icp_multi.c

rtlinux-3.2-pre3.tar.bz2 rtlinux3.2-pre3的源代码

/*
    comedi/drivers/icp_multi.c

    COMEDI - Linux Control and Measurement Device Interface
    Copyright (C) 1997-2002 David A. Schleef <[e-mail]>

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

*/


/*
Driver: icp_multi.o
Description: Inova ICP_MULTI
Author: Anne Smorthit <[e-mail]>
Devices: [Inova] ICP_MULTI (icp_multi)
Status: works

The driver works for analog input and output and digital input and output.
It does not work with interrupts or with the counters.  Currently no support
for DMA.

It has 16 single-ended or 8 differential Analogue Input channels with 12-bit
resolution.  Ranges : 5V, 10V, +/-5V, +/-10V, 0..20mA and 4..20mA.  Input
ranges can be individually programmed for each channel.  Voltage or current
measurement is selected by jumper.

There are 4 x 12-bit Analogue Outputs.  Ranges : 5V, 10V, +/-5V, +/-10V

16 x Digital Inputs, 24V

8 x Digital Outputs, 24V, 1A

4 x 16-bit counters

Options:
 [0] - PCI bus number - if bus number and slot number are 0, 
                        then driver search for first unused card
 [1] - PCI slot number 
*/

#include <linux/comedidev.h>

#include <linux/delay.h>
#include <linux/pci.h>

#include "icp_multi.h"


#define DEVICE_ID	0x8000	/* Device ID */

#define ICP_MULTI_EXTDEBUG

// Hardware types of the cards
#define TYPE_ICP_MULTI	0

#define IORANGE_ICP_MULTI 	32		

#define ICP_MULTI_ADC_CSR	0	/* R/W:	ADC command/status register */
#define ICP_MULTI_AI		2	/* R:	Analogue input data */
#define ICP_MULTI_DAC_CSR	4	/* R/W:	DAC command/status register */
#define ICP_MULTI_AO		6	/* R/W:	Analogue output data */
#define ICP_MULTI_DI		8	/* R/W:	Digital inouts */
#define ICP_MULTI_DO		0x0A	/* R/W:	Digital outputs */
#define ICP_MULTI_INT_EN	0x0C	/* R/W:	Interrupt enable register */
#define ICP_MULTI_INT_STAT	0x0E	/* R/W:	Interrupt status register */
#define ICP_MULTI_CNTR0		0x10	/* R/W:	Counter 0 */
#define ICP_MULTI_CNTR1		0x12	/* R/W:	counter 1 */
#define ICP_MULTI_CNTR2		0x14	/* R/W:	Counter 2 */
#define ICP_MULTI_CNTR3		0x16	/* R/W:	Counter 3 */

#define ICP_MULTI_SIZE		0x20	/* 32 bytes */

// Define bits from ADC command/status register
#define	ADC_ST		0x0001		/* Start ADC */
#define	ADC_BSY		0x0001		/* ADC busy */
#define ADC_BI		0x0010		/* Bipolar input range 1 = bipolar */
#define ADC_RA		0x0020		/* Input range 0 = 5V, 1 = 10V */
#define	ADC_DI		0x0040		/* Differential input mode 1 = differential */

// Define bits from DAC command/status register
#define	DAC_ST		0x0001		/* Start DAC */
#define DAC_BSY		0x0001		/* DAC busy */
#define	DAC_BI		0x0010		/* Bipolar input range 1 = bipolar */
#define	DAC_RA		0x0020		/* Input range 0 = 5V, 1 = 10V */

// Define bits from interrupt enable/status registers
#define	ADC_READY	0x0001		/* A/d conversion ready interrupt */
#define	DAC_READY	0x0002		/* D/a conversion ready interrupt */
#define	DOUT_ERROR	0x0004		/* Digital output error interrupt */
#define	DIN_STATUS	0x0008		/* Digital input status change interrupt */
#define	CIE0		0x0010		/* Counter 0 overrun interrupt */
#define	CIE1		0x0020		/* Counter 1 overrun interrupt */
#define	CIE2		0x0040		/* Counter 2 overrun interrupt */
#define	CIE3		0x0080		/* Counter 3 overrun interrupt */

// Useful definitions
#define	Status_IRQ	0x00ff		// All interrupts


// Define analogue range
static comedi_lrange range_analog={ 4, {
	UNI_RANGE(5),
	UNI_RANGE(10),
	BIP_RANGE(5),
	BIP_RANGE(10)
	}
};

static char range_codes_analog[]={0x00, 0x20, 0x10, 0x30};


/*
==============================================================================
	Forward declarations
==============================================================================
*/
static int icp_multi_attach(comedi_device *dev, comedi_devconfig *it);
static int icp_multi_detach(comedi_device *dev);


/*
==============================================================================
	Data & Structure declarations
==============================================================================
*/
static unsigned short	pci_list_builded=0;	/*=1 list of card is know */

typedef struct {
	char 		*name;		// driver name
	int		device_id;
	int		iorange;	// I/O range len
	char		have_irq;	// 1=card support IRQ
	char		cardtype;	// 0=ICP Multi
	int 		n_aichan;	// num of A/D chans
	int 		n_aichand;	// num of A/D chans in diff mode
	int 		n_aochan;	// num of D/A chans
	int 		n_dichan;	// num of DI chans
	int 		n_dochan;	// num of DO chans
	int		n_ctrs;		// num of counters
	int		ai_maxdata;	// resolution of A/D
	int		ao_maxdata;	// resolution of D/A
	comedi_lrange	*rangelist_ai;	// rangelist for A/D
	char		*rangecode;	// range codes for programming
	comedi_lrange	*rangelist_ao;	// rangelist for D/A
} boardtype;

static boardtype boardtypes[] =
{
	{"icp_multi",		// Driver name
	 DEVICE_ID,		// PCI device ID
	 IORANGE_ICP_MULTI,	// I/O range length
	 1,			// 1=Card supports interrupts
	 TYPE_ICP_MULTI,	// Card type = ICP MULTI
	 16,			// Num of A/D channels
	 8,			// Num of A/D channels in diff mode
	 4,			// Num of D/A channels
	 16,			// Num of digital inputs
	 8,			// Num of digital outputs
	 4,			// Num of counters
	 0x0fff,		// Resolution of A/D
	 0x0fff,		// Resolution of D/A
	 &range_analog,		// Rangelist for A/D
	 range_codes_analog,	// Range codes for programming
	 &range_analog },	// Rangelist for D/A
};

#define n_boardtypes (sizeof(boardtypes)/sizeof(boardtype))

static comedi_driver driver_icp_multi={
	driver_name:	"icp_multi",
	module:		THIS_MODULE,
	attach:		icp_multi_attach,
	detach:		icp_multi_detach,
	num_names:	n_boardtypes,
	board_name:	boardtypes,
	offset:		sizeof(boardtype),	
};
COMEDI_INITCLEANUP(driver_icp_multi);

typedef struct{
	char			valid;			// card is usable
	void			*io_addr;		// Pointer to mapped io address
	unsigned long		phys_iobase;		// Physical io address
	unsigned int		AdcCmdStatus;		// ADC Command/Status register
	unsigned int		DacCmdStatus;		// DAC Command/Status register
	unsigned int		IntEnable;		// Interrupt Enable register
	unsigned int		IntStatus;		// Interrupt Status register
	unsigned int		act_chanlist[32];	// list of scaned channel
	unsigned char		act_chanlist_len;	// len of scanlist
	unsigned char 		act_chanlist_pos;	// actual position in MUX list
	unsigned int		*ai_chanlist;		// actaul chanlist
	sampl_t			*ai_data;		// data buffer
	sampl_t			ao_data[4];		// data output buffer
	sampl_t			di_data;		// Digital input data
	unsigned int		do_data;		// Remember digital output data
} icp_multi_private;

#define devpriv ((icp_multi_private *)dev->private)
#define this_board ((boardtype *)dev->board_ptr)

/* 
==============================================================================
	More forward declarations
==============================================================================
*/

#if 0
static int check_channel_list(comedi_device * dev, comedi_subdevice * s, unsigned int *chanlist, unsigned int n_chan);
#endif
static void setup_channel_list(comedi_device * dev, comedi_subdevice * s, unsigned int *chanlist, unsigned int n_chan);
static int icp_multi_reset(comedi_device *dev);


/* 
==============================================================================
	Functions
==============================================================================
*/


/*
==============================================================================

	Name:	icp_multi_insn_read_ai

	Description:
		This function reads a single analogue input.

	Parameters:
		comedi_device *dev	Pointer to current device structure
		comedi_subdevice *s	Pointer to current subdevice structure
		comedi_insn *insn	Pointer to current comedi instruction
		lsampl_t *data		Pointer to analogue input data

	Returns:int			Nmuber of instructions executed

==============================================================================
*/
static int icp_multi_insn_read_ai(comedi_device * dev, comedi_subdevice * s, comedi_insn *insn, lsampl_t *data)
{
	int n,timeout;

#ifdef ICP_MULTI_EXTDEBUG
	printk("icp multi EDBG: BGN: icp_multi_insn_read_ai(...)\n");
#endif
	// Disable A/D conversion ready interrupt
	devpriv->IntEnable &= ~ADC_READY;
	writew(devpriv->IntEnable,dev->iobase + ICP_MULTI_INT_EN);
	
	// Clear interrupt status
	devpriv->IntStatus |= ADC_READY;
	writew(devpriv->IntStatus,dev->iobase + ICP_MULTI_INT_STAT);

	// Set up appropriate channel, mode and range data, for specified channel
	setup_channel_list(dev, s, &insn->chanspec, 1);

#ifdef ICP_MULTI_EXTDEBUG
	printk("icp_multi A ST=%4x IO=%x\n",readw(dev->iobase+ICP_MULTI_ADC_CSR), dev->iobase+ICP_MULTI_ADC_CSR);
#endif

	for (n=0; n<insn->n; n++) {
		// Set start ADC bit
		devpriv->AdcCmdStatus |= ADC_ST;
		writew(devpriv->AdcCmdStatus, dev->iobase+ICP_MULTI_ADC_CSR);
		devpriv->AdcCmdStatus &= ~ADC_ST;

#ifdef ICP_MULTI_EXTDEBUG
    		printk("icp multi B n=%d ST=%4x\n",n,readw(dev->iobase+ICP_MULTI_ADC_CSR));
#endif

		comedi_udelay(1);

#ifdef ICP_MULTI_EXTDEBUG
    		printk("icp multi C n=%d ST=%4x\n",n,readw(dev->iobase+ICP_MULTI_ADC_CSR));
#endif

		// Wait for conversion to complete, or get fed up waiting
    		timeout=100;
    		while (timeout--) {
			if (!(readw(dev->iobase+ICP_MULTI_ADC_CSR) & ADC_BSY))
				goto conv_finish;

#ifdef ICP_MULTI_EXTDEBUG
			if (!(timeout%10))
				printk("icp multi D n=%d tm=%d ST=%4x\n",n,timeout,readw(dev->iobase+ICP_MULTI_ADC_CSR));
#endif

			comedi_udelay(1);
    		}

		// If we reach here, a timeout has occurred
    		comedi_error(dev,"A/D insn timeout");

		// Disable interrupt
		devpriv->IntEnable &= ~ADC_READY;
		writew(devpriv->IntEnable,dev->iobase + ICP_MULTI_INT_EN);

		// Clear interrupt status
		devpriv->IntStatus |= ADC_READY;
		writew(devpriv->IntStatus,dev->iobase + ICP_MULTI_INT_STAT);

		// Clear data received
    		data[n]=0;

#ifdef ICP_MULTI_EXTDEBUG
		printk("icp multi EDBG: END: icp_multi_insn_read_ai(...) n=%d\n",n);
#endif
    		return -ETIME;

conv_finish:
		data[n] = (readw(dev->iobase+ICP_MULTI_AI) >> 4 ) & 0x0fff;
	}
	
	// Disable interrupt
	devpriv->IntEnable &= ~ADC_READY;
	writew(devpriv->IntEnable,dev->iobase + ICP_MULTI_INT_EN);

	// Clear interrupt status
	devpriv->IntStatus |= ADC_READY;
	writew(devpriv->IntStatus,dev->iobase + ICP_MULTI_INT_STAT);

#ifdef ICP_MULTI_EXTDEBUG
		printk("icp multi EDBG: END: icp_multi_insn_read_ai(...) n=%d\n",n);
#endif
	return n;
}

/*
==============================================================================
	
	Name:	icp_multi_insn_write_ao

	Description:
		This function writes a single analogue output.

	Parameters:
		comedi_device *dev	Pointer to current device structure
		comedi_subdevice *s	Pointer to current subdevice structure
		comedi_insn *insn	Pointer to current comedi instruction
		lsampl_t *data		Pointer to analogue output data

	Returns:int			Nmuber of instructions executed

==============================================================================
*/
static int icp_multi_insn_write_ao(comedi_device * dev, comedi_subdevice * s, comedi_insn *insn, lsampl_t *data)
{
	int n, chan, range, timeout;

#ifdef ICP_MULTI_EXTDEBUG
	printk("icp multi EDBG: BGN: icp_multi_insn_write_ao(...)\n");
#endif
	// Disable D/A conversion ready interrupt
	devpriv->IntEnable &= ~DAC_READY;
	writew(devpriv->IntEnable,dev->iobase + ICP_MULTI_INT_EN);
	
	// Clear interrupt status
	devpriv->IntStatus |= DAC_READY;
	writew(devpriv->IntStatus,dev->iobase + ICP_MULTI_INT_STAT);

	// Get channel number and range
	chan = CR_CHAN(insn->chanspec);
	range = CR_RANGE(insn->chanspec);

	// Set up range and channel data
	// Bit 4 = 1 : Bipolar
	// Bit 5 = 0 : 5V
	// Bit 5 = 1 : 10V
	// Bits 8-9 : Channel number
	devpriv->DacCmdStatus &= 0xfccf;
	devpriv->DacCmdStatus |= this_board->rangecode[range];
	devpriv->DacCmdStatus |= (chan << 8);
	
	writew(devpriv->DacCmdStatus, dev->iobase+ICP_MULTI_DAC_CSR);

	for (n=0; n<insn->n; n++) {
		// Wait for analogue output data register to be ready for new data, or get fed up waiting
    		timeout=100;
    		while (timeout--) {
			if (!(readw(dev->iobase+ICP_MULTI_DAC_CSR) & DAC_BSY))
				goto dac_ready;

#ifdef ICP_MULTI_EXTDEBUG
			if (!(timeout%10))
				printk("icp multi A n=%d tm=%d ST=%4x\n",n,timeout,readw(dev->iobase+ICP_MULTI_DAC_CSR));
#endif

			comedi_udelay(1);
    		}

		// If we reach here, a timeout has occurred
    		comedi_error(dev,"D/A insn timeout");

		// Disable interrupt
		devpriv->IntEnable &= ~DAC_READY;
		writew(devpriv->IntEnable,dev->iobase + ICP_MULTI_INT_EN);

		// Clear interrupt status
		devpriv->IntStatus |= DAC_READY;
		writew(devpriv->IntStatus,dev->iobase + ICP_MULTI_INT_STAT);

		// Clear data received
    		devpriv->ao_data[chan]=0;

#ifdef ICP_MULTI_EXTDEBUG
		printk("icp multi EDBG: END: icp_multi_insn_write_ao(...) n=%d\n",n);
#endif
    		return -ETIME;

dac_ready:
		// Write data to analogue output data register
		writew(data[n], dev->iobase + ICP_MULTI_AO);

		// Set DAC_ST bit to write the data to selected channel
		devpriv->DacCmdStatus |= DAC_ST;
		writew(devpriv->DacCmdStatus, dev->iobase+ICP_MULTI_DAC_CSR);
		devpriv->DacCmdStatus &= ~DAC_ST;

		// Save analogue output data
		devpriv->ao_data[chan]=data[n];
	}

#ifdef ICP_MULTI_EXTDEBUG
		printk("icp multi EDBG: END: icp_multi_insn_write_ao(...) n=%d\n",n);
#endif
		return n;
}

/*
==============================================================================
	
	Name:	icp_multi_insn_read_ao

	Description:
		This function reads a single analogue output.

	Parameters:
		comedi_device *dev	Pointer to current device structure
		comedi_subdevice *s	Pointer to current subdevice structure
		comedi_insn *insn	Pointer to current comedi instruction
		lsampl_t *data		Pointer to analogue output data

	Returns:int			Nmuber of instructions executed

==============================================================================
*/
static int icp_multi_insn_read_ao(comedi_device * dev, comedi_subdevice * s, comedi_insn *insn, lsampl_t *data)
{
	int n,chan;

	// Get channel number	
	chan = CR_CHAN(insn->chanspec);

	// Read analogue outputs
	for (n=0; n<insn->n; n++) 
		data[n]=devpriv->ao_data[chan];

	return n;
}

/*
==============================================================================
	
	Name:	icp_multi_insn_bits_di

	Description:
		This function reads the digital inputs.

	Parameters:
		comedi_device *dev	Pointer to current device structure
		comedi_subdevice *s	Pointer to current subdevice structure
		comedi_insn *insn	Pointer to current comedi instruction
		lsampl_t *data		Pointer to analogue output data

	Returns:int			Nmuber of instructions executed

==============================================================================
*/
static int icp_multi_insn_bits_di(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn, lsampl_t *data)
{
	data[1] = readw(dev->iobase + ICP_MULTI_DI);

	return 2;
}

/*
==============================================================================
	
	Name:	icp_multi_insn_bits_do

	Description:
		This function writes the appropriate digital outputs.

	Parameters:
		comedi_device *dev	Pointer to current device structure
		comedi_subdevice *s	Pointer to current subdevice structure
		comedi_insn *insn	Pointer to current comedi instruction
		lsampl_t *data		Pointer to analogue output data

	Returns:int			Nmuber of instructions executed

==============================================================================
*/
static int icp_multi_insn_bits_do(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn,lsampl_t *data)
{
#ifdef ICP_MULTI_EXTDEBUG
	printk("icp multi EDBG: BGN: icp_multi_insn_bits_do(...)\n");
#endif

	if (data[0]) {
		s->state &= ~data[0];
		s->state |= (data[0] & data[1]);

		printk("Digital outputs = %4x \n", s->state);

		writew(s->state, dev->iobase + ICP_MULTI_DO);
	}

	data[1] = readw(dev->iobase + ICP_MULTI_DI);

#ifdef ICP_MULTI_EXTDEBUG
		printk("icp multi EDBG: END: icp_multi_insn_bits_do(...)\n");
#endif
	return 2;
}