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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | #include "kernel/kern.h" |
| 2 | |||
| 3 | #define BASE_ADDRESS 0xDC00 // Base address of PCI card |
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| 4 | #define MAX_SIGNAL 650 // Max output signal |
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| 5 | |||
| 6 | int i; |
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| 7 | int b; |
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| 8 | short tempNbr1, tempNbr2, tempNbr3, tempNbr4, tempNbr5; |
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| 9 | |||
| 10 | int RTDAC4_open() { |
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| 11 | |||
| 12 | printk("Init RT-DAC4/PCI - Base Address (%x)\n",(int)(BASE_ADDRESS)); |
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| 13 | |||
| 14 | return 0; |
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| 15 | } |
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| 16 | |||
| 17 | int RTDAC4_close() { |
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| 18 | |||
| 19 | return 0; |
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| 20 | } |
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| 21 | |||
| 22 | /* Reads state information into vector buf. |
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| 23 | Angle address: BASE_ADDRESS + 8 (16 bits) |
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| 24 | Cart address: BASE_ADDRESS + 12 (16 bits) |
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| 25 | */ |
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| 26 | int RTDAC4_read_states(char *buf) { |
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| 27 | for (i=0; i<2; i++) { |
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| 28 | *(buf + i) = inp(BASE_ADDRESS + 4 +8 + i); |
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| 29 | *(buf + 2 + i) = inp(BASE_ADDRESS + 4 + 12 + i); |
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| 30 | } |
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| 31 | return 0; |
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| 32 | } |
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| 33 | |||
| 34 | /* Control the electric motor. |
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| 35 | Max output when testing: 650. |
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| 36 | Max to motor: 1023. |
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| 37 | */ |
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| 38 | int RTDAC4_set_motor(const short *buff) { |
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| 39 | |||
| 40 | unsigned short dir; |
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| 41 | unsigned short brake; |
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| 42 | unsigned short readBack; |
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| 43 | |||
| 44 | if (BASE_ADDRESS == 0) |
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| 45 | return 0; |
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| 46 | |||
| 47 | dir = inp(BASE_ADDRESS + 4*0x24); // ? |
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| 48 | brake = inp(BASE_ADDRESS + 4*0x25); // ? |
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| 49 | |||
| 50 | tempNbr1 = (short) buff[0]; |
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| 51 | tempNbr2 = (short) buff[1]; |
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| 52 | |||
| 53 | if(abs(tempNbr1) <= MAX_SIGNAL) { |
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| 54 | outpw(BASE_ADDRESS + 4*0x21, ((short) abs((int) tempNbr1))); |
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| 55 | readBack = inpw(BASE_ADDRESS + 4*0x21); |
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| 56 | if (readBack == 0) |
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| 57 | brake = brake | 0x01; |
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| 58 | else |
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| 59 | brake = brake & 0xFE; |
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| 60 | if ((short) tempNbr1 < 0) |
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| 61 | dir = dir | 0x01; |
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| 62 | else |
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| 63 | dir = dir & 0xFE; |
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| 64 | } |
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| 65 | |||
| 66 | if(abs(tempNbr2) <= MAX_SIGNAL) { |
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| 67 | outpw(BASE_ADDRESS + 4*0x22, ((short) abs((int) tempNbr2))); |
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| 68 | readBack = inpw(BASE_ADDRESS + 4*0x22); |
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| 69 | if (readBack == 0) |
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| 70 | brake = brake | 0x02; |
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| 71 | else |
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| 72 | brake = brake & 0xFD; |
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| 73 | if ((short) tempNbr1 < 0) |
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| 74 | dir = dir | 0x02; |
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| 75 | else |
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| 76 | dir = dir & 0xFD; |
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| 77 | } |
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| 78 | |||
| 79 | outpw(BASE_ADDRESS + 4*0x24, dir); |
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| 80 | outpw(BASE_ADDRESS + 4*0x25, brake); |
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| 81 | |||
| 82 | return 0; |
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| 83 | } |
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| 84 | |||
| 85 | int RTDAC4_ioctl(unsigned int request, unsigned long l) { |
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| 86 | |||
| 87 | /** |
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| 88 | * Reset Encoders |
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| 89 | */ |
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| 90 | if(request == 1) { |
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| 91 | unsigned short aux; |
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| 92 | |||
| 93 | tempNbr1 = 0; |
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| 94 | tempNbr2 = 0; |
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| 95 | tempNbr3 = 0; |
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| 96 | tempNbr4 = 0; |
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| 97 | tempNbr5 = 0; |
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| 98 | |||
| 99 | if ( BASE_ADDRESS == 0 ) |
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| 100 | { |
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| 101 | printk("RTDAC4 ERROR: Reset encoders: BASE_ADDRESS = 0\n"); |
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| 102 | return -1; |
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| 103 | } |
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| 104 | |||
| 105 | aux = inp(BASE_ADDRESS + 4*0x05); |
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| 106 | if( tempNbr1 == 0 ) aux = aux & 0x00FE; |
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| 107 | if( tempNbr1 == 1 ) aux = aux | 0x0001; |
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| 108 | if( tempNbr2 == 0 ) aux = aux & 0x00FD; |
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| 109 | if( tempNbr2 == 1 ) aux = aux | 0x0002; |
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| 110 | if( tempNbr3 == 0 ) aux = aux & 0x00FB; |
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| 111 | if( tempNbr3 == 1 ) aux = aux | 0x0004; |
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| 112 | if( tempNbr4 == 0 ) aux = aux & 0x00F7; |
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| 113 | if( tempNbr4 == 1 ) aux = aux | 0x0008; |
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| 114 | if( tempNbr5 == 0 ) aux = aux & 0x00EF; |
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| 115 | if( tempNbr5 == 1 ) aux = aux | 0x0010; |
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| 116 | |||
| 117 | outp(BASE_ADDRESS + 4*0x05, aux); |
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| 118 | |||
| 119 | aux = inp(BASE_ADDRESS + 4*0x05); |
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| 120 | |||
| 121 | return 0; |
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| 122 | } |
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| 123 | |||
| 124 | /** |
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| 125 | * Prescaler. |
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| 126 | */ |
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| 127 | else if(request == 2) { |
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| 128 | tempNbr1 = (short) l; |
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| 129 | |||
| 130 | if ( BASE_ADDRESS == 0 ) { |
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| 131 | return -1; |
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| 132 | } |
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| 133 | |||
| 134 | if( ( tempNbr1 >= 0 ) && ( tempNbr1 <= 63 ) ) |
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| 135 | { |
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| 136 | outp(BASE_ADDRESS + 4*0x18, tempNbr1); |
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| 137 | } |
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| 138 | return 0; |
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| 139 | } |
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| 140 | return 0; |
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| 141 | } |
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| 142 |