[Emc-commit] emc2/src/hal/drivers hal_stg.c,1.5,1.6

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Update of /cvsroot/emc/emc2/src/hal/drivers
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26244

Modified Files:
	hal_stg.c 
Log Message:
various bugfixes. moved some functions around for better reading. DIO is tested and works, rest needs further testing

Index: hal_stg.c
===================================================================
RCS file: /cvsroot/emc/emc2/src/hal/drivers/hal_stg.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** hal_stg.c	7 Aug 2005 23:29:23 -0000	1.5
--- hal_stg.c	14 Aug 2005 11:13:40 -0000	1.6
***************
*** 68,87 ****
      Digital In:
        Pins:
! /totest	bit	stg.in-<pinnum>
! /totest	bit	stg.in-<pinnum>-not

        Functions:
! /totest	void    stg.digital_in_read

      Digital Out:
        Parameters:
! /totest	bit	stg.out-<pinnum>-invert

        Pins:
! /totest	bit	stg.out-<pinnum>

        Functions:
! /totest	void    stg.digital_out_write

  */
--- 68,87 ----
      Digital In:
        Pins:
! 	bit	stg.in-<pinnum>
! 	bit	stg.in-<pinnum>-not

        Functions:
! 	void    stg.digital_in_read

      Digital Out:
        Parameters:
! 	bit	stg.out-<pinnum>-invert

        Pins:
! 	bit	stg.out-<pinnum>

        Functions:
! 	void    stg.digital_out_write

  */
***************
*** 145,149 ****
  MODULE_LICENSE("GPL");
  #endif /* MODULE_LICENSE */
! static int base = 0x000;		/* board base address, 0 means autodetect */
  MODULE_PARM(base, "i");
  MODULE_PARM_DESC(base, "board base address, don't use for autodetect");
--- 145,149 ----
  MODULE_LICENSE("GPL");
  #endif /* MODULE_LICENSE */
! static int base = 0x00;		/* board base address, 0 means autodetect */
  MODULE_PARM(base, "i");
  MODULE_PARM_DESC(base, "board base address, don't use for autodetect");
***************
*** 200,207 ****
  static int outpinnum=0, inputpinnum=0;

! #define DATA(x) (base + (2 * x) - (x % 2))	/* Address of Data register 0 
! 						 */
! #define CTRL(x) (base + (2 * (x+1)) - (x % 2))	/* Address of Control
! 						   register 0 */

  /***********************************************************************
--- 200,205 ----
  static int outpinnum=0, inputpinnum=0;

! #define DATA(x) (base + (2 * x) - (x % 2))	/* Address of Data register 0 */
! #define CTRL(x) (base + (2 * (x+1)) - (x % 2))	/* Address of Control register 0 */

  /***********************************************************************
***************
*** 220,223 ****
--- 218,223 ----
  /* initializes the STG, takes care of autodetection, all initialisations */
  static int stg_init_card(void);
+ /* sets up interrupt to be used */
+ static int stg_set_interrupt(short interrupt);
  /* scans possible addresses for STG cards */
  static unsigned short stg_autodetect(void);
***************
*** 479,483 ****
  /* stg_dacs_write() - writes all dac's to the board
      - calls stg_dac_write() */
- 
  static void stg_dacs_write(void *arg, long period)
  {    
--- 479,482 ----
***************
*** 628,678 ****
      if ( (stg->dir_bits & 0x01) != 0) { // if port A is set as output, write the bits
  	val = build_output(&(stg->port[0][0]), 8);
! 	outb(base + DIO_A, val);
      }
      if ( (stg->dir_bits & 0x02) != 0) { // if port B is set as output, write the bits
  	val = build_output(&(stg->port[1][0]), 8);
! 	outb(base + DIO_B, val);
      }
      if ( (stg->dir_bits & 0x04) != 0) { // if port C is set as output, write the bits
  	val = build_output(&(stg->port[2][0]), 8);
! 	outb(base + DIO_C, val);
      }
      if ( (stg->dir_bits & 0x08) != 0) { // if port D is set as output, write the bits
  	val = build_output(&(stg->port[3][0]), 8);
! 	outb(base + DIO_D, val);
      }
- 
  }

  /***********************************************************************
  *                      BOARD SPECIFIC FUNCTIONS                        *
  ************************************************************************/
  /*
    stg_counter_init() - Initializes the channel
  */
- 
  static int stg_counter_init(int ch)
  {
      /* Set Counter Command Register - Master Control, Master Reset (MRST), */
      /* and Reset address pointer (RADR). */
!     outb(CTRL(ch), 0x23);

      /* Set Counter Command Register - Input Control, OL Load (P3), */
      /* and Enable Inputs A and B (INA/B). */
!     outb(CTRL(ch), 0x68);

      /* Set Counter Command Register - Output Control */
!     outb(CTRL(ch), 0x80);

      /* Set Counter Command Register - Quadrature */
!     outb(CTRL(ch), 0xC3);
      return 0;
  }

- 
  /*
    stg_dac_init() - Initializes the dac channel
  */
- 
  static int stg_dac_init(int ch)
  {
--- 627,680 ----
      if ( (stg->dir_bits & 0x01) != 0) { // if port A is set as output, write the bits
  	val = build_output(&(stg->port[0][0]), 8);
! 	outb(val, base + DIO_A);
      }
      if ( (stg->dir_bits & 0x02) != 0) { // if port B is set as output, write the bits
  	val = build_output(&(stg->port[1][0]), 8);
! 	outb(val, base + DIO_B);
      }
      if ( (stg->dir_bits & 0x04) != 0) { // if port C is set as output, write the bits
  	val = build_output(&(stg->port[2][0]), 8);
! 	outb(val, base + DIO_C);
      }
      if ( (stg->dir_bits & 0x08) != 0) { // if port D is set as output, write the bits
  	val = build_output(&(stg->port[3][0]), 8);
! 	outb(val, base + DIO_D);
      }
  }

  /***********************************************************************
  *                      BOARD SPECIFIC FUNCTIONS                        *
+ *       execute board related things (write/read to/from the stg)      *
  ************************************************************************/
+ 
+ 
+ /***********************************************************************
+ *                            INIT FUNCTIONS                            *
+ ************************************************************************/
+ 
  /*
    stg_counter_init() - Initializes the channel
  */
  static int stg_counter_init(int ch)
  {
      /* Set Counter Command Register - Master Control, Master Reset (MRST), */
      /* and Reset address pointer (RADR). */
!     outb(0x23, CTRL(ch));

      /* Set Counter Command Register - Input Control, OL Load (P3), */
      /* and Enable Inputs A and B (INA/B). */
!     outb(0x68, CTRL(ch));

      /* Set Counter Command Register - Output Control */
!     outb(0x80, CTRL(ch));

      /* Set Counter Command Register - Quadrature */
!     outb(0xC3, CTRL(ch));
      return 0;
  }

  /*
    stg_dac_init() - Initializes the dac channel
  */
  static int stg_dac_init(int ch)
  {
***************
*** 688,703 ****

  /*
!   stg_dac_write() - writes a dac channel
  */

- static int stg_dac_write(int ch, short value)
- {        

!     /* write the DAC */
!     outb (base + DAC_0 + (ch << 1), value);

      return 0;
  }

  /*
    stg_counter_read() - reads one channel
--- 690,752 ----

  /*
!   stg_adc_init() - Initializes the adc channel
  */
+ static int stg_adc_init(int ch)
+ {
+     /* not much to setup for the ADC's */
+     /* only select the mode of operation we will work with AutoZero */
+     outb(0x0f, base + MIO_2);	// the second 82C55 is already configured (by running stg_dio_init)
+ 				// we only set bit 8 (AZ) to 1 to enable it
+     return 0;
+ }

! /*
!   stg_dio_init() - Initializes the dio's
! */
! static int stg_dio_init(stg_struct *addr)
! {
!     /* we will select the directions of each port */
!     unsigned char control, tempINTC, tempIMR;

+     control = 0x80; //set up |1|0|0|A|CH|0|B|CL|
+     if ( (addr->dir_bits & 0x01) == 0) // if port A is set as input, set bit accordingly
+ 	control |= 0x10;
+     if ( (addr->dir_bits & 0x02) == 0) // if port B is set as input, set bit accordingly
+ 	control |= 0x02;
+     if ( (addr->dir_bits & 0x04) == 0) // if port C is set as input, set bits accordingly
+ 	control |= 0x09;
+     
+     // write the computed control to MIO_1
+     outb(control, base+MIO_1);
+     
+     tempINTC = inb(base + INTC);
+     
+     // next compute the directions for port D, located on the second 82C55
+     control = 0x82;
+     
+     if ( (addr->dir_bits & 0x08) == 0)// if port D is set as input, set bits accordingly
+ 	control = 0x92;
+ 
+     tempIMR = inb(base + IMR); // get the current interrupt mask
+         
+     outb(0xff, base + OCW1); //mask off all interrupts
+     
+     // write the computed control to MIO_2
+     outb(control, base+MIO_2);
+     
+     outb(tempINTC, base + INTC); //restore interrupt control reg.
+     
+     outb(tempIMR, base+ OCW1); //restore int mask
+     
      return 0;
  }

+ 
+ /***********************************************************************
+ *                          ACTION FUNCTIONS                            *
+ *            these do the actual data exchange with the board          *
+ ************************************************************************/
+ 
  /*
    stg_counter_read() - reads one channel
***************
*** 715,719 ****
      } pos;

!     outb(CTRL(i), 0x03);
      pos.byte.b0 = inb(DATA(i));
      pos.byte.b1 = inb(DATA(i));
--- 764,768 ----
      } pos;

!     outb(0x03, CTRL(i));
      pos.byte.b0 = inb(DATA(i));
      pos.byte.b1 = inb(DATA(i));
***************
*** 727,743 ****
  }

  /*
!   stg_adc_init() - Initializes the dac channel
  */

- static int stg_adc_init(int ch)
- {
-     /* not much to setup for the ADC's */
-     /* only select the mode of operation we will work with AutoZero */
-     outb(base + MIO_2, 0x01);	// the second 82C55 is already configured (by running stg_dio_init)
- 				// we only set bit 0 (AZ) to 1 to enable it
      return 0;
  }

  int stg_adc_start(unsigned short wAxis)
  {
--- 776,793 ----
  }

+ 
  /*
!   stg_dac_write() - writes a dac channel
  */
+ static int stg_dac_write(int ch, short value)
+ {        
+     /* write the DAC */
+     outb (value, base + DAC_0 + (ch << 1));

      return 0;
  }

+ 
+ 
  int stg_adc_start(unsigned short wAxis)
  {
***************
*** 748,758 ****
      /* wait 4 uS for settling time on the multiplexer and ADC. You probably
       shouldn't really have a delay in a driver */
!     outb(0x80, 0);
!     outb(0x80, 0);
!     outb(0x80, 0);
!     outb(0x80, 0);

      /* now start conversion */
!     outw(base + ADC_0 + (wAxis << 1), 0);

      return 0;
--- 798,808 ----
      /* wait 4 uS for settling time on the multiplexer and ADC. You probably
       shouldn't really have a delay in a driver */
!     outb(0, 0x80);
!     outb(0, 0x80);
!     outb(0, 0x80);
!     outb(0, 0x80);

      /* now start conversion */
!     outw(0, base + ADC_0 + (wAxis << 1));

      return 0;
***************
*** 787,828 ****
  };

! /*
!   stg_dio_init() - Initializes the dio's
! */
! 
! static int stg_dio_init(stg_struct *addr)
  {
!     /* we will select the directions of each port */
!     unsigned char control;
! 
!     control = 0x80; //set up |1|0|0|A|CH|0|B|CL|
!     if ( (addr->dir_bits & 0x01) == 0) // if port A is set as input, set bit accordingly
! 	control |= 0x10;
!     if ( (addr->dir_bits & 0x02) == 0) // if port B is set as input, set bit accordingly
! 	control |= 0x02;
!     if ( (addr->dir_bits & 0x04) == 0) // if port C is set as input, set bits accordingly
! 	control |= 0x09;
!     
!     // write the computed control to MIO_1
!     outb(base+MIO_1, control);

!     // next compute the directions for port D, located on the second 82C55
!     control = 0x82;

!     if ( (addr->dir_bits & 0x08) == 0)// if port C is set as input, set bits accordingly
! 	control |= 0x10;
! 	
!     // write the computed control to MIO_2
!     outb(base+MIO_2, control);

      return 0;
  }

  /***********************************************************************
  *                   LOCAL FUNCTION DEFINITIONS                         *
  ************************************************************************/
- 
  static int export_counter(int num, stg_struct *addr)
  {
--- 837,929 ----
  };

+ /***********************************************************************
+ *                       BOARD INIT FUNCTIONS                           *
+ *                  functions for autodetec, irq init                   *
+ ************************************************************************/

! static int stg_set_interrupt(short interrupt)
  {
!     unsigned char tempINTC=0x80;

!     switch (interrupt) {
! 	case 3: break;
! 	case 5: tempINTC |= 4;break;
! 	case 7: tempINTC |= 2;break;
! 	case 9: tempINTC |= 6;break;
! 	case 10: tempINTC |= 5;break;
! 	case 11: tempINTC |= 7;break;
! 	case 12: tempINTC |= 3;break;
! 	case 15: tempINTC |= 1;break;
! 	default: tempINTC |= 4;break;
!     }        
!     outb(tempINTC, base + INTC);
!     return 0;
! }
! 
! static int stg_init_card()
! {
!     if (base == 0x00) {
! 	base = stg_autodetect();
!     }
!     if (base == 0x00) {
! 	rtapi_print_msg(RTAPI_MSG_ERR, "STG: ERROR: no STG card found\n");
! 	return -1;
!     }
!     outb(0x92, base +  MIO_2);

!     stg_set_interrupt(5); // initialize it to smthg, we won't use it anyways

+     outb(0x1a, base + ICW1); // initialize the 82C59 as single chip (STG docs say so:)
+     outb(0x00, base + ICW2); // ICW2 not used, must init it to 0
+     outb(0xff, base + OCW1); // mask off all interrupts
+      
+     // all ok
      return 0;
  }

+ /* scans possible addresses for STG cards */
+ unsigned short stg_autodetect()
+ {
+ 
+     short i, j, k, ofs;
+     unsigned short address;
+ 
+     /* search all possible addresses */
+     for (i = 15; i >= 0; i--) {
+ 	address = i * 0x20 + 0x200;
+ 
+ 	/* does jumper = i? */
+ 	if ((inb(address + BRDTST) & 0x0f) == i) {
+ 	    k = 0;		// var for getting the serial
+ 	    for (j = 0; j < 8; j++) {
+ 		ofs = (inb(address + BRDTST) >> 4);
+ 
+ 		if (ofs & 8) {	/* is SER set? */
+ 		    ofs = ofs & 7;	/* mask for Q2,Q1,Q0 */
+ 		    k += (1 << ofs);	/* shift bit into position specified
+ 					   by Q2, Q1, Q0 */
+ 		}
+ 	    }
+ 	    if (k == 0x75) {
+ 		rtapi_print_msg(RTAPI_MSG_INFO,
+ 		    "STG: found card at address %x\n", address);
+ 		return address;	/* SER sequence is 01110101 */
+ 	    }
+ 	    if (k == 0x74) {
+ 		rtapi_print_msg(RTAPI_MSG_ERR,
+ 		    "STG: ERROR: found version 2 card, not suported by this driver\n");
+ 		    /* \todo TODO extend the driver to support a type II STG board */
+ 		hal_exit(comp_id);
+ 		return -1;
+ 	    }
+ 	}
+     }
+     return (0);
+ }

  /***********************************************************************
  *                   LOCAL FUNCTION DEFINITIONS                         *
+ *     these are functions used for exporting various HAL pins/prams    *
  ************************************************************************/
  static int export_counter(int num, stg_struct *addr)
  {
***************
*** 996,1049 ****
      return retval;
  }
- 
- 
- static int stg_init_card()
- {
-     if (base == 0x00) {
- 	base = stg_autodetect();
-     }
-     if (base == 0x00) {
- 	rtapi_print_msg(RTAPI_MSG_ERR, "STG: ERROR: no STG card found\n");
- 	return -1;
-     }
-     // FIXME - further init will happen here
- 
-     // all ok
-     return 0;
- }
- 
- /* scans possible addresses for STG cards */
- unsigned short stg_autodetect()
- {
- 
-     short i, j, k, ofs;
-     unsigned short address;
- 
-     /* search all possible addresses */
-     for (i = 15; i >= 0; i--) {
- 	address = i * 0x20 + 0x200;
- 
- 	/* does jumper = i? */
- 	if ((inb(address + BRDTST) & 0x0f) == i) {
- 	    k = 0;		// var for getting the serial
- 	    for (j = 0; j < 8; j++) {
- 		ofs = (inb(address + BRDTST) >> 4);
- 
- 		if (ofs & 8) {	/* is SER set? */
- 		    ofs = ofs & 7;	/* mask for Q2,Q1,Q0 */
- 		    k += (1 << ofs);	/* shift bit into position specified
- 					   by Q2, Q1, Q0 */
- 		}
- 	    }
- 	    if (k == 0x75)
- 		return address;	/* SER sequence is 01110101 */
- 	    if (k == 0x74) {
- 		rtapi_print_msg(RTAPI_MSG_ERR,
- 		    "STG: ERROR: found version 2 card, not suported by this driver\n");
- 		hal_exit(comp_id);
- 		return -1;
- 	    }
- 	}
-     }
-     return (0);
- }
--- 1097,1098 ----