1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
|
component pcl720 """Driver for the Advantech PCL 720 card.""";
description """This driver supports the Advantech PCL720 ISA card. It might
work with the PCI version too, but this is untested.
It creates hal pins corresonding to the digital inputs and outputs, but does
not support the the counters/timers.""";
pin in bit pin-##-out[32] "Output pins";
pin out bit pin-##-in[32] "Input pins";
pin out bit pin-##-in-not[32] "Inverted version of each input pin";
param rw unsigned reset-time = 5000 """The time in nanoseconds after the write function
has run to reset the pins for which the "reset" parameter is set.""";
param rw bit pin-##-reset[32] """specifies if the pin should be reset by the "reset"
function""";
param rw bit pin-##-out-invert[32] "Set to true to invert the sense of the output pin";
pin out unsigned wait_clocks;
function read nofp "Reads each of the digital inputs and updates the HAL pins";
function write nofp "Writes the values of the output HAL pins to the digital IO";
function reset nofp """Waits for the length of time specified by the
\\fBreset-time\\fP parameter and resets any pins for which the \\fBreset\\fP
parameter has been set. This can be used to allow step generators to make a step
every thread rather than every other thread. This function must be added to the
thread after the "write" function.
Do not use this function if you do not wish to reset any pins.
the stepgen \\fBstep-space\\fP parameter should be set to 0 to make use of this
function.""";
variable unsigned base_addr;
variable unsigned out; // write data
variable unsigned inv; // Invert masks
variable unsigned res; // Reset mask
variable u64 write_time;
option count_function yes;
option extra_setup yes;
modparam dummy ioaddr """Base address of card. Separate each card base address
with a comma but no space to load more than one card. eg
loadrt pcl720 ioaddr=0x200,0x200. use 0xNNN to define addresses in Hex""";
license "GPL";
author "Andy Pugh";
;;
#include <asm/io.h>
#define MAX_CHAN 8
static int ioaddr[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1};
RTAPI_MP_ARRAY_INT(ioaddr, MAX_CHAN, "Base addresses")
FUNCTION(read){
unsigned R;
int i;
R = inb(base_addr)
+ (inb(base_addr + 1) << 8)
+ (inb(base_addr + 2) << 16)
+ (inb(base_addr + 3) << 24);
for (i = 0;i <= 31;i++){
pin_in(i) = R & (1 << i);
pin_in_not(i) = !pin_in(i);
}
}
FUNCTION(write){
int i;
unsigned char b;
out = 0;
inv = 0;
for (i = 0;i <= 31 ;i++){
out |= pin_out(i) << i;
inv |= pin_out_invert(i) << i;
}
out ^= inv;
b = (out & 0xff);
outb(b, base_addr);
b = (out & 0xff00) >> 8;
outb(b, base_addr + 1);
b = (out & 0xff0000) >> 16;
outb(b, base_addr + 2);
b = (out & 0xff000000) >> 24;
outb(b, base_addr + 3);
write_time = rtapi_get_time();
}
FUNCTION(reset){
int i;
unsigned tmp;
unsigned char b;
res= 0;
for (i = 0;i <= 31 ;i++){
res |= pin_reset(i) << i;
}
if (res == 0) {return;} // no pins with reset set
tmp = (out ^ inv) & (~res);
if (tmp == out) {return;} // nothing to reset
if(reset_time > period/4) reset_time = period/4;
//compensate for any time elapsed since the write
rtapi_delay(reset_time - (rtapi_get_time() - write_time));
b = (tmp & 0xff);
outb(b, base_addr);
b = (tmp & 0xff00) >> 8;
outb(b, base_addr + 1);
b = (tmp & 0xff0000) >> 16;
outb(b, base_addr + 2);
b = (tmp & 0xff000000) >> 24;
outb(b, base_addr + 3);
out = tmp;
}
EXTRA_SETUP(){
if (ioaddr[extra_arg] > 0) {
base_addr = ioaddr[extra_arg];
rtapi_print("Loading Advantech pcl720 driver at base addr %X\n", base_addr);
return 0;
}
return -EINVAL;
}
int get_count(void){
int i;
for (i=0; ioaddr[i] > 0 && i < MAX_CHAN; i++){}
return i;
}
|
