diff --git a/src/Makefile b/src/Makefile index 4e1b7dd..ed5c1a3 100644 --- a/src/Makefile +++ b/src/Makefile @@ -670,6 +670,7 @@ hostmot2-objs := \ hal/drivers/mesa-hostmot2/stepgen.o \ hal/drivers/mesa-hostmot2/watchdog.o \ hal/drivers/mesa-hostmot2/pins.o \ + hal/drivers/mesa-hostmot2/led.o \ hal/drivers/mesa-hostmot2/tram.o \ hal/drivers/mesa-hostmot2/raw.o \ hal/drivers/mesa-hostmot2/bitfile.o \ diff --git a/src/hal/drivers/mesa-hostmot2/hostmot2.c b/src/hal/drivers/mesa-hostmot2/hostmot2.c index ea48248..4d1bf40 100644 --- a/src/hal/drivers/mesa-hostmot2/hostmot2.c +++ b/src/hal/drivers/mesa-hostmot2/hostmot2.c @@ -114,6 +114,7 @@ static void hm2_write(void *void_hm2, long period) { hm2_tp_pwmgen_write(hm2); // update Three Phase PWM registers if needed hm2_stepgen_write(hm2); // update stepgen registers if needed hm2_encoder_write(hm2); // update ctrl register if needed + hm2_led_write(hm2); // Update on-board LEDs hm2_raw_write(hm2); } @@ -174,6 +175,7 @@ const char *hm2_get_general_function_name(int gtag) { case HM2_GTAG_PWMGEN: return "PWMGen"; case HM2_GTAG_TRANSLATIONRAM: return "TranslationRAM"; case HM2_GTAG_3PPWM: return "ThreePhasePWM"; + case HM2_GTAG_LED: return "LED"; default: { static char unknown[100]; rtapi_snprintf(unknown, 100, "(unknown-gtag-%d)", gtag); @@ -633,6 +635,10 @@ static int hm2_parse_module_descriptors(hostmot2_t *hm2) { case HM2_GTAG_3PPWM: md_accepted = hm2_tp_pwmgen_parse_md(hm2, md_index); break; + + case HM2_GTAG_LED: + md_accepted = hm2_led_parse_md(hm2, md_index); + break; default: HM2_WARN( diff --git a/src/hal/drivers/mesa-hostmot2/hostmot2.h b/src/hal/drivers/mesa-hostmot2/hostmot2.h index d53456e..06b9c13 100644 --- a/src/hal/drivers/mesa-hostmot2/hostmot2.h +++ b/src/hal/drivers/mesa-hostmot2/hostmot2.h @@ -101,6 +101,7 @@ char **argv_split(gfp_t gfp, const char *str, int *argcp); #define HM2_GTAG_PWMGEN (6) #define HM2_GTAG_TRANSLATIONRAM (11) #define HM2_GTAG_3PPWM (19) +#define HM2_GTAG_LED (128) @@ -640,6 +641,30 @@ typedef struct { u32 *reset_reg; } hm2_watchdog_t; +// +// On-board LEDs +// + +typedef struct { + struct { + struct { + hal_bit_t *cr8; + hal_bit_t *cr7; + hal_bit_t *cr6; + hal_bit_t *cr5; + hal_bit_t *cr4; + hal_bit_t *cr3; + hal_bit_t *cr2; + hal_bit_t *cr1; + } pin ; + } hal ; + + u32 written_byte ; + + u32 led_addr; + u32 *led_reg; + +} hm2_led_t ; // @@ -721,6 +746,7 @@ typedef struct { hm2_stepgen_t stepgen; hm2_ioport_t ioport; hm2_watchdog_t watchdog; + hm2_led_t *led; hm2_raw_t *raw; struct list_head list; @@ -878,6 +904,13 @@ void hm2_watchdog_cleanup(hostmot2_t *hm2); void hm2_watchdog_write(hostmot2_t *hm2); void hm2_watchdog_force_write(hostmot2_t *hm2); +// +// LED functions +// + +int hm2_led_parse_md(hostmot2_t *hm2, int md_index); +void hm2_led_write(hostmot2_t *hm2); + // // the raw interface lets you peek and poke the hostmot2 instance from HAL // diff --git a/src/hal/drivers/mesa-hostmot2/led.c b/src/hal/drivers/mesa-hostmot2/led.c new file mode 100755 index 0000000..c69ce57 --- /dev/null +++ b/src/hal/drivers/mesa-hostmot2/led.c @@ -0,0 +1,171 @@ + +// +// Copyright (C) 2010 Andy Pugh + +// This program is free software; you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation; either version 2 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +// + +// Onboard LED driver for the Mesa FPGA cards + + +#include + +#include "rtapi.h" +#include "rtapi_app.h" +#include "rtapi_string.h" +#include "rtapi_math.h" + +#include "hal.h" + +#include "hal/drivers/mesa-hostmot2/hostmot2.h" + +int hm2_led_parse_md(hostmot2_t *hm2, int md_index) { + + hm2_module_descriptor_t *md = &hm2->md[md_index]; + int r; + + + // + // some standard sanity checks + // + + if (!hm2_md_is_consistent_or_complain(hm2, md_index, 0, 1, 4, 0x0000)) { + HM2_ERR("inconsistent Module Descriptor!\n"); + return -EINVAL; + } + + if (md->instances != 1) { + HM2_ERR( + "There should be one and only one instance of an LED, not loading driver\n"); + return -EINVAL; + } + + + // + // looks good, start initializing + // + + + // allocate the module-global HAL shared memory + hm2->led = (hm2_led_t *)hal_malloc(sizeof(hm2_led_t)); + if (hm2->led == NULL) { + HM2_ERR("out of memory!\n"); + r = -ENOMEM; + goto fail0; + } + hm2->led->led_reg = (u32 *)kmalloc( sizeof(u32), GFP_KERNEL); + if (hm2->led->led_reg == NULL) { + HM2_ERR("out of memory!\n"); + r = -ENOMEM; + goto fail0; + } + + hm2->led->led_addr = md->base_address; + + // export to HAL + // FIXME: r hides the r in enclosing function, and it returns the wrong thing + { + int r; + char name[HAL_NAME_LEN + 2]; + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR1", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr1), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR2", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr2), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR3", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr3), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR4", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr4), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR5", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr5), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR6", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr6), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR7", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr7), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + rtapi_snprintf(name, HAL_NAME_LEN, "%s.led.CR8", hm2->llio->name); + r = hal_pin_bit_new(name, HAL_IN, &(hm2->led->hal.pin.cr8), hm2->llio->comp_id); + if (r < 0) { + HM2_ERR("error adding pin '%s', aborting\n", name); + goto fail1; + } + + } + + return 1; + +fail1: + + kfree(hm2->led->led_reg); + +fail0: + return r; + +} + +void hm2_led_write(hostmot2_t *hm2) { + u32 regval; + regval = ( + (*hm2->led->hal.pin.cr1 << 31) + + (*hm2->led->hal.pin.cr2 << 30) + + (*hm2->led->hal.pin.cr3 << 29) + + (*hm2->led->hal.pin.cr4 << 28) + + (*hm2->led->hal.pin.cr5 << 27) + + (*hm2->led->hal.pin.cr6 << 26) + + (*hm2->led->hal.pin.cr7 << 25) + + (*hm2->led->hal.pin.cr8 << 24) + ); + if (regval != hm2->led->written_byte) { + *hm2->led->led_reg = regval; + hm2->led->written_byte = regval; + hm2->llio->write(hm2->llio, hm2->led->led_addr, hm2->led->led_reg, sizeof(u32)); + } +} + +