m7i43_hm2.comp

CNC 的开放码,EMC2 V2.2.8版

//
// Copyright (C) 2007-2008 Sebastian Kuzminsky
//
// 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
//


//
//  NOTE: This driver is deprecated, and will be removed in the future!
//      All users are encouraged to transition to the hostmot2 driver,
//      which is being actively developed!
//


component m7i43_hm2 """RTAI driver for the Mesa Electronics 7i43 EPP Anything IO board with HostMot2 firmware.""";


description """
NOTE: This driver is deprecated, and will be removed in the future!
All users are encouraged to transition to the hostmot2 driver, which is being actively developed!

m7i43_hm2 is an RTAI device driver that interfaces the Mesa 7i43 board with
the HostMot2 firmware to the EMC2 HAL.  Both the 200K and the 400K FPGAs
are supported.

The driver talks with the 7i43 over the parallel port, not over USB.  USB
can be used to power the 7i43, but not to talk to it.  USB communication
with the 7i43 will not be supported any time soon, since USB has poor
real-time qualities.

The driver sends the HostMot2 firmware to the board at module load time.
The board should be ready to accept new firmware before loading the
driver, ie both the INIT and DONE lights should be on.


.SS Jumper settings

The board must be configured to get its firmware from the EPP port.  To do
this, jumpers W4 and W5 must both be down, ie toward the USB connector.

The board must be configured to power on whether or not the USB interface
is active.  This is done by setting jumper W7 up, ie away from the edge
of the board.


.SS Firmware

The HostMot2 firmware provides encoders, PWM generators, step/dir
generators, and general purpose I/O pins (GPIOs).  These things are called
"Functions".  The firmware is configured, at firmware compile time,
to provide zero or more instances of each of these four Functions.

The firmware also provides a watchdog function, described in the Watchdog
section below.


.SS Communicating with the board

The 7i43 communicates with the EMC computer over EPP, the Enhanced
Parallel Port.  This provides about 1 MBps of throughput, and the
communication latency is very predictable and reasonably low.

EPP is very reliable under normal circumstances, but bad cabling
or excessively long cabling runs may cause communication timeouts.
The driver exports a parameter named m7i43_hm2.<BoardNum>.epp_errors to
inform HAL of this condition.  When the driver detects an EPP timeout,
it sets epp_errors to 1 and stops communicating with the 7i43 board.
Setting epp_errors back to 0 makes the driver start trying to communicate
with the 7i43 again.


.SS Watchdog

The 7i43 FPGA firmware implements a watchdog function.  The timeout
is settable a driver load time using the watchdog_timeout_ns modparam
described below.  The "pet-watchdog" function must be called no more
than that many nanoseconds appart, or the watchdog will bite.

When the watchdog bites, all board's I/O pins revert to inputs (pulled
high), and all communication with the board stops.  This condition is
reported to HAL by the watchdog.has-bit pin going high.  The user must
set the pin back to low to restart communication with the board.


.SS Board I/O Pins

The 7i43 board has 48 I/O pins, 0-23 on the P4 connector and 24-47 on the
P3 connector (see Mesa Electronics' manual for details on the pinout).
Each pin can be configured, at driver load time, to serve one of two
purposes: either as a particular I/O pin of a particular Function instance
(encoder, pwmgen, or stepgen), or as a general purpose digital I/O pin.
By default all firmware functions are enabled, and all the board's pins
are used by the Function instances.

The user can disable Function instances at driver load time, by specifying
the module parameters num_encoders, num_pwmgens, and num_stepgens
(described above).  Any pins which belong to Function instances that
have been disabled automatically become GPIOs.


.SS encoder

Very basic support, more to come.  This is what's implemented so far:

Encoders have names like "m7i43_hm2.<BoardNum>.encoder.<Instance>".
Instance is a two-digit number that corresponds to the HostMot2 encoder
instance number.  There are 'num_encoders' instances, starting with 00.

In HM2, each encoder uses three input IO pins: A, B, and Index (sometimes
also known as Z).  Index is currently not used, this will be fixed in
the nearish future.

Each encoder instance has the following pins and parameters:

Pins:

(s32 out) count: Number of encoder counts since the previous reset.
(Like CDI.)

(float out) position: Encoder position (count / scale).  (Like CDI.)

Parameters:

(float r/w) scale: Converts from 'count' units to 'position' units.
(Like CDI.)


.SS pwmgen

Very basic support, more to come.  This is what's implemented so far:

pwmgens have names like "m7i43_hm2.<BoardNum>.pwmgen.<Instance>".
Instance is a two-digit number that corresponds to the HostMot2 pwmgen
instance number.  There are 'num_pwmgens' instances, starting with 00.

In HM2, each pwmgen uses three output IO pins: Not-Enable, Out0, and
Out1.

The function of the Out0 and Out1 IO pins varies with output-type
parameter (see below).

The m7i43_hm2 pwmgen representation is modeled on the pwmgen software
component.  Each pwmgen instance has the following pins and parameters:

Pins:

(bit input) enable: If true, the pwmgen will set its Not-Enable pin
false and output its PWM and Direction signals.  If 'enable' is false,
pwmgen will set its Not-Enable pin true and not output any signals.

(float input) value: The current pwmgen command value, in arbitrary units.

Parameters:

(float rw) scale: Scaling factor to convert 'value' from arbitrary units
to duty cycle: dc = value / scale.  Duty cycle has an effective range
of -1.0 to +1.0 inclusive.

(s32 rw) output-type: This emulates the output_type load-time argument
to the software pwmgen component.  This parameter may be changed at
runtime, but most of the time you probably want to set it at startup and
then leave it alone.  Accepted values are 1 (PWM on Out0 and Direction
on Out1) and 2 (Up on Out0 and Down on Out1).


.SS stepgen

Very basic support.  This is what's implemented so far:

stepgens have names like "m7i43_hm2.<BoardNum>.stepgen.<Instance>.
Instance is a two-digit number that corresponds to the HostMot2 stepgen
instance number.  There are 'num_stepgens' instances, starting with 00.

Currently only Step/Dir output and Position-mode control is supported.

Each stepgen allocates 6 IO pins, but only uses two: Step and Direction
outputs.

The m7i43_hm2 stepgen representation is modeled on the stepgen software
component.  Each stepgen instance has the following pins and parameters:

Pins:

(float input) position_cmd: Target of stepper motion, in arbitrary
position units.

(float output) counts: Feedback position in counts (number of steps).

(float output) position-fb: Feedback position in arbitrary position units
(counts / position_scale).

(float output) velocity-fb: Feedback velocity in arbitrary position
units per second.

Params:

(float r/w) position_scale: Converts from counts to position units.
position = counts / position_scale

(float r/w) steplen: Duration of the step signal, in seconds.

(float r/w) stepspace: Minimum interval between step signals, in seconds.

(float r/w) dirsetup: Minimum duration of stable Direction signal before
a step begins, in seconds.

(float r/w) dirhold: Minimum duration of stable Direction signal after
a step ends, in seconds.


.SS General Purpose I/O

Pins which are not used by one of the Functions above are
exported to HAL as GPIO pins.  GPIO pins have names like
"m7i43_hm2.<BoardNum>.gpio.<PinNum>".  PinNum is a three-digit number
that corresponds to the I/O Pin number as given in Mesa Electronics'
manual for the 7i43 board.

Each GPIO has the following pins:

(bit out) in & in_not: State (normal and inverted) of the hardware
input pin.  (Like CDI for Digital Input).

(bit in) out: Value to be written (possibly inverted) to the hardware
output pin.  (Like the CDI for Digital Output.)

Each GPIO has the following params:

(bin r/w) is_output: If set to 1, the GPIO is an output, and the values
of the "in" and "in_not" HAL pins are undefined.  If set to 0, the GPIO
is an input, and writes to the "out" HAL pin have no effect.

(bin r/w) invert_output: If set to 1, the value that will appear on
the board's I/O pin will be the inverse of the value written to HAL's
"out" pin.  (This corresponds to the 'invert' parameter in the CDI for
Digital Output.)

""";

pin in bit ignore "ignore this pin, comp needs it";


option singleton;
option extra_setup;
option extra_cleanup;

function gpio_read                 nofp "Read GPIO pins.";
function gpio_write                nofp "Write GPIO pins.";

function encoder_update_counters   nofp "Read encoder counts.";
function encoder_capture_position    fp "Compute encoder position.";

function pwmgen_update               fp "Write pwmgen values.";

function stepgen_update              fp "Update stepgen values.";

function pet_watchdog              nofp "Pet the watchdog to keep it from biting us for a while.";


modparam int ioaddr = 0x378
"""The base address of the parallel port.""";

modparam int ioaddr_hi = 0
"""The secondary address of the parallel port, used to set EPP mode.
0 means to use ioaddr + 0x400.""";

modparam int epp_wide = 1
"""Set to zero to disable the "wide EPP mode".  "Wide" mode allows a 16-
and 32-bit EPP transfers, which can reduce the time spent in the read
and write functions.  However, this may not work on all EPP parallel
ports.""";

modparam int num_encoders = -1
"""Defaults to -1, which means "use all the encoder instances the
firmware has".  If num_encoders is smaller than the number of encoder
instances present in the firmware, only the first num_encoders instances
are enabled; all later encoder instances are disabled and their I/O pins
become digital I/O pins.""";

modparam int num_pwmgens = -1
"""Defaults to -1, which means "use all the pwmgen instances the
firmware has".  If num_pwmgens is smaller than the number of pwmgen
instances present in the firmware, only the first num_pwmgens instances
are enabled; all later pwmgen instances are disabled and their I/O pins
become digital I/O pins.""";

modparam int num_stepgens = -1
"""Defaults to -1, which means "use all the stepgen instances the
firmware has".  If num_stepgens is smaller than the number of stepgen
instances present in the firmware, only the first num_stepgens instances
are enabled; all later stepgen instances are disabled and their I/O pins
become digital I/O pins.""";

modparam int watchdog_timeout_ns = 1000000
"""Watchdog timeout in nanoseconds.  Defaults to 1,000,000 ns (1 ms).
The pet_watchdog() function must be called at least this frequently,
or it will bite.  When the watchdog bites, all I/O pins are reset to
inputs (high with pullups) and all communication with the 7i43 stops.
Each board exports a binary HAL pin called "watchdog.has_bit", which is
set to 1 when the watchdog bites.  When this pin is True, the driver will
not communicate with the board.  When the user sets the pin to False,
the driver will reset the board's I/O pins to the configuration selected
at load-time, and communications will resume.""";

modparam int debug_epp = 0
"""Developer/debug use only!  Enable debug logging of most EPP
transfers.""";

modparam int debug_idrom = 0
"""Developer/debug use only!  Enable debug logging of the HostMot2
IDROM header.""";

modparam int debug_module_descriptors = 0
"""Developer/debug use only!  Enable debug logging of the HostMot2
Module Descriptors.""";

modparam int debug_pin_descriptors = 0
"""Developer/debug use only!  Enable debug logging of the HostMot2
Pin Descriptors.""";

modparam int debug_functions = 0
"""Developer/debug use only!  Enable debug logging of the HostMot2
Functions used.""";


license "GPL";

;;


#include <asm/io.h>

#include "rtapi_math.h"

#include "hal/drivers/m7i43_hm2.h"
#include "hal/drivers/mesa7i43-firmware/m7i43-firmware-hm2-svst4_4s.h"
#include "hal/drivers/mesa7i43-firmware/m7i43-firmware-hm2-svst4_4b.h"
// #include "hal/drivers/mesa7i43-firmware/m7i43-firmware-hm2-sv8s.h"
// #include "hal/drivers/mesa7i43-firmware/m7i43-firmware-hm2-sv8b.h"
// #include "hal/drivers/mesa7i43-firmware/m7i43-firmware-hm2-svst4_6b.h"




//
// the 7i43 board is tracked by this
//

m7i43_t board;




// 
// EPP I/O code
// 

static inline void m7i43_epp_addr8(__u8 addr) {
    outb(addr, ioaddr + M7I43_EPP_ADDRESS_OFFSET);
    DEBUG(debug_epp, "selected address 0x%02X\n", addr);
}

static inline void m7i43_epp_addr16(__u16 addr) {
    outb((addr & 0x00FF), ioaddr + M7I43_EPP_ADDRESS_OFFSET);
    outb((addr >> 8),     ioaddr + M7I43_EPP_ADDRESS_OFFSET);
    DEBUG(debug_epp, "selected address 0x%04X\n", addr);
}