[Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Simon Boulay]

[-- Attachment #1: Type: text/plain, Size: 376 bytes --]

Hi,

Here is a patch which adds the support of the Sensoray Model 526 board
to analogy.
The driver compiles against head but have not been tested on real hardware yet.
It has been ported from comedi (staging version) and should work as in comedi:
- Encoder works
- Analog input works
- Analog output works
- PWM output works
- Commands are not supported yet.

Regards,
Simon.

[-- Attachment #2: s526-analogy-driver-2009.12.26-1.patch --]
[-- Type: text/x-patch, Size: 33067 bytes --]

diff --git a/ksrc/drivers/analogy/Config.in b/ksrc/drivers/analogy/Config.in
index 4bc1197..0336a85 100644
--- a/ksrc/drivers/analogy/Config.in
+++ b/ksrc/drivers/analogy/Config.in
@@ -7,10 +7,11 @@ comment 'ANALOGY drivers'
 
 dep_tristate 'ANALOGY interface' CONFIG_XENO_DRIVERS_ANALOGY $CONFIG_XENO_SKIN_RTDM
 
-if [ "$CONFIG_XENO_DRIVERS_ANALOGY" != "n" ]; then 
+if [ "$CONFIG_XENO_DRIVERS_ANALOGY" != "n" ]; then
    source drivers/xenomai/analogy/testing/Config.in
    source drivers/xenomai/analogy/intel/Config.in
    source drivers/xenomai/analogy/national_instruments/Config.in
+   source drivers/xenomai/analogy/sensoray/Config.in
 fi
 
 endmenu
diff --git a/ksrc/drivers/analogy/Kconfig b/ksrc/drivers/analogy/Kconfig
index 9d17b1d..3769610 100644
--- a/ksrc/drivers/analogy/Kconfig
+++ b/ksrc/drivers/analogy/Kconfig
@@ -32,5 +32,6 @@ config XENO_DRIVERS_ANALOGY_DEBUG_LEVEL
 source drivers/xenomai/analogy/testing/Kconfig
 source drivers/xenomai/analogy/intel/Kconfig
 source drivers/xenomai/analogy/national_instruments/Kconfig
+source drivers/xenomai/analogy/sensoray/Kconfig
 
 endmenu
diff --git a/ksrc/drivers/analogy/Makefile b/ksrc/drivers/analogy/Makefile
index c51f5e1..363d625 100644
--- a/ksrc/drivers/analogy/Makefile
+++ b/ksrc/drivers/analogy/Makefile
@@ -4,7 +4,7 @@ ifeq ($(PATCHLEVEL),6)
 
 EXTRA_CFLAGS += -D__IN_XENOMAI__ -Iinclude/xenomai -Idrivers/xenomai/analogy
 
-obj-$(CONFIG_XENO_DRIVERS_ANALOGY) += xeno_analogy.o testing/ intel/ national_instruments/
+obj-$(CONFIG_XENO_DRIVERS_ANALOGY) += xeno_analogy.o testing/ intel/ national_instruments/ sensoray/
 
 xeno_analogy-y := \
 	buffer.o \
@@ -29,6 +29,7 @@ subdir-$(CONFIG_XENO_DRIVERS_ANALOGY_FAKE) += testing
 subdir-$(CONFIG_XENO_DRIVERS_ANALOGY_LOOP) += testing
 subdir-$(CONFIG_XENO_DRIVERS_ANALOGY_8255) += intel
 subdir-$(CONFIG_XENO_DRIVERS_ANALOGY_NI_MITE) += national_instruments
+subdir-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += sensoray
 
 obj-$(CONFIG_XENO_DRIVERS_ANALOGY) += xeno_analogy.o
 
diff --git a/ksrc/drivers/analogy/sensoray/Config.in b/ksrc/drivers/analogy/sensoray/Config.in
new file mode 100644
index 0000000..00e956c
--- /dev/null
+++ b/ksrc/drivers/analogy/sensoray/Config.in
@@ -0,0 +1,2 @@
+
+dep_tristate 'Sensoray Model 526 driver' CONFIG_XENO_DRIVERS_ANALOGY_S526 $CONFIG_XENO_DRIVERS_ANALOGY
diff --git a/ksrc/drivers/analogy/sensoray/Kconfig b/ksrc/drivers/analogy/sensoray/Kconfig
new file mode 100644
index 0000000..ce5aa51
--- /dev/null
+++ b/ksrc/drivers/analogy/sensoray/Kconfig
@@ -0,0 +1,5 @@
+
+config XENO_DRIVERS_ANALOGY_S526
+	depends on XENO_DRIVERS_ANALOGY
+	tristate "Sensoray Model 526 driver"
+	default n
diff --git a/ksrc/drivers/analogy/sensoray/Makefile b/ksrc/drivers/analogy/sensoray/Makefile
new file mode 100644
index 0000000..773da98
--- /dev/null
+++ b/ksrc/drivers/analogy/sensoray/Makefile
@@ -0,0 +1,30 @@
+ifeq ($(PATCHLEVEL),6)
+
+# Makefile flag for Linux v2.6
+
+EXTRA_CFLAGS += -D__IN_XENOMAI__ -Iinclude/xenomai
+
+obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += analogy_s526.o
+
+analogy_s526-y := s526.o
+
+else
+
+# Makefile flag for Linux v2.4
+
+O_TARGET := built-in.o
+
+obj-$(CONFIG_XENO_DRIVERS_ANALOGY_S526) += analogy_s526.o
+
+analogy_s526-objs := s526.o
+
+export-objs := $(analogy_s526-objs)
+
+EXTRA_CFLAGS += -D__IN_XENOMAI__ -I$(TOPDIR)/include/xenomai -I$(TOPDIR)/include/xenomai/compat
+
+include $(TOPDIR)/Rules.make
+
+analogy_s526.o: $(analogy_s526-objs)
+	$(LD) -r -o $@ $(analogy_s526-objs)
+
+endif
diff --git a/ksrc/drivers/analogy/sensoray/s526.c b/ksrc/drivers/analogy/sensoray/s526.c
new file mode 100644
index 0000000..ac95653
--- /dev/null
+++ b/ksrc/drivers/analogy/sensoray/s526.c
@@ -0,0 +1,975 @@
+/**
+ * @file
+ * Analogy driver for Sensoray Model 526 board
+ *
+ * Copyright (C) 2009 Simon Boulay <simon.boulay@gmail.com>
+ *
+ * Derived from comedi:
+ * Copyright (C) 2000 David A. Schleef <ds@schleef.org>
+ *               2006 Everett Wang <everett.wang@everteq.com>
+ *               2009 Ian Abbott <abbotti@mev.co.uk>
+ *
+ * This code 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 code 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 Xenomai; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+/*
+ * Original code comes from comedi linux-next staging driver (2009.12.20)
+ * Board documentation: http://www.sensoray.com/products/526data.htm
+ * Everything should work as in comedi:
+ *   - Encoder works
+ *   - Analog input works
+ *   - Analog output works
+ *   - PWM output works
+ *   - Commands are not supported yet.
+ */
+
+#include <linux/module.h>
+#include <linux/ioport.h>
+#include <asm/byteorder.h>
+#include <analogy/analogy_driver.h>
+
+#define BOARD_NAME "Sensoray Model 526"
+#define S526_GPCT_CHANS	4
+#define S526_GPCT_BITS	24
+#define S526_AI_CHANS	10	/* 8 regular differential inputs
+				 * channel 8 is "reference 0" (+10V)
+				 * channel 9 is "reference 1" (0V) */
+#define S526_AI_BITS	16
+#define S526_AO_CHANS	4
+#define S526_AO_BITS	16
+#define S526_HAVE_DIO	1
+#define S526_DIO_CHANS	8
+#define S526_DIO_BITS	1
+
+#define S526_START_AI_CONV  0
+#define S526_AI_READ        0
+
+/* Ports */
+#define S526_IOSIZE		0x40  /* 64 bytes */
+#define S526_DEFAULT_ADDRESS	0x2C0 /* Manufacturing default */
+#define S526_NUM_PORTS		27
+
+/* registers */
+#define REG_TCR 0x00
+#define REG_WDC 0x02
+#define REG_DAC 0x04
+#define REG_ADC 0x06
+#define REG_ADD 0x08
+#define REG_DIO 0x0A
+#define REG_IER 0x0C
+#define REG_ISR 0x0E
+#define REG_MSC 0x10
+#define REG_C0L 0x12
+#define REG_C0H 0x14
+#define REG_C0M 0x16
+#define REG_C0C 0x18
+#define REG_C1L 0x1A
+#define REG_C1H 0x1C
+#define REG_C1M 0x1E
+#define REG_C1C 0x20
+#define REG_C2L 0x22
+#define REG_C2H 0x24
+#define REG_C2M 0x26
+#define REG_C2C 0x28
+#define REG_C3L 0x2A
+#define REG_C3H 0x2C
+#define REG_C3M 0x2E
+#define REG_C3C 0x30
+#define REG_EED 0x32
+#define REG_EEC 0x34
+
+static const int s526_ports[] = {
+	REG_TCR,
+	REG_WDC,
+	REG_DAC,
+	REG_ADC,
+	REG_ADD,
+	REG_DIO,
+	REG_IER,
+	REG_ISR,
+	REG_MSC,
+	REG_C0L,
+	REG_C0H,
+	REG_C0M,
+	REG_C0C,
+	REG_C1L,
+	REG_C1H,
+	REG_C1M,
+	REG_C1C,
+	REG_C2L,
+	REG_C2H,
+	REG_C2M,
+	REG_C2C,
+	REG_C3L,
+	REG_C3H,
+	REG_C3M,
+	REG_C3C,
+	REG_EED,
+	REG_EEC
+};
+
+struct counter_mode_register_t {
+#if defined (__LITTLE_ENDIAN_BITFIELD)
+	unsigned short coutSource:1;
+	unsigned short coutPolarity:1;
+	unsigned short autoLoadResetRcap:3;
+	unsigned short hwCtEnableSource:2;
+	unsigned short ctEnableCtrl:2;
+	unsigned short clockSource:2;
+	unsigned short countDir:1;
+	unsigned short countDirCtrl:1;
+	unsigned short outputRegLatchCtrl:1;
+	unsigned short preloadRegSel:1;
+	unsigned short reserved:1;
+#elif defined(__BIG_ENDIAN_BITFIELD)
+	unsigned short reserved:1;
+	unsigned short preloadRegSel:1;
+	unsigned short outputRegLatchCtrl:1;
+	unsigned short countDirCtrl:1;
+	unsigned short countDir:1;
+	unsigned short clockSource:2;
+	unsigned short ctEnableCtrl:2;
+	unsigned short hwCtEnableSource:2;
+	unsigned short autoLoadResetRcap:3;
+	unsigned short coutPolarity:1;
+	unsigned short coutSource:1;
+#else
+#error Unknown bit field order
+#endif
+};
+
+union cmReg {
+	struct counter_mode_register_t reg;
+	unsigned short value;
+};
+
+#define MAX_GPCT_CONFIG_DATA 6
+
+/* Different Application Classes for GPCT Subdevices */
+/* The list is not exhaustive and needs discussion! */
+enum S526_GPCT_APP_CLASS {
+	CountingAndTimeMeasurement,
+	SinglePulseGeneration,
+	PulseTrainGeneration,
+	PositionMeasurement,
+	Miscellaneous
+};
+
+/* Config struct for different GPCT subdevice Application Classes and
+ * their options
+ */
+struct s526GPCTConfig {
+	enum S526_GPCT_APP_CLASS app;
+	int data[MAX_GPCT_CONFIG_DATA];
+};
+
+typedef struct s526_priv {
+	unsigned long io_base;
+} s526_priv_t;
+
+struct s526_subd_gpct_priv {
+	struct s526GPCTConfig config[4];
+};
+
+struct s526_subd_ai_priv {
+	uint16_t config;
+};
+
+struct s526_subd_ao_priv {
+	uint16_t readback[2];
+};
+
+struct s526_subd_dio_priv {
+	int io_bits;
+	unsigned int state;
+};
+
+#define devpriv ((s526_priv_t*)(dev->priv))
+
+#define ADDR_REG(reg) (devpriv->io_base + (reg))
+#define ADDR_CHAN_REG(reg, chan) (devpriv->io_base + (reg) + (chan) * 8)
+
+static int s526_gpct_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_gpct_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_gpct_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_ai_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_ai_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_ao_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_ao_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn);
+static int s526_dio_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn);
+
+static int s526_gpct_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_gpct_priv *subdpriv =
+	    (struct s526_subd_gpct_priv *)subd->priv;
+	unsigned int *data = (unsigned int *)insn->data;
+	int subdev_channel = CR_CHAN(insn->chan_desc);
+	int i;
+	short value;
+	union cmReg cmReg;
+
+	/* a4l_info(dev, "s526_gpct_insn_config: Configuring Channel %d\n", subdev_channel); */
+
+	for (i = 0; i < MAX_GPCT_CONFIG_DATA; i++) {
+		/* subdpriv->config[subdev_channel].data[i] = insn->data[i]; */
+		subdpriv->config[subdev_channel].data[i] = data[i];
+		/* a4l_info(dev, "data[%d]=%x\n", i, insn->data[i]); */
+	}
+
+	/*  Check what type of Counter the user requested, data[0] contains */
+	/*  the Application type */
+	switch (data[0]) {
+	case A4L_INSN_CONFIG_GPCT_QUADRATURE_ENCODER:
+		/*
+		   data[0]: Application Type
+		   data[1]: Counter Mode Register Value
+		   data[2]: Pre-load Register Value
+		   data[3]: Conter Control Register
+		 */
+		/* a4l_info(dev, "s526_gpct_insn_config: Configuring Encoder\n"); */
+		subdpriv->config[subdev_channel].app = PositionMeasurement;
+
+#if 0
+		/* Example of Counter Application */
+		/* One-shot (software trigger) */
+		cmReg.reg.coutSource = 0;	/*  out RCAP */
+		cmReg.reg.coutPolarity = 1;	/*  Polarity inverted */
+		cmReg.reg.autoLoadResetRcap = 0;	/*  Auto load disabled */
+		cmReg.reg.hwCtEnableSource = 3;	/*  NOT RCAP */
+		cmReg.reg.ctEnableCtrl = 2;	/*  Hardware */
+		cmReg.reg.clockSource = 2;	/*  Internal */
+		cmReg.reg.countDir = 1;	/*  Down */
+		cmReg.reg.countDirCtrl = 1;	/*  Software */
+		cmReg.reg.outputRegLatchCtrl = 0;	/*  latch on read */
+		cmReg.reg.preloadRegSel = 0;	/*  PR0 */
+		cmReg.reg.reserved = 0;
+
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		outw(0x0001, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+		outw(0x3C68, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	/*  Reset the counter */
+		outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	/*  Load the counter from PR0 */
+
+		outw(0x0008, ADDR_CHAN_REG(REG_C0C, subdev_channel));	/*  Reset RCAP (fires one-shot) */
+
+#endif
+
+#if 1
+		/*  Set Counter Mode Register */
+		cmReg.value = data[1] & 0xFFFF;
+
+		/* a44_info(dev, "Counter Mode register=%x\n", cmReg.value); */
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		/*  Reset the counter if it is software preload */
+		if (cmReg.reg.autoLoadResetRcap == 0) {
+			outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	/* Reset the counter */
+			/* outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));*/    /* Load the counter from PR0 */
+		}
+#else
+		cmReg.reg.countDirCtrl = 0;	/*  0 quadrature, 1 software control */
+
+		/*  data[1] contains GPCT_X1, GPCT_X2 or GPCT_X4 */
+		if (data[1] == GPCT_X2) {
+			cmReg.reg.clockSource = 1;
+		} else if (data[1] == GPCT_X4) {
+			cmReg.reg.clockSource = 2;
+		} else {
+			cmReg.reg.clockSource = 0;
+		}
+
+		/*  When to take into account the indexpulse: */
+		if (data[2] == GPCT_IndexPhaseLowLow) {
+		} else if (data[2] == GPCT_IndexPhaseLowHigh) {
+		} else if (data[2] == GPCT_IndexPhaseHighLow) {
+		} else if (data[2] == GPCT_IndexPhaseHighHigh) {
+		}
+		/*  Take into account the index pulse? */
+		if (data[3] == GPCT_RESET_COUNTER_ON_INDEX)
+			cmReg.reg.autoLoadResetRcap = 4;	/*  Auto load with INDEX^ */
+
+		/*  Set Counter Mode Register */
+		cmReg.value = (short)(data[1] & 0xFFFF);
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		/*  Load the pre-load register high word */
+		value = (short)((data[2] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		/*  Load the pre-load register low word */
+		value = (short)(data[2] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		/*  Write the Counter Control Register */
+		if (data[3] != 0) {
+			value = (short)(data[3] & 0xFFFF);
+			outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel));
+		}
+		/*  Reset the counter if it is software preload */
+		if (cmReg.reg.autoLoadResetRcap == 0) {
+			outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	/*  Reset the counter */
+			outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	/*  Load the counter from PR0 */
+		}
+#endif
+		break;
+
+	case A4L_INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR:
+		/*
+		   data[0]: Application Type
+		   data[1]: Counter Mode Register Value
+		   data[2]: Pre-load Register 0 Value
+		   data[3]: Pre-load Register 1 Value
+		   data[4]: Conter Control Register
+		 */
+		/* a4l_info(dev, "s526_gpct_insn_config: Configuring SPG\n"); */
+		subdpriv->config[subdev_channel].app = SinglePulseGeneration;
+
+		/*  Set Counter Mode Register */
+		cmReg.value = (short)(data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 0;	/*  PR0 */
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		/*  Load the pre-load register 0 high word */
+		value = (short)((data[2] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		/*  Load the pre-load register 0 low word */
+		value = (short)(data[2] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		/*  Set Counter Mode Register */
+		cmReg.value = (short)(data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 1;	/*  PR1 */
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		/*  Load the pre-load register 1 high word */
+		value = (short)((data[3] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		/*  Load the pre-load register 1 low word */
+		value = (short)(data[3] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		/*  Write the Counter Control Register */
+		if (data[4] != 0) {
+			value = (short)(data[4] & 0xFFFF);
+			outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel));
+		}
+		break;
+
+	case A4L_INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR:
+		/*
+		   data[0]: Application Type
+		   data[1]: Counter Mode Register Value
+		   data[2]: Pre-load Register 0 Value
+		   data[3]: Pre-load Register 1 Value
+		   data[4]: Conter Control Register
+		 */
+		/* a4l_info(dev, "s526_gpct_insn_config: Configuring PTG\n"); */
+		subdpriv->config[subdev_channel].app = PulseTrainGeneration;
+
+		/*  Set Counter Mode Register */
+		cmReg.value = (short)(data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 0;	/*  PR0 */
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		/*  Load the pre-load register 0 high word */
+		value = (short)((data[2] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		/*  Load the pre-load register 0 low word */
+		value = (short)(data[2] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		/*  Set Counter Mode Register */
+		cmReg.value = (short)(data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 1;	/*  PR1 */
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		/*  Load the pre-load register 1 high word */
+		value = (short)((data[3] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		/*  Load the pre-load register 1 low word */
+		value = (short)(data[3] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		/*  Write the Counter Control Register */
+		if (data[4] != 0) {
+			value = (short)(data[4] & 0xFFFF);
+			outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel));
+		}
+		break;
+
+	default:
+		a4l_err(dev, "s526_gpct_insn_config: unsupported GPCT_insn_config\n");
+		return -EINVAL;
+		break;
+	}
+
+	return 0;
+}
+
+static int s526_gpct_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	uint32_t *data = (uint32_t *)insn->data;
+	int counter_channel = CR_CHAN(insn->chan_desc);
+	unsigned short datalow;
+	unsigned short datahigh;
+	int i;
+
+	if (insn->data_size <= 0) {
+		a4l_err(dev, "s526_gpct_rinsn: n should be > 0\n");
+		return -EINVAL;
+	}
+
+	for (i = 0; i < insn->data_size; i++) {
+		datalow = inw(ADDR_CHAN_REG(REG_C0L, counter_channel));
+		datahigh = inw(ADDR_CHAN_REG(REG_C0H, counter_channel));
+		data[i] = (int)(datahigh & 0x00FF);
+		data[i] = (data[i] << 16) | (datalow & 0xFFFF);
+		/* a4l_info(dev, "s526_gpct_rinsn GPCT[%d]: %x(0x%04x, 0x%04x)\n", counter_channel, data[i], datahigh, datalow); */
+	}
+
+	return 0;
+}
+
+static int s526_gpct_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_gpct_priv *subdpriv =
+	    (struct s526_subd_gpct_priv *)subd->priv;
+	uint32_t *data = (uint32_t *)insn->data;
+	int subdev_channel = CR_CHAN(insn->chan_desc);	/*  Unpack chanspec */
+	short value;
+	union cmReg cmReg;
+
+
+	/* a4l_info(dev, "s526_gpct_winsn: GPCT_INSN_WRITE on channel %d\n", subdev_channel); */
+
+	cmReg.value = inw(ADDR_CHAN_REG(REG_C0M, subdev_channel));
+	/* a4l_info(dev, "s526_gpct_winsn: Counter Mode Register: %x\n", cmReg.value); */
+
+	/*  Check what Application of Counter this channel is configured for */
+	switch (subdpriv->config[subdev_channel].app) {
+	case PositionMeasurement:
+		/* a4l_info(dev, "s526_gpct_winsn: INSN_WRITE: PM\n"); */
+		outw(0xFFFF & ((*data) >> 16), ADDR_CHAN_REG(REG_C0H,
+							     subdev_channel));
+		outw(0xFFFF & (*data),
+		     ADDR_CHAN_REG(REG_C0L, subdev_channel));
+		break;
+
+	case SinglePulseGeneration:
+		/* a4l_info(dev, "s526_gpct_winsn: INSN_WRITE: SPG\n"); */
+		outw(0xFFFF & ((*data) >> 16), ADDR_CHAN_REG(REG_C0H,
+							     subdev_channel));
+		outw(0xFFFF & (*data),
+		     ADDR_CHAN_REG(REG_C0L, subdev_channel));
+		break;
+
+	case PulseTrainGeneration:
+		/* data[0] contains the PULSE_WIDTH
+		   data[1] contains the PULSE_PERIOD
+		   @pre PULSE_PERIOD > PULSE_WIDTH > 0
+		   The above periods must be expressed as a multiple of the
+		   pulse frequency on the selected source
+		*/
+		/* a4l_info(dev, "s526_gpct_winsn: INSN_WRITE: PTG\n"); */
+		if ((data[1] > data[0]) && (data[0] > 0)) {
+			(subdpriv->config[subdev_channel]).data[0] = data[0];
+			(subdpriv->config[subdev_channel]).data[1] = data[1];
+		} else {
+			a4l_err(dev, "s526_gpct_winsn: INSN_WRITE: PTG: Problem with Pulse params -> %du %du\n",
+				data[0], data[1]);
+			return -EINVAL;
+		}
+
+		value = (short)((*data >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+		value = (short)(*data & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+		break;
+	default:		/*  Impossible */
+		a4l_err(dev, "s526_gpct_winsn: INSN_WRITE: Functionality %d not implemented yet\n",
+			 subdpriv->config[subdev_channel].app);
+		return -EINVAL;
+		break;
+	}
+
+	return 0;
+}
+
+#define ISR_ADC_DONE 0x4
+static int s526_ai_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_ai_priv *subdpriv =
+	    (struct s526_subd_ai_priv *)subd->priv;
+	unsigned int *data = (unsigned int *)insn->data;
+
+	if (insn->data_size < 1)
+		return -EINVAL;
+
+	/* data[0] : channels was set in relevant bits.
+	   data[1] : delay
+	 */
+	/* COMMENT: abbotti 2008-07-24: I don't know why you'd want to
+	 * enable channels here.  The channel should be enabled in the
+	 * INSN_READ handler. */
+
+	/*  Enable ADC interrupt */
+	outw(ISR_ADC_DONE, ADDR_REG(REG_IER));
+	/* a4l_info(dev, "s526_ai_insn_config: ADC current value: 0x%04x\n", inw(ADDR_REG(REG_ADC))); */
+	subdpriv->config = (data[0] & 0x3FF) << 5;
+	if (data[1] > 0)
+		subdpriv->config |= 0x8000;	/* set the delay */
+
+	subdpriv->config |= 0x0001;	/*  ADC start bit. */
+
+	return 0;
+}
+
+static int s526_ai_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_ai_priv *subdpriv =
+	    (struct s526_subd_ai_priv *)subd->priv;
+	uint16_t *data = (uint16_t *)insn->data;
+	int n, i;
+	int chan = CR_CHAN(insn->chan_desc);
+	uint16_t value;
+	uint16_t d;
+	uint16_t status;
+
+	/* Set configured delay, enable channel for this channel only,
+	 * select "ADC read" channel, set "ADC start" bit. */
+	value = (subdpriv->config & 0x8000) |
+	    ((1 << 5) << chan) | (chan << 1) | 0x0001;
+
+	/* convert n samples */
+	for (n = 0; n < insn->data_size; n++) {
+		/* trigger conversion */
+		outw(value, ADDR_REG(REG_ADC));
+		/* a4l_info(dev, "s526_ai_rinsn: Wrote 0x%04x to ADC\n", value); */
+		/* a4l_info(dev, "s526_ai_rinsn: ADC reg=0x%04x\n", inw(ADDR_REG(REG_ADC))); */
+
+#define TIMEOUT 100
+
+		/* wait for conversion to end */
+		for (i = 0; i < TIMEOUT; i++) {
+			status = inw(ADDR_REG(REG_ISR));
+			if (status & ISR_ADC_DONE) {
+				outw(ISR_ADC_DONE, ADDR_REG(REG_ISR));
+				break;
+			}
+		}
+		if (i == TIMEOUT) {
+			a4l_warn(dev, "s526_ai_rinsn: ADC(0x%04x) timeout\n", inw(ADDR_REG(REG_ISR)));
+			return -ETIMEDOUT;
+		}
+
+		/* read data */
+		d = inw(ADDR_REG(REG_ADD));
+		/* a4l_info(dev "s526_ai_rinsn: AI[%d]=0x%04x\n", n, (unsigned short)(d & 0xFFFF)); */
+
+		/* munge data */
+		data[n] = d ^ 0x8000;
+	}
+
+	return 0;
+}
+
+static int s526_ao_winsn(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_ao_priv *subdpriv =
+	    (struct s526_subd_ao_priv *)subd->priv;
+	uint16_t *data = (uint16_t *)insn->data;
+	int i;
+	int chan = CR_CHAN(insn->chan_desc);
+	uint16_t val;
+
+	val = chan << 1;
+	outw(val, ADDR_REG(REG_DAC));
+
+	/* Writing a list of values to an AO channel is probably not
+	 * very useful, but that's how the interface is defined. */
+	for (i = 0; i < insn->data_size; i++) {
+		/* a typical programming sequence */
+		outw(data[i], ADDR_REG(REG_ADD));	/*  write the data to preload register */
+		subdpriv->readback[chan] = data[i];
+		outw(val + 1, ADDR_REG(REG_DAC));	/*  starts the D/A conversion. */
+	}
+
+	return 0;
+}
+
+/* AO subdevices should have a read insn as well as a write insn.
+ * Usually this means copying a value stored in devpriv. */
+static int s526_ao_rinsn(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	struct s526_subd_ao_priv *subdpriv =
+		(struct s526_subd_ao_priv *)subd->priv;
+	uint16_t *data = (uint16_t *)insn->data;
+	int i;
+	int chan = CR_CHAN(insn->chan_desc);
+
+	for (i = 0; i < insn->data_size; i++)
+		data[i] = subdpriv->readback[chan];
+
+	return 0;
+}
+
+static int s526_dio_insn_config(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_dio_priv *subdpriv =
+	    (struct s526_subd_dio_priv *)subd->priv;
+	unsigned int *data = (unsigned int *)insn->data;
+	int chan = CR_CHAN(insn->chan_desc);
+	int group, mask;
+
+	group = chan >> 2;
+	mask = 0xF << (group << 2);
+	switch (data[0]) {
+	case A4L_INSN_CONFIG_DIO_OUTPUT:
+		subdpriv->state |= 1 << (group + 10);	/* bit 10/11 set the group
+							   1/2's mode */
+		subdpriv->io_bits |= mask;
+		break;
+	case A4L_INSN_CONFIG_DIO_INPUT:
+		subdpriv->state &= ~(1 << (group + 10));	/* 1 is output, 0 is
+								 * input. */
+		subdpriv->io_bits &= ~mask;
+		break;
+	case A4L_INSN_CONFIG_DIO_QUERY:
+		data[1] =
+		    (subdpriv->io_bits & mask) ? A4L_OUTPUT : A4L_INPUT;
+		return insn->data_size;
+	default:
+		return -EINVAL;
+	}
+	outw(subdpriv->state, ADDR_REG(REG_DIO));
+
+	return 0;
+}
+
+/* DIO devices are slightly special.  Although it is possible to
+ * implement the insn_read/insn_write interface, it is much more
+ * useful to applications if you implement the insn_bits interface.
+ * This allows packed reading/writing of the DIO channels.  The
+ * comedi core can convert between insn_bits and insn_read/write */
+static int s526_dio_insn_bits(a4l_subd_t *subd, a4l_kinsn_t *insn)
+{
+	a4l_dev_t *dev = subd->dev;
+	struct s526_subd_dio_priv *subdpriv =
+		(struct s526_subd_dio_priv *)subd->priv;
+	uint8_t *data = (uint8_t *)insn->data;
+
+	if (insn->data_size != 2)
+		return -EINVAL;
+
+	/* The insn data is a mask in data[0] and the new data
+	 * in data[1], each channel cooresponding to a bit. */
+	if (data[0]) {
+		subdpriv->state &= ~(data[0]);
+		subdpriv->state |= data[0] & data[1];
+		/* Write out the new digital output lines */
+		outw(subdpriv->state, ADDR_REG(REG_DIO));
+	}
+
+	/* on return, data[1] contains the value of the digital
+	 * input and output lines. */
+	data[1] = inw(ADDR_REG(REG_DIO)) & 0xFF;	/*  low 8 bits are the data */
+	/* or we could just return the software copy of the output values if
+	 * it was a purely digital output subdevice */
+	/* insn->data[1]=subdpriv->state & 0xFF; */
+
+	return 0;
+}
+
+/* --- Channels descriptor --- */
+
+static a4l_chdesc_t s526_chan_desc_gpct = {
+	.mode = A4L_CHAN_GLOBAL_CHANDESC,
+	.length = S526_GPCT_CHANS,
+	.chans = {
+		{A4L_CHAN_AREF_GROUND, S526_GPCT_BITS},
+	},
+};
+
+static a4l_chdesc_t s526_chan_desc_ai = {
+	.mode = A4L_CHAN_GLOBAL_CHANDESC,
+	.length = S526_AI_CHANS,
+	.chans = {
+		{A4L_CHAN_AREF_GROUND, S526_AI_BITS},
+	},
+};
+
+static a4l_chdesc_t s526_chan_desc_ao = {
+	.mode = A4L_CHAN_GLOBAL_CHANDESC,
+	.length = S526_AO_CHANS,
+	.chans = {
+		{A4L_CHAN_AREF_GROUND, S526_AO_BITS},
+	},
+};
+
+static a4l_chdesc_t s526_chan_desc_dio = {
+	.mode = A4L_CHAN_GLOBAL_CHANDESC,
+	.length = S526_DIO_CHANS,
+	.chans = {
+		{A4L_CHAN_AREF_GROUND, S526_DIO_BITS},
+	},
+};
+
+/* --- Subdevice initialization functions --- */
+
+/* General purpose counter/timer (gpct) */
+static void setup_subd_gpct(a4l_subd_t *subd)
+{
+	subd->flags = A4L_SUBD_COUNTER;
+	subd->chan_desc = &s526_chan_desc_gpct;
+	subd->insn_read = s526_gpct_rinsn;
+	subd->insn_config = s526_gpct_insn_config;
+	subd->insn_write = s526_gpct_winsn;
+
+	/* Command are not implemented yet, however they are necessary to
+	   allocate the necessary memory for the comedi_async struct (used
+	   to trigger the GPCT in case of pulsegenerator function */
+	/* subd->do_cmd = s526_gpct_cmd; */
+	/* subd->do_cmdtest = s526_gpct_cmdtest; */
+	/* subd->cancel = s526_gpct_cancel; */
+}
+
+/* Analog input subdevice */
+static void setup_subd_ai(a4l_subd_t *subd)
+{
+	subd->flags = A4L_SUBD_AI;
+	subd->chan_desc = &s526_chan_desc_ai;
+	subd->rng_desc = &range_bipolar10;
+	subd->insn_read = s526_ai_rinsn;
+	subd->insn_config = s526_ai_insn_config;
+}
+
+/* Analog output subdevice */
+static void setup_subd_ao(a4l_subd_t *subd)
+{
+	subd->flags = A4L_SUBD_AO;
+	subd->chan_desc = &s526_chan_desc_ao;
+	subd->rng_desc = &range_bipolar10;
+	subd->insn_write = s526_ao_winsn;
+	subd->insn_read = s526_ao_rinsn;
+}
+
+/* Digital i/o subdevice */
+static void setup_subd_dio(a4l_subd_t *subd)
+{
+	if (S526_HAVE_DIO > 0) {
+		subd->flags = A4L_SUBD_DIO;
+		subd->chan_desc = &s526_chan_desc_dio;
+		subd->rng_desc = &range_digital;
+		subd->insn_bits = s526_dio_insn_bits;
+		subd->insn_config = s526_dio_insn_config;
+	} else {
+		subd->flags = A4L_SUBD_UNUSED;
+	}
+}
+
+struct setup_subd {
+	void (*setup_func) (a4l_subd_t *);
+	int sizeof_priv;
+};
+
+static struct setup_subd setup_subds[4] = {
+	{
+		.setup_func = setup_subd_gpct,
+		.sizeof_priv = sizeof(struct s526_subd_gpct_priv),
+	},
+	{
+		.setup_func = setup_subd_ai,
+		.sizeof_priv = sizeof(struct s526_subd_ai_priv),
+	},
+	{
+		.setup_func = setup_subd_ao,
+		.sizeof_priv = sizeof(struct s526_subd_ao_priv),
+	},
+	{
+		.setup_func = setup_subd_dio,
+		.sizeof_priv = sizeof(struct s526_subd_dio_priv),
+	},
+};
+
+static int dev_s526_attach(a4l_dev_t *dev, a4l_lnkdesc_t *arg)
+{
+	int io_base;
+	int i;
+	int err = 0;
+	int n;
+	union cmReg cmReg;
+
+	if (arg->opts == NULL || arg->opts_size < sizeof(unsigned long)) {
+		a4l_warn(dev,
+			 "dev_s526_attach: no attach options specified."
+			 "taking default options (addr=0x%x)\n",
+			 S526_DEFAULT_ADDRESS);
+
+		io_base = S526_DEFAULT_ADDRESS;
+	} else {
+		io_base = ((unsigned long *)arg->opts)[0];
+	}
+
+	if (!request_region(io_base, S526_IOSIZE, "s526")) {
+		a4l_err(dev, "dev_s526_attach: I/O port conflict");
+		return -EIO;
+	}
+
+	/* Allocate the subdevice structures. */
+	for (i = 0; i < 4; i++) {
+		a4l_subd_t *subd = a4l_alloc_subd(setup_subds[i].sizeof_priv,
+						  setup_subds[i].setup_func);
+
+		if (subd == NULL)
+			return -ENOMEM;
+
+		err = a4l_add_subd(dev, subd);
+		if (err != i)
+			return err;
+	}
+
+	devpriv->io_base = io_base;
+
+	a4l_info(dev, "dev_s526_attach: atached (address = 0x%x)\n", io_base);
+
+	return 0;
+
+#if 0
+	/* Example of Counter Application */
+	/* One-shot (software trigger) */
+	cmReg.reg.coutSource = 0;	 /* out RCAP */
+	cmReg.reg.coutPolarity = 1;	 /* Polarity inverted */
+	cmReg.reg.autoLoadResetRcap = 1; /* Auto load 0:disabled, 1:enabled */
+	cmReg.reg.hwCtEnableSource = 3;	 /* NOT RCAP */
+	cmReg.reg.ctEnableCtrl = 2;	 /* Hardware */
+	cmReg.reg.clockSource = 2;	 /* Internal */
+	cmReg.reg.countDir = 1;		 /* Down */
+	cmReg.reg.countDirCtrl = 1;	 /* Software */
+	cmReg.reg.outputRegLatchCtrl = 0; /* latch on read */
+	cmReg.reg.preloadRegSel = 0;	  /* PR0 */
+	cmReg.reg.reserved = 0;
+
+	outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+	outw(0x0001, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+	outw(0x3C68, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+	outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); /* Reset the counter */
+	outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel)); /* Load the counter from PR0 */
+
+	outw(0x0008, ADDR_CHAN_REG(REG_C0C, subdev_channel)); /* Reset RCAP (fires one-shot) */
+
+#else
+
+	/*  Set Counter Mode Register */
+	cmReg.reg.coutSource = 0;	  /* out RCAP */
+	cmReg.reg.coutPolarity = 0;	  /* Polarity inverted */
+	cmReg.reg.autoLoadResetRcap = 0;  /* Auto load disabled */
+	cmReg.reg.hwCtEnableSource = 2;	  /* NOT RCAP */
+	cmReg.reg.ctEnableCtrl = 1;	  /* 1: Software,  >1 : Hardware */
+	cmReg.reg.clockSource = 3;	  /* x4 */
+	cmReg.reg.countDir = 0;		  /* up */
+	cmReg.reg.countDirCtrl = 0;	  /* quadrature */
+	cmReg.reg.outputRegLatchCtrl = 0; /* latch on read */
+	cmReg.reg.preloadRegSel = 0;	  /* PR0 */
+	cmReg.reg.reserved = 0;
+
+	n = 0;
+	/* a4l_info(dev, "Mode reg=0x%04x, 0x%04lx\n", */
+	/* 	cmReg.value, ADDR_CHAN_REG(REG_C0M, n)); */
+	outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, n));
+	/* udelay(1000); */
+	/* a4l_info(dev, "Read back mode reg=0x%04x\n", */
+	/* 	inw(ADDR_CHAN_REG(REG_C0M, n))); */
+
+	/*  Load the pre-load register high word */
+
+        /* value = (short) (0x55); */
+	/* outw(value, ADDR_CHAN_REG(REG_C0H, n)) */
+
+	/*  Load the pre-load register low word */
+	/* value = (short)(0xaa55); */
+	/* outw(value, ADDR_CHAN_REG(REG_C0L, n)); */
+
+	/*  Write the Counter Control Register */
+	/* outw(value, ADDR_CHAN_REG(REG_C0C, 0)); */
+
+	/*  Reset the counter if it is software preload */
+	if (cmReg.reg.autoLoadResetRcap == 0) {
+		outw(0x8000, ADDR_CHAN_REG(REG_C0C, n)); /* Reset the counter */
+		outw(0x4000, ADDR_CHAN_REG(REG_C0C, n)); /* Load the counter from PR0 */
+	}
+
+	outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, n));
+	/* udelay(1000); */
+	/* a4l_info(dev, "Read back mode reg=0x%04x\n", */
+	/* 	inw(ADDR_CHAN_REG(REG_C0M, n))); */
+
+#endif
+	/* a4l_info(dev, "Current registres:\n"); */
+
+	/* for (i = 0; i < S526_NUM_PORTS; i++) { */
+	/* 	a4l_info(dev, "0x%02lx: 0x%04x\n", */
+	/* 		ADDR_REG(s526_ports[i]), inw(ADDR_REG(s526_ports[i]))); */
+	/* } */
+	return 0;
+}
+
+static int dev_s526_detach(a4l_dev_t *dev)
+{
+	int err = 0;
+
+	if (devpriv->io_base != 0)
+		release_region(devpriv->io_base, S526_IOSIZE);
+
+	return err;
+}
+
+static a4l_drv_t drv_s526 = {
+	.owner = THIS_MODULE,
+	.board_name = BOARD_NAME,
+	.attach = dev_s526_attach,
+	.detach = dev_s526_detach,
+	.privdata_size = sizeof(s526_priv_t),
+};
+
+static int __init drv_s526_init(void)
+{
+	return a4l_register_drv(&drv_s526);
+}
+
+static void __exit drv_s526_cleanup(void)
+{
+	a4l_unregister_drv(&drv_s526);
+}
+
+MODULE_DESCRIPTION("Analogy driver for Sensoray Model 526 board.");
+MODULE_LICENSE("GPL");
+
+module_init(drv_s526_init);
+module_exit(drv_s526_cleanup);

Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alexis Berlemont]

Hi Simon,

Simon Boulay wrote:
 > Hi,
 >
 > Here is a patch which adds the support of the Sensoray Model 526 board
 > to analogy.

Great ! I had a look at the code, that is fine for me. I just have few
remarks:
- some "printk" were left commented in the original comedi driver, you
correctly translated them into a4l_info; however, could you use a4l_dbg
instead and remove the comments ?
- the sources of the original driver contain many areas of commented
code and "#if 0 #else #endif" directives. In order to keep coherency
with the original driver, I think the import of the driver should be
done as it is; nonetheless, the second step would be to clean it inside
the git repository.

I think it is wise to wait for the release of 2.5 before integrating it. 
It will be made available in Xenomai 2.5.1.

 > The driver compiles against head but have not been tested on real 
hardware yet.
Alessio was interested by this driver; Alessio, the driver is yours as
soon as it is available in my git repository.

 > It has been ported from comedi (staging version) and should work as 
in comedi:
 > - Encoder works
 > - Analog input works
 > - Analog output works
 > - PWM output works
 > - Commands are not supported yet.
 >
 > Regards,
Many thanks for your work !

 > Simon.
 >
Alexis.

Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Simon Boulay]

On Mon, Dec 28, 2009 at 9:40 PM, Alexis Berlemont
<alexis.berlemont@domain.hid> wrote:
> Hi Simon,
>
> Simon Boulay wrote:
>>
>> Hi,
>>
>> Here is a patch which adds the support of the Sensoray Model 526 board
>> to analogy.
>
> Great ! I had a look at the code, that is fine for me. I just have few
> remarks:
> - some "printk" were left commented in the original comedi driver, you
> correctly translated them into a4l_info; however, could you use a4l_dbg
> instead and remove the comments ?
Yes.

> - the sources of the original driver contain many areas of commented code
> and "#if 0 #else #endif" directives. In order to keep coherency with the
> original driver, I think the import of the driver should be done as it is;
> nonetheless, the second step would be to clean it inside  the git
> repository.
I totally agree. The "#if 0 #else #endif" directives are mainly
documentation or examples. I don't know if they are useful anymore but
I preferred to let them in place for first tests.
I'll send you patches when the driver will be available in your git repository.
There are certainly things to add or optimize but I tried to not
divert too much from the original driver for the beginning.
If you think that's not the right way of doing, tell me. I plan to
publish the jr3 driver port this week. The original code is far more
clean but I'll appreciate your advices.

> I think it is wise to wait for the release of 2.5 before integrating it. It
> will be made available in Xenomai 2.5.1.
ok.

>> The driver compiles against head but have not been tested on real hardware
>> yet.
>
> Alessio was interested by this driver; Alessio, the drivers is yours as soon
> as it is available in my git repository.
I'll be pleased to help anybody who can test the driver.

>> It has been ported from comedi (staging version) and should work as in
>> comedi:
>> - Encoder works
>> - Analog input works
>> - Analog output works
>> - PWM output works
>> - Commands are not supported yet.
>>
>> Regards,
>
> Many thanks for your work !
Your welcome. Let see if it works...

>
>> Simon.
>>
> Alexis.
>

Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alessio Margan @ IIT]

Simon Boulay wrote:
>> Alessio was interested by this driver; Alessio, the drivers is yours as soon
>> as it is available in my git repository.
>>     
> I'll be pleased to help anybody who can test the driver.
>
>   
Hi,
good news ... I'll test the patch asap.
Thank you very much for your help.

Alessio

-- 

ISTITUTO ITALIANO
DI TECNOLOGIA

Alessio Margan
/Senior Technician/
mail me <mailto:alessio.margan@domain.hid>

Via Morego, 30 16163 Genova 
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[Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alessio Margan @ IIT]

Hi,

I start test the sensoray driver.
I've got problem with analogy_config :
1) it seems that board_name as defined have some problem, changed to 
"a4l_s526" seems better

    #define BOARD_NAME "Sensoray Model 526"
    ...
    .board_name = BOARD_NAME
2) I should be able to set as parameters io_port and irq (seems not 
used), using comedi I do comedi_config  /dev/comedi0 s526 0xDC0,0x7
for the moment I set S526_DEFAULT_ADDRESS to my configuration

with this modifications seems to work.

analogy_config -v analogy0 a4l_s526

cat /proc/analogy/drivers
--  Analogy drivers --
| idx | driver name
|  00 | a4l_s526

cat /proc/analogy/devices
--  Analogy devices --
| idx | status | driver
|  00 | Linked | a4l_s526
|  01 | Unused | No driver
|  02 | Unused | No driver
|  03 | Unused | No driver
|  04 | Unused | No driver
|  05 | Unused | No driver
|  06 | Unused | No driver
|  07 | Unused | No driver
|  08 | Unused | No driver
|  09 | Unused | No driver

cat /proc/analogy/00-a4l_s526
--  Subdevices --
| idx | type
|  00 | Counter subdevice
|  01 | Analog input subdevice
|  02 | Analog output subdevice
|  03 | Digital input/output subdevice

Alessio

-- 

ISTITUTO ITALIANO
DI TECNOLOGIA

Alessio Margan
/Senior Technician/
mail me <mailto:alessio.margan@domain.hid>

Via Morego, 30 16163 Genova 
<http://maps.google.com/maps?f=q&hl=en&geocode=&q=via+morego,+30+genova&sll=37.0625,-95.677068&sspn=85.420533,191.601563&ie=UTF8&ll=44.474913,8.907037&spn=0.004685,0.011652&t=h&z=17&iwloc=addr>

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senza essere definito come destinatario vi reghiamo di leggere le 
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messaggio e dei suoi allegati è proibito e potrebbe violare le presenti 
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Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Simon Boulay]

Hi,

On 12/30/2009 03:53 PM, Alessio Margan @ IIT wrote:
> Hi,
>
> I start test the sensoray driver.
Thank you!

> I've got problem with analogy_config :
> 1) it seems that board_name as defined have some problem, changed to
> "a4l_s526" seems better
>
>      #define BOARD_NAME "Sensoray Model 526"
>      ...
>      .board_name = BOARD_NAME
It works with quotes but it's neither handy nor consistent. It'll be 
renamed to analogy_s526.

> 2) I should be able to set as parameters io_port and irq (seems not
> used), using comedi I do comedi_config  /dev/comedi0 s526 0xDC0,0x7
> for the moment I set S526_DEFAULT_ADDRESS to my configuration
> with this modifications seems to work.
The irq parameter is not used. It's not used in comedi either.
For the io_port, the command analogy_config analogy0 analogy_s526 0xdc0 
works for me...

Did you try to acquire data?

Simon.

> analogy_config -v analogy0 a4l_s526
>
> cat /proc/analogy/drivers
> --  Analogy drivers --
> | idx | driver name
> |  00 | a4l_s526
>
> cat /proc/analogy/devices
> --  Analogy devices --
> | idx | status | driver
> |  00 | Linked | a4l_s526
> |  01 | Unused | No driver
> |  02 | Unused | No driver
> |  03 | Unused | No driver
> |  04 | Unused | No driver
> |  05 | Unused | No driver
> |  06 | Unused | No driver
> |  07 | Unused | No driver
> |  08 | Unused | No driver
> |  09 | Unused | No driver
>
> cat /proc/analogy/00-a4l_s526
> --  Subdevices --
> | idx | type
> |  00 | Counter subdevice
> |  01 | Analog input subdevice
> |  02 | Analog output subdevice
> |  03 | Digital input/output subdevice
>
> Alessio
>

Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alessio Margan @ IIT]

Hi,

> The irq parameter is not used. It's not used in comedi either.
> For the io_port, the command analogy_config analogy0 analogy_s526 0xdc0 
> works for me...
>
>   
not for me ... driver arg 0xdc0 when red by sscanf(opts, "%u",
&res[(*nb) - 1]) in analogy_config.c in function compute_opts is set to
0 due to %u
if I use the decimal value of ioport it works ... analogy_config
analogy0 analogy_s526 3520
> Did you try to acquire data?
>   
I try with insn_read command find in src/utils/analogy but seems that
subdevice should have commands enabled subd->flags |= A4L_SUBD_CMD;

Alessio

-- 

ISTITUTO ITALIANO
DI TECNOLOGIA

Alessio Margan
/Senior Technician/
mail me <mailto:alessio.margan@domain.hid>

Via Morego, 30 16163 Genova
<http://maps.google.com/maps?f=q&hl=en&geocode=&q=via+morego,+30+genova&sll=37.0625,-95.677068&sspn=85.420533,191.601563&ie=UTF8&ll=44.474913,8.907037&spn=0.004685,0.011652&t=h&z=17&iwloc=addr>

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contents of this message is prohibited and may be unlawful. We have
taken every reasonable precaution to ensure that any kind of attachment
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liability for any damage sustained as a result of software viruses and
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attachment.
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Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alexis Berlemont]

Alessio Margan @ IIT wrote:
> Hi,
> 
>> The irq parameter is not used. It's not used in comedi either.
>> For the io_port, the command analogy_config analogy0 analogy_s526 0xdc0 
>> works for me...
>>
>>   
> not for me ... driver arg 0xdc0 when red by sscanf(opts, "%u",
> &res[(*nb) - 1]) in analogy_config.c in function compute_opts is set to
> 0 due to %u
> if I use the decimal value of ioport it works ... analogy_config
> analogy0 analogy_s526 3520

It seems the version you are using is not up to date, this bug was fixed
two months ago:

commit 01bcfd898555425e96350b306155cba429a65539
Author: Alexis Berlemont <alexis.berlemont@domain.hid>
Date: Sun Nov 8 02:10:20 2009 +0100

analogy: fix a bug in the attach procedure

The options to be sent to the driver at attach time were badly handled
if the values were hexadecimal-based.

>> Did you try to acquire data?
>>   
> I try with insn_read command find in src/utils/analogy but seems that
> subdevice should have commands enabled subd->flags |= A4L_SUBD_CMD;
> 
> Alessio
> 
Regards,

Alexis.

[Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alessio Margan @ IIT]

Hi,

I've got a doubt about s526 driver on reading analog input.

I read analog data in this way

sampl_t data;
a4l_insn_t insn_tab = {
.type = A4L_INSN_READ,
.idx_subd = idx_subd,
.chan_desc = CHAN(idx_chan),
.data_size = sizeof(data),
.data = &data};

/* Sends the read instruction to the Analogy layer */
ret = a4l_snd_insn(&dsc, &insn_tab);

on driver side data_size is the number of samples not the nr of byte to 
read,
the driver expect data_size to be the number of samples and data to be a 
vector of samples

uint16_t *data = (uint16_t *)insn->data;

/* convert n samples */
for (n = 0; n < insn->data_size; n++) {
/* trigger conversion */
outw(value, ADDR_REG(REG_ADC));
a4l_info(dev, "s526_ai_rinsn: Wrote 0x%04x to ADC\n", value);
a4l_info(dev, "s526_ai_rinsn: ADC reg=0x%04x\n", inw(ADDR_REG(REG_ADC)));

#define TIMEOUT 100

/* wait for conversion to end */
for (i = 0; i < TIMEOUT; i++) {
status = inw(ADDR_REG(REG_ISR));
if (status & ISR_ADC_DONE) {
outw(ISR_ADC_DONE, ADDR_REG(REG_ISR));
break;
}
}
if (i == TIMEOUT) {
a4l_warn(dev, "s526_ai_rinsn: ADC(0x%04x) timeout\n", 
inw(ADDR_REG(REG_ISR)));
return -ETIMEDOUT;
}

/* read data */
d = inw(ADDR_REG(REG_ADD));
a4l_info(dev, "s526_ai_rinsn: AI[%d]=0x%04x\n", n, (unsigned short)(d & 
0xFFFF));

/* munge data */
data[n] = d ^ 0x8000;
}

TIA

Alessio

-- 

ISTITUTO ITALIANO
DI TECNOLOGIA

Alessio Margan
/Senior Technician/
mail me <mailto:alessio.margan@domain.hid>

Via Morego, 30 16163 Genova 
<http://maps.google.com/maps?f=q&hl=en&geocode=&q=via+morego,+30+genova&sll=37.0625,-95.677068&sspn=85.420533,191.601563&ie=UTF8&ll=44.474913,8.907037&spn=0.004685,0.011652&t=h&z=17&iwloc=addr>

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taken every reasonable precaution to ensure that any kind of attachment 
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liability for any damage sustained as a result of software viruses and 
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allegato attuando propri indipendenti controlli.

Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alexis Berlemont]

Hi,

Alessio Margan @ IIT wrote:
> Hi,
> 
> I've got a doubt about s526 driver on reading analog input.
> 
> I read analog data in this way
> 
> sampl_t data;
> a4l_insn_t insn_tab = {
> .type = A4L_INSN_READ,
> .idx_subd = idx_subd,
> .chan_desc = CHAN(idx_chan),
> .data_size = sizeof(data),
> .data = &data};
> 
> /* Sends the read instruction to the Analogy layer */
> ret = a4l_snd_insn(&dsc, &insn_tab);
> 
> on driver side data_size is the number of samples not the nr of byte to 
> read,
> the driver expect data_size to be the number of samples and data to be a 
> vector of samples
You are right. There is a bug in the driver. The field data_size is not 
the acquisition count but the size of all the acquisitions in bytes.

So we should see:
for (n = 0; n < insn->data_size / sizeof(uint16_t); n++) {

I will fix it tonight.

> 
> uint16_t *data = (uint16_t *)insn->data;
> 
> /* convert n samples */
> for (n = 0; n < insn->data_size; n++) {
> /* trigger conversion */
> outw(value, ADDR_REG(REG_ADC));
> a4l_info(dev, "s526_ai_rinsn: Wrote 0x%04x to ADC\n", value);
> a4l_info(dev, "s526_ai_rinsn: ADC reg=0x%04x\n", inw(ADDR_REG(REG_ADC)));
> 
> #define TIMEOUT 100
> 
> /* wait for conversion to end */
> for (i = 0; i < TIMEOUT; i++) {
> status = inw(ADDR_REG(REG_ISR));
> if (status & ISR_ADC_DONE) {
> outw(ISR_ADC_DONE, ADDR_REG(REG_ISR));
> break;
> }
> }
> if (i == TIMEOUT) {
> a4l_warn(dev, "s526_ai_rinsn: ADC(0x%04x) timeout\n", 
> inw(ADDR_REG(REG_ISR)));
> return -ETIMEDOUT;
> }
> 
> /* read data */
> d = inw(ADDR_REG(REG_ADD));
> a4l_info(dev, "s526_ai_rinsn: AI[%d]=0x%04x\n", n, (unsigned short)(d & 
> 0xFFFF));
> 
> /* munge data */
> data[n] = d ^ 0x8000;
> }
> 
> TIA
> 
> Alessio
> 

Alexis.

[Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alessio Margan @ IIT]

Hi,

I try to configure sensoray counters to generate PWM signal

#define SUBD_CNT 0
#define SUBD_AI 1
#define SUBD_AO 2
#define SUBD_DIO 3

insn.type = A4L_INSN_CONFIG;
insn.idx_subd = SUBD_COUNTER;
insn.chan_desc = CHAN(channel);
insn.data_size = sizeof(dataC) / sizeof(dataC[0]);
insn.data = data;
data[0] = A4L_INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR;
data[1] = cmReg.value;
data[2] = down_ticks;
data[3] = up_ticks;

ret = a4l_snd_insn(&dsc, &insn);

in a4l_do_insn the subdevice is check in this way but the test for 
counter, and I think also for dio, fails due
to A4L_SUBD_MASK_SPECIAL bit

#define A4L_SUBD_UNUSED (A4L_SUBD_MASK_SPECIAL|0x1)
#define A4L_SUBD_COUNTER (A4L_SUBD_MASK_SPECIAL|0x40)
#define A4L_SUBD_DIO (A4L_SUBD_MASK_SPECIAL|0x20)

/* Checks the subdevice's characteristics */
if ((subd->flags & A4L_SUBD_UNUSED) != 0) {
__a4l_err("a4l_do_insn: wrong subdevice selected 0x%X\n",subd->flags);
return -EINVAL;
}

there is something wrong or I miss something ?

TIA

Alessio


-- 

ISTITUTO ITALIANO
DI TECNOLOGIA

Alessio Margan
/Senior Technician/
mail me <mailto:alessio.margan@domain.hid>

Via Morego, 30 16163 Genova 
<http://maps.google.com/maps?f=q&hl=en&geocode=&q=via+morego,+30+genova&sll=37.0625,-95.677068&sspn=85.420533,191.601563&ie=UTF8&ll=44.474913,8.907037&spn=0.004685,0.011652&t=h&z=17&iwloc=addr>

www.iit.it <http://www.iit.it>

*Legal Disclaimer*
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Please note that any disclosure, copy, distribution or use of the 
contents of this message is prohibited and may be unlawful. We have 
taken every reasonable precaution to ensure that any kind of attachment 
to this e-mail has been swept for viruses. However, we cannot accept 
liability for any damage sustained as a result of software viruses and 
would advise you to carry out your own virus checks before opening any 
attachment.
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soli destinatari. Qualora veniate in possesso di tali informazioni senza 
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dei suoi allegati è proibito e potrebbe violare le presenti leggi. 
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che gli allegati non contengano virus. Comunque non assumeremo alcuna 
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simili in quanto è onere del destinatario verificarne l’assenza in ogni 
allegato attuando propri indipendenti controlli.

Re: [Xenomai-core] [PATCH] Sensoray 526 analogy driver

[Alexis Berlemont]

Hi,

On Mon, Jan 11, 2010 at 5:08 PM, Alessio Margan @ IIT
<alessio.margan@domain.hid> wrote:
> Hi,
>
> I try to configure sensoray counters to generate PWM signal
>
> #define SUBD_CNT 0
> #define SUBD_AI 1
> #define SUBD_AO 2
> #define SUBD_DIO 3
>
> insn.type = A4L_INSN_CONFIG;
> insn.idx_subd = SUBD_COUNTER;
> insn.chan_desc = CHAN(channel);
> insn.data_size = sizeof(dataC) / sizeof(dataC[0]);
> insn.data = data;
> data[0] = A4L_INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR;
> data[1] = cmReg.value;
> data[2] = down_ticks;
> data[3] = up_ticks;
>
> ret = a4l_snd_insn(&dsc, &insn);
>
> in a4l_do_insn the subdevice is check in this way but the test for
> counter, and I think also for dio, fails due
> to A4L_SUBD_MASK_SPECIAL bit
>
> #define A4L_SUBD_UNUSED (A4L_SUBD_MASK_SPECIAL|0x1)
> #define A4L_SUBD_COUNTER (A4L_SUBD_MASK_SPECIAL|0x40)
> #define A4L_SUBD_DIO (A4L_SUBD_MASK_SPECIAL|0x20)
>
> /* Checks the subdevice's characteristics */
> if ((subd->flags & A4L_SUBD_UNUSED) != 0) {
> __a4l_err("a4l_do_insn: wrong subdevice selected 0x%X\n",subd->flags);
> return -EINVAL;
> }
>
> there is something wrong or I miss something ?
You miss nothing. There was a bug in the subdevice's flags checking line:
The problem is here: if ((subd->flags & A4L_SUBD_UNUSED) != 0) {

I fixed it in my git repo one week ago.

Either you clone my git repot or you wait for the pull request I will
make tonight.

Regards,

>
> TIA
>
> Alessio
>
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