backup enab, disable
927 * the watchdog timer, set DIO channels 0-5 to operate in the
928 * standard DIO (vs. counter overflow) mode, disable the battery
929 * charger, and reset the watchdog interval selector to zero.
931 WriteMISC2(dev, (uint16_t) (DEBIread(dev,
932 LP_RDMISC2) & MISC2_BATT_ENABLE));
934 /* Initialize the digital I/O subsystem. */
937 /* enable interrupt test */
938 /* writel(IRQ_GPIO3 | IRQ_RPS1,devpriv->base_addr+P_IER); */
941 DEBUG("s626_attach: comedi%d s626 attached %04x\n", dev->minor,
942 (uint32_t) devpriv->base_addr);
947 static lsampl_t s626_ai_reg_to_uint(int data)
951 tempdata = (data >> 18);
952 if (tempdata & 0x2000)
955 tempdata += (1 << 13);
960 /* static lsampl_t s626_uint_to_reg(comedi_subdevice *s, int data){ */
964 static irqreturn_t s626_irq_handler(int irq, void *d PT_REGS_ARG)
966 comedi_device *dev = d;
972 uint32_t irqtype, irqstatus;
978 DEBUG("s626_irq_handler: interrupt request recieved!!!\n");
980 if (dev->attached == 0)
982 /* lock to avoid race with comedi_poll */
983 comedi_spin_lock_irqsave(&dev->spinlock, flags);
985 /* save interrupt enable register state */
986 irqstatus = readl(devpriv->base_addr + P_IER);
988 /* read interrupt type */
989 irqtype = readl(devpriv->base_addr + P_ISR);
991 /* disable master interrupt */
992 writel(0, devpriv->base_addr + P_IER);
994 /* clear interrupt */
995 writel(irqtype, devpriv->base_addr + P_ISR);
998 DEBUG("s626_irq_handler: interrupt type %d\n", irqtype);
1001 case IRQ_RPS1: /* end_of_scan occurs */
1003 DEBUG("s626_irq_handler: RPS1 irq detected\n");
1005 /* manage ai subdevice */
1006 s = dev->subdevices;
1007 cmd = &(s->async->cmd);
1009 /* Init ptr to DMA buffer that holds new ADC data. We skip the
1010 * first uint16_t in the buffer because it contains junk data from
1011 * the final ADC of the previous poll list scan.
1013 readaddr = (int32_t *) devpriv->ANABuf.LogicalBase + 1;
1015 /* get the data and hand it over to comedi */
1016 for (i = 0; i < (s->async->cmd.chanlist_len); i++) {
1017 /* Convert ADC data to 16-bit integer values and copy to application */
1019 tempdata = s626_ai_reg_to_uint((int)*readaddr);
1022 /* put data into read buffer */
1023 /* comedi_buf_put(s->async, tempdata); */
1024 if (cfc_write_to_buffer(s, tempdata) == 0)
1025 printk("s626_irq_handler: cfc_write_to_buffer error!\n");
1027 DEBUG("s626_irq_handler: ai channel %d acquired: %d\n",
1031 /* end of scan occurs */
1032 s->async->events |= COMEDI_CB_EOS;
1034 if (!(devpriv->ai_continous))
1035 devpriv->ai_sample_count--;
1036 if (devpriv->ai_sample_count <= 0) {
1037 devpriv->ai_cmd_running = 0;
1039 /* Stop RPS program. */
1040 MC_DISABLE(P_MC1, MC1_ERPS1);
1042 /* send end of acquisition */
1043 s->async->events |= COMEDI_CB_EOA;
1045 /* disable master interrupt */
1049 if (devpriv->ai_cmd_running && cmd->scan_begin_src == TRIG_EXT) {
1050 DEBUG("s626_irq_handler: enable interrupt on dio channel %d\n", cmd->scan_begin_arg);
1052 s626_dio_set_irq(dev, cmd->scan_begin_arg);
1054 DEBUG("s626_irq_handler: External trigger is set!!!\n");
1056 /* tell comedi that data is there */
1057 DEBUG("s626_irq_handler: events %d\n", s->async->events);
1058 comedi_event(dev, s);
1060 case IRQ_GPIO3: /* check dio and conter interrupt */
1062 DEBUG("s626_irq_handler: GPIO3 irq detected\n");
1064 /* manage ai subdevice */
1065 s = dev->subdevices;
1066 cmd = &(s->async->cmd);
1068 /* s626_dio_clear_irq(dev); */
1070 for (group = 0; group < S626_DIO_BANKS; group++) {
1072 /* read interrupt type */
1073 irqbit = DEBIread(dev,
1074 ((dio_private *) (dev->subdevices + 2 +
1075 group)->private)->RDCapFlg);
1077 /* check if interrupt is generated from dio channels */
1079 s626_dio_reset_irq(dev, group, irqbit);
1080 DEBUG("s626_irq_handler: check interrupt on dio group %d %d\n", group, i);
1081 if (devpriv->ai_cmd_running) {
1082 /* check if interrupt is an ai acquisition start trigger */
1083 if ((irqbit >> (cmd->start_arg -
1086 && cmd->start_src == TRIG_EXT) {
1087 DEBUG("s626_irq_handler: Edge capture interrupt recieved from channel %d\n", cmd->start_arg);
1089 /* Start executing the RPS program. */
1090 MC_ENABLE(P_MC1, MC1_ERPS1);
1092 DEBUG("s626_irq_handler: aquisition start triggered!!!\n");
1094 if (cmd->scan_begin_src ==
1096 DEBUG("s626_ai_cmd: enable interrupt on dio channel %d\n", cmd->scan_begin_arg);
1098 s626_dio_set_irq(dev,
1102 DEBUG("s626_irq_handler: External scan trigger is set!!!\n");
1105 if ((irqbit >> (cmd->scan_begin_arg -
1108 && cmd->scan_begin_src ==
1110 DEBUG("s626_irq_handler: Edge capture interrupt recieved from channel %d\n", cmd->scan_begin_arg);
1112 /* Trigger ADC scan loop start by setting RPS Signal 0. */
1113 MC_ENABLE(P_MC2, MC2_ADC_RPS);
1115 DEBUG("s626_irq_handler: scan triggered!!! %d\n", devpriv->ai_sample_count);
1116 if (cmd->convert_src ==
1119 DEBUG("s626_ai_cmd: enable interrupt on dio channel %d group %d\n", cmd->convert_arg - (16 * group), group);
1127 s626_dio_set_irq(dev,
1131 DEBUG("s626_irq_handler: External convert trigger is set!!!\n");
1134 if (cmd->convert_src ==
1142 k->SetEnable(dev, k,
1146 if ((irqbit >> (cmd->convert_arg -
1149 && cmd->convert_src ==
1151 DEBUG("s626_irq_handler: Edge capture interrupt recieved from channel %d\n", cmd->convert_arg);
1153 /* Trigger ADC scan loop start by setting RPS Signal 0. */
1154 MC_ENABLE(P_MC2, MC2_ADC_RPS);
1156 DEBUG("s626_irq_handler: adc convert triggered!!!\n");
1158 devpriv->ai_convert_count--;
1160 if (devpriv->ai_convert_count >
1163 DEBUG("s626_ai_cmd: enable interrupt on dio channel %d group %d\n", cmd->convert_arg - (16 * group), group);
1165 s626_dio_set_irq(dev,
1169 DEBUG("s626_irq_handler: External trigger is set!!!\n");
1177 /* read interrupt type */
1178 irqbit = DEBIread(dev, LP_RDMISC2);
1180 /* check interrupt on counters */
1181 DEBUG("s626_irq_handler: check counters interrupt %d\n",
1184 if (irqbit & IRQ_COINT1A) {
1185 DEBUG("s626_irq_handler: interrupt on counter 1A overflow\n");
1188 /* clear interrupt capture flag */
1189 k->ResetCapFlags(dev, k);
1191 if (irqbit & IRQ_COINT2A) {
1192 DEBUG("s626_irq_handler: interrupt on counter 2A overflow\n");
1195 /* clear interrupt capture flag */
1196 k->ResetCapFlags(dev, k);
1198 if (irqbit & IRQ_COINT3A) {
1199 DEBUG("s626_irq_handler: interrupt on counter 3A overflow\n");
1202 /* clear interrupt capture flag */
1203 k->ResetCapFlags(dev, k);
1205 if (irqbit & IRQ_COINT1B) {
1206 DEBUG("s626_irq_handler: interrupt on counter 1B overflow\n");
1209 /* clear interrupt capture flag */
1210 k->ResetCapFlags(dev, k);
1212 if (irqbit & IRQ_COINT2B) {
1213 DEBUG("s626_irq_handler: interrupt on counter 2B overflow\n");
1216 /* clear interrupt capture flag */
1217 k->ResetCapFlags(dev, k);
1219 if (devpriv->ai_convert_count > 0) {
1220 devpriv->ai_convert_count--;
1221 if (devpriv->ai_convert_count == 0)
1222 k->SetEnable(dev, k, CLKENAB_INDEX);
1224 if (cmd->convert_src == TRIG_TIMER) {
1225 DEBUG("s626_irq_handler: conver timer trigger!!! %d\n", devpriv->ai_convert_count);
1227 /* Trigger ADC scan loop start by setting RPS Signal 0. */
1228 MC_ENABLE(P_MC2, MC2_ADC_RPS);
1232 if (irqbit & IRQ_COINT3B) {
1233 DEBUG("s626_irq_handler: interrupt on counter 3B overflow\n");
1236 /* clear interrupt capture flag */
1237 k->ResetCapFlags(dev, k);
1239 if (cmd->scan_begin_src == TRIG_TIMER) {
1240 DEBUG("s626_irq_handler: scan timer trigger!!!\n");
1242 /* Trigger ADC scan loop start by setting RPS Signal 0. */
1243 MC_ENABLE(P_MC2, MC2_ADC_RPS);
1246 if (cmd->convert_src == TRIG_TIMER) {
1247 DEBUG("s626_irq_handler: convert timer trigger is set\n");
1249 devpriv->ai_convert_count = cmd->chanlist_len;
1250 k->SetEnable(dev, k, CLKENAB_ALWAYS);
1255 /* enable interrupt */
1256 writel(irqstatus, devpriv->base_addr + P_IER);
1258 DEBUG("s626_irq_handler: exit interrupt service routine.\n");
1260 comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
1264 static int s626_detach(comedi_device *dev)
1267 /* stop ai_command */
1268 devpriv->ai_cmd_running = 0;
1270 if (devpriv->base_addr) {
1271 /* interrupt mask */
1272 WR7146(P_IER, 0); /* Disable master interrupt. */
1273 WR7146(P_ISR, IRQ_GPIO3 | IRQ_RPS1); /* Clear board's IRQ status flag. */
1275 /* Disable the watchdog timer and battery charger. */
1278 /* Close all interfaces on 7146 device. */
1279 WR7146(P_MC1, MC1_SHUTDOWN);
1280 WR7146(P_ACON1, ACON1_BASE);
1282 CloseDMAB(dev, &devpriv->RPSBuf, DMABUF_SIZE);
1283 CloseDMAB(dev, &devpriv->ANABuf, DMABUF_SIZE);
1287 comedi_free_irq(dev->irq, dev);
1290 if (devpriv->base_addr) {
1291 iounmap(devpriv->base_addr);
1294 if (devpriv->pdev) {
1295 if (devpriv->got_regions) {
1296 comedi_pci_disable(devpriv->pdev);
1298 pci_dev_put(devpriv->pdev);
1302 DEBUG("s626_detach: S626 detached!\n");
1308 * this functions build the RPS program for hardware driven acquistion
1310 void ResetADC(comedi_device *dev, uint8_t *ppl)
1312 register uint32_t *pRPS;
1317 comedi_cmd *cmd = &(dev->subdevices->async->cmd);
1319 /* Stop RPS program in case it is currently running. */
1320 MC_DISABLE(P_MC1, MC1_ERPS1);
1322 /* Set starting logical address to write RPS commands. */
1323 pRPS = (uint32_t *) devpriv->RPSBuf.LogicalBase;
1325 /* Initialize RPS instruction pointer. */
1326 WR7146(P_RPSADDR1, (uint32_t) devpriv->RPSBuf.PhysicalBase);
1328 /* Construct RPS program in RPSBuf DMA buffer */
1330 if (cmd != NULL && cmd->scan_begin_src != TRIG_FOLLOW) {
1331 DEBUG("ResetADC: scan_begin pause inserted\n");
1332 /* Wait for Start trigger. */
1333 *pRPS++ = RPS_PAUSE | RPS_SIGADC;
1334 *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC;
1337 /* SAA7146 BUG WORKAROUND Do a dummy DEBI Write. This is necessary
1338 * because the first RPS DEBI Write following a non-RPS DEBI write
1339 * seems to always fail. If we don't do this dummy write, the ADC
1340 * gain might not be set to the value required for the first slot in
1341 * the poll list; the ADC gain would instead remain unchanged from
1342 * the previously programmed value.
1344 *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2);
1345 /* Write DEBI Write command and address to shadow RAM. */
1347 *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL;
1348 *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2);
1349 /* Write DEBI immediate data to shadow RAM: */
1351 *pRPS++ = GSEL_BIPOLAR5V;
1352 /* arbitrary immediate data value. */
1354 *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI;
1355 /* Reset "shadow RAM uploaded" flag. */
1356 *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */
1357 *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to finish. */
1359 /* Digitize all slots in the poll list. This is implemented as a
1360 * for loop to limit the slot count to 16 in case the application
1361 * forgot to set the EOPL flag in the final slot.
1363 for (devpriv->AdcItems = 0; devpriv->AdcItems < 16; devpriv->AdcItems++) {
1364 /* Convert application's poll list item to private board class
1365 * format. Each app poll list item is an uint8_t with form
1366 * (EOPL,x,x,RANGE,CHAN<3:0>), where RANGE code indicates 0 =
1367 * +-10V, 1 = +-5V, and EOPL = End of Poll List marker.
1370 (*ppl << 8) | (*ppl & 0x10 ? GSEL_BIPOLAR5V :
1373 /* Switch ADC analog gain. */
1374 *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2); /* Write DEBI command */
1375 /* and address to */
1377 *pRPS++ = DEBI_CMD_WRWORD | LP_GSEL;
1378 *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2); /* Write DEBI */
1379 /* immediate data to */
1382 *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI; /* Reset "shadow RAM uploaded" */
1384 *pRPS++ = RPS_UPLOAD | RPS_DEBI; /* Invoke shadow RAM upload. */
1385 *pRPS++ = RPS_PAUSE | RPS_DEBI; /* Wait for shadow upload to */
1388 /* Select ADC analog input channel. */
1389 *pRPS++ = RPS_LDREG | (P_DEBICMD >> 2);
1390 /* Write DEBI command and address to shadow RAM. */
1391 *pRPS++ = DEBI_CMD_WRWORD | LP_ISEL;
1392 *pRPS++ = RPS_LDREG | (P_DEBIAD >> 2);
1393 /* Write DEBI immediate data to shadow RAM. */
1395 *pRPS++ = RPS_CLRSIGNAL | RPS_DEBI;
1396 /* Reset "shadow RAM uploaded" flag. */
1398 *pRPS++ = RPS_UPLOAD | RPS_DEBI;
1399 /* Invoke shadow RAM upload. */
1401 *pRPS++ = RPS_PAUSE | RPS_DEBI;
1402 /* Wait for shadow upload to finish. */
1404 /* Delay at least 10 microseconds for analog input settling.
1405 * Instead of padding with NOPs, we use RPS_JUMP instructions
1406 * here; this allows us to produce a longer delay than is
1407 * possible with NOPs because each RPS_JUMP flushes the RPS'
1408 * instruction prefetch pipeline.
1411 (uint32_t) devpriv->RPSBuf.PhysicalBase +
1412 (uint32_t) ((unsigned long)pRPS -
1413 (unsigned long)devpriv->RPSBuf.LogicalBase);
1414 for (i = 0; i < (10 * RPSCLK_PER_US / 2); i++) {
1415 JmpAdrs += 8; /* Repeat to implement time delay: */
1416 *pRPS++ = RPS_JUMP; /* Jump to next RPS instruction. */
1420 if (cmd != NULL && cmd->convert_src != TRIG_NOW) {
1421 DEBUG("ResetADC: convert pause inserted\n");
1422 /* Wait for Start trigger. */
1423 *pRPS++ = RPS_PAUSE | RPS_SIGADC;
1424 *pRPS++ = RPS_CLRSIGNAL | RPS_SIGADC;
1426 /* Start ADC by pulsing GPIO1. */
1427 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */
1428 *pRPS++ = GPIO_BASE | GPIO1_LO;
1430 /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */
1431 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */
1432 *pRPS++ = GPIO_BASE | GPIO1_HI;
1434 /* Wait for ADC to complete (GPIO2 is asserted high when ADC not
1435 * busy) and for data from previous conversion to shift into FB
1436 * BUFFER 1 register.
1438 *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */
1440 /* Transfer ADC data from FB BUFFER 1 register to DMA buffer. */
1441 *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2);
1443 (uint32_t) devpriv->ANABuf.PhysicalBase +
1444 (devpriv->AdcItems << 2);
1446 /* If this slot's EndOfPollList flag is set, all channels have */
1447 /* now been processed. */
1448 if (*ppl++ & EOPL) {
1449 devpriv->AdcItems++; /* Adjust poll list item count. */
1450 break; /* Exit poll list processing loop. */
1453 DEBUG("ResetADC: ADC items %d \n", devpriv->AdcItems);
1455 /* VERSION 2.01 CHANGE: DELAY CHANGED FROM 250NS to 2US. Allow the
1456 * ADC to stabilize for 2 microseconds before starting the final
1457 * (dummy) conversion. This delay is necessary to allow sufficient
1458 * time between last conversion finished and the start of the dummy
1459 * conversion. Without this delay, the last conversion's data value
1460 * is sometimes set to the previous conversion's data value.
1462 for (n = 0; n < (2 * RPSCLK_PER_US); n++)
1465 /* Start a dummy conversion to cause the data from the last
1466 * conversion of interest to be shifted in.
1468 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* Begin ADC Start pulse. */
1469 *pRPS++ = GPIO_BASE | GPIO1_LO;
1471 /* VERSION 2.03 CHANGE: STRETCH OUT ADC START PULSE. */
1472 *pRPS++ = RPS_LDREG | (P_GPIO >> 2); /* End ADC Start pulse. */
1473 *pRPS++ = GPIO_BASE | GPIO1_HI;
1475 /* Wait for the data from the last conversion of interest to arrive
1476 * in FB BUFFER 1 register.
1478 *pRPS++ = RPS_PAUSE | RPS_GPIO2; /* Wait for ADC done. */
1480 /* Transfer final ADC data from FB BUFFER 1 register to DMA buffer. */
1481 *pRPS++ = RPS_STREG | (BUGFIX_STREG(P_FB_BUFFER1) >> 2); /* */
1483 (uint32_t) devpriv->ANABuf.PhysicalBase +
1484 (devpriv->AdcItems << 2);
1486 /* Indicate ADC scan loop is finished. */
1487 /* *pRPS++= RPS_CLRSIGNAL | RPS_SIGADC ; // Signal ReadADC() that scan is done. */
1489 /* invoke interrupt */
1490 if (devpriv->ai_cmd_running == 1) {
1491 DEBUG("ResetADC: insert irq in ADC RPS task\n");
1494 /* Restart RPS program at its beginning. */
1495 *pRPS++ = RPS_JUMP; /* Branch to start of RPS program. */
1496 *pRPS++ = (uint32_t) devpriv->RPSBuf.PhysicalBase;
1498 /* End of RPS program build */
1501 /* TO COMPLETE, IF NECESSARY */
1502 static int s626_ai_insn_config(comedi_device *dev, comedi_subdevice *s,
1503 comedi_insn *insn, lsampl_t *data)
1509 /* static int s626_ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsampl_t *data) */
1511 /* register uint8_t i; */
1512 /* register int32_t *readaddr; */
1514 /* DEBUG("as626_ai_rinsn: ai_rinsn enter \n"); */
1516 /* Trigger ADC scan loop start by setting RPS Signal 0. */
1517 /* MC_ENABLE( P_MC2, MC2_ADC_RPS ); */
1519 /* Wait until ADC scan loop is finished (RPS Signal 0 reset). */
1520 /* while ( MC_TEST( P_MC2, MC2_ADC_RPS ) ); */
1522 /* Init ptr to DMA buffer that holds new ADC data. We skip the
1523 * first uint16_t in the buffer because it contains junk data from
1524 * the final ADC of the previous poll list scan.
1526 /* readaddr = (uint32_t *)devpriv->ANABuf.LogicalBase + 1; */
1528 /* Convert ADC data to 16-bit integer values and copy to application buffer. */
1529 /* for ( i = 0; i < devpriv->AdcItems; i++ ) { */
1530 /* *data = s626_ai_reg_to_uint( *readaddr++ ); */
1531 /* DEBUG("s626_ai_rinsn: data %d \n",*data); */
1535 /* DEBUG("s626_ai_rinsn: ai_rinsn escape \n"); */
1539 static int s626_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
1540 comedi_insn *insn, lsampl_t *data)
1542 uint16_t chan = CR_CHAN(insn->chanspec);
1543 uint16_t range = CR_RANGE(insn->chanspec);
1544 uint16_t AdcSpec = 0;
1548 /* interrupt call test */
1549 /* writel(IRQ_GPIO3,devpriv->base_addr+P_PSR); */
1550 /* Writing a logical 1 into any of the RPS_PSR bits causes the
1551 * corresponding interrupt to be generated if enabled
1554 DEBUG("s626_ai_insn_read: entering\n");
1556 /* Convert application's ADC specification into form
1557 * appropriate for register programming.
1560 AdcSpec = (chan << 8) | (GSEL_BIPOLAR5V);
1562 AdcSpec = (chan << 8) | (GSEL_BIPOLAR10V);
1564 /* Switch ADC analog gain. */
1565 DEBIwrite(dev, LP_GSEL, AdcSpec); /* Set gain. */
1567 /* Select ADC analog input channel. */
1568 DEBIwrite(dev, LP_ISEL, AdcSpec); /* Select channel. */
1570 for (n = 0; n < insn->n; n++) {
1572 /* Delay 10 microseconds for analog input settling. */
1575 /* Start ADC by pulsing GPIO1 low. */
1576 GpioImage = RR7146(P_GPIO);
1577 /* Assert ADC Start command */
1578 WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
1579 /* and stretch it out. */
1580 WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
1581 WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
1582 /* Negate ADC Start command. */
1583 WR7146(P_GPIO, GpioImage | GPIO1_HI);
1585 /* Wait for ADC to complete (GPIO2 is asserted high when */
1586 /* ADC not busy) and for data from previous conversion to */
1587 /* shift into FB BUFFER 1 register. */
1589 /* Wait for ADC done. */
1590 while (!(RR7146(P_PSR) & PSR_GPIO2)) ;
1592 /* Fetch ADC data. */
1594 data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1));
1596 /* Allow the ADC to stabilize for 4 microseconds before
1597 * starting the next (final) conversion. This delay is
1598 * necessary to allow sufficient time between last
1599 * conversion finished and the start of the next
1600 * conversion. Without this delay, the last conversion's
1601 * data value is sometimes set to the previous
1602 * conversion's data value.
1607 /* Start a dummy conversion to cause the data from the
1608 * previous conversion to be shifted in. */
1609 GpioImage = RR7146(P_GPIO);
1611 /* Assert ADC Start command */
1612 WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
1613 /* and stretch it out. */
1614 WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
1615 WR7146(P_GPIO, GpioImage & ~GPIO1_HI);
1616 /* Negate ADC Start command. */
1617 WR7146(P_GPIO, GpioImage | GPIO1_HI);
1619 /* Wait for the data to arrive in FB BUFFER 1 register. */
1621 /* Wait for ADC done. */
1622 while (!(RR7146(P_PSR) & PSR_GPIO2)) ;
1624 /* Fetch ADC data from audio interface's input shift register. */
1626 /* Fetch ADC data. */
1628 data[n - 1] = s626_ai_reg_to_uint(RR7146(P_FB_BUFFER1));
1630 DEBUG("s626_ai_insn_read: samples %d, data %d\n", n, data[n - 1]);
1635 static int s626_ai_load_polllist(uint8_t *ppl, comedi_cmd *cmd)
1640 for (n = 0; n < cmd->chanlist_len; n++) {
1641 if (CR_RANGE((cmd->chanlist)[n]) == 0)
1642 ppl[n] = (CR_CHAN((cmd->chanlist)[n])) | (RANGE_5V);
1644 ppl[n] = (CR_CHAN((cmd->chanlist)[n])) | (RANGE_10V);
1651 static int s626_ai_inttrig(comedi_device *dev, comedi_subdevice *s,
1652 unsigned int trignum)
1657 DEBUG("s626_ai_inttrig: trigger adc start...");
1659 /* Start executing the RPS program. */
1660 MC_ENABLE(P_MC1, MC1_ERPS1);
1662 s->async->inttrig = NULL;
1670 static int s626_ai_cmd(comedi_device *dev, comedi_subdevice *s)
1674 comedi_cmd *cmd = &s->async->cmd;
1678 DEBUG("s626_ai_cmd: entering command function\n");
1680 if (devpriv->ai_cmd_running) {
1681 printk("s626_ai_cmd: Another ai_cmd is running %d\n",
1685 /* disable interrupt */
1686 writel(0, devpriv->base_addr + P_IER);
1688 /* clear interrupt request */
1689 writel(IRQ_RPS1 | IRQ_GPIO3, devpriv->base_addr + P_ISR);
1691 /* clear any pending interrupt */
1692 s626_dio_clear_irq(dev);
1693 /* s626_enc_clear_irq(dev); */
1695 /* reset ai_cmd_running flag */
1696 devpriv->ai_cmd_running = 0;
1698 /* test if cmd is valid */
1700 DEBUG("s626_ai_cmd: NULL command\n");
1703 DEBUG("s626_ai_cmd: command recieved!!!\n");
1706 if (dev->irq == 0) {
1708 "s626_ai_cmd: cannot run command without an irq");
1712 s626_ai_load_polllist(ppl, cmd);
1713 devpriv->ai_cmd_running = 1;
1714 devpriv->ai_convert_count = 0;
1716 switch (cmd->scan_begin_src) {
1720 /* set a conter to generate adc trigger at scan_begin_arg interval */
1722 tick = s626_ns_to_timer((int *)&cmd->scan_begin_arg,
1723 cmd->flags & TRIG_ROUND_MASK);
1725 /* load timer value and enable interrupt */
1726 s626_timer_load(dev, k, tick);
1727 k->SetEnable(dev, k, CLKENAB_ALWAYS);
1729 DEBUG("s626_ai_cmd: scan trigger timer is set with value %d\n",
1734 /* set the digital line and interrupt for scan trigger */
1735 if (cmd->start_src != TRIG_EXT)
1736 s626_dio_set_irq(dev, cmd->scan_begin_arg);
1738 DEBUG("s626_ai_cmd: External scan trigger is set!!!\n");
1743 switch (cmd->convert_src) {
1747 /* set a conter to generate adc trigger at convert_arg interval */
1749 tick = s626_ns_to_timer((int *)&cmd->convert_arg,
1750 cmd->flags & TRIG_ROUND_MASK);
1752 /* load timer value and enable interrupt */
1753 s626_timer_load(dev, k, tick);
1754 k->SetEnable(dev, k, CLKENAB_INDEX);
1756 DEBUG("s626_ai_cmd: convert trigger timer is set with value %d\n", tick);
1759 /* set the digital line and interrupt for convert trigger */
1760 if (cmd->scan_begin_src != TRIG_EXT
1761 && cmd->start_src == TRIG_EXT)
1762 s626_dio_set_irq(dev, cmd->convert_arg);
1764 DEBUG("s626_ai_cmd: External convert trigger is set!!!\n");
1769 switch (cmd->stop_src) {
1771 /* data arrives as one packet */
1772 devpriv->ai_sample_count = cmd->stop_arg;
1773 devpriv->ai_continous = 0;
1776 /* continous aquisition */
1777 devpriv->ai_continous = 1;
1778 devpriv->ai_sample_count = 0;
1784 switch (cmd->start_src) {
1786 /* Trigger ADC scan loop start by setting RPS Signal 0. */
1787 /* MC_ENABLE( P_MC2, MC2_ADC_RPS ); */
1789 /* Start executing the RPS program. */
1790 MC_ENABLE(P_MC1, MC1_ERPS1);
1792 DEBUG("s626_ai_cmd: ADC triggered\n");
1793 s->async->inttrig = NULL;
1796 /* configure DIO channel for acquisition trigger */
1797 s626_dio_set_irq(dev, cmd->start_arg);
1799 DEBUG("s626_ai_cmd: External start trigger is set!!!\n");
1801 s->async->inttrig = NULL;
1804 s->async->inttrig = s626_ai_inttrig;
1808 /* enable interrupt */
1809 writel(IRQ_GPIO3 | IRQ_RPS1, devpriv->base_addr + P_IER);
1811 DEBUG("s626_ai_cmd: command function terminated\n");
1816 static int s626_ai_cmdtest(comedi_device *dev, comedi_subdevice *s,
1822 /* cmdtest tests a particular command to see if it is valid. Using
1823 * the cmdtest ioctl, a user can create a valid cmd and then have it
1824 * executes by the cmd ioctl.
1826 * cmdtest returns 1,2,3,4 or 0, depending on which tests the
1827 * command passes. */
1829 /* step 1: make sure trigger sources are trivially valid */
1831 tmp = cmd->start_src;
1832 cmd->start_src &= TRIG_NOW | TRIG_INT | TRIG_EXT;
1833 if (!cmd->start_src || tmp != cmd->start_src)
1836 tmp = cmd->scan_begin_src;
1837 cmd->scan_begin_src &= TRIG_TIMER | TRIG_EXT | TRIG_FOLLOW;
1838 if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
1841 tmp = cmd->convert_src;
1842 cmd->convert_src &= TRIG_TIMER | TRIG_EXT | TRIG_NOW;
1843 if (!cmd->convert_src || tmp != cmd->convert_src)
1846 tmp = cmd->scan_end_src;
1847 cmd->scan_end_src &= TRIG_COUNT;
1848 if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
1851 tmp = cmd->stop_src;
1852 cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
1853 if (!cmd->stop_src || tmp != cmd->stop_src)
1859 /* step 2: make sure trigger sources are unique and mutually
1862 /* note that mutual compatiblity is not an issue here */
1863 if (cmd->scan_begin_src != TRIG_TIMER &&
1864 cmd->scan_begin_src != TRIG_EXT
1865 && cmd->scan_begin_src != TRIG_FOLLOW)
1867 if (cmd->convert_src != TRIG_TIMER &&
1868 cmd->convert_src != TRIG_EXT && cmd->convert_src != TRIG_NOW)
1870 if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
1876 /* step 3: make sure arguments are trivially compatible */
1878 if (cmd->start_src != TRIG_EXT && cmd->start_arg != 0) {
1883 if (cmd->start_src == TRIG_EXT && cmd->start_arg < 0) {
1888 if (cmd->start_src == TRIG_EXT && cmd->start_arg > 39) {
1889 cmd->start_arg = 39;
1893 if (cmd->scan_begin_src == TRIG_EXT && cmd->scan_begin_arg < 0) {
1894 cmd->scan_begin_arg = 0;
1898 if (cmd->scan_begin_src == TRIG_EXT && cmd->scan_begin_arg > 39) {
1899 cmd->scan_begin_arg = 39;
1903 if (cmd->convert_src == TRIG_EXT && cmd->convert_arg < 0) {
1904 cmd->convert_arg = 0;
1908 if (cmd->convert_src == TRIG_EXT && cmd->convert_arg > 39) {
1909 cmd->convert_arg = 39;
1912 #define MAX_SPEED 200000 /* in nanoseconds */
1913 #define MIN_SPEED 2000000000 /* in nanoseconds */
1915 if (cmd->scan_begin_src == TRIG_TIMER) {
1916 if (cmd->scan_begin_arg < MAX_SPEED) {
1917 cmd->scan_begin_arg = MAX_SPEED;
1920 if (cmd->scan_begin_arg > MIN_SPEED) {
1921 cmd->scan_begin_arg = MIN_SPEED;
1925 /* external trigger */
1926 /* should be level/edge, hi/lo specification here */
1927 /* should specify multiple external triggers */
1928 /* if(cmd->scan_begin_arg>9){ */
1929 /* cmd->scan_begin_arg=9; */
1933 if (cmd->convert_src == TRIG_TIMER) {
1934 if (cmd->convert_arg < MAX_SPEED) {
1935 cmd->convert_arg = MAX_SPEED;
1938 if (cmd->convert_arg > MIN_SPEED) {
1939 cmd->convert_arg = MIN_SPEED;
1943 /* external trigger */
1945 /* if(cmd->convert_arg>9){ */
1946 /* cmd->convert_arg=9; */
1951 if (cmd->scan_end_arg != cmd->chanlist_len) {
1952 cmd->scan_end_arg = cmd->chanlist_len;
1955 if (cmd->stop_src == TRIG_COUNT) {
1956 if (cmd->stop_arg > 0x00ffffff) {
1957 cmd->stop_arg = 0x00ffffff;
1962 if (cmd->stop_arg != 0) {
1971 /* step 4: fix up any arguments */
1973 if (cmd->scan_begin_src == TRIG_TIMER) {
1974 tmp = cmd->scan_begin_arg;
1975 s626_ns_to_timer((int *)&cmd->scan_begin_arg,
1976 cmd->flags & TRIG_ROUND_MASK);
1977 if (tmp != cmd->scan_begin_arg)
1980 if (cmd->convert_src == TRIG_TIMER) {
1981 tmp = cmd->convert_arg;
1982 s626_ns_to_timer((int *)&cmd->convert_arg,
1983 cmd->flags & TRIG_ROUND_MASK);
1984 if (tmp != cmd->convert_arg)
1986 if (cmd->scan_begin_src == TRIG_TIMER &&
1987 cmd->scan_begin_arg <
1988 cmd->convert_arg * cmd->scan_end_arg) {
1989 cmd->scan_begin_arg =
1990 cmd->convert_arg * cmd->scan_end_arg;
2001 static int s626_ai_cancel(comedi_device *dev, comedi_subdevice *s)
2003 /* Stop RPS program in case it is currently running. */
2004 MC_DISABLE(P_MC1, MC1_ERPS1);
2006 /* disable master interrupt */
2007 writel(0, devpriv->base_addr + P_IER);
2009 devpriv->ai_cmd_running = 0;
2014 /* This function doesn't require a particular form, this is just what
2015 * happens to be used in some of the drivers. It should convert ns
2016 * nanoseconds to a counter value suitable for programming the device.
2017 * Also, it should adjust ns so that it cooresponds to the actual time
2018 * that the device will use. */
2019 static int s626_ns_to_timer(int *nanosec, int round_mode)
2023 base = 500; /* 2MHz internal clock */
2025 switch (round_mode) {
2026 case TRIG_ROUND_NEAREST:
2028 divider = (*nanosec + base / 2) / base;
2030 case TRIG_ROUND_DOWN:
2031 divider = (*nanosec) / base;
2034 divider = (*nanosec + base - 1) / base;
2038 *nanosec = base * divider;
2042 static int s626_ao_winsn(comedi_device *dev, comedi_subdevice *s,
2043 comedi_insn *insn, lsampl_t *data)
2047 uint16_t chan = CR_CHAN(insn->chanspec);
2050 for (i = 0; i < insn->n; i++) {
2051 dacdata = (int16_t) data[i];
2052 devpriv->ao_readback[CR_CHAN(insn->chanspec)] = data[i];
2053 dacdata -= (0x1fff);
2055 SetDAC(dev, chan, dacdata);
2061 static int s626_ao_rinsn(comedi_device *dev, comedi_subdevice *s,
2062 comedi_insn *insn, lsampl_t *data)
2066 for (i = 0; i < insn->n; i++) {
2067 data[i] = devpriv->ao_readback[CR_CHAN(insn->chanspec)];
2073 /* *************** DIGITAL I/O FUNCTIONS ***************
2074 * All DIO functions address a group of DIO channels by means of
2075 * "group" argument. group may be 0, 1 or 2, which correspond to DIO
2076 * ports A, B and C, respectively.
2079 static void s626_dio_init(comedi_device *dev)
2082 comedi_subdevice *s;
2084 /* Prepare to treat writes to WRCapSel as capture disables. */
2085 DEBIwrite(dev, LP_MISC1, MISC1_NOEDCAP);
2087 /* For each group of sixteen channels ... */
2088 for (group = 0; group < S626_DIO_BANKS; group++) {
2089 s = dev->subdevices + 2 + group;
2090 DEBIwrite(dev, diopriv->WRIntSel, 0); /* Disable all interrupts. */
2091 DEBIwrite(dev, diopriv->WRCapSel, 0xFFFF); /* Disable all event */
2093 DEBIwrite(dev, diopriv->WREdgSel, 0); /* Init all DIOs to */
2096 DEBIwrite(dev, diopriv->WRDOut, 0); /* Program all outputs */
2097 /* to inactive state. */
2099 DEBUG("s626_dio_init: DIO initialized \n");
2102 /* DIO devices are slightly special. Although it is possible to
2103 * implement the insn_read/insn_write interface, it is much more
2104 * useful to applications if you implement the insn_bits interface.
2105 * This allows packed reading/writing of the DIO channels. The comedi
2106 * core can convert between insn_bits and insn_read/write */
2108 static int s626_dio_insn_bits(comedi_device *dev, comedi_subdevice *s,
2109 comedi_insn *insn, lsampl_t *data)
2112 /* Length of data must be 2 (mask and new data, see below) */
2117 printk("comedi%d: s626: s626_dio_insn_bits(): Invalid instruction length\n", dev->minor);
2122 * The insn data consists of a mask in data[0] and the new data in
2123 * data[1]. The mask defines which bits we are concerning about.
2124 * The new data must be anded with the mask. Each channel
2125 * corresponds to a bit.
2128 /* Check if requested ports are configured for output */
2129 if ((s->io_bits & data[0]) != data[0])
2132 s->state &= ~data[0];
2133 s->state |= data[0] & data[1];
2135 /* Write out the new digital output lines */
2137 DEBIwrite(dev, diopriv->WRDOut, s->state);
2139 data[1] = DEBIread(dev, diopriv->RDDIn);
2144 static int s626_dio_insn_config(comedi_device *dev, comedi_subdevice *s,
2145 comedi_insn *insn, lsampl_t *data)
2149 case INSN_CONFIG_DIO_QUERY:
2151 (s->io_bits & (1 << CR_CHAN(insn->
2152 chanspec))) ? COMEDI_OUTPUT :
2157 s->io_bits &= ~(1 << CR_CHAN(insn->chanspec));
2160 s->io_bits |= 1 << CR_CHAN(insn->chanspec);
2166 DEBIwrite(dev, diopriv->WRDOut, s->io_bits);
2171 static int s626_dio_set_irq(comedi_device *dev, unsigned int chan)
2174 unsigned int bitmask;
2175 unsigned int status;
2177 /* select dio bank */
2179 bitmask = 1 << (chan - (16 * group));
2180 DEBUG("s626_dio_set_irq: enable interrupt on dio channel %d group %d\n",
2181 chan - (16 * group), group);
2183 /* set channel to capture positive edge */
2184 status = DEBIread(dev,
2185 ((dio_private *) (dev->subdevices + 2 +
2186 group)->private)->RDEdgSel);
2188 ((dio_private *) (dev->subdevices + 2 +
2189 group)->private)->WREdgSel, bitmask | status);
2191 /* enable interrupt on selected channel */
2192 status = DEBIread(dev,
2193 ((dio_private *) (dev->subdevices + 2 +
2194 group)->private)->RDIntSel);
2196 ((dio_private *) (dev->subdevices + 2 +
2197 group)->private)->WRIntSel, bitmask | status);
2199 /* enable edge capture write command */
2200 DEBIwrite(dev, LP_MISC1, MISC1_EDCAP);
2202 /* enable edge capture on selected channel */
2203 status = DEBIread(dev,
2204 ((dio_private *) (dev->subdevices + 2 +
2205 group)->private)->RDCapSel);
2207 ((dio_private *) (dev->subdevices + 2 +
2208 group)->private)->WRCapSel, bitmask | status);
2213 static int s626_dio_reset_irq(comedi_device *dev, unsigned int group,
2216 DEBUG("s626_dio_reset_irq: disable interrupt on dio channel %d group %d\n", mask, group);
2218 /* disable edge capture write command */
2219 DEBIwrite(dev, LP_MISC1, MISC1_NOEDCAP);
2221 /* enable edge capture on selected channel */
2223 ((dio_private *) (dev->subdevices + 2 +
2224 group)->private)->WRCapSel, mask);
2229 static int s626_dio_clear_irq(comedi_device *dev)
2233 /* disable edge capture write command */
2234 DEBIwrite(dev, LP_MISC1, MISC1_NOEDCAP);
2236 for (group = 0; group < S626_DIO_BANKS; group++) {
2237 /* clear pending events and interrupt */
2239 ((dio_private *) (dev->subdevices + 2 +
2240 group)->private)->WRCapSel, 0xffff);
2246 /* Now this function initializes the value of the counter (data[0])
2247 and set the subdevice. To complete with trigger and interrupt
2249 static int s626_enc_insn_config(comedi_device *dev, comedi_subdevice *s,
2250 comedi_insn *insn, lsampl_t *data)
2252 uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
2254 (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
2255 (CLKSRC_COUNTER << BF_CLKSRC) | /* Operating mode is Counter. */
2256 (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
2257 /* ( CNTDIR_UP << BF_CLKPOL ) | // Count direction is Down. */
2258 (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
2259 (CLKENAB_INDEX << BF_CLKENAB);
2260 /* uint16_t DisableIntSrc=TRUE; */
2261 /* uint32_t Preloadvalue; //Counter initial value */
2262 uint16_t valueSrclatch = LATCHSRC_AB_READ;
2263 uint16_t enab = CLKENAB_ALWAYS;
2264 enc_private *k = &encpriv[CR_CHAN(insn->chanspec)];
2266 DEBUG("s626_enc_insn_config: encoder config\n");
2268 /* (data==NULL) ? (Preloadvalue=0) : (Preloadvalue=data[0]); */
2270 k->SetMode(dev, k, Setup, TRUE);
2271 Preload(dev, k, *(insn->data));
2272 k->PulseIndex(dev, k);
2273 SetLatchSource(dev, k, valueSrclatch);
2274 k->SetEnable(dev, k, (uint16_t) (enab != 0));
2279 static int s626_enc_insn_read(comedi_device *dev, comedi_subdevice *s,
2280 comedi_insn *insn, lsampl_t *data)
2284 enc_private *k = &encpriv[CR_CHAN(insn->chanspec)];
2286 DEBUG("s626_enc_insn_read: encoder read channel %d \n",
2287 CR_CHAN(insn->chanspec));
2289 for (n = 0; n < insn->n; n++)
2290 data[n] = ReadLatch(dev, k);
2292 DEBUG("s626_enc_insn_read: encoder sample %d\n", data[n]);
2297 static int s626_enc_insn_write(comedi_device *dev, comedi_subdevice *s,
2298 comedi_insn *insn, lsampl_t *data)
2301 enc_private *k = &encpriv[CR_CHAN(insn->chanspec)];
2303 DEBUG("s626_enc_insn_write: encoder write channel %d \n",
2304 CR_CHAN(insn->chanspec));
2306 /* Set the preload register */
2307 Preload(dev, k, data[0]);
2309 /* Software index pulse forces the preload register to load */
2310 /* into the counter */
2311 k->SetLoadTrig(dev, k, 0);
2312 k->PulseIndex(dev, k);
2313 k->SetLoadTrig(dev, k, 2);
2315 DEBUG("s626_enc_insn_write: End encoder write\n");
2320 static void s626_timer_load(comedi_device *dev, enc_private *k, int tick)
2322 uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
2324 (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
2325 (CLKSRC_TIMER << BF_CLKSRC) | /* Operating mode is Timer. */
2326 (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
2327 (CNTDIR_DOWN << BF_CLKPOL) | /* Count direction is Down. */
2328 (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
2329 (CLKENAB_INDEX << BF_CLKENAB);
2330 uint16_t valueSrclatch = LATCHSRC_A_INDXA;
2331 /* uint16_t enab=CLKENAB_ALWAYS; */
2333 k->SetMode(dev, k, Setup, FALSE);
2335 /* Set the preload register */
2336 Preload(dev, k, tick);
2338 /* Software index pulse forces the preload register to load */
2339 /* into the counter */
2340 k->SetLoadTrig(dev, k, 0);
2341 k->PulseIndex(dev, k);
2343 /* set reload on counter overflow */
2344 k->SetLoadTrig(dev, k, 1);
2346 /* set interrupt on overflow */
2347 k->SetIntSrc(dev, k, INTSRC_OVER);
2349 SetLatchSource(dev, k, valueSrclatch);
2350 /* k->SetEnable(dev,k,(uint16_t)(enab != 0)); */
2353 /* *********** DAC FUNCTIONS *********** */
2355 /* Slot 0 base settings. */
2356 #define VECT0 ( XSD2 | RSD3 | SIB_A2 )
2357 /* Slot 0 always shifts in 0xFF and store it to FB_BUFFER2. */
2359 /* TrimDac LogicalChan-to-PhysicalChan mapping table. */
2360 static uint8_t trimchan[] = { 10, 9, 8, 3, 2, 7, 6, 1, 0, 5, 4 };
2362 /* TrimDac LogicalChan-to-EepromAdrs mapping table. */
2363 static uint8_t trimadrs[] =
2364 { 0x40, 0x41, 0x42, 0x50, 0x51, 0x52, 0x53, 0x60, 0x61, 0x62, 0x63 };
2366 static void LoadTrimDACs(comedi_device *dev)
2370 /* Copy TrimDac setpoint values from EEPROM to TrimDacs. */
2371 for (i = 0; i < (sizeof(trimchan) / sizeof(trimchan[0])); i++)
2372 WriteTrimDAC(dev, i, I2Cread(dev, trimadrs[i]));
2375 static void WriteTrimDAC(comedi_device *dev, uint8_t LogicalChan,
2380 /* Save the new setpoint in case the application needs to read it back later. */
2381 devpriv->TrimSetpoint[LogicalChan] = (uint8_t) DacData;
2383 /* Map logical channel number to physical channel number. */
2384 chan = (uint32_t) trimchan[LogicalChan];
2386 /* Set up TSL2 records for TrimDac write operation. All slots shift
2387 * 0xFF in from pulled-up SD3 so that the end of the slot sequence
2391 SETVECT(2, XSD2 | XFIFO_1 | WS3);
2392 /* Slot 2: Send high uint8_t to target TrimDac. */
2393 SETVECT(3, XSD2 | XFIFO_0 | WS3);
2394 /* Slot 3: Send low uint8_t to target TrimDac. */
2395 SETVECT(4, XSD2 | XFIFO_3 | WS1);
2396 /* Slot 4: Send NOP high uint8_t to DAC0 to keep clock running. */
2397 SETVECT(5, XSD2 | XFIFO_2 | WS1 | EOS);
2398 /* Slot 5: Send NOP low uint8_t to DAC0. */
2400 /* Construct and transmit target DAC's serial packet:
2401 * ( 0000 AAAA ), ( DDDD DDDD ),( 0x00 ),( 0x00 ) where A<3:0> is the
2402 * DAC channel's address, and D<7:0> is the DAC setpoint. Append a
2403 * WORD value (that writes a channel 0 NOP command to a non-existent
2404 * main DAC channel) that serves to keep the clock running after the
2405 * packet has been sent to the target DAC.
2408 /* Address the DAC channel within the trimdac device. */
2409 SendDAC(dev, ((uint32_t) chan << 8)
2410 | (uint32_t) DacData); /* Include DAC setpoint data. */
2413 /* ************** EEPROM ACCESS FUNCTIONS ************** */
2414 /* Read uint8_t from EEPROM. */
2416 static uint8_t I2Cread(comedi_device *dev, uint8_t addr)
2420 /* Send EEPROM target address. */
2421 if (I2Chandshake(dev, I2C_B2(I2C_ATTRSTART, I2CW)
2422 /* Byte2 = I2C command: write to I2C EEPROM device. */
2423 | I2C_B1(I2C_ATTRSTOP, addr)
2424 /* Byte1 = EEPROM internal target address. */
2425 | I2C_B0(I2C_ATTRNOP, 0))) /* Byte0 = Not sent. */
2427 /* Abort function and declare error if handshake failed. */
2428 DEBUG("I2Cread: error handshake I2Cread a\n");
2431 /* Execute EEPROM read. */
2432 if (I2Chandshake(dev, I2C_B2(I2C_ATTRSTART, I2CR) /* Byte2 = I2C */
2434 /* from I2C EEPROM */
2436 | I2C_B1(I2C_ATTRSTOP, 0) /* Byte1 receives */
2439 | I2C_B0(I2C_ATTRNOP, 0))) /* Byte0 = Not */
2442 /* Abort function and declare error if handshake failed. */
2443 DEBUG("I2Cread: error handshake I2Cread b\n");
2446 /* Return copy of EEPROM value. */
2447 rtnval = (uint8_t) (RR7146(P_I2CCTRL) >> 16);
2451 static uint32_t I2Chandshake(comedi_device *dev, uint32_t val)
2453 /* Write I2C command to I2C Transfer Control shadow register. */
2454 WR7146(P_I2CCTRL, val);
2456 /* Upload I2C shadow registers into working registers and wait for */
2457 /* upload confirmation. */
2459 MC_ENABLE(P_MC2, MC2_UPLD_IIC);
2460 while (!MC_TEST(P_MC2, MC2_UPLD_IIC)) ;
2462 /* Wait until I2C bus transfer is finished or an error occurs. */
2463 while ((RR7146(P_I2CCTRL) & (I2C_BUSY | I2C_ERR)) == I2C_BUSY) ;
2465 /* Return non-zero if I2C error occured. */
2466 return RR7146(P_I2CCTRL) & I2C_ERR;
2470 /* Private helper function: Write setpoint to an application DAC channel. */
2472 static void SetDAC(comedi_device *dev, uint16_t chan, short dacdata)
2474 register uint16_t signmask;
2475 register uint32_t WSImage;
2477 /* Adjust DAC data polarity and set up Polarity Control Register */
2479 signmask = 1 << chan;
2482 devpriv->Dacpol |= signmask;
2484 devpriv->Dacpol &= ~signmask;
2486 /* Limit DAC setpoint value to valid range. */
2487 if ((uint16_t) dacdata > 0x1FFF)
2490 /* Set up TSL2 records (aka "vectors") for DAC update. Vectors V2
2491 * and V3 transmit the setpoint to the target DAC. V4 and V5 send
2492 * data to a non-existent TrimDac channel just to keep the clock
2493 * running after sending data to the target DAC. This is necessary
2494 * to eliminate the clock glitch that would otherwise occur at the
2495 * end of the target DAC's serial data stream. When the sequence
2496 * restarts at V0 (after executing V5), the gate array automatically
2497 * disables gating for the DAC clock and all DAC chip selects.
2500 WSImage = (chan & 2) ? WS1 : WS2;
2501 /* Choose DAC chip select to be asserted. */
2502 SETVECT(2, XSD2 | XFIFO_1 | WSImage);
2503 /* Slot 2: Transmit high data byte to target DAC. */
2504 SETVECT(3, XSD2 | XFIFO_0 | WSImage);
2505 /* Slot 3: Transmit low data byte to target DAC. */
2506 SETVECT(4, XSD2 | XFIFO_3 | WS3);
2507 /* Slot 4: Transmit to non-existent TrimDac channel to keep clock */
2508 SETVECT(5, XSD2 | XFIFO_2 | WS3 | EOS);
2509 /* Slot 5: running after writing target DAC's low data byte. */
2511 /* Construct and transmit target DAC's serial packet:
2512 * ( A10D DDDD ),( DDDD DDDD ),( 0x0F ),( 0x00 ) where A is chan<0>,
2513 * and D<12:0> is the DAC setpoint. Append a WORD value (that writes
2514 * to a non-existent TrimDac channel) that serves to keep the clock
2515 * running after the packet has been sent to the target DAC.
2517 SendDAC(dev, 0x0F000000
2518 /* Continue clock after target DAC data (write to non-existent trimdac). */
2520 /* Address the two main dual-DAC devices (TSL's chip select enables
2521 * target device). */
2522 | ((uint32_t) (chan & 1) << 15)
2523 /* Address the DAC channel within the device. */
2524 | (uint32_t) dacdata); /* Include DAC setpoint data. */
2528 /* Private helper function: Transmit serial data to DAC via Audio
2529 * channel 2. Assumes: (1) TSL2 slot records initialized, and (2)
2530 * Dacpol contains valid target image.
2533 static void SendDAC(comedi_device *dev, uint32_t val)
2536 /* START THE SERIAL CLOCK RUNNING ------------- */
2538 /* Assert DAC polarity control and enable gating of DAC serial clock
2539 * and audio bit stream signals. At this point in time we must be
2540 * assured of being in time slot 0. If we are not in slot 0, the
2541 * serial clock and audio stream signals will be disabled; this is
2542 * because the following DEBIwrite statement (which enables signals
2543 * to be passed through the gate array) would execute before the
2544 * trailing edge of WS1/WS3 (which turns off the signals), thus
2545 * causing the signals to be inactive during the DAC write.
2547 DEBIwrite(dev, LP_DACPOL, devpriv->Dacpol);
2549 /* TRANSFER OUTPUT DWORD VALUE INTO A2'S OUTPUT FIFO ---------------- */
2551 /* Copy DAC setpoint value to DAC's output DMA buffer. */
2553 /* WR7146( (uint32_t)devpriv->pDacWBuf, val ); */
2554 *devpriv->pDacWBuf = val;
2556 /* enab the output DMA transfer. This will cause the DMAC to copy
2557 * the DAC's data value to A2's output FIFO. The DMA transfer will
2558 * then immediately terminate because the protection address is
2559 * reached upon transfer of the first DWORD value.
2561 MC_ENABLE(P_MC1, MC1_A2OUT);
2563 /* While the DMA transfer is executing ... */
2565 /* Reset Audio2 output FIFO's underflow flag (along with any other
2566 * FIFO underflow/overflow flags). When set, this flag will
2567 * indicate that we have emerged from slot 0.
2569 WR7146(P_ISR, ISR_AFOU);
2571 /* Wait for the DMA transfer to finish so that there will be data
2572 * available in the FIFO when time slot 1 tries to transfer a DWORD
2573 * from the FIFO to the output buffer register. We test for DMA
2574 * Done by polling the DMAC enable flag; this flag is automatically
2575 * cleared when the transfer has finished.
2577 while ((RR7146(P_MC1) & MC1_A2OUT) != 0) ;
2579 /* START THE OUTPUT STREAM TO THE TARGET DAC -------------------- */
2581 /* FIFO data is now available, so we enable execution of time slots
2582 * 1 and higher by clearing the EOS flag in slot 0. Note that SD3
2583 * will be shifted in and stored in FB_BUFFER2 for end-of-slot-list
2586 SETVECT(0, XSD2 | RSD3 | SIB_A2);
2588 /* Wait for slot 1 to execute to ensure that the Packet will be
2589 * transmitted. This is detected by polling the Audio2 output FIFO
2590 * underflow flag, which will be set when slot 1 execution has
2591 * finished transferring the DAC's data DWORD from the output FIFO
2592 * to the output buffer register.
2594 while ((RR7146(P_SSR) & SSR_AF2_OUT) == 0) ;
2596 /* Set up to trap execution at slot 0 when the TSL sequencer cycles
2597 * back to slot 0 after executing the EOS in slot 5. Also,
2598 * simultaneously shift out and in the 0x00 that is ALWAYS the value
2599 * stored in the last byte to be shifted out of the FIFO's DWORD
2602 SETVECT(0, XSD2 | XFIFO_2 | RSD2 | SIB_A2 | EOS);
2604 /* WAIT FOR THE TRANSACTION TO FINISH ----------------------- */
2606 /* Wait for the TSL to finish executing all time slots before
2607 * exiting this function. We must do this so that the next DAC
2608 * write doesn't start, thereby enabling clock/chip select signals:
2610 * 1. Before the TSL sequence cycles back to slot 0, which disables
2611 * the clock/cs signal gating and traps slot // list execution.
2612 * we have not yet finished slot 5 then the clock/cs signals are
2613 * still gated and we have not finished transmitting the stream.
2615 * 2. While slots 2-5 are executing due to a late slot 0 trap. In
2616 * this case, the slot sequence is currently repeating, but with
2617 * clock/cs signals disabled. We must wait for slot 0 to trap
2618 * execution before setting up the next DAC setpoint DMA transfer
2619 * and enabling the clock/cs signals. To detect the end of slot 5,
2620 * we test for the FB_BUFFER2 MSB contents to be equal to 0xFF. If
2621 * the TSL has not yet finished executing slot 5 ...
2623 if ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0) {
2624 /* The trap was set on time and we are still executing somewhere
2625 * in slots 2-5, so we now wait for slot 0 to execute and trap
2626 * TSL execution. This is detected when FB_BUFFER2 MSB changes
2627 * from 0xFF to 0x00, which slot 0 causes to happen by shifting
2628 * out/in on SD2 the 0x00 that is always referenced by slot 5.
2630 while ((RR7146(P_FB_BUFFER2) & 0xFF000000) != 0) ;
2632 /* Either (1) we were too late setting the slot 0 trap; the TSL
2633 * sequencer restarted slot 0 before we could set the EOS trap flag,
2634 * or (2) we were not late and execution is now trapped at slot 0.
2635 * In either case, we must now change slot 0 so that it will store
2636 * value 0xFF (instead of 0x00) to FB_BUFFER2 next time it executes.
2637 * In order to do this, we reprogram slot 0 so that it will shift in
2638 * SD3, which is driven only by a pull-up resistor.
2640 SETVECT(0, RSD3 | SIB_A2 | EOS);
2642 /* Wait for slot 0 to execute, at which time the TSL is setup for
2643 * the next DAC write. This is detected when FB_BUFFER2 MSB changes
2644 * from 0x00 to 0xFF.
2646 while ((RR7146(P_FB_BUFFER2) & 0xFF000000) == 0) ;
2649 static void WriteMISC2(comedi_device *dev, uint16_t NewImage)
2651 DEBIwrite(dev, LP_MISC1, MISC1_WENABLE); /* enab writes to */
2652 /* MISC2 register. */
2653 DEBIwrite(dev, LP_WRMISC2, NewImage); /* Write new image to MISC2. */
2654 DEBIwrite(dev, LP_MISC1, MISC1_WDISABLE); /* Disable writes to MISC2. */
2657 /* Initialize the DEBI interface for all transfers. */
2659 static uint16_t DEBIread(comedi_device *dev, uint16_t addr)
2663 /* Set up DEBI control register value in shadow RAM. */
2664 WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr);
2666 /* Execute the DEBI transfer. */
2669 /* Fetch target register value. */
2670 retval = (uint16_t) RR7146(P_DEBIAD);
2672 /* Return register value. */
2676 /* Execute a DEBI transfer. This must be called from within a */
2677 /* critical section. */
2678 static void DEBItransfer(comedi_device *dev)
2680 /* Initiate upload of shadow RAM to DEBI control register. */
2681 MC_ENABLE(P_MC2, MC2_UPLD_DEBI);
2683 /* Wait for completion of upload from shadow RAM to DEBI control */
2685 while (!MC_TEST(P_MC2, MC2_UPLD_DEBI)) ;
2687 /* Wait until DEBI transfer is done. */
2688 while (RR7146(P_PSR) & PSR_DEBI_S) ;
2691 /* Write a value to a gate array register. */
2692 static void DEBIwrite(comedi_device *dev, uint16_t addr, uint16_t wdata)
2695 /* Set up DEBI control register value in shadow RAM. */
2696 WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr);
2697 WR7146(P_DEBIAD, wdata);
2699 /* Execute the DEBI transfer. */
2703 /* Replace the specified bits in a gate array register. Imports: mask
2704 * specifies bits that are to be preserved, wdata is new value to be
2705 * or'd with the masked original.
2707 static void DEBIreplace(comedi_device *dev, uint16_t addr, uint16_t mask,
2711 /* Copy target gate array register into P_DEBIAD register. */
2712 WR7146(P_DEBICMD, DEBI_CMD_RDWORD | addr);
2713 /* Set up DEBI control reg value in shadow RAM. */
2714 DEBItransfer(dev); /* Execute the DEBI Read transfer. */
2716 /* Write back the modified image. */
2717 WR7146(P_DEBICMD, DEBI_CMD_WRWORD | addr);
2718 /* Set up DEBI control reg value in shadow RAM. */
2720 WR7146(P_DEBIAD, wdata | ((uint16_t) RR7146(P_DEBIAD) & mask));
2721 /* Modify the register image. */
2722 DEBItransfer(dev); /* Execute the DEBI Write transfer. */
2725 static void CloseDMAB(comedi_device *dev, DMABUF *pdma, size_t bsize)
2730 DEBUG("CloseDMAB: Entering S626DRV_CloseDMAB():\n");
2733 /* find the matching allocation from the board struct */
2735 vbptr = pdma->LogicalBase;
2736 vpptr = pdma->PhysicalBase;
2738 pci_free_consistent(devpriv->pdev, bsize, vbptr, vpptr);
2739 pdma->LogicalBase = 0;
2740 pdma->PhysicalBase = 0;
2742 DEBUG("CloseDMAB(): Logical=%p, bsize=%d, Physical=0x%x\n",
2743 vbptr, bsize, (uint32_t) vpptr);
2747 /* ****** COUNTER FUNCTIONS ******* */
2748 /* All counter functions address a specific counter by means of the
2749 * "Counter" argument, which is a logical counter number. The Counter
2750 * argument may have any of the following legal values: 0=0A, 1=1A,
2751 * 2=2A, 3=0B, 4=1B, 5=2B.
2754 /* Forward declarations for functions that are common to both A and B counters: */
2756 /* ****** PRIVATE COUNTER FUNCTIONS ****** */
2758 /* Read a counter's output latch. */
2760 static uint32_t ReadLatch(comedi_device *dev, enc_private *k)
2762 register uint32_t value;
2763 /* DEBUG FIXME DEBUG("ReadLatch: Read Latch enter\n"); */
2765 /* Latch counts and fetch LSW of latched counts value. */
2766 value = (uint32_t) DEBIread(dev, k->MyLatchLsw);
2768 /* Fetch MSW of latched counts and combine with LSW. */
2769 value |= ((uint32_t) DEBIread(dev, k->MyLatchLsw + 2) << 16);
2771 /* DEBUG FIXME DEBUG("ReadLatch: Read Latch exit\n"); */
2773 /* Return latched counts. */
2777 /* Reset a counter's index and overflow event capture flags. */
2779 static void ResetCapFlags_A(comedi_device *dev, enc_private *k)
2781 DEBIreplace(dev, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
2782 CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A);
2785 static void ResetCapFlags_B(comedi_device *dev, enc_private *k)
2787 DEBIreplace(dev, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
2788 CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B);
2791 /* Return counter setup in a format (COUNTER_SETUP) that is consistent */
2792 /* for both A and B counters. */
2794 static uint16_t GetMode_A(comedi_device *dev, enc_private *k)
2796 register uint16_t cra;
2797 register uint16_t crb;
2798 register uint16_t setup;
2800 /* Fetch CRA and CRB register images. */
2801 cra = DEBIread(dev, k->MyCRA);
2802 crb = DEBIread(dev, k->MyCRB);
2804 /* Populate the standardized counter setup bit fields. Note: */
2805 /* IndexSrc is restricted to ENC_X or IndxPol. */
2806 setup = ((cra & STDMSK_LOADSRC) /* LoadSrc = LoadSrcA. */
2807 | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC) /* LatchSrc = LatchSrcA. */
2808 | ((cra << (STDBIT_INTSRC - CRABIT_INTSRC_A)) & STDMSK_INTSRC) /* IntSrc = IntSrcA. */
2809 | ((cra << (STDBIT_INDXSRC - (CRABIT_INDXSRC_A + 1))) & STDMSK_INDXSRC) /* IndxSrc = IndxSrcA<1>. */
2810 | ((cra >> (CRABIT_INDXPOL_A - STDBIT_INDXPOL)) & STDMSK_INDXPOL) /* IndxPol = IndxPolA. */
2811 | ((crb >> (CRBBIT_CLKENAB_A - STDBIT_CLKENAB)) & STDMSK_CLKENAB)); /* ClkEnab = ClkEnabA. */
2813 /* Adjust mode-dependent parameters. */
2814 if (cra & (2 << CRABIT_CLKSRC_A)) /* If Timer mode (ClkSrcA<1> == 1): */
2815 setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */
2816 | ((cra << (STDBIT_CLKPOL - CRABIT_CLKSRC_A)) & STDMSK_CLKPOL) /* Set ClkPol to indicate count direction (ClkSrcA<0>). */
2817 | (MULT_X1 << STDBIT_CLKMULT)); /* ClkMult must be 1x in Timer mode. */
2819 else /* If Counter mode (ClkSrcA<1> == 0): */
2820 setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Counter mode. */
2821 | ((cra >> (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) & STDMSK_CLKPOL) /* Pass through ClkPol. */
2822 | (((cra & CRAMSK_CLKMULT_A) == (MULT_X0 << CRABIT_CLKMULT_A)) ? /* Force ClkMult to 1x if not legal, else pass through. */
2823 (MULT_X1 << STDBIT_CLKMULT) :
2824 ((cra >> (CRABIT_CLKMULT_A -
2828 /* Return adjusted counter setup. */
2832 static uint16_t GetMode_B(comedi_device *dev, enc_private *k)
2834 register uint16_t cra;
2835 register uint16_t crb;
2836 register uint16_t setup;
2838 /* Fetch CRA and CRB register images. */
2839 cra = DEBIread(dev, k->MyCRA);
2840 crb = DEBIread(dev, k->MyCRB);
2842 /* Populate the standardized counter setup bit fields. Note: */
2843 /* IndexSrc is restricted to ENC_X or IndxPol. */
2844 setup = (((crb << (STDBIT_INTSRC - CRBBIT_INTSRC_B)) & STDMSK_INTSRC) /* IntSrc = IntSrcB. */
2845 | ((crb << (STDBIT_LATCHSRC - CRBBIT_LATCHSRC)) & STDMSK_LATCHSRC) /* LatchSrc = LatchSrcB. */
2846 | ((crb << (STDBIT_LOADSRC - CRBBIT_LOADSRC_B)) & STDMSK_LOADSRC) /* LoadSrc = LoadSrcB. */
2847 | ((crb << (STDBIT_INDXPOL - CRBBIT_INDXPOL_B)) & STDMSK_INDXPOL) /* IndxPol = IndxPolB. */
2848 | ((crb >> (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) & STDMSK_CLKENAB) /* ClkEnab = ClkEnabB. */
2849 | ((cra >> ((CRABIT_INDXSRC_B + 1) - STDBIT_INDXSRC)) & STDMSK_INDXSRC)); /* IndxSrc = IndxSrcB<1>. */
2851 /* Adjust mode-dependent parameters. */
2852 if ((crb & CRBMSK_CLKMULT_B) == (MULT_X0 << CRBBIT_CLKMULT_B)) /* If Extender mode (ClkMultB == MULT_X0): */
2853 setup |= ((CLKSRC_EXTENDER << STDBIT_CLKSRC) /* Indicate Extender mode. */
2854 | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */
2855 | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL)); /* Set ClkPol equal to Timer count direction (ClkSrcB<0>). */
2857 else if (cra & (2 << CRABIT_CLKSRC_B)) /* If Timer mode (ClkSrcB<1> == 1): */
2858 setup |= ((CLKSRC_TIMER << STDBIT_CLKSRC) /* Indicate Timer mode. */
2859 | (MULT_X1 << STDBIT_CLKMULT) /* Indicate multiplier is 1x. */
2860 | ((cra >> (CRABIT_CLKSRC_B - STDBIT_CLKPOL)) & STDMSK_CLKPOL)); /* Set ClkPol equal to Timer count direction (ClkSrcB<0>). */
2862 else /* If Counter mode (ClkSrcB<1> == 0): */
2863 setup |= ((CLKSRC_COUNTER << STDBIT_CLKSRC) /* Indicate Timer mode. */
2864 | ((crb >> (CRBBIT_CLKMULT_B - STDBIT_CLKMULT)) & STDMSK_CLKMULT) /* Clock multiplier is passed through. */
2865 | ((crb << (STDBIT_CLKPOL - CRBBIT_CLKPOL_B)) & STDMSK_CLKPOL)); /* Clock polarity is passed through. */
2867 /* Return adjusted counter setup. */
2872 * Set the operating mode for the specified counter. The setup
2873 * parameter is treated as a COUNTER_SETUP data type. The following
2874 * parameters are programmable (all other parms are ignored): ClkMult,
2875 * ClkPol, ClkEnab, IndexSrc, IndexPol, LoadSrc.
2878 static void SetMode_A(comedi_device *dev, enc_private *k, uint16_t Setup,
2879 uint16_t DisableIntSrc)
2881 register uint16_t cra;
2882 register uint16_t crb;
2883 register uint16_t setup = Setup; /* Cache the Standard Setup. */
2885 /* Initialize CRA and CRB images. */
2886 cra = ((setup & CRAMSK_LOADSRC_A) /* Preload trigger is passed through. */
2887 | ((setup & STDMSK_INDXSRC) >> (STDBIT_INDXSRC - (CRABIT_INDXSRC_A + 1)))); /* IndexSrc is restricted to ENC_X or IndxPol. */
2889 crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A /* Reset any pending CounterA event captures. */
2890 | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_A - STDBIT_CLKENAB))); /* Clock enable is passed through. */
2892 /* Force IntSrc to Disabled if DisableIntSrc is asserted. */
2894 cra |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC -
2897 /* Populate all mode-dependent attributes of CRA & CRB images. */
2898 switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) {
2899 case CLKSRC_EXTENDER: /* Extender Mode: Force to Timer mode */
2900 /* (Extender valid only for B counters). */
2902 case CLKSRC_TIMER: /* Timer Mode: */
2903 cra |= ((2 << CRABIT_CLKSRC_A) /* ClkSrcA<1> selects system clock */
2904 | ((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRABIT_CLKSRC_A)) /* with count direction (ClkSrcA<0>) obtained from ClkPol. */
2905 | (1 << CRABIT_CLKPOL_A) /* ClkPolA behaves as always-on clock enable. */
2906 | (MULT_X1 << CRABIT_CLKMULT_A)); /* ClkMult must be 1x. */
2909 default: /* Counter Mode: */
2910 cra |= (CLKSRC_COUNTER /* Select ENC_C and ENC_D as clock/direction inputs. */
2911 | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKPOL_A - STDBIT_CLKPOL)) /* Clock polarity is passed through. */
2912 | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT)) ? /* Force multiplier to x1 if not legal, otherwise pass through. */
2913 (MULT_X1 << CRABIT_CLKMULT_A) :
2914 ((setup & STDMSK_CLKMULT) << (CRABIT_CLKMULT_A -
2918 /* Force positive index polarity if IndxSrc is software-driven only, */
2919 /* otherwise pass it through. */
2920 if (~setup & STDMSK_INDXSRC)
2921 cra |= ((setup & STDMSK_INDXPOL) << (CRABIT_INDXPOL_A -
2924 /* If IntSrc has been forced to Disabled, update the MISC2 interrupt */
2925 /* enable mask to indicate the counter interrupt is disabled. */
2927 devpriv->CounterIntEnabs &= ~k->MyEventBits[3];
2929 /* While retaining CounterB and LatchSrc configurations, program the */
2930 /* new counter operating mode. */
2931 DEBIreplace(dev, k->MyCRA, CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B, cra);
2932 DEBIreplace(dev, k->MyCRB,
2933 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)), crb);
2936 static void SetMode_B(comedi_device *dev, enc_private *k, uint16_t Setup,
2937 uint16_t DisableIntSrc)
2939 register uint16_t cra;
2940 register uint16_t crb;
2941 register uint16_t setup = Setup; /* Cache the Standard Setup. */
2943 /* Initialize CRA and CRB images. */
2944 cra = ((setup & STDMSK_INDXSRC) << ((CRABIT_INDXSRC_B + 1) - STDBIT_INDXSRC)); /* IndexSrc field is restricted to ENC_X or IndxPol. */
2946 crb = (CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B /* Reset event captures and disable interrupts. */
2947 | ((setup & STDMSK_CLKENAB) << (CRBBIT_CLKENAB_B - STDBIT_CLKENAB)) /* Clock enable is passed through. */
2948 | ((setup & STDMSK_LOADSRC) >> (STDBIT_LOADSRC - CRBBIT_LOADSRC_B))); /* Preload trigger source is passed through. */
2950 /* Force IntSrc to Disabled if DisableIntSrc is asserted. */
2952 crb |= ((setup & STDMSK_INTSRC) >> (STDBIT_INTSRC -
2955 /* Populate all mode-dependent attributes of CRA & CRB images. */
2956 switch ((setup & STDMSK_CLKSRC) >> STDBIT_CLKSRC) {
2957 case CLKSRC_TIMER: /* Timer Mode: */
2958 cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB<1> selects system clock */
2959 | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B - STDBIT_CLKPOL))); /* with direction (ClkSrcB<0>) obtained from ClkPol. */
2960 crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB behaves as always-on clock enable. */
2961 | (MULT_X1 << CRBBIT_CLKMULT_B)); /* ClkMultB must be 1x. */
2964 case CLKSRC_EXTENDER: /* Extender Mode: */
2965 cra |= ((2 << CRABIT_CLKSRC_B) /* ClkSrcB source is OverflowA (same as "timer") */
2966 | ((setup & STDMSK_CLKPOL) << (CRABIT_CLKSRC_B - STDBIT_CLKPOL))); /* with direction obtained from ClkPol. */
2967 crb |= ((1 << CRBBIT_CLKPOL_B) /* ClkPolB controls IndexB -- always set to active. */
2968 | (MULT_X0 << CRBBIT_CLKMULT_B)); /* ClkMultB selects OverflowA as the clock source. */
2971 default: /* Counter Mode: */
2972 cra |= (CLKSRC_COUNTER << CRABIT_CLKSRC_B); /* Select ENC_C and ENC_D as clock/direction inputs. */
2973 crb |= (((setup & STDMSK_CLKPOL) >> (STDBIT_CLKPOL - CRBBIT_CLKPOL_B)) /* ClkPol is passed through. */
2974 | (((setup & STDMSK_CLKMULT) == (MULT_X0 << STDBIT_CLKMULT)) ? /* Force ClkMult to x1 if not legal, otherwise pass through. */
2975 (MULT_X1 << CRBBIT_CLKMULT_B) :
2976 ((setup & STDMSK_CLKMULT) << (CRBBIT_CLKMULT_B -
2980 /* Force positive index polarity if IndxSrc is software-driven only, */
2981 /* otherwise pass it through. */
2982 if (~setup & STDMSK_INDXSRC)
2983 crb |= ((setup & STDMSK_INDXPOL) >> (STDBIT_INDXPOL -
2986 /* If IntSrc has been forced to Disabled, update the MISC2 interrupt */
2987 /* enable mask to indicate the counter interrupt is disabled. */
2989 devpriv->CounterIntEnabs &= ~k->MyEventBits[3];
2991 /* While retaining CounterA and LatchSrc configurations, program the */
2992 /* new counter operating mode. */
2993 DEBIreplace(dev, k->MyCRA,
2994 (uint16_t) (~(CRAMSK_INDXSRC_B | CRAMSK_CLKSRC_B)), cra);
2995 DEBIreplace(dev, k->MyCRB, CRBMSK_CLKENAB_A | CRBMSK_LATCHSRC, crb);
2998 /* Return/set a counter's enable. enab: 0=always enabled, 1=enabled by index. */
3000 static void SetEnable_A(comedi_device *dev, enc_private *k, uint16_t enab)
3002 DEBUG("SetEnable_A: SetEnable_A enter 3541\n");
3003 DEBIreplace(dev, k->MyCRB,
3004 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_A)),
3005 (uint16_t) (enab << CRBBIT_CLKENAB_A));
3008 static void SetEnable_B(comedi_device *dev, enc_private *k, uint16_t enab)
3010 DEBIreplace(dev, k->MyCRB,
3011 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_CLKENAB_B)),
3012 (uint16_t) (enab << CRBBIT_CLKENAB_B));
3015 static uint16_t GetEnable_A(comedi_device *dev, enc_private *k)
3017 return (DEBIread(dev, k->MyCRB) >> CRBBIT_CLKENAB_A) & 1;
3020 static uint16_t GetEnable_B(comedi_device *dev, enc_private *k)
3022 return (DEBIread(dev, k->MyCRB) >> CRBBIT_CLKENAB_B) & 1;
3025 /* Return/set a counter pair's latch trigger source. 0: On read
3026 * access, 1: A index latches A, 2: B index latches B, 3: A overflow
3030 static void SetLatchSource(comedi_device *dev, enc_private *k, uint16_t value)
3032 DEBUG("SetLatchSource: SetLatchSource enter 3550 \n");
3033 DEBIreplace(dev, k->MyCRB,
3034 (uint16_t) (~(CRBMSK_INTCTRL | CRBMSK_LATCHSRC)),
3035 (uint16_t) (value << CRBBIT_LATCHSRC));
3037 DEBUG("SetLatchSource: SetLatchSource exit \n");
3041 * static uint16_t GetLatchSource(comedi_device *dev, enc_private *k )
3043 * return ( DEBIread( dev, k->MyCRB) >> CRBBIT_LATCHSRC ) & 3;
3048 * Return/set the event that will trigger transfer of the preload
3049 * register into the counter. 0=ThisCntr_Index, 1=ThisCntr_Overflow,
3050 * 2=OverflowA (B counters only), 3=disabled.
3053 static void SetLoadTrig_A(comedi_device *dev, enc_private *k, uint16_t Trig)
3055 DEBIreplace(dev, k->MyCRA, (uint16_t) (~CRAMSK_LOADSRC_A),
3056 (uint16_t) (Trig << CRABIT_LOADSRC_A));
3059 static void SetLoadTrig_B(comedi_device *dev, enc_private *k, uint16_t Trig)
3061 DEBIreplace(dev, k->MyCRB,
3062 (uint16_t) (~(CRBMSK_LOADSRC_B | CRBMSK_INTCTRL)),
3063 (uint16_t) (Trig << CRBBIT_LOADSRC_B));
3066 static uint16_t GetLoadTrig_A(comedi_device *dev, enc_private *k)
3068 return (DEBIread(dev, k->MyCRA) >> CRABIT_LOADSRC_A) & 3;
3071 static uint16_t GetLoadTrig_B(comedi_device *dev, enc_private *k)
3073 return (DEBIread(dev, k->MyCRB) >> CRBBIT_LOADSRC_B) & 3;
3076 /* Return/set counter interrupt source and clear any captured
3077 * index/overflow events. IntSource: 0=Disabled, 1=OverflowOnly,
3078 * 2=IndexOnly, 3=IndexAndOverflow.
3081 static void SetIntSrc_A(comedi_device *dev, enc_private *k,
3084 /* Reset any pending counter overflow or index captures. */
3085 DEBIreplace(dev, k->MyCRB, (uint16_t) (~CRBMSK_INTCTRL),
3086 CRBMSK_INTRESETCMD | CRBMSK_INTRESET_A);
3088 /* Program counter interrupt source. */
3089 DEBIreplace(dev, k->MyCRA, ~CRAMSK_INTSRC_A,
3090 (uint16_t) (IntSource << CRABIT_INTSRC_A));
3092 /* Update MISC2 interrupt enable mask. */
3093 devpriv->CounterIntEnabs =
3094 (devpriv->CounterIntEnabs & ~k->MyEventBits[3]) | k->
3095 MyEventBits[IntSource];
3098 static void SetIntSrc_B(comedi_device *dev, enc_private *k,
3103 /* Cache writeable CRB register image. */
3104 crb = DEBIread(dev, k->MyCRB) & ~CRBMSK_INTCTRL;
3106 /* Reset any pending counter overflow or index captures. */
3107 DEBIwrite(dev, k->MyCRB,
3108 (uint16_t) (crb | CRBMSK_INTRESETCMD | CRBMSK_INTRESET_B));
3110 /* Program counter interrupt source. */
3111 DEBIwrite(dev, k->MyCRB,
3112 (uint16_t) ((crb & ~CRBMSK_INTSRC_B) | (IntSource <<
3115 /* Update MISC2 interrupt enable mask. */
3116 devpriv->CounterIntEnabs =
3117 (devpriv->CounterIntEnabs & ~k->MyEventBits[3]) | k->
3118 MyEventBits[IntSource];
3121 static uint16_t GetIntSrc_A(comedi_device *dev, enc_private *k)
3123 return (DEBIread(dev, k->MyCRA) >> CRABIT_INTSRC_A) & 3;
3126 static uint16_t GetIntSrc_B(comedi_device *dev, enc_private *k)
3128 return (DEBIread(dev, k->MyCRB) >> CRBBIT_INTSRC_B) & 3;
3131 /* Return/set the clock multiplier. */
3133 /* static void SetClkMult(comedi_device *dev, enc_private *k, uint16_t value ) */
3135 /* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_CLKMULT ) | ( value << STDBIT_CLKMULT ) ), FALSE ); */
3138 /* static uint16_t GetClkMult(comedi_device *dev, enc_private *k ) */
3140 /* return ( k->GetMode(dev, k ) >> STDBIT_CLKMULT ) & 3; */
3143 /* Return/set the clock polarity. */
3145 /* static void SetClkPol( comedi_device *dev,enc_private *k, uint16_t value ) */
3147 /* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_CLKPOL ) | ( value << STDBIT_CLKPOL ) ), FALSE ); */
3150 /* static uint16_t GetClkPol(comedi_device *dev, enc_private *k ) */
3152 /* return ( k->GetMode(dev, k ) >> STDBIT_CLKPOL ) & 1; */
3155 /* Return/set the clock source. */
3157 /* static void SetClkSrc( comedi_device *dev,enc_private *k, uint16_t value ) */
3159 /* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_CLKSRC ) | ( value << STDBIT_CLKSRC ) ), FALSE ); */
3162 /* static uint16_t GetClkSrc( comedi_device *dev,enc_private *k ) */
3164 /* return ( k->GetMode(dev, k ) >> STDBIT_CLKSRC ) & 3; */
3167 /* Return/set the index polarity. */
3169 /* static void SetIndexPol(comedi_device *dev, enc_private *k, uint16_t value ) */
3171 /* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_INDXPOL ) | ( (value != 0) << STDBIT_INDXPOL ) ), FALSE ); */
3174 /* static uint16_t GetIndexPol(comedi_device *dev, enc_private *k ) */
3176 /* return ( k->GetMode(dev, k ) >> STDBIT_INDXPOL ) & 1; */
3179 /* Return/set the index source. */
3181 /* static void SetIndexSrc(comedi_device *dev, enc_private *k, uint16_t value ) */
3183 /* DEBUG("SetIndexSrc: set index src enter 3700\n"); */
3184 /* k->SetMode(dev, k, (uint16_t)( ( k->GetMode(dev, k ) & ~STDMSK_INDXSRC ) | ( (value != 0) << STDBIT_INDXSRC ) ), FALSE ); */
3187 /* static uint16_t GetIndexSrc(comedi_device *dev, enc_private *k ) */
3189 /* return ( k->GetMode(dev, k ) >> STDBIT_INDXSRC ) & 1; */
3192 /* Generate an index pulse. */
3194 static void PulseIndex_A(comedi_device *dev, enc_private *k)
3196 register uint16_t cra;
3198 DEBUG("PulseIndex_A: pulse index enter\n");
3200 cra = DEBIread(dev, k->MyCRA); /* Pulse index. */
3201 DEBIwrite(dev, k->MyCRA, (uint16_t) (cra ^ CRAMSK_INDXPOL_A));
3202 DEBUG("PulseIndex_A: pulse index step1\n");
3203 DEBIwrite(dev, k->MyCRA, cra);
3206 static void PulseIndex_B(comedi_device *dev, enc_private *k)
3208 register uint16_t crb;
3210 crb = DEBIread(dev, k->MyCRB) & ~CRBMSK_INTCTRL; /* Pulse index. */
3211 DEBIwrite(dev, k->MyCRB, (uint16_t) (crb ^ CRBMSK_INDXPOL_B));
3212 DEBIwrite(dev, k->MyCRB, crb);
3215 /* Write value into counter preload register. */
3217 static void Preload(comedi_device *dev, enc_private *k, uint32_t value)
3219 DEBUG("Preload: preload enter\n");
3220 DEBIwrite(dev, (uint16_t) (k->MyLatchLsw), (uint16_t) value); /* Write value to preload register. */
3221 DEBUG("Preload: preload step 1\n");
3222 DEBIwrite(dev, (uint16_t) (k->MyLatchLsw + 2),
3223 (uint16_t) (value >> 16));
3226 static void CountersInit(comedi_device *dev)
3230 uint16_t Setup = (LOADSRC_INDX << BF_LOADSRC) | /* Preload upon */
3232 (INDXSRC_SOFT << BF_INDXSRC) | /* Disable hardware index. */
3233 (CLKSRC_COUNTER << BF_CLKSRC) | /* Operating mode is counter. */
3234 (CLKPOL_POS << BF_CLKPOL) | /* Active high clock. */
3235 (CNTDIR_UP << BF_CLKPOL) | /* Count direction is up. */
3236 (CLKMULT_1X << BF_CLKMULT) | /* Clock multiplier is 1x. */
3237 (CLKENAB_INDEX << BF_CLKENAB); /* Enabled by index */
3239 /* Disable all counter interrupts and clear any captured counter events. */
3240 for (chan = 0; chan < S626_ENCODER_CHANNELS; chan++) {
3242 k->SetMode(dev, k, Setup, TRUE);
3243 k->SetIntSrc(dev, k, 0);
3244 k->ResetCapFlags(dev, k);
3245 k->SetEnable(dev, k, CLKENAB_ALWAYS);
3247 DEBUG("CountersInit: counters initialized \n");