hal_motenc.c

CNC 的开放码,EMC2 V2.2.8版

/******************************************************************************
 *
 * Copyright (C) 2005 Peter G. Vavaroutsos <pete AT vavaroutsos DOT com>
 * License: GPL Version 2
 *
 * $RCSfile: hal_motenc.c,v $
 * $Author: jmkasunich $
 * $Locker:  $
 * $Revision: 1.23 $
 * $State: Exp $
 * $Date: 2007/06/13 02:05:25 $
 *
 * This is the driver for the Vital Systems MOTENC-100 board.
 * The board includes 8 quadrature decoders, 8 analog inputs,
 * 8 analog outputs, 68 digital inputs, 32 digital outputs,
 * programable timer interrupts, a watch dog timer, and a hardware
 * E-STOP circuit.
 *
 * Installation of the driver (realtime only):
 *
 * insmod hal_motenc
 *
 *
 * The following items are exported to the HAL. <boardId> is read
 * from the jumper settings on the MOTENC-100 board and is formated
 * as "%d". <channel> is formated as "%02d".
 *
 * Encoders:
 *   Parameters:
 *	float	motenc.<boardId>.enc-<channel>-scale
 *
 *   Pins:
 *	s32	motenc.<boardId>.enc-<channel>-count
 *	float	motenc.<boardId>.enc-<channel>-position
 *	bit	motenc.<boardId>.enc-<channel>-index
 *	bit	motenc.<boardId>.enc-<channel>-index-enable
 *	bit	motenc.<boardId>.enc-<channel>-reset
 *
 *   Functions:
 *	void    motenc.<boardId>.encoder-read
 *
 *
 * DACs:
 *   Parameters:
 *	float	motenc.<boardId>.dac-<channel>-offset
 *	float	motenc.<boardId>.dac-<channel>-gain
 *
 *   Pins:
 *	float	motenc.<boardId>.dac-<channel>-value
 *
 *   Functions:
 *	void    motenc.<boardId>.dac-write
 *
 *
 * ADC:
 *   Parameters:
 *	float	motenc.<boardId>.adc-<channel>-offset
 *	float	motenc.<boardId>.adc-<channel>-gain
 *
 *   Pins:
 *	float	motenc.<boardId>.adc-<channel>-value
 *
 *   Functions:
 *	void    motenc.<boardId>.adc-read
 *
 *
 * Digital In:
 *   Pins:
 *	bit	motenc.<boardId>.pin-<channel>-in
 *	bit	motenc.<boardId>.pin-<channel>-in-not
 *
 *   Functions:
 *	void    motenc.<boardId>.digital-in-read
 *
 *
 * Digital Out:
 *   Parameters:
 *	bit	motenc.<boardId>.pin-<channel>-out-invert
 *
 *   Pins:
 *	bit	motenc.<boardId>.pin-<channel>-out
 *
 *   Functions:
 *	void    motenc.<boardId>.digital-out-write
 *
 *
 * Miscellaneous:
 *   Parameters:
 *	u32	motenc.<boardId>.watchdog-control
 *		    MOTENC_WATCHDOG_CTL_8MS	    0x00000000
 *		    MOTENC_WATCHDOG_CTL_16MS	    0x00000001
 *		    MOTENC_WATCHDOG_CTL_ENABLE	    0x00000004
 *		    MOTENC_WATCHDOG_CTL_AUTO_RESET  0x00000010 // Reset by DAC writes.
 *
 *   Pins:
 *	bit	motenc.<boardId>.estop-in
 *	bit	motenc.<boardId>.estop-in-not
 *	bit	motenc.<boardId>.watchdog-reset
 *
 *   Functions:
 *	void    motenc.<boardId>.misc-update
 *
 ******************************************************************************
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of version 2 of the GNU General
 * Public License as published by the Free Software Foundation.
 * This library 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 library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111 USA
 *
 * THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR
 * ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE
 * TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of
 * harming persons must have provisions for completely removing power
 * from all motors, etc, before persons enter any danger area.  All
 * machinery must be designed to comply with local and national safety
 * codes, and the authors of this software can not, and do not, take
 * any responsibility for such compliance.
 *
 * This code was written as part of the EMC HAL project.  For more
 * information, go to www.linuxcnc.org.
 *
 ******************************************************************************/

#ifndef RTAPI
#error This is a realtime component only!
#endif


#include <linux/pci.h>

#include "rtapi.h"			// RTAPI realtime OS API.
#include "rtapi_app.h"			// RTAPI realtime module decls.
#include "hal.h"			// HAL public API decls.
#include "motenc.h"			// Hardware dependent defines.


#ifndef MODULE
#define MODULE
#endif


#ifdef MODULE
// Module information.
MODULE_AUTHOR("Pete Vavaroutsos");
MODULE_DESCRIPTION("Driver for Vital Systems MOTENC-100 for EMC HAL");
MODULE_LICENSE("GPL");
#endif // MODULE


/******************************************************************************
 * DEVICE OBJECT
 *
 * This object contains all the data for one card. A device object is
 * dynamically allocated in shmem for each card during initialization.
 *
 ******************************************************************************/


typedef struct {
    // Pins.
    hal_s32_t				*pCount;	// Captured binary count value.
    hal_float_t				*pPosition;	// Scaled position (floating point).
    hal_bit_t				*pIndex;	// Current state of index.
    hal_bit_t				*pIndexEnable;	// Setting this pin causes the count
							// to be cleared on the next index pulse.
							// Use this feature at your own risk as the PID loop
							// may get upset. This pin is self clearing.
    hal_bit_t				*pReset;	// Setting this pin causes Count to be reset.

    // Parameters.
    hal_float_t				scale;		// Scaling factor for position.

    // Private data.
    float				oldScale;	// Stored scale value.
    double				scaleRecip;	// Reciprocal value used for scaling.
} EncoderPinsParams;

typedef struct {
    // Pins.
    hal_float_t				*pValue;	// Desired value.

    // Parameters.
    hal_float_t				offset;
    hal_float_t				gain;
} DacPinsParams;

typedef struct {
    // Pins.
    hal_float_t				*pValue;	// Converted value.

    // Parameters.
    hal_float_t				offset;
    hal_float_t				gain;
} AdcPinsParams;

typedef struct {
    // Pins.
    hal_bit_t				*pValue;
    hal_bit_t				*pValueNot;
} DigitalInPinsParams;

typedef struct {
    // Pins.
    hal_bit_t				*pValue;

    // Parameters.
    hal_bit_t				invert;
} DigitalOutPinsParams;

typedef struct {
    // Pins.
    hal_bit_t				*pEstopIn;
    hal_bit_t				*pEstopInNot;
    hal_bit_t				*pWatchdogReset;// This pin is self clearing.

    // Parameters.
    hal_u32_t				watchdogControl;
} MiscPinsParams;

typedef struct {
    // Private data.
    MotencRegMap			*pCard;
    int					boardType;
    char				*pTypeName;
    int					boardID;
    int					numFpga;
    int					adcState;
    hal_u32_t				watchdogControl;// Shadow HW register.

    // Exported to HAL.
    EncoderPinsParams			encoder[MOTENC_NUM_ENCODER_CHANNELS];
    DacPinsParams			dac[MOTENC_NUM_DAC_CHANNELS];
    AdcPinsParams			adc[MOTENC_NUM_ADC_CHANNELS];
    DigitalInPinsParams			in[MOTENC_NUM_DIGITAL_INPUTS];
    DigitalOutPinsParams		out[MOTENC_NUM_DIGITAL_OUTPUTS];
    MiscPinsParams			misc;
} Device;


// These methods are used for initialization.
static int Device_Init(Device *this, MotencRegMap *pCard);
static int Device_ExportPinsParametersFunctions(Device *this, int componentId);
static int Device_ExportEncoderPinsParametersFunctions(Device *this, int componentId, int boardId);
static int Device_ExportDacPinsParametersFunctions(Device *this, int componentId, int boardId);
static int Device_ExportAdcPinsParametersFunctions(Device *this, int componentId, int boardId);
static int Device_ExportDigitalInPinsParametersFunctions(Device *this, int componentId, int boardId);
static int Device_ExportDigitalOutPinsParametersFunctions(Device *this, int componentId, int boardId);
static int Device_ExportMiscPinsParametersFunctions(Device *this, int componentId, int boardId);

// These methods are exported to the HAL.
static void Device_EncoderRead(void *this, long period);
static void Device_DacWrite(void *this, long period);
static void Device_AdcRead(void *this, long period);
static void Device_DigitalInRead(void *this, long period);
static void Device_DigitalOutWrite(void *this, long period);
static void Device_MiscUpdate(void *this, long period);

// Private helper methods.
static int Device_AdcRead4(Device *this, int startChannel);


/******************************************************************************
 * DRIVER OBJECT
 *
 * This object contains all the data for this HAL component.
 *
 ******************************************************************************/

#define MAX_DEVICES			4		// Since there are 2 board id bits.

typedef struct {
    int					componentId;	// HAL component ID.
    Device				*deviceTable[MAX_DEVICES];
    unsigned char			idPresent[MAX_DEVICES];
} Driver;

static Driver				driver;


/******************************************************************************
 * INIT AND EXIT CODE
 ******************************************************************************/

int
rtapi_app_main(void)
{
    int					i, j;
    struct pci_dev			*pDev = NULL;
    MotencRegMap			*pCard = NULL;
    Device				*pDevice;

    // Connect to the HAL.
    driver.componentId = hal_init("hal_motenc");
    if (driver.componentId < 0) {
	rtapi_print_msg(RTAPI_MSG_ERR, "MOTENC: ERROR: hal_init() failed\n");
	return(-EINVAL);
    }

    for(i = 0; i < MAX_DEVICES; i++){
	driver.deviceTable[i] = NULL;
	driver.idPresent[i] = 0;
    }

    i = 0;
    // Find a MOTENC card.
    while((i < MAX_DEVICES) && ((pDev = pci_find_device(MOTENC_VENDOR_ID, MOTENC_DEVICE_ID, pDev)) != NULL)){

	// Allocate memory for device object.
	pDevice = hal_malloc(sizeof(Device));

	if (pDevice == 0) {
	    rtapi_print_msg(RTAPI_MSG_ERR, "MOTENC: ERROR: hal_malloc() failed\n");
	    hal_exit(driver.componentId);
	    return(-ENOMEM);
	}

	// Save pointer to device object.
	driver.deviceTable[i++] = pDevice;
	
	// Map card into memory.
	pCard = (MotencRegMap *)ioremap_nocache(pci_resource_start(pDev, 2), pci_resource_len(pDev, 2));
	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card detected in slot %2x\n", PCI_SLOT(pDev->devfn));
	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card address @ %p, Len = %d\n", pCard, (int)pci_resource_len(pDev, 2));

	// Initialize device.
	Device_Init(pDevice, pCard);
	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card is %s, ID: %d\n", pDevice->pTypeName, pDevice->boardID);
        if ( pDevice->boardType == 0 ) {
	    rtapi_print_msg(RTAPI_MSG_ERR, "MOTENC: ERROR, unknown card detected\n");
	    hal_exit(driver.componentId);
	    return(-ENODEV);
	}
	

	if ( driver.idPresent[pDevice->boardID] != 0 ) {
	    // duplicate ID... a strict driver would bail out, but
	    // we are nice, we try to find an unused ID
	    j = 0;
	    while ( driver.idPresent[j] != 0 ) {
		j++;
	        if ( j >= MAX_DEVICES ) {
		    rtapi_print_msg(RTAPI_MSG_ERR, "MOTENC: ERROR, duplicate ID, can't remap\n");
		    hal_exit(driver.componentId);
		    return(-EINVAL);
		}
	    }
	    pDevice->boardID = j;
	    rtapi_print_msg(RTAPI_MSG_WARN, "MOTENC: WARNING, duplicate ID, remapped to %d\n", j);
	}
	driver.idPresent[pDevice->boardID] = 1;
	
	// Export pins, parameters, and functions.
	if(Device_ExportPinsParametersFunctions(pDevice, driver.componentId)){
	    hal_exit(driver.componentId);
	    return(-EINVAL);
	}
    }

    if(pCard == NULL){
	// No card present.
	rtapi_print_msg(RTAPI_MSG_WARN, "MOTENC: **** No MOTENC card detected ****\n");
	hal_exit(driver.componentId);
	return -ENODEV;
    }

    hal_ready(driver.componentId);
    return(0);
}


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

    hal_exit(driver.componentId);

    for(i = 0; i < MAX_DEVICES; i++){
	if((pDevice = driver.deviceTable[i]) != NULL){
	    // turn off digital outputs
	    for(j = 0; j < pDevice->numFpga; j++){
		pDevice->pCard->fpga[i].digitalIo = MOTENC_DIGITAL_OUT;
	    }
	    // set DAC outputs to zero volts
	    for(i = 0; i < MOTENC_NUM_DAC_CHANNELS; i++){
		pDevice->pCard->dac[i] = MOTENC_DAC_COUNT_ZERO;
	    }
	    
	    // Unmap card.
	    iounmap((void *)(pDevice->pCard));

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


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

/*
 * LOCAL FUNCTIONS
 */

static int
Device_Init(Device *this, MotencRegMap *pCard)
{
    int i, status;

    this->pCard = pCard;
    this->adcState = 0;
    this->watchdogControl = 0;

    // Identify type of board.
    status = pCard->fpga[0].boardVersion;
    if ( status == 0 ) {
	// MOTENC-100.
	this->boardType = 1;
	this->pTypeName = "MOTENC-100";
	this->numFpga = 2;
    } else if ( status == 1 ) {
	// MOTENC-Lite.
	this->boardType = 2;
	this->pTypeName = "MOTENC-Lite";
	this->numFpga = 1;
    } else {
	// No idea what it is.
	this->boardType = 0;
	this->pTypeName = "unknown";
	this->numFpga = 0;
	return -1;
    }

    // Extract board id from first FPGA. The user sets this via jumpers on the card.
    status = pCard->fpga[0].statusControl;
    this->boardID = (status & MOTENC_STATUS_BOARD_ID) >> MOTENC_STATUS_BOARD_ID_SHFT;
    
    // Initialize hardware.
    for(i = 0; i < this->numFpga; i++){
	pCard->fpga[i].digitalIo = MOTENC_DIGITAL_OUT;
	pCard->fpga[i].statusControl = MOTENC_CONTROL_ENCODER_RESET;
    }

    for(i = 0; i < MOTENC_NUM_DAC_CHANNELS; i++){
	pCard->dac[i] = MOTENC_DAC_COUNT_ZERO;
    }

    pCard->timerIrqDisable = 1;
    pCard->watchdogControl = this->watchdogControl;

    return(0);
}


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

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

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

    // Export ADCs.
    if(!error) error = Device_ExportAdcPinsParametersFunctions(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, channel;
    char				name[HAL_NAME_LEN + 2];

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

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

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

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

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

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

	// Init encoder.