666 lines
21 KiB
C
666 lines
21 KiB
C
/*
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* Copyright (c) 1997 Jamil J. Weatherbee
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* All rights reserved.
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*
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer
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* in this position and unchanged.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. The name of the author may not be used to endorse or promote products
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* derived from this software without specific prior written permission
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Industrial Computer Source model AIO8-P
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* 8 channel, moderate speed analog to digital converter board with
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* 128 channel MUX capability via daisy chained AT-16P units
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* alog.c, character device driver, last revised December 9 1997
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* See http://www.indcompsrc.com/products/data/html/aio8g-p.html
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* http://www.indcompsrc.com/products/data/html/at16-p.html
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*
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* Written by: Jamil J. Weatherbee <jamil@freebsd.org>
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*
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*/
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/* Include Files */
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#include "alog.h"
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#if NALOG > 0
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#include <sys/param.h>
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#include <sys/systm.h>
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#include <sys/proc.h>
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#include <sys/kernel.h>
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#include <sys/conf.h>
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#include <sys/fcntl.h>
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#include <sys/malloc.h>
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#include <sys/buf.h>
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#include <sys/poll.h>
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#include <sys/vnode.h>
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#include <sys/filio.h>
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#include <machine/clock.h>
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#include <i386/isa/isa.h>
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#include <i386/isa/isa_device.h>
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#include <sys/alogio.h>
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#include <sys/dataacq.h>
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#ifdef DEVFS
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#include <sys/devfsext.h>
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#endif
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/* Local Defines */
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/* Tests have shown that increasing the fifo size
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* beyond 64 entries for this particular piece of hardware is
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* unproductive */
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#ifdef ALOG_FIFOSIZE
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#define FIFOSIZE ALOG_FIFOSIZE
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#else
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#define FIFOSIZE 64
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#endif
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#ifdef ALOG_FIFO_TRIGGER
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#define DEFAULT_FIFO_TRIGGER ALOG_FIFO_TRIGGER
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#else
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#define DEFAULT_FIFO_TRIGGER 1
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#endif
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#ifdef ALOG_CHANNELS
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#define NUMCHANNELS ALOG_CHANNELS
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#else
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#define NUMCHANNELS 128
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#endif
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#ifdef ALOG_TIMO
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#define READTIMO ALOG_TIMO
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#else
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#define READTIMO (MAX_MICRO_PERIOD*NUMCHANNELS/500000*hz)
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#endif
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#define CDEV_MAJOR 86
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#define NUMPORTS 8
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#define MAXUNITS 2
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#define NUMIMUXES 8
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#define ADLOW 0x0
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#define ADHIGH 0x1
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#define STATUS 0x2
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#define CNTR0 0x4
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#define CNTR1 0x5
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#define CNTR2 0x6
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#define CNTRCNTRL 0x7
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#define DEVFORMAT "alog%d%c%d"
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#define CLOCK2FREQ 4.165
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#define MIN_MICRO_PERIOD 25
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#define MAX_MICRO_PERIOD (65535/CLOCK2FREQ*PRIMARY_STATES)
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#define DEFAULT_MICRO_PERIOD MAX_MICRO_PERIOD
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#define READMAXTRIG 0.75*FIFOSIZE
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#define ALOGPRI PRIBIO
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#define ALOGMSG "alogio"
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#define PRIMARY_STATES 2 /* Setup and conversion are clock tick consuming */
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#define STATE_SETUP 0
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#define STATE_CONVERT 1
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#define STATE_READ 2
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/* Notes on interrupt driven A/D conversion:
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* On the AIO8-P, interrupt driven conversion (the only type supported by this
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* driver) is facilitated through 8253 timer #2. In order for interrrupts to
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* be generated you must connect line 6 to line 24 (counter 2 output to
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* interrupt input) and line 23 to line 29 (counter 2 gate to +5VDC).
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* Due to the design of the AIO8-P this precludes the use of programmable
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* gain control.
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*/
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/* mode bits for the status register */
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#define EOC 0x80
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#define IEN 0x08
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#define IMUXMASK 0x07
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#define EMUXMASK 0xf0
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/* mode bits for counter controller */
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#define LD2MODE4 0xb8
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/* Minor allocations:
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* UCCCCMMM
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* U: board unit (0-1)
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* CCCC: external multiplexer channel (0-15) (on AT-16P units)
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* MMM: internal multiplexer channel (0-7) (on AIO8-P card)
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*/
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#define UNIT(dev) ((minor(dev) & 0x80) >> 7)
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#define CHANNEL(dev) (minor(dev) & 0x7f)
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#define EMUX(chan) ((chan & 0x78) >> 3)
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#define EMUXMAKE(chan) ((chan & 0x78) << 1)
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#define IMUX(chan) (chan & 0x07)
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#define LMINOR(unit, chan) ((unit << 7)+chan)
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/* port statuses */
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#define STATUS_UNUSED 0
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#define STATUS_INUSE 1
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#define STATUS_STOPPED 2
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#define STATUS_INIT 3
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/* Type definitions */
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typedef struct
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{
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short status; /* the status of this chan */
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struct selinfo readpoll; /* the poll() info */
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u_short fifo[FIFOSIZE]; /* fifo for this chan */
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int fifostart, fifoend; /* the ptrs showing where info is stored in fifo */
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int fifosize, fifotrig; /* the current and trigger size of the fifo */
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void *devfs_token; /* the devfs token for this chan */
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int nextchan;
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} talog_chan;
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typedef struct
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{
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struct isa_device *isaunit; /* ptr to isa device information */
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talog_chan chan[NUMCHANNELS]; /* the device nodes */
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int curchan; /* the current chan being intr handled */
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int firstchan; /* the first chan to go to in list */
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int state; /* is the node in setup or convert mode */
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long microperiod; /* current microsecond period setting */
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u_char perlo, perhi; /* current values to send to clock 2 after every intr */
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} talog_unit;
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/* Function Prototypes */
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static int alog_probe (struct isa_device *idp); /* Check for alog board */
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static int alog_attach (struct isa_device *idp); /* Take alog board */
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static int sync_clock2 (int unit, long period); /* setup clock 2 period */
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static int putfifo (talog_chan *pchan, u_short fifoent);
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static int alog_open (dev_t dev, int oflags, int devtype, struct proc *p);
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static int alog_close (dev_t dev, int fflag, int devtype, struct proc *p);
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static int alog_ioctl (dev_t dev, int cmd, caddr_t data,
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int fflag, struct proc *p);
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static int alog_read (dev_t dev, struct uio *uio, int ioflag);
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static int alog_poll (dev_t dev, int events, struct proc *p);
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/* Global Data */
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static int alog_devsw_installed = 0; /* Protect against reinit multiunit */
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static talog_unit *alog_unit[NALOG]; /* data structs for each unit */
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/* Character device switching structure */
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static struct cdevsw alog_cdevsw = { alog_open, alog_close, alog_read,
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nowrite, alog_ioctl, nostop, noreset,
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nodevtotty, alog_poll, nommap,
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nostrategy, "alog", NULL, -1 };
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/* Structure expected to tell how to probe and attach the driver
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* Must be published externally (cannot be static) */
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struct isa_driver alogdriver = { alog_probe, alog_attach, "alog", 0 };
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/* handle the ioctls */
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static int alog_ioctl (dev_t dev, int cmd, caddr_t data,
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int fflag, struct proc *p)
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{
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int unit = UNIT(dev);
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int chan = CHANNEL(dev);
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talog_unit *info = alog_unit[unit];
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int s;
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switch (cmd)
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{
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case FIONBIO: return 0; /* this allows for non-blocking ioctls */
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case AD_NCHANS_GET: *(int *)data = NUMCHANNELS;
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return 0;
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case AD_FIFOSIZE_GET: *(int *)data = FIFOSIZE;
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return 0;
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case AD_FIFO_TRIGGER_GET: s = spltty();
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*(int *)data = info->chan[chan].fifotrig;
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splx(s);
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return 0;
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case AD_FIFO_TRIGGER_SET:
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s = spltty();
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if ((*(int *)data < 1) || (*(int *)data > FIFOSIZE))
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{
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splx(s);
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return EPERM;
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}
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info->chan[chan].fifotrig = *(int *)data;
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splx(s);
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return 0;
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case AD_STOP: s = spltty();
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info->chan[chan].status = STATUS_STOPPED;
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splx(s);
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return 0;
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case AD_START: s = spltty();
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info->chan[chan].status = STATUS_INUSE;
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splx(s);
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return 0;
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case AD_MICRO_PERIOD_SET:
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s = spltty();
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if (sync_clock2 (unit, *(long *) data))
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{
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splx(s);
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return EPERM;
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}
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splx(s);
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return 0;
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case AD_MICRO_PERIOD_GET: s = spltty();
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*(long *)data = info->microperiod;
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splx(s);
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return 0;
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}
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return ENOTTY;
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}
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/* handle poll() based read polling */
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static int alog_poll (dev_t dev, int events, struct proc *p)
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{
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int unit = UNIT(dev);
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int chan = CHANNEL(dev);
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talog_unit *info = alog_unit[unit];
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int s;
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s = spltty();
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if (events & (POLLIN | POLLRDNORM)) /* if polling for any/normal data */
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if (info->chan[chan].fifosize >= info->chan[chan].fifotrig)
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{
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splx(s);
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return events & (POLLIN | POLLRDNORM); /* ready for any/read */
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}
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else
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{
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/* record this request */
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selrecord (p, &(info->chan[chan].readpoll));
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splx(s);
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return 0; /* not ready, yet */
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}
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splx(s);
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return 0; /* not ready (any I never will be) */
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}
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/* how to read from the board */
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static int alog_read (dev_t dev, struct uio *uio, int ioflag)
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{
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int unit = UNIT(dev);
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int chan = CHANNEL(dev);
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talog_unit *info = alog_unit[unit];
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int s, oldtrig, toread, err = 0;
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s = spltty();
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oldtrig = info->chan[chan].fifotrig; /* save official trigger value */
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while (uio->uio_resid >= sizeof(u_short)) /* while uio has space */
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{
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if (!info->chan[chan].fifosize) /* if we have an empty fifo */
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{
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if (ioflag & IO_NDELAY) /* exit if we are non-blocking */
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{ err = EWOULDBLOCK;
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break;
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}
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/* Start filling fifo on first blocking read */
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if (info->chan[chan].status == STATUS_INIT)
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info->chan[chan].status = STATUS_INUSE;
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/* temporarily adjust the fifo trigger to be optimal size */
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info->chan[chan].fifotrig =
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min (READMAXTRIG, uio->uio_resid / sizeof(u_short));
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/* lets sleep until we have some io available or timeout */
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err = tsleep (&(info->chan[chan].fifo), ALOGPRI | PCATCH, ALOGMSG,
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info->chan[chan].fifotrig*READTIMO);
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if (err == EWOULDBLOCK)
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{ printf (DEVFORMAT ": read timeout\n", unit,
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'a'+EMUX(chan), IMUX(chan));
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}
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if (err == ERESTART) err = EINTR; /* don't know how to restart */
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if (err) break; /* exit if any kind of error or signal */
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}
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/* ok, now if we got here there is something to read from the fifo */
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/* calculate how many entries we can read out from the fifostart
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* pointer */
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toread = min (uio->uio_resid / sizeof(u_short),
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min (info->chan[chan].fifosize,
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FIFOSIZE - info->chan[chan].fifostart));
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/* perform the move, if there is an error then exit */
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if (err = uiomove((caddr_t)
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&(info->chan[chan].fifo[info->chan[chan].fifostart]),
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toread * sizeof(u_short), uio)) break;
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info->chan[chan].fifosize -= toread; /* fifo this much smaller */
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info->chan[chan].fifostart += toread; /* we got this many more */
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if (info->chan[chan].fifostart == FIFOSIZE)
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info->chan[chan].fifostart = 0; /* wrap around fifostart */
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}
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info->chan[chan].fifotrig = oldtrig; /* restore trigger changes */
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splx(s);
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return err;
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}
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/* open a channel */
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static int alog_open (dev_t dev, int oflags, int devtype, struct proc *p)
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{
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int unit = UNIT(dev); /* get unit no */
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int chan = CHANNEL(dev); /* get channel no */
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talog_unit *info;
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int s; /* priority */
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int cur;
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if ((unit >= NALOG) || (unit >= MAXUNITS) || (chan >= NUMCHANNELS))
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return ENXIO; /* unit and channel no ok ? */
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if (!alog_unit[unit]) return ENXIO; /* unit attached */
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info = alog_unit[unit]; /* ok, this is valid now */
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if (info->chan[chan].status) return EBUSY; /* channel busy */
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if (oflags & FREAD)
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{
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s=spltty();
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info->chan[chan].status = STATUS_INIT; /* channel open, read waiting */
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info->chan[chan].fifostart = info->chan[chan].fifoend =
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info->chan[chan].fifosize = 0;/* fifo empty */
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info->chan[chan].fifotrig = DEFAULT_FIFO_TRIGGER;
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if (info->firstchan < 0) /* if empty chain */
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{
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info->firstchan = info->curchan = chan; /* rev up the list */
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info->chan[chan].nextchan = -1; /* end of the list */
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}
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else /* non empty list must insert */
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{
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if (chan < info->firstchan) /* this one must become first in list */
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{
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info->chan[chan].nextchan = info->firstchan;
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info->firstchan = chan;
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}
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else /* insert this one as second - last in chan list */
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{
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cur = info->firstchan;
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/* traverse list as long as cur is less than chan and cur is
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* not last in list */
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while ((info->chan[cur].nextchan < chan) &&
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(info->chan[cur].nextchan >= 0))
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cur = info->chan[cur].nextchan;
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/* now cur should point to the entry right before yours */
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info->chan[chan].nextchan = info->chan[cur].nextchan;
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info->chan[cur].nextchan = chan; /* insert yours in */
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}
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}
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splx(s);
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return 0; /* open successful */
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}
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return EPERM; /* this is a read only device */
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}
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/* close a channel */
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static int alog_close (dev_t dev, int fflag, int devtype, struct proc *p)
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{
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int unit = UNIT(dev);
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int chan = CHANNEL(dev);
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talog_unit *info = alog_unit[unit];
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int s;
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int cur;
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s = spltty();
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info->chan[chan].status = STATUS_UNUSED;
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/* what if we are in the middle of a conversion ?
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* then smoothly get us out of it: */
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if (info->curchan == chan)
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{ /* if we are last in list set curchan to first in list */
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if ((info->curchan = info->chan[chan].nextchan) < 0)
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info->curchan = info->firstchan;
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info->state = STATE_SETUP;
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}
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/* if this is the first channel, then make the second channel the first
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* channel (note that if this is also the only channel firstchan becomes
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* -1 and so the list is marked as empty */
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if (chan == info->firstchan)
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info->firstchan = info->chan[chan].nextchan;
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else /* ok, so there must be at least 2 channels (and it is not the first) */
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{
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cur = info->firstchan;
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/* find the entry before it (which must exist if you are closing) */
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while (info->chan[cur].nextchan < chan)
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cur = info->chan[cur].nextchan;
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/* at this point we must have the entry before ours */
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info->chan[cur].nextchan = info->chan[chan].nextchan; /* give our link */
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}
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splx(s);
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return 0; /* close always successful */
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}
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/* The probing routine - returns number of bytes needed */
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static int alog_probe (struct isa_device *idp)
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{
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int unit = idp->id_unit; /* this device unit number */
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int iobase = idp->id_iobase; /* the base address of the unit */
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int addr;
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if ((unit < 0) || (unit >= NALOG) || (unit >= MAXUNITS))
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{
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printf ("alog: invalid unit number (%d)\n", unit);
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return 0;
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}
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/* the unit number is ok, lets check if used */
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if (alog_unit[unit])
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{
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printf ("alog: unit (%d) already attached\n", unit);
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return 0;
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}
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if (inb (iobase+STATUS) & EOC) return 0; /* End of conv bit should be 0 */
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for (addr=0; addr<NUMIMUXES; addr++)
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{
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outb (iobase+STATUS, EMUXMASK|addr);/* output ones to upper nibbl+addr */
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/* get back a zero in MSB and the addr where you put it */
|
|
if ((inb (iobase+STATUS) & (EOC|IMUXMASK)) != addr) return 0;
|
|
}
|
|
|
|
return NUMPORTS; /* this device needs this many ports */
|
|
}
|
|
|
|
|
|
/* setup the info structure correctly for reloading clock 2 after interrupt */
|
|
static int sync_clock2 (int unit, long period)
|
|
{
|
|
int clockper;
|
|
talog_unit *info = alog_unit[unit];
|
|
|
|
if ((period > MAX_MICRO_PERIOD) || (period < MIN_MICRO_PERIOD))
|
|
return -1; /* error period too long */
|
|
info->microperiod = period; /* record the period */
|
|
clockper = (CLOCK2FREQ * period) / PRIMARY_STATES;
|
|
info->perlo = clockper & 0xff; /* least sig byte of clock period */
|
|
info->perhi = ((clockper & 0xff00) >> 8); /* most sig byte of clock period */
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* The attachment routine - returns true on success */
|
|
static int alog_attach (struct isa_device *idp)
|
|
{
|
|
int unit = idp->id_unit; /* this device unit number */
|
|
int iobase = idp->id_iobase; /* the base address of the unit */
|
|
talog_unit *info; /* pointer to driver specific info for unit */
|
|
int chan; /* the channel used for creating devfs nodes */
|
|
|
|
if (!(info = malloc(sizeof(*info), M_DEVBUF, M_NOWAIT)))
|
|
{
|
|
printf ("alog%d: cannot allocate driver storage\n", unit);
|
|
return 0;
|
|
}
|
|
alog_unit[unit] = info; /* make sure to save the pointer */
|
|
bzero (info, sizeof(*info)); /* clear info structure to all false */
|
|
info->isaunit = idp; /* store ptr to isa device information */
|
|
sync_clock2 (unit, DEFAULT_MICRO_PERIOD); /* setup perlo and perhi */
|
|
info->firstchan = -1; /* channel lists are empty */
|
|
|
|
/* insert devfs nodes */
|
|
|
|
#ifdef DEVFS
|
|
for (chan=0; chan<NUMCHANNELS; chan++)
|
|
info->chan[chan].devfs_token =
|
|
devfs_add_devswf(&alog_cdevsw, LMINOR(unit, chan), DV_CHR,
|
|
UID_ROOT, GID_WHEEL, 0400, DEVFORMAT,
|
|
unit, 'a'+EMUX(chan), IMUX(chan));
|
|
#endif
|
|
|
|
printf ("alog%d: %d channels, %d bytes/FIFO, %d entry trigger\n",
|
|
unit, NUMCHANNELS, FIFOSIZE*sizeof(u_short),
|
|
DEFAULT_FIFO_TRIGGER);
|
|
alogintr (unit); /* start the periodic interrupting process */
|
|
return 1; /* obviously successful */
|
|
}
|
|
|
|
|
|
/* Unit interrupt handling routine (interrupts generated by clock 2) */
|
|
void alogintr (int unit)
|
|
{
|
|
talog_unit *info = alog_unit[unit];
|
|
int iobase = info->isaunit->id_iobase;
|
|
u_short fifoent;
|
|
|
|
|
|
if (info->firstchan >= 0) /* ? is there even a chan list to traverse */
|
|
switch (info->state)
|
|
{
|
|
case STATE_READ:
|
|
if (info->chan[info->curchan].status == STATUS_INUSE)
|
|
{
|
|
if (inb (iobase+STATUS) & EOC) /* check that conversion finished */
|
|
printf (DEVFORMAT ": incomplete conversion\n", unit,
|
|
'a'+EMUX(info->curchan), IMUX(info->curchan));
|
|
else /* conversion is finished (should always be) */
|
|
{
|
|
fifoent = (inb (iobase+ADHIGH) << 8) +
|
|
inb (iobase+ADLOW);
|
|
if (putfifo(&(info->chan[info->curchan]), fifoent))
|
|
{
|
|
printf (DEVFORMAT ": fifo overflow\n", unit,
|
|
'a'+EMUX(info->curchan), IMUX(info->curchan));
|
|
}
|
|
if (info->chan[info->curchan].fifosize >=
|
|
info->chan[info->curchan].fifotrig)
|
|
{
|
|
/* if we've reached trigger levels */
|
|
selwakeup (&(info->chan[info->curchan].readpoll));
|
|
wakeup (&(info->chan[info->curchan].fifo));
|
|
}
|
|
}
|
|
}
|
|
/* goto setup state for next channel on list */
|
|
if ((info->curchan = info->chan[info->curchan].nextchan) < 0)
|
|
info->curchan = info->firstchan;
|
|
/* notice lack of break here this implys a STATE_SETUP */
|
|
case STATE_SETUP: /* set the muxes and let them settle */
|
|
#if NUMCHANNELS > NUMIMUXES /* only do this if using external muxes */
|
|
outb (iobase+STATUS,
|
|
EMUXMAKE(info->curchan) | IMUX(info->curchan) | IEN);
|
|
info->state = STATE_CONVERT;
|
|
break;
|
|
#endif
|
|
case STATE_CONVERT:
|
|
outb (iobase+STATUS,
|
|
EMUXMAKE(info->curchan) | IMUX(info->curchan) | IEN);
|
|
outb (iobase+ADHIGH, 0); /* start the conversion */
|
|
info->state = STATE_READ;
|
|
break;
|
|
}
|
|
else /* this is kind of like an idle mode */
|
|
{
|
|
outb (iobase+STATUS, IEN); /* no list keep getting interrupts though */
|
|
/* since we have no open channels spin clock rate down to
|
|
* minimum to save interrupt overhead */
|
|
outb (iobase+CNTRCNTRL, LD2MODE4); /* counter 2 to mode 4 strobe */
|
|
outb (iobase+CNTR2, 0xff); /* longest period we can generate */
|
|
outb (iobase+CNTR2, 0xff);
|
|
return;
|
|
}
|
|
outb (iobase+CNTRCNTRL, LD2MODE4); /* counter 2 to mode 4 strobe */
|
|
outb (iobase+CNTR2, info->perlo); /* low part of the period count */
|
|
outb (iobase+CNTR2, info->perhi); /* high part of the period count */
|
|
}
|
|
|
|
|
|
/* this will put an entry in fifo, returns 1 if the first item in
|
|
* fifo was wiped (overflow) or 0 if everything went fine */
|
|
static int putfifo (talog_chan *pchan, u_short fifoent)
|
|
{
|
|
pchan->fifo[pchan->fifoend] = fifoent; /* insert the entry in */
|
|
pchan->fifoend++; /* one more in fifo */
|
|
if (pchan->fifoend == FIFOSIZE) pchan->fifoend = 0; /* wrap around */
|
|
/* note: I did intend to write over the oldest entry on overflow */
|
|
if (pchan->fifosize == FIFOSIZE) /* overflowing state already */
|
|
{
|
|
pchan->fifostart++;
|
|
if (pchan->fifostart == FIFOSIZE) pchan->fifostart = 0;
|
|
return 1; /* we overflowed */
|
|
}
|
|
pchan->fifosize++; /* actually one bigger, else same size */
|
|
return 0; /* went in just fine */
|
|
}
|
|
|
|
|
|
/* Driver initialization */
|
|
static void alog_drvinit (void *unused)
|
|
{
|
|
dev_t dev; /* Type for holding device major/minor numbers (int) */
|
|
|
|
if (!alog_devsw_installed)
|
|
{
|
|
dev = makedev (CDEV_MAJOR, 0); /* description of device major */
|
|
cdevsw_add (&dev, &alog_cdevsw, NULL); /* put driver in cdev table */
|
|
alog_devsw_installed=1;
|
|
}
|
|
}
|
|
|
|
/* System initialization call instance */
|
|
|
|
SYSINIT (alogdev, SI_SUB_DRIVERS, SI_ORDER_MIDDLE+CDEV_MAJOR,
|
|
alog_drvinit,NULL);
|
|
|
|
#endif
|