sics/site_ansto/hardsup/Digital/hware.c

/* vim: ts=8 sts=2 sw=2 cindent
 */
#include "hware.h"

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <ctype.h>

#define DEFAULT_DEVICE "dev2/port0"

#ifdef REGISTER_LEVEL_PROGRAMMING
#define DEVICE_ID_NUMBER "0x7085"
#define DAQmxFailed(e) ((e) != 0)
#define DAQmxGetExtendedErrorInfo(b, l) snprintf(b, l, "BAD")
#include <osiBus.h>
#include <tstaticDIO.h>
typedef unsigned long uInt32;
/**
 * This structure contains the data for the PCI-6602 card
 */
typedef struct card_t
{
  iBus*       bus;
  tAddressSpace  Bar1;
  tstaticDIO *board;
  unsigned char dev_mask;
} CARD;
#else
#include <NIDAQmx.h>

#define SAMPLE_COUNT 1
#define PORT_RANGE "Dev2/port0"
#define READ_TIMEOUT 2.0
#define WRITE_TIMEOUT 2.0

#define DAQmxErrChk(functionCall) \
  do { if( DAQmxFailed(error=(functionCall)) ) \
    goto Error; } while(0)
#endif

#define BUFFER_SIZE 96

/**
 * This structure encapsulates the data that is private to
 * the implementation of the device
 */
typedef struct device_private_t
{
  /** NIDAQ device number of card */
  int         card_number;
  /** NI channel number on card */
  int         channel_number;
#ifdef REGISTER_LEVEL_PROGRAMMING
  HWARE_VALUE value;
  CARD*       card;
#else
  /** NIDAQ opaque task handle */
  TaskHandle  taskHandle;
  /** NIDAQ opaque task handle for digital output */
  TaskHandle  taskHandle_dout;
  /** Actual physical data value, as returned by NIDAQ read function */
  uInt8       data[BUFFER_SIZE];
  /** previous physical data value */
  uInt8       old_data[BUFFER_SIZE];
  /** number of samples read */
  int32       numRead;
  /** number of bytes per sample */
  int32       bytesPerSamp;
#endif
} DEVICE_PRIVATE;

#ifdef REGISTER_LEVEL_PROGRAMMING
static void initMite(iBus *bus);
static void initCard(pHWARE ptr);
static void initChan(pHWARE ptr);

static CARD* card[10];
#else
#endif

int hware_ctor(const char* device_name, pHWARE* ptr)
{
  pHWARE hware = NULL;
#ifdef REGISTER_LEVEL_PROGRAMMING
  CARD* pci = NULL;
#endif
  int error = 0;
  bool flag = false;
  char text_string[] = DEFAULT_DEVICE;
  const char *name;
  const char *text;

  hware = (DEVICE_PRIVATE*) malloc(sizeof(DEVICE_PRIVATE));
  *ptr = hware;
  memset(hware, 0, sizeof(DEVICE_PRIVATE));

  name = device_name;
  text = text_string;
  while (name && *name)
  {
    if (isspace(*name))
      ++name;
    else if (*name >= '0' && *name <= '9')
    {
      if (flag)
      {
        hware->channel_number = *name - '0';
      }
      else
      {
        hware->card_number = *name - '0';
        flag = true;
      }
    }
    else if (tolower(*name) != *text)
    {
      /* TODO error */
      printf("Device name error: %s (%d,%d)\n",
          device_name,
          hware->channel_number,
          hware->card_number);
      break;
    }
    ++name;
    ++text;
  }

#ifdef REGISTER_LEVEL_PROGRAMMING
  if (card[hware->card_number] == NULL)
  {
    char local_name[40] = "PXI6::1::INSTR";
    FILE* fd = fopen("/proc/nirlpk/lsdaq", "r");
    if (fd)
    {
      bool found = false;
      int count = 0;
      char line[100];
      while (fgets(line, 100, fd))
      {
        if (strstr(line, DEVICE_ID_NUMBER))
        {
          ++count;
          name = strstr(line, "PXI");
          if (name && count == hware->card_number)
          {
            found = true;
            strcpy(local_name, name);
            break;
          }
        }
        if (!found)
        {
          // TODO error
        }
      }
      fclose(fd);
    }

    card[hware->card_number] = (CARD*) malloc(sizeof(CARD));
    memset(card[hware->card_number], 0, sizeof(CARD));
    pci = card[hware->card_number];
    hware->card = pci;

    pci->bus = acquireBoard((tChar*) local_name /* "PXI6::1::INSTR" */);

    if(pci->bus == NULL)
    {
      printf("Error accessing the PCI device \"%s\".  Exiting.\n",
          local_name);
      error = 1;
      goto Error;
    }

    //Intitialise Mite Chip.

    initMite(pci->bus);

    initCard(hware);
  }
  else
  {
    pci = card[hware->card_number];
    hware->card = pci;
  }

  // Mark the counter on this card as in-use
  if (pci->dev_mask & (1 << hware->channel_number))
  {
    // TODO error
  }
  pci->dev_mask |= 1 << hware->channel_number;

  initChan(hware);
#else
  do {
    char local_name[40];
    /*********************************************/
    // Create a DAQmx task
    /*********************************************/
    DAQmxErrChk (DAQmxCreateTask("",&hware->taskHandle));
    DAQmxErrChk (DAQmxCreateTask("",&hware->taskHandle_dout));

    /*********************************************/
    // Create a DAQmx device within the task
    /*********************************************/
    snprintf(local_name, sizeof(local_name),
        "dev%d/line%d:%d",
        hware->card_number,
        hware->channel_number * 32,
        hware->channel_number * 32 + 23);
    DAQmxErrChk (
        DAQmxCreateDIChan(hware->taskHandle,
          local_name,
          "",
          DAQmx_Val_ChanForAllLines));

    /*********************************************/
    // Create the digital output channel within the task
    /*********************************************/
    snprintf(local_name, sizeof(local_name),
        "dev%d/line%d:%d",
        hware->card_number,
        hware->channel_number * 32 + 24,
        hware->channel_number * 32 + 31);
    DAQmxErrChk (
        DAQmxCreateDOChan(hware->taskHandle_dout,
          local_name,
          "",
          DAQmx_Val_ChanForAllLines));
    /*********************************************/
    // Start the DAQmx task
    /*********************************************/
    DAQmxErrChk (DAQmxStartTask(hware->taskHandle));
    DAQmxErrChk (DAQmxStartTask(hware->taskHandle_dout));
  } while (0);
#endif
  hware_write(hware, 0);

  return 0;
Error:
  free(hware);
  *ptr = NULL;
  return error;
}

int hware_read(pHWARE hware, HWARE_VALUE* value)
{
  int error = 0;
  *value = 0;
#ifdef REGISTER_LEVEL_PROGRAMMING
  CARD* pci = hware->card;
  HWARE_VALUE uPattern;
  switch (hware->channel_number)
  {
    case 0:
      uPattern = pci->board->IOPort0Data.readRegister();
      uPattern |= pci->board->IOPort1Data.readRegister() << 8;
      uPattern |= pci->board->IOPort2Data.readRegister() << 16;
      break;
    case 1:
      uPattern = pci->board->IOPort4Data.readRegister();
      uPattern |= pci->board->IOPort5Data.readRegister() << 8;
      uPattern |= pci->board->IOPort6Data.readRegister() << 16;
      break;
    case 2:
      uPattern = pci->board->IOPort8Data.readRegister();
      uPattern |= pci->board->IOPort9Data.readRegister() << 8;
      uPattern |= pci->board->IOPort10Data.readRegister() << 16;
      break;
  }
  *value = uPattern;
#else
  /*********************************************/
  // DAQmx Read Code
  /*********************************************/
  hware->numRead = 0;
  hware->bytesPerSamp = 0;
  error = DAQmxReadDigitalLines (hware->taskHandle,
      SAMPLE_COUNT,
      READ_TIMEOUT,
      DAQmx_Val_GroupByScanNumber,
      hware->data,
      BUFFER_SIZE,
      &hware->numRead,
      &hware->bytesPerSamp,
      NULL);
#if 0
  if (hware->channel_number == 0)
  {
    int i;
    fprintf(stderr, "dev:%d.%d, numRead:%d, bytesPerSamp:%d",
        hware->channel_number,
        hware->channel_number,
        (int) hware->numRead,
        (int) hware->bytesPerSamp);
    for (i = 0; i < hware->bytesPerSamp; ++i)
      fprintf(stderr, ", %02x", hware->data[i]);
    fprintf(stderr, "\n");
    fflush(stderr);
  }
#endif

  if (error == DAQmxErrorSamplesNotYetAvailable)
  {
    printf("Timeout, reading raw data\n");
    error = 0;
  }
  else if (hware_failed(error))
    goto Error;
  else
  {
    int i;
    HWARE_VALUE uPattern;
    uPattern = 0;
    for (i = 0; i < hware->bytesPerSamp; ++i)
      if (hware->data[i])
        uPattern |=  1 << i;
    *value = uPattern;
  }

  return error;
Error:
#endif
  return error;
} /* hware_read */

int hware_write(pHWARE hware, HWARE_VALUE value)
{
  int error = 0;
#ifdef REGISTER_LEVEL_PROGRAMMING
  CARD* pci = hware->card;
  switch (hware->channel_number)
  {
    case 0:
      pci->board->IOPort3Data.writeRegister(value & 0xFF);
      break;
    case 1:
      pci->board->IOPort7Data.writeRegister(value & 0xFF);
      break;
    case 2:
      pci->board->IOPort11Data.writeRegister(value & 0xFF);
      break;
  }
#else
  /*********************************************/
  // DAQmx Write Code
  /*********************************************/
  hware->bytesPerSamp = 8;
  {
    int i;
    // copy the data
    for (i = 0; i < hware->bytesPerSamp; ++i)
      hware->data[i] = (value >> i) & 1;
  }
  error = DAQmxWriteDigitalLines(hware->taskHandle_dout,
      1,
      1,
      WRITE_TIMEOUT,
      DAQmx_Val_GroupByChannel,
      hware->data,
      NULL,
      NULL);
#if 1
  if (hware->channel_number == 0)
  {
    int i;
    fprintf(stderr, "dev:%d.%d, Write: %d",
        hware->card_number,
        hware->channel_number,
        (int) hware->bytesPerSamp);
    for (i = 0; i < hware->bytesPerSamp; ++i)
      fprintf(stderr, ", %02x", hware->data[i]);
    fprintf(stderr, "\n");
    fflush(stderr);
  }
#endif

  if (hware_failed(error))
    goto Error;

  return error;
Error:
#endif
  return error;
} /* hware_write */

/*
 * Select the source
 */

/*
 * Shut down the channel
 */
int hware_dtor(pHWARE* ptr)
{
  if (ptr && *ptr)
  {
    pHWARE hware = *ptr;
#ifdef REGISTER_LEVEL_PROGRAMMING
    CARD* pci =  hware->card;
    switch (hware->channel_number)
    {
      case 0:
        break;
      case 1:
        break;
      case 2:
        break;
      case 3:
        break;
      case 4:
        break;
      case 5:
        break;
    }

    pci->dev_mask &= ~(1 << hware->channel_number);
    if (pci->dev_mask == 0)
    {
      delete pci->board;
      pci->bus->destroyAddressSpace(pci->Bar1);

      releaseBoard(pci->bus);
      card[hware->card_number] = NULL;
      free(pci);
    }
#else
    if (hware->taskHandle != 0)
    {
      /*********************************************/
      // DAQmx Stop Code
      /*********************************************/
      DAQmxStopTask(hware->taskHandle);
      DAQmxClearTask(hware->taskHandle);
      hware->taskHandle = 0;
    }
    if (hware->taskHandle_dout != 0)
    {
      /*********************************************/
      // DAQmx Stop Code
      /*********************************************/
      DAQmxStopTask(hware->taskHandle_dout);
      DAQmxClearTask(hware->taskHandle_dout);
      hware->taskHandle_dout = 0;
    }
#endif

    /* release the storage */
    free(hware);
    *ptr = NULL;
  }
  return 0;
}

bool hware_failed(int error)
{
  if (DAQmxFailed(error))
    return true;
  else
    return false;
}

void hware_errmsg(char* buff, int len)
{
  *buff = '\0';
  DAQmxGetExtendedErrorInfo(buff, len);
}

#ifdef REGISTER_LEVEL_PROGRAMMING
//
//Tell the MITE to link the  BAR1 address to the DAQ Board
//You must initialize the MITE before you write to the rest of the PCI board
void initMite(iBus *bus)
{
  tAddressSpace  Bar0;
  u32 physicalBar1;

  //Skip MITE initialization for PCMCIA boards
  //(which do not have a MITE DMA controller)
  if(!bus->get(kIsPciPxiBus,0)) return;

  Bar0 = bus->createAddressSpace(kPCI_BAR0);

  //Get the physical address of the DAQ board
  physicalBar1 = bus->get(kBusAddressPhysical,kPCI_BAR1);

  // ***** Generic MITE initialization *****
  // Tell the MITE to enable BAR1, where the rest of the board's registers are
  Bar0.write32(0xC0, (physicalBar1 & 0xffffff00L) | 0x80);

  bus->destroyAddressSpace(Bar0);
}

void initCard(pHWARE hware)
{
  CARD* pci = hware->card;
  pci->Bar1 = pci->bus->createAddressSpace(kPCI_BAR1);
  pci->board = new tstaticDIO(pci->Bar1);
  //
  // Set All Digital lines as Input so we don't accidentally double drive an IO pin

  pci->board->IOSelect0.writeDirection(pci->board->IOSelect0.kDirectionInput);
  pci->board->IOSelect1.writeDirection(pci->board->IOSelect1.kDirectionInput);
  pci->board->IOSelect2.writeDirection(pci->board->IOSelect2.kDirectionInput);
  pci->board->IOSelect3.writeDirection(pci->board->IOSelect3.kDirectionInput);

  pci->board->IOSelect4.writeDirection(pci->board->IOSelect4.kDirectionInput);
  pci->board->IOSelect5.writeDirection(pci->board->IOSelect5.kDirectionInput);
  pci->board->IOSelect6.writeDirection(pci->board->IOSelect6.kDirectionInput);
  pci->board->IOSelect7.writeDirection(pci->board->IOSelect7.kDirectionInput);

  pci->board->IOSelect8.writeDirection(pci->board->IOSelect8.kDirectionInput);
  pci->board->IOSelect9.writeDirection(pci->board->IOSelect9.kDirectionInput);
  pci->board->IOSelect10.writeDirection(pci->board->IOSelect10.kDirectionInput);
  pci->board->IOSelect11.writeDirection(pci->board->IOSelect11.kDirectionInput);
}

void initChan(pHWARE hware)
{
  CARD* pci = hware->card;
  /*
   * Set up the channel object
   */
  switch (hware->channel_number)
  {
    case 0:
      pci->board->IOSelect0.writeDirection(pci->board->IOSelect0.kDirectionInput);
      pci->board->IOSelect1.writeDirection(pci->board->IOSelect1.kDirectionInput);
      pci->board->IOSelect2.writeDirection(pci->board->IOSelect2.kDirectionInput);
      pci->board->IOSelect3.writeDirection(pci->board->IOSelect3.kDirectionOutput);
      break;
    case 1:
      pci->board->IOSelect4.writeDirection(pci->board->IOSelect4.kDirectionInput);
      pci->board->IOSelect5.writeDirection(pci->board->IOSelect5.kDirectionInput);
      pci->board->IOSelect6.writeDirection(pci->board->IOSelect6.kDirectionInput);
      pci->board->IOSelect7.writeDirection(pci->board->IOSelect7.kDirectionOutput);
      break;
    case 2:
        pci->board->IOSelect8.writeDirection(pci->board->IOSelect8.kDirectionInput);
        pci->board->IOSelect9.writeDirection(pci->board->IOSelect9.kDirectionInput);
        pci->board->IOSelect10.writeDirection(pci->board->IOSelect10.kDirectionInput);
        pci->board->IOSelect11.writeDirection(pci->board->IOSelect11.kDirectionOutput);
        break;
  }
}
#else
#endif