hal_m5i20.c

Source code for an Numeric Cmputer

	    rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: hal_create_thread() failed\n");
	    hal_exit(driver.componentId);
	    return(-1);
	} else {
	    rtapi_print_msg(RTAPI_MSG_INFO, "M5I20: created %d uS thread\n", period / 1000);
	}
    }

    return(0);
}


void
rtapi_app_exit(void)
{
    int					i;
    Device				*pDevice;

    hal_exit(driver.componentId);

    for(i = 0; i < MAX_DEVICES; i++){
	if((pDevice = driver.deviceTable[i]) != NULL){
	    // Unmap card.
	    iounmap((void *)(pDevice->pCard16));
	    iounmap((void *)(pDevice->pCard32));
	    iounmap((void *)(pDevice->pBridgeIc));

	    // TODO: Free device object when HAL supports free.
//	    hal_free(pDevice);
	}
    }
}


/******************************************************************************
 * DEVICE OBJECT FUNCTION DEFINITIONS
 ******************************************************************************/

/*
 * LOCAL FUNCTIONS
 */

static int
Device_Init(Device *this, M5i20HostMotRegMap *pCard16, M5i20HostMotRegMap *pCard32,
		Plx9030LocalRegMap *pBridgeIc)
{
    int					i;

    this->pCard16 = pCard16;
    this->pCard32 = pCard32;
    this->pBridgeIc = pBridgeIc;

    // Download FPGA configuration.
    if(loadFpga && ((i = Device_LoadFpga(this)) != 0)){
	return(i);
    }

    // Initialize hardware.
    pCard16->mode = 0;
    pCard16->ledView = 0;
    pCard16->pwmRate = dacRate * 65536 / 1000 * 1024 / 33000;
    pCard16->wdTimeout = 16000;
    pCard16->control = M5I20_CONTROL_RESET_WDT | M5I20_CONTROL_CLEAR_IRQ
	    | M5I20_CONTROL_CLEAR_PWMS | M5I20_CONTROL_CLEAR_ENCODERS;

    // Initialize PWM channels.
    for(i = 0; i < M5I20_NUM_PWM_CHANNELS; i++){
	this->lastDacInterlaced[i] = 1;
	pCard16->pwmControl[i] = M5I20_PWM_CTL_SIGNED | M5I20_PWM_CTL_INTERLACED;
    }

    // Initialize primary encoders.
    for(i = 0; i < M5I20_NUM_PRIMARY_ENCODERS; i++){
	pCard16->encoderControl[i] = M5I20_ENC_CTL_COUNT_QUADRATURE
	    | M5I20_ENC_CTL_INDEX_ACTIVE_HI | M5I20_ENC_CTL_QUAD_FILTER_4MHZ
	    | M5I20_ENC_CTL_LATCH_ON_READ | M5I20_ENC_CTL_LOCAL_CLEAR;
    }

    // Initialize secondary encoders.
    for(i = M5I20_MAX_PRIMARY_ENCODERS;
	i < M5I20_MAX_PRIMARY_ENCODERS + M5I20_NUM_SECONDARY_ENCODERS; i++){
	pCard16->encoderControl[i] = M5I20_ENC_CTL_COUNT_QUADRATURE
	    | M5I20_ENC_CTL_INDEX_ACTIVE_HI | M5I20_ENC_CTL_QUAD_FILTER_4MHZ
	    | M5I20_ENC_CTL_LATCH_ON_READ | M5I20_ENC_CTL_LOCAL_CLEAR;
    }

    // Initialize digital I/O.
    for(i = 0; i < M5I20_NUM_DIGITAL_IO_PORTS; i++){
	pCard32->digitalIo[i].data = M5I20_DIGITAL_OUT;
	pCard32->digitalIo[i].direction = M5I20_DIGITAL_OUT;
    }

    pCard16->mode = M5I20_MODE_PWM_ENABLE | M5I20_MODE_COUNTER_ENABLE;
    
    return(0);
}


// FPGA configuration.
#include "m5i20_HM5-4E.h"

/*
 * Function: Device_LoadFpga
 * Purpose: Initialize the FPGA with the contents from compiled in array.
 * Used by: Local functions.
 * Returns: Error code.
 * Notes:
 *   If DONE never goes high, but INIT goes low - this means the FPGA got a valid 
 *   synchonization word (5599AA66) but encounterd a CRC error later in the stream.
 *
 *   If DONE never goes high and INIT stays high, most likely the FPGA never saw 
 *   the syncronization word.
 *
 */
static int
Device_LoadFpga(Device *this)
{
    M5i20HostMotRegMap			*pCard16 = this->pCard16;
    Plx9030LocalRegMap			*pBridgeIc = this->pBridgeIc;
    hal_u32_t				i;

    // Configure the GPIO.
    pBridgeIc->gpioc &= M5I20_PLX_GPIOC_AND_MASK;
    pBridgeIc->gpioc |= M5I20_PLX_GPIOC_OR_MASK;

    // Turn on LED.
    pBridgeIc->gpioc &= ~M5I20_PLX_GPIOC_LED_OFF;

    // Reset the FPGA
    pBridgeIc->gpioc &= ~M5I20_PLX_GPIOC_CFG_NPROGRAM;
    pBridgeIc->gpioc |= M5I20_PLX_GPIOC_CFG_NWRITE;

    if(pBridgeIc->gpioc & M5I20_PLX_GPIOC_CFG_DONE){
	// Note that if we see DONE at the start of programming, it's most likely due
	// to an attempt to access the FPGA at the wrong I/O location.
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: FPGA busy at start of programming\n");
	return(1);
    }

    // Enable programming.
    pBridgeIc->gpioc |= M5I20_PLX_GPIOC_CFG_NPROGRAM;
    pBridgeIc->gpioc &= ~M5I20_PLX_GPIOC_CFG_NWRITE;

    // Delay for at least 100 uS. to allow the FPGA to finish its reset sequencing.
    Device_Delay100us();

    // Program the fpga.
    for(i = 0; i < sizeof(fpgaConfig); i++){

	// Write byte to FPGA.
	pCard16->fpgaCfgData = fpgaConfig[i];
    }

    // Wait for completion of programming.
    Device_Delay100us();

    // Check for completion.
    if(!(pBridgeIc->gpioc & M5I20_PLX_GPIOC_CFG_DONE)){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: FPGA programming not completed\n");
	return(2);
    }

    // Send configuration completion clocks (6 should be enough, but we send
    // lots for good measure).
    pBridgeIc->gpioc |= M5I20_PLX_GPIOC_CFG_NWRITE;

    for(i = 0; i < 24 ; i++){
	pCard16->fpgaCfgData = 0xFF;
    }

    // Turn off LED.
    pBridgeIc->gpioc |= M5I20_PLX_GPIOC_LED_OFF;

    return(0);
}


static void
Device_Delay100us(void)
{
    long int				maxDelay = rtapi_delay_max();
    long int				ns = 100000;
    long int				delay;

    while(ns){
	delay = (ns > maxDelay)? maxDelay: ns;
	ns -= delay;
	rtapi_delay(delay);
    }
}


static int
Device_ExportPinsParametersFunctions(Device *this, int componentId, int boardId)
{
    int					msgLevel, error;

    // This function exports a lot of stuff, which results in a lot of
    // logging if msg_level is at INFO or ALL. So we save the current value
    // of msg_level and restore it later.  If you actually need to log this
    // function's actions, change the second line below.
    msgLevel = rtapi_get_msg_level();
    rtapi_set_msg_level(RTAPI_MSG_WARN);

    // Export encoders.
    error = Device_ExportEncoderPinsParametersFunctions(this, componentId, boardId);

    // Export DACs.
    if(!error) error = Device_ExportDacPinsParametersFunctions(this, componentId, boardId);

    // Export digital I/O.
    if(!error) error = Device_ExportDigitalInPinsParametersFunctions(this, componentId, boardId);
    if(!error) error = Device_ExportDigitalOutPinsParametersFunctions(this, componentId, boardId);

    // Export miscellaneous.
    if(!error) error = Device_ExportMiscPinsParametersFunctions(this, componentId, boardId);

    // Restore saved message level.
    rtapi_set_msg_level(msgLevel);

    return(error);
}


static int
Device_ExportEncoderPinsParametersFunctions(Device *this, int componentId, int boardId)
{
    int					halError=0, channel;
    char				name[HAL_NAME_LEN + 2];

    // Export pins and parameters.
    for(channel = 0; channel < M5I20_NUM_ENCODER_CHANNELS; channel++){
	// Pins.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-count", boardId, channel);
	if((halError = hal_pin_s32_new(name, HAL_WR, &(this->encoder[channel].pCount), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-cnt-latch", boardId, channel);
	if((halError = hal_pin_s32_new(name, HAL_WR, &(this->encoder[channel].pCountLatch), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-position", boardId, channel);
	if((halError = hal_pin_float_new(name, HAL_WR, &(this->encoder[channel].pPosition), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-pos-latch", boardId, channel);
	if((halError = hal_pin_float_new(name, HAL_WR, &(this->encoder[channel].pPositionLatch), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-index", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_WR, &(this->encoder[channel].pIndex), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-idx-latch", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_WR, &(this->encoder[channel].pIndexLatch), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-latch-index", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_RD_WR, &(this->encoder[channel].pLatchIndex), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-reset-count", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_RD_WR, &(this->encoder[channel].pResetCount), componentId)) != 0)
	    break;

	// Parameters.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.enc-%02d-scale", boardId, channel);
	if((halError = hal_param_float_new(name, HAL_WR, &(this->encoder[channel].scale), componentId)) != 0)
	    break;

	// Init encoder.
	*(this->encoder[channel].pCount) = 0;
	*(this->encoder[channel].pCountLatch) = 0;
	*(this->encoder[channel].pPosition) = 0.0;
	*(this->encoder[channel].pPositionLatch) = 0.0;
	*(this->encoder[channel].pIndex) = 0;
	*(this->encoder[channel].pIndexLatch) = 0;
	*(this->encoder[channel].pLatchIndex) = 0;
	*(this->encoder[channel].pResetCount) = 0;
	this->encoder[channel].scale = 1.0;
    }

    // Export functions.
    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.encoder-read", boardId);
	halError = hal_export_funct(name, Device_EncoderRead, this, 1, 0, componentId);
    }

    if(halError){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: export encoder failed\n");
	return(-1);
    }

    return(0);
}


static int
Device_ExportDacPinsParametersFunctions(Device *this, int componentId, int boardId)
{
    int					halError=0, channel;
    char				name[HAL_NAME_LEN + 2];

    // Export pins and parameters.
    for(channel = 0; channel < M5I20_NUM_PWM_CHANNELS; channel++){
	// Pins.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.dac-%02d-enable", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_RD, &(this->dac[channel].pEnable), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.dac-%02d-value", boardId, channel);
	if((halError = hal_pin_float_new(name, HAL_RD, &(this->dac[channel].pValue), componentId)) != 0)
	    break;

	// Parameters.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.dac-%02d-offset", boardId, channel);
	if((halError = hal_param_float_new(name, HAL_WR, &(this->dac[channel].offset), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.dac-%02d-gain", boardId, channel);
	if((halError = hal_param_float_new(name, HAL_WR, &(this->dac[channel].gain), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.dac-%02d-interlaced", boardId, channel);
	if((halError = hal_param_bit_new(name, HAL_WR, &(this->dac[channel].interlaced), componentId)) != 0)
	    break;

	// Init DAC.
	*(this->dac[channel].pEnable) = 0;
	*(this->dac[channel].pValue) = 0.0;
	this->dac[channel].offset = 0.0;
	this->dac[channel].gain = 1.0;
	this->dac[channel].interlaced = 1;
    }

    // Export functions.
    if(!halError){
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.dac-write", boardId);
	halError = hal_export_funct(name, Device_DacWrite, this, 1, 0, componentId);
    }

    if(halError){
	rtapi_print_msg(RTAPI_MSG_ERR, "M5I20: ERROR: export DAC failed\n");
	return(-1);
    }

    return(0);
}


static int
Device_ExportDigitalInPinsParametersFunctions(Device *this, int componentId, int boardId)
{
    int					halError=0, channel;
    char				name[HAL_NAME_LEN + 2];

    // Export pins and parameters.
    for(channel = 0; channel < M5I20_NUM_DIGITAL_INPUTS; channel++){
	// Pins.
	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.in-%02d", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_WR, &(this->in[channel].pValue), componentId)) != 0)
	    break;

	rtapi_snprintf(name, HAL_NAME_LEN, "m5i20.%d.in-%02d-not", boardId, channel);
	if((halError = hal_pin_bit_new(name, HAL_WR, &(this->in[channel].pValueNot), componentId)) != 0)
	    break;