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dro.c

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/*
  dro.c

  Modification history:

  12-Jul-2000 WPS put in stupid stuff see FIXME FIXME FIXME.
  15-Jun-2000 WPS changed include asm/io.h to sys/io.h for rtlinux_2_2.
  12-Apr-2000 WPS forced this file to compile on a SUN.
  13-Jan-2000 WPS updated for rtlinux2 :  see etime(),
*/


#ifdef MAIN
#include <stdio.h>              /* printf(), fflush() */
#include <stdlib.h>             /* exit() */
#include <unistd.h>             /* usleep() */
#endif


#include "dro.h"                /* these decls */

#if defined(linux) || defined(rtlinux)

#include <linux/version.h>      /* LINUX_VERSION_CODE, KERNEL_VERSION */

#ifdef DEFINE_EXTERN_BEFORE_IO
/*
  Because of a limitation in gcc (present at least in 2.7.2.1 and below), you
  _have to_ compile any source code that uses these routines with optimisation
  turned on (gcc -O1 or higher), or alternatively #define extern to be
  empty before #including <asm/io.h>.
  */
#define extern
#endif

// Pre 2.2 kernels don't seem to have the KERNEL_VERSION macro.
#ifndef KERNEL_VERSION
#define KERNEL_VERSION(a,b,c) (((a) << 16) + ((b) << 8) + (c))
#endif

/* outb,inb already included by sys/io.h for 2.2 kernels  */
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,2,0)
#include <asm/io.h>             /* outb, inb */
#else
#include <sys/io.h>             /* outb, inb */
#endif


#ifdef rtlinux_2_0
/*
  FIXME FIXME FIXME
  Without these next two lines I could not compile on spinerfem. I would
 get the following insane errors:
 /usr/src/rtlinux-2.0/linux/include/linux/nfs.h:100: storage size of `nfs_program' isn't known
 /usr/src/rtlinux-2.0/linux/include/linux/nfs.h:101: storage size of `nfs_rpcstat' isn't known
 ...
 even though this file has nothing to do with NFS or RPC and nfs.h is not
 included. (It doesn't happen on any other systems or even on spinerfem when
 compiled for regular linux rather than rtlinux.)
*/
struct rpc_program { int i; };
struct rpc_stat { int i; };
#endif


#define inportb(port) inb(port)
#define outportb(port,val) outb(val,port)

#else

#define inportb(port) (0)
#define outportb(port,val) {printf("outportb(%d (0x%X),%d)\n",port,port,val);}

#endif

#define CLOCK_DATA              0x0E
#define CLOCK_SETUP             0x98
#define INPUT_SETUP             0xC1
#define QUAD_X1                 0xA8
#define QUAD_X2                 0xB0
#define QUAD_X4                 0xB8
#define BP_RESET                0x01
#define BP_RESETB               0x81
#define CNTR_RESET              0x02
#define CNTR_RESETB             0x82
#define TRSFRPR_CNTR            0x08
#define TRSFRCNTR_OL            0x90
#define EFLAG_RESET             0x86
#define INDEX_DISABLE           0xE0

static int BASE7266 = 0x200;
static int Present[4] = {1, 1, 1, 1};

#define DATA(x) (BASE7266 + (2 * x))
#define CTRL(x) (BASE7266 + (2 * x) + 1)

/*
   LS7266Init()

   Returns char, masked with axes present
*/
int LS7266Init()
{
  int t;

  for (t = 0; t < 4; t++) {
    /* set present flag to true, clear it later if not there */
    Present[t] = 1;

    /* if even, initialize chip half */
    if (! t % 2) {
      outportb(CTRL(t), INDEX_DISABLE);
      outportb(CTRL(t), EFLAG_RESET);
      outportb(CTRL(t), BP_RESETB);
      outportb(DATA(t), CLOCK_DATA);
      outportb(CTRL(t), CLOCK_SETUP);
      outportb(CTRL(t), INPUT_SETUP);
      outportb(CTRL(t), QUAD_X4);
      outportb(CTRL(t), CNTR_RESETB);

      outportb(CTRL(t), 184);
      outportb(CTRL(t), 135);
      outportb(CTRL(t), 133);
      outportb(CTRL(t), 131);
      outportb(CTRL(t), 193);
      outportb(CTRL(t), 224);
    }

    /* initialize encoder input */
    outportb(CTRL(t), BP_RESET);
    outportb(DATA(t), 3 * t + 1);
    outportb(DATA(t), 3 * t + 2);
    outportb(DATA(t), 3 * t + 3);

    outportb(CTRL(t), TRSFRPR_CNTR);
    outportb(CTRL(t), TRSFRCNTR_OL);
    outportb(CTRL(t), CNTR_RESET);

    outportb(CTRL(t), BP_RESET);
    if (inportb(DATA(t)) != 3 * t + 1) {
      Present[t] = 0;
    }
    if (inportb(DATA(t)) != 3 * t + 2) {
      Present[t] = 0;
    }
    if (inportb(DATA(t)) != 3 * t + 3) {
      Present[t] = 0;
    }
  }

  if (Present[0] || Present[1] || Present[2] || Present[3]) {
    return 0;
  }

  return -1;
}

/*
  LS7266Read()
*/
long LS7266Read(int i)
{
  union pos_tag {
    long l;
    struct byte_tag { char b0; char b1; char b2; char b3;} byte;
  } pos;

  outportb(CTRL(i), TRSFRCNTR_OL);
  outportb(CTRL(i), BP_RESET);
  pos.byte.b0=inportb(DATA(i));
  pos.byte.b1=inportb(DATA(i));
  pos.byte.b2=inportb(DATA(i));
  if (pos.byte.b2 < 0) {
    pos.byte.b3 = -1;
  }
  else {
    pos.byte.b3 = 0;
  }

  return pos.l;
}

/*
  LS7266Write()
*/
void LS7266Write(int i, long in)
{
  union pos_tag {
    long l;
    struct byte_tag { char b0; char b1; char b2; char b3;} byte;
  } pos;

  pos.l = in;
  outportb(CTRL(i), BP_RESET);
  outportb(DATA(i), pos.byte.b0);
  outportb(DATA(i), pos.byte.b1);
  outportb(DATA(i), pos.byte.b2);
  outportb(CTRL(i), TRSFRPR_CNTR);
  outportb(CTRL(i), TRSFRCNTR_OL);
  outportb(CTRL(i), BP_RESET);

  return;
}

#ifdef MAIN

int main(int argc, char *argv[])
{
  int t;

  if (argc == 1) {
    /* no args, so leave BASE7266 as is */
  }
  else if (argc == 2) {
    if (1 != sscanf(argv[1], "%i", &BASE7266)) {
      fprintf(stderr, "invalid board address: %s\n", argv[1]);
      exit(1);
    }
  }
  else {
    fprintf(stderr, "syntax: %s <address>\n", argv[0]);
    exit(1);
  }

#if defined(linux) || defined(rtlinux)
  if (0 != ioperm(BASE7266, 8, 1)) {
    fprintf(stderr, "can't access 7266 chip-- need to be root\n");
    exit(1);
  }
#endif

  if (0 != LS7266Init()) {
    fprintf(stderr, "no card detected\n");
    exit(1);
  }

  printf("board detected at 0x%X\n", BASE7266);
  printf("axes %c%c%c%c\n",
         Present[0] ? 'X' : '-',
         Present[1] ? 'Y' : '-',
         Present[2] ? 'Z' : '-',
         Present[3] ? 'W' : '-');

  while (1) {
    for (t = 0; t < 4; t++) {
      if (Present[t]) {
        printf("%10ld\t", LS7266Read(t));
      }
      else {
        printf("-\t");
      }
    }
    printf("\r");
    fflush(stdout);
    usleep(10000);
  }

  return 0;
}

#endif /* MAIN */

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