---

dma.c

Go to the documentation of this file.

/*
 Filename: dma.c

 This file provides functions needed to access a DMA controller for
 local to/from VME bus transfers. The interface
 is based on the documentation for the VMEchip2 in the MVME162LX Embedded
 Controller Programmer's Reference Guide (MVME162LXPG/D1), with the April 1996 updates. (MVME162LXPG/DIA2) These functions are used within globmem.cc.

 MODIFICATIONS:
 18-Jun-1998 WPS created.

 */


#include <stdlib.h>             /* malloc(), free() */
#ifdef VXWORKS
#include <vxWorks.h>
#include <logLib.h>             /* logMsg() */
#include <taskLib.h>            /* taskDelay() */
#include <tickLib.h>            /* tickGet() */
#include <usrLib.h>             /* d() */
#endif

#include "dma.h"
#include "dbg_mem.h"            /* DEBUG_FREE,DEBUG_MALLOC,DEBUG_CALLOC */

unsigned long DMA_VMEBUS_REQUEST_LEVEL = 0;

/* DMAC Control Register 1, 2-51 MVME162LX Programmer's Guide */
/* DFAIR=4 (Wait for VME Bus Inactive),  */
/* DRELM=(3-2) (VME Bus Release Mode) { 0=BRx&timer,1=timer,2=BRx,3=BRx|timer} */
/* This variable is OR'd with the DMAC Control Register */
unsigned long MVME162_DMA_CONTROL_OPTIONS = 0;

/* DMAC Ton/Toff and VMEbus Global Timeout Control Register, 2-59 MVME162LX Programmer's Guide */
/* TIME OFF = (23-21) */
/* TIME_ON = (20-18) */
/* VGTO = (17-16) */
unsigned long MVME162_DMA_TIMEOUT_OPTIONS = 0;



/* DMAC Command Table Format, 2-48 MVME162LX Programmer's Guide */
struct MVME162_DMAC_COMMAND
{
  unsigned long control_word;
  void *local_bus_address;
  void *vme_bus_address;
  unsigned long byte_count;
  void *next_command;
};


struct DMA_ADDR_INFO
{
  int board_type;
  unsigned long addr;
  unsigned long am;
  int address_decoder;
  int ignore_dma_errors;
};

void *dma_command_list = 0;
int dma_command_started = 0;
int dma_print_errors = 1;

void *testDMAVMEAddress = ((void *) 0x4e00000);
long testDMABufSize = 0x4000;
int testDMABoardType = VX_MVME162_BOARD_TYPE;
static char c = 'a';
void *local_data = 0;
struct DMA_ADDR_INFO *testDMAinfo = 0;
int MVME162_DMA_DELAY_COUNT = 1000;

#define MAX_MVME162_DMAC_COMMANDS (4)
struct MVME162_DMAC_COMMAND
  mvme162_dmac_commands_list1[MAX_MVME162_DMAC_COMMANDS];
struct MVME162_DMAC_COMMAND
  mvme162_dmac_commands_list2[MAX_MVME162_DMAC_COMMANDS];
struct MVME162_DMAC_COMMAND *mvme162_dmac_commands_list =
  mvme162_dmac_commands_list1;
int num_mvme162_dmac_commands = 0;
int startCommandTicks = 0;

/*  Same arguments as d(), unfortunately d seems to be a shell function we can't call under vxworks5.3.*/
int
displayMemory (void *addr, int nunits, int nwidth)
{
  int i;
  for (i = 0; i < nunits * nwidth / 16; i++)
    {
      switch (nwidth)
        {
        case 4:
#ifdef VXWORKS
          logMsg (" %8.8X: %8.8X %8.8X %8.8X %8.8X\n",
                  (((unsigned long) addr) + (i * 16)),
                  (*(unsigned long *) (((unsigned long) addr) + (i * 16))),
                  (*(unsigned long *)
                   (((unsigned long) addr) + (i * 16 + 4))),
                  (*(unsigned long *)
                   (((unsigned long) addr) + (i * 16) + 8)),
                  (*(unsigned long *)
                   (((unsigned long) addr) + (i * 16) + 12)), 0);
#else
          return -1;
#endif
          break;

        default:
          return -1;
        }
    }
  return 0;
}

int
setTestDMAData (char c)
{
  if (0 == local_data)
    {
      local_data = (void *) DEBUG_MALLOC (testDMABufSize);
    }
  memset (local_data, c, testDMABufSize);
}

int dma_switch = 0;

int
testDMA ()
{
  unsigned long ticks = 0;
#ifdef VXWORKS
  ULONG startTicks = tickGet ();
#endif
  if (dma_switch)
    {
      if (mvme162_dmac_commands_list == mvme162_dmac_commands_list1)
        {
          mvme162_dmac_commands_list = mvme162_dmac_commands_list2;
        }
      else
        {
          mvme162_dmac_commands_list = mvme162_dmac_commands_list1;
        }
    }
  printf ("c=%c\n", c);
  setTestDMAData (c);
  c++;
  if (c > 'z')
    {
      c = 'a';
    }

  dma_command_started = 0;

#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
#ifdef VXWORKS
  logMsg (" getDMAInfo %X %d\n", (int) dma_command_list, dma_command_started,
          0, 0, 0, 0);
#endif
#endif
  if (0 == testDMAinfo)
    {
      testDMAinfo =
        getDMAInfo (testDMABoardType, ((unsigned long) testDMAVMEAddress));
    }
  if (0 == testDMAinfo)
    {
      return -1;
    }
#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
#ifdef VXWORKS
  logMsg (" checkForDMADone %X %d\n", (int) dma_command_list,
          dma_command_started, 0, 0, 0, 0);
#endif
#endif
  taskDelay (1);
  taskLock ();
  if (!checkForDMADone (testDMAinfo))
    {
#ifdef VXWORKS
      logMsg (" DMA not Done. %X %d\n", (int) dma_command_list,
              dma_command_started, 0, 0, 0, 0);
#endif
      displayMemory ((void *) 0xfff40030, 8, 4);
      taskUnlock ();
      return -1;
    }
#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
#ifdef VXWORKS
  logMsg (" DMACLearScheduledTransfersList %X %d\n", (int) dma_command_list,
          dma_command_started, 0, 0, 0, 0);
#endif
#endif
  if (DMAClearScheduledTransfersList (testDMAinfo) < 0)
    {
#ifdef VXWORKS
      logMsg (" Can't clear scheduled DMA transfer list. %X %d\n",
              (int) dma_command_list, dma_command_started, 0, 0, 0, 0);
#endif
      freeDMAInfo (testDMAinfo);
      testDMAinfo = 0;
      taskUnlock ();
      return -1;
    }
#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
#ifdef VXWORKS
  logMsg (" DMASheduleLocalToVMETransfer %X %d\n", (int) dma_command_list,
          dma_command_started, 0, 0, 0, 0);
#endif
#endif
  if (DMAScheduleLocalToVMETransfer
      (testDMAinfo, testDMAVMEAddress, local_data, testDMABufSize) < 0)
    {
#ifdef VXWORKS
      logMsg (" Can't schedule DMA transfer. %X %d\n", (int) dma_command_list,
              dma_command_started, 0, 0, 0, 0);
#endif
      freeDMAInfo (testDMAinfo);
      testDMAinfo = 0;
      taskUnlock ();
      return -1;
    }
#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
#ifdef VXWORKS
  logMsg (" DMAStartTransfers %X %d\n", (int) dma_command_list,
          dma_command_started, 0, 0, 0, 0);
#endif
#endif
  if (DMAStartTransfers (testDMAinfo) < 0)
    {
#ifdef VXWORKS
      logMsg (" Can't start DMA transfer. %X %d\n", (int) dma_command_list,
              dma_command_started, 0, 0, 0, 0);
#endif
      freeDMAInfo (testDMAinfo);
      testDMAinfo = 0;
      taskUnlock ();
      return -1;
    }
#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
#ifdef VXWORKS
  logMsg (" checkForDMADone  %X %d\n", (int) dma_command_list,
          dma_command_started, 0, 0, 0, 0);
#endif
#endif
  while (ticks < 100)
    {
      switch (checkForDMADone (testDMAinfo))
        {
        case 0:
#ifdef VERBOSE
          displayMemory ((void *) 0xfff40030, 8, 4);
          displayMemory (mvme162_dmac_commands_list, 8, 4);
#endif
          break;

        case 1:
#ifdef VERBOSE
          displayMemory ((void *) 0xfff40030, 8, 4);
          displayMemory (mvme162_dmac_commands_list, 8, 4);
#endif
          printf ("*((char *)0x%X)=%c\n", testDMAVMEAddress,
                  *((char *) testDMAVMEAddress));
          taskUnlock ();
          return ticks;

        default:
          displayMemory ((void *) 0xfff40000, 64, 4);
          displayMemory (mvme162_dmac_commands_list, 8, 4);
          taskUnlock ();
          return -1;
        }
#ifdef VXWORKS
      ticks = tickGet () - startTicks;
#else
      ticks++;
#endif
    }
#ifdef VERBOSE
  displayMemory ((void *) 0xfff40030, 8, 4);
  displayMemory (mvme162_dmac_commands_list, 8, 4);
  taskUnlock ();
#ifdef VXWORKS
  logMsg ("\ntestDMA finish\n", 0, 0, 0, 0, 0, 0);
#endif
#endif
  printf ("*((char *)0x%X)=%c\n", testDMAVMEAddress,
          *((char *) testDMAVMEAddress));
  return ticks;
}

unsigned long orig_data = 0;
char orig_data_char;

int mvme162_dma_init (struct DMA_ADDR_INFO *info);

struct DMA_ADDR_INFO *
getDMAInfo (int board_type, unsigned long addr)
{
  struct DMA_ADDR_INFO *info = 0;
  unsigned long vme_bus_enable_control_reg;
  unsigned long io_control_reg;
  unsigned long a1;
  unsigned long enda1;
  unsigned long starta1;
  int tries = 0;
  int addr_found = 0;
  unsigned long ticks = 0;
#ifdef VXWORKS
  ULONG startTicks = tickGet ();
#endif
  info =
    (struct DMA_ADDR_INFO *) DEBUG_MALLOC (sizeof (struct DMA_ADDR_INFO));
  if (0 == info)
    {
      return ((struct DMA_ADDR_INFO *) 0);
    }
  info->board_type = board_type;
  info->addr = addr;
  switch (board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      if (0 == info)
        {
          return 0;
        }
      if (addr & 3)
        {
          return 0;
        }
      info->address_decoder = 0;
      info->am = 0;
      info->ignore_dma_errors = 1;
      if (num_mvme162_dmac_commands < 1)
        {
          memset (mvme162_dmac_commands_list, 0,
                  sizeof (struct MVME162_DMAC_COMMAND) *
                  MAX_MVME162_DMAC_COMMANDS);
          num_mvme162_dmac_commands = 0;
        }
      /* Local Bus to VMEbus Enable Control Register, 2-44 MVME162LX Programmer's Guide */
      vme_bus_enable_control_reg =
        (0x0f0000 & *((unsigned long *) 0xFFF4002C));
      if (vme_bus_enable_control_reg & 0x10000) /* Address decoder 1 enabled. */
        {
          /* Local Bus Slave (VMEbus Master) Starting Address/Ending Address Register 1, 2-36 MVME162LX Programmer's Guide */
          a1 = *((unsigned long *) 0xFFF40014);
          enda1 = (0xFFFF0000 & a1);
          starta1 = ((0x0000FFFF & a1) << 16);
          if (addr > starta1 && addr < enda1)
            {
              info->address_decoder = 1;
              /* Local Bus Slave (VMEbus Master) Attribute Register 1, 2-42 MVME162LX Programmer's Guide */
              info->am = 0x3f & *((unsigned long *) 0xfff40028);
#ifdef VXWORKS
              taskDelay (1);
#endif
              addr_found = 1;
            }
        }
      if (vme_bus_enable_control_reg & 0x20000 && !addr_found)  /* Address decoder 2 enabled. */
        {
          /* Local Bus Slave (VMEbus Master) Starting Address/Ending Address Register 2, 2-36 MVME162LX Programmer's Guide */
          a1 = *((unsigned long *) 0xFFF40018);
          enda1 = (0xFFFF0000 & a1);
          starta1 = ((0x0000FFFF & a1) << 16);
          if (addr > starta1 && addr < enda1)
            {
              info->address_decoder = 2;
              /* Local Bus Slave (VMEbus Master) Attribute Register 2, 2-41 MVME162LX Programmer's Guide */
              info->am = 0x3f & (*((unsigned long *) 0xfff40028) >> 8);
#ifdef VXWORKS
              taskDelay (1);
#endif
              addr_found = 1;
            }
        }
      if (vme_bus_enable_control_reg & 0x40000 && !addr_found)  /* Address decoder 3 enabled. */
        {
          /* Local Bus Slave (VMEbus Master) Starting Address/Ending Address Register 3, 2-37 MVME162LX Programmer's Guide */
          a1 = *((unsigned long *) 0xFFF4001C);
          enda1 = (0xFFFF0000 & a1);
          starta1 = ((0x0000FFFF & a1) << 16);
          if (addr > starta1 && addr < enda1)
            {
              info->address_decoder = 1;
              /* Local Bus Slave (VMEbus Master) Attribute Register 3, 2-40 MVME162LX Programmer's Guide */
              info->am = 0x3f & (*((unsigned long *) 0xfff40028) >> 16);
#ifdef VXWORKS
              taskDelay (1);
#endif
              addr_found = 1;
            }
        }
      if (vme_bus_enable_control_reg & 0x80000 && !addr_found)  /* Address decoder 4 enabled. */
        {
          /* Local Bus Slave (VMEbus Master) Starting Address/Ending Address Register 4, 2-38 MVME162LX Programmer's Guide */
          a1 = *((unsigned long *) 0xFFF40020);
          enda1 = (0xFFFF0000 & a1);
          starta1 = ((0x0000FFFF & a1) << 16);
          if (addr > starta1 && addr < enda1)
            {
              info->address_decoder = 1;
              /* Local Bus Slave (VMEbus Master) Attribute Register 4, 2-39 MVME162LX Programmer's Guide */
              info->am = 0x3f & (*((unsigned long *) 0xfff40028) >> 24);
#ifdef VXWORKS
              taskDelay (1);
#endif
              addr_found = 1;
            }
        }
      /* Local Bus to VMEbus I/O Control Register */
      if ((addr & (0xff << 24)) == (0xf0 << 24))        /* A24 space. */
        {
          io_control_reg = *((unsigned long *) 0xfff4002c);
          if (io_control_reg & (1 << 15))
            {
              addr_found = 1;
              info->address_decoder = 6;
              info->am = 0x0c;
            }
        }
      if (addr_found)
        {
          while (!mvme162_dma_init (info) && tries > 10)
            {
#ifdef VXWORKS
              taskDelay (1);
#endif
              tries++;
            }
          return info;
        }


      DEBUG_FREE (info);
      return 0;

    default:
      break;
    }
  return info;
}

int
mvme162_dma_init (struct DMA_ADDR_INFO *info)
{
  int retval = 0;
  unsigned long dmac_status;
  unsigned long addr = info->addr;
  unsigned long ticks = 0;
#ifdef VXWORKS
  ULONG startTicks = tickGet ();
#endif
#ifdef VXWORKS
  taskLock ();
#endif
  orig_data = *((unsigned long *) addr);
  *((unsigned long *) addr) = ~orig_data;
  dma_print_errors = 0;
  while (!checkForDMADone (info) && ticks < 10)
    {
#ifdef VXWORKS
      ticks = tickGet () - startTicks;
#else
      ticks++;
#endif
    }
  DMAClearScheduledTransfersList (info);
  DMAScheduleLocalToVMETransfer (info, (void *) addr, &orig_data, 4);
  DMAStartTransfers (info);
  while (!checkForDMADone (info) && ticks < 10)
    {
#ifdef VXWORKS
      ticks = tickGet () - startTicks;
#else
      ticks++;
#endif
    }
  dma_print_errors = 1;
  /* DMAC Status Register, 2-58 MVME162LX Programmer's Guide */
  dmac_status = *((unsigned long *) 0xFFF40048);
#ifdef VXWORKS
  taskUnlock ();
#endif
  retval = ((dmac_status & 0x7f) == 1)
    && (orig_data == *((unsigned long *) addr));
  if (!retval)
    {
      *((unsigned long *) addr) == orig_data;
    }
  return retval;
}

void
freeDMAInfo (struct DMA_ADDR_INFO *info)
{
  if (0 != info)
    {
      DMAClearScheduledTransfersList (info);
      DEBUG_FREE (info);
    }
}

int
checkForDMADone (struct DMA_ADDR_INFO *info)
{
  unsigned long dmac_status;
  unsigned long dmac_control_word;
  unsigned long dmac_byte_counter;
  unsigned long dmac_table_address_counter;
  int done = 0;
  int error = 0;
  if (info == 0)
    {
      return 0;
    }
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      /* DMAC Status Register, 2-58 MVME162LX Programmer's Guide */
      dmac_status = *((unsigned long *) 0xFFF40048);
      done = dmac_status & 1;
      error = dmac_status & 0x7e;
      if (!done && !error && !dma_command_started)
        {
          /* DMAC Control Register 1, 2-51 MVME162LX Programmer's Guide  */
          dmac_control_word = *((unsigned long *) 0xfff40030);
          /* DTBL = 5 */
          if (dmac_control_word & (1 << 5))
            {
              /* DMAC Table Address Counter, 2-55 MVME162LX Programmer's Guide  */
              dmac_table_address_counter = *((unsigned long *) 0xfff40044);

              /* DMAC Byte Counter, 2-55 MVME162LX Programmer's Guide  */
              dmac_byte_counter = *((unsigned long *) 0xfff40040);
              return (((dmac_table_address_counter & 0x3) != 0)
                      && (dmac_byte_counter == 0));
            }
          else
            {
              /* DMAC Byte Counter, 2-55 MVME162LX Programmer's Guide  */
              dmac_byte_counter = *((unsigned long *) 0xfff40040);
              return (dmac_byte_counter == 0);
            }
        }
      if (error)
        {
          if (!dma_command_started || info->ignore_dma_errors)
            {
              return 1;
            }
#ifdef VXWORKS
          if (dma_print_errors)
            {
              logMsg ("DMA error 0x%X -- %s %s\n", error,
                      (int) ((error & 0x2) ? "(VMEbus ERR)" : ""),
                      (int) ((error & 0x4) ? "(Command Table ERR)" : ""), 0,
                      0, 0);
              if (error & 0x8)
                logMsg ("(DLTO - DMA Local Bus Timeout ERR)\n", 0, 0, 0, 0, 0,
                        0);
              if (error & 0x10)
                logMsg ("(DLOB - DMA Offboard ERR)\n", 0, 0, 0, 0, 0, 0);
              if (error & 0x20)
                logMsg ("(DLPE - DMA Parity ERR)\n", 0, 0, 0, 0, 0, 0);
              if (error & 0x40)
                logMsg ("(DLBE - DMA Unknown ERR)\n", 0, 0, 0, 0, 0, 0);
            }
#endif
          /* Clear DMAC byte counter so next time we'll no we`re done */
          *((unsigned long *) 0xfff40040) = 0;
          dma_command_started = 0;
          return -1;
        }
      if (done || error)
        {
          dma_command_started = 0;
        }
      return done;

    default:
      break;
    }
  return 0;
}

int
DMAScheduleLocalToVMETransfer (struct DMA_ADDR_INFO *info, void *vme_dest,
                               void *local_src, unsigned long bytes)
{
  struct MVME162_DMAC_COMMAND *mvme162_cmd = 0;
  void **next_cmd;

  if (info == 0)
    {
      return -1;
    }
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      mvme162_cmd =
        (struct MVME162_DMAC_COMMAND *)
        &(mvme162_dmac_commands_list[num_mvme162_dmac_commands]);
      num_mvme162_dmac_commands++;
      mvme162_cmd->control_word = 0;
      /* TVME | VINC | LINC */
      mvme162_cmd->control_word |= (1 << 9) | (1 << 10) | (1 << 11);
      mvme162_cmd->control_word &= 0xFFFF;
      mvme162_cmd->control_word &= ~0x3f;
      mvme162_cmd->control_word |= info->am;
      mvme162_cmd->local_bus_address = local_src;
      mvme162_cmd->vme_bus_address = vme_dest;
      mvme162_cmd->byte_count = bytes;
      mvme162_cmd->next_command = (void *) 3;
      if (dma_command_list == 0
          || (((unsigned long) dma_command_list) & 3) != 0)
        {
          dma_command_list = mvme162_cmd;
          /* Table Address Counter, 2-55 MVME162LX Programmer's Guide */
          *((unsigned long *) 0xfff40044) = (unsigned long) dma_command_list;
        }
      else
        {
          next_cmd =
            &((struct MVME162_DMAC_COMMAND *) dma_command_list)->next_command;
          while (*next_cmd != 0 && (((unsigned long) (*next_cmd)) & 3) == 0)
            {
              next_cmd =
                &((struct MVME162_DMAC_COMMAND *) (*next_cmd))->next_command;
            }
          *next_cmd = mvme162_cmd;
        }
      return 0;

    default:
      break;
    }
  return -1;
}

int
DMAScheduleVMEToLocalTransfer (struct DMA_ADDR_INFO *info, void *local_dest,
                               void *vme_src, unsigned long bytes)
{
  struct MVME162_DMAC_COMMAND *mvme162_cmd = 0;
  void **next_cmd;
  unsigned long am = 0;

  if (info == 0)
    {
      return -1;
    }
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      if (num_mvme162_dmac_commands >= MAX_MVME162_DMAC_COMMANDS)
        {
          return -1;
        }
      mvme162_cmd =
        (struct MVME162_DMAC_COMMAND *)
        &(mvme162_dmac_commands_list[num_mvme162_dmac_commands]);
      num_mvme162_dmac_commands++;
      mvme162_cmd->control_word = *((unsigned long *) 0xFFF40034);
      /* VINC | LINC */
      mvme162_cmd->control_word |= (1 << 10) | (1 << 11);
      /* TINC */
      mvme162_cmd->control_word &= ~(1 << 9);
      mvme162_cmd->control_word &= ~(0x3f);
      mvme162_cmd->control_word |= info->am;
      mvme162_cmd->local_bus_address = local_dest;
      mvme162_cmd->vme_bus_address = vme_src;
      mvme162_cmd->byte_count = bytes;
      mvme162_cmd->next_command = (void *) 3;
      if (dma_command_list == 0
          || (((unsigned long) dma_command_list) & 3) != 0)
        {
          dma_command_list = mvme162_cmd;
          /* Table Address Counter, 2-55 MVME162LX Programmer's Guide */
          *((unsigned long *) 0xfff40044) = (unsigned long) dma_command_list;
        }
      else
        {
          next_cmd =
            &((struct MVME162_DMAC_COMMAND *) dma_command_list)->next_command;
          while (*next_cmd != 0 && (((unsigned long) (*next_cmd)) & 3) == 0)
            {
              next_cmd =
                &((struct MVME162_DMAC_COMMAND *) (*next_cmd))->next_command;
            }
          *next_cmd = mvme162_cmd;
        }
      return 0;

    default:
      break;
    }
  return -1;
}

int
DMASingleLocalToVMETransfer (struct DMA_ADDR_INFO *info, void *vme_dest,
                             void *local_src, unsigned long bytes)
{
  unsigned long dmac_control_word = 0;

  if (info == 0)
    {
      return -1;
    }
  dma_command_started = 1;
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      /* Table Address Counter, 2-55 MVME162LX Programmers Guide   */
      *((unsigned long *) 0xfff40044) = 0;

      /* DMAC Local Bus Address Counter, 2-54 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40038) = (unsigned long) local_src;

      /* DMAC VMEbus Address Counter, 2-54  MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff4003c) = (unsigned long) vme_dest;

      /* DMAC Byte Counter, 2-55 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40040) = bytes;

      /* DMAC Control Register 2, 2-52 MVME162LX Programmer's Guide */
      dmac_control_word = *((unsigned long *) 0xfff40034);
      /* VINC = 11, LINC = 10,  TVME=9 */
      dmac_control_word |= (1 << 11) | (1 << 10) | (1 << 9);
      /* INTE = 15,  */
      dmac_control_word &= ~(1 << 15);
      dmac_control_word &= ~(0x3f);
      dmac_control_word |= info->am;
      *((unsigned long *) 0xfff40034) = dmac_control_word;

      /* DMAC Control Register 1, 2-51 MVME162LX Programmer's Guide */
      dmac_control_word = *((unsigned long *) 0xfff40030);
      /* DEN = 6  */
      dmac_control_word |= (1 << 6);
      /* DWB = 13, DTBL = 5 */
      dmac_control_word &= ~(1 << 13) & ~(1 << 5);
      /* Clear status, MPU Status and Interrupt Count Register, 2-57 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40048) = (1 << 11);
      *((unsigned long *) 0xfff40030) = dmac_control_word;
      return 0;

    default:
      break;
    }
  return -1;
}


int
DMASingleVMEToLocalTransfer (struct DMA_ADDR_INFO *info, void *local_dest,
                             void *vme_src, unsigned long bytes)
{
  unsigned long dmac_control_word = 0;
  unsigned long am = 0;

  if (info == 0)
    {
      return -1;
    }
  dma_command_started = 1;
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      /* Table Address Counter, 2-55 MVME162LX Programmers Guide   */
      *((unsigned long *) 0xfff40044) = 0;

      /* DMAC Local Bus Address Counter, 2-54 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40038) = (unsigned long) local_dest;

      /* DMAC VMEbus Address Counter, 2-54  MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff4003c) = (unsigned long) vme_src;

      /* DMAC Byte Counter, 2-55 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40040) = bytes;

      /* DMAC Control Register 2, 2-52 MVME162LX Programmer's Guide */
      dmac_control_word = *((unsigned long *) 0xfff40034);
      /* VINC = 11, LINC = 10 */
      dmac_control_word |= (1 << 11) | (1 << 10);
      /* INTE = 15,  TVME=9  */
      dmac_control_word &= ~(1 << 15) & ~(1 << 9);
      dmac_control_word &= ~(0x3f);
      dmac_control_word |= info->am;
      *((unsigned long *) 0xfff40034) = dmac_control_word;

      /* DMAC Control Register 1, 2-51 MVME162LX Programmer's Guide */
      dmac_control_word = *((unsigned long *) 0xfff40030);
      /* DEN = 6  */
      dmac_control_word |= (1 << 6);
      /* DWB = 13, DTBL = 5 */
      dmac_control_word &= ~(1 << 13) & ~(1 << 5);
      /* Clear status, MPU Status and Interrupt Count Register, 2-57 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40048) = (1 << 11);
      *((unsigned long *) 0xfff40030) = dmac_control_word;
      return 0;

    default:
      break;
    }
  return -1;
}

int
DMAStartTransfers (struct DMA_ADDR_INFO *info)
{
  unsigned long dmac_control_word = 0;
  unsigned long dmac_timeout_reg = 0;
  unsigned long lvreql;
  int i = 0;

  if (info == 0)
    {
      return -1;
    }
  if (!checkForDMADone (info))
    {
      return -1;
    }
  dma_command_started = 1;
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      if (dma_command_list == 0
          || (((unsigned long) dma_command_list) & 3) != 0)
        {
          return -1;
        }
      /* Table Address Counter, 2-55 MVME162LX Programmer's Guide */
      *((unsigned long *) 0xfff40044) = (unsigned long) dma_command_list;

      /* DMAC Control Register 1, 2-51 MVME162LX Programmer's Guide */
      dmac_control_word = *((unsigned long *) 0xfff40030);
      /* Get the normal VME bus Request Level and use it for the DMA requests
         also. */
      lvreql = (dmac_control_word & (3 << 8)) >> 8;
      dmac_control_word &= ~(0xff);
      /* DEN = 6 (Enable DMAC), DTBL = 5(Use Command Table), */
      /* DFAIR=4 (Wait for VME Bus Inactive),  */
      /* DRELM=(3-2) (VME Bus Release Mode) { 0=BRx&timer,1=timer,2=BRx,3=BRx|timer */
      /* DREQL=(0-1) (VMEbus Request Level) */
      dmac_control_word |=
        (1 << 5) | MVME162_DMA_CONTROL_OPTIONS | (0x3 &
                                                  DMA_VMEBUS_REQUEST_LEVEL);
      /* DWB = 13 */
      dmac_control_word &= ~(1 << 13);
      /* DHALT =7 */
      dmac_control_word &= ~(1 << 7) & ~(1 << 6);
      /* Clear MPU status, MPU Status and DMA interrupt Count Register */
      *((unsigned long *) 0xfff40048) = (1 << 11);

      /* Clear byte counter */
      *((unsigned long *) 0xfff40040) = 0;
      /* Set DMA options */
      *((unsigned long *) 0xfff40030) = dmac_control_word;
      /* Clear byte counter */
      *((unsigned long *) 0xfff40040) = 0;
      /* DMAC Ton/Toff and VMEbus Global Timeout Control Register, 2-59 MVME162LX Programmer's Guide */
      dmac_timeout_reg = *((unsigned long *) 0xfff4004c);
      dmac_timeout_reg &= ~(0xff << 16);
      dmac_timeout_reg |= MVME162_DMA_TIMEOUT_OPTIONS;
      *((unsigned long *) 0xfff4004c) = dmac_timeout_reg;
      /* Check that the settings are still correct. */
      if (*((unsigned long *) 0xfff40044) !=
          ((unsigned long) dma_command_list)
          || *((unsigned long *) 0xfff40030) != dmac_control_word)
        {
          return -1;
        }
      /* Enable DMA */
      dmac_control_word |= (1 << 6);
      *((unsigned long *) 0xfff40030) = dmac_control_word;
#ifdef VXWORKS
      startCommandTicks = tickGet ();
#endif
      return 0;

    default:
      break;
    }
  return -1;
}

int
DMAClearScheduledTransfersList (struct DMA_ADDR_INFO *info)
{
  void *cmd_ptr;
  void *last_cmd_ptr;
  unsigned long dmac_control_word;
  unsigned long ticks = 0;
#ifdef VXWORKS
  ULONG startTicks = tickGet ();
#endif

  if (info == 0)
    {
      return -1;
    }

  dma_command_started = 0;
  switch (info->board_type)
    {
    case VX_MVME162_BOARD_TYPE:
      /* last_cmd_ptr = cmd_ptr = dma_command_list;
         while(cmd_ptr != 0 && (((unsigned long) cmd_ptr) & 3) == 0)
         {
         cmd_ptr = ((struct MVME162_DMAC_COMMAND *)cmd_ptr)->next_command;
         DEBUG_FREE(last_cmd_ptr);
         } */
      /* DMAC Control Register 1, 2-51 MVME162LX Programmer's Guide */
      dmac_control_word = *((unsigned long *) 0xfff40030);
      /* DHALT =7 */
      dmac_control_word |= (1 << 7);
      /* DEN = 6 */
      dmac_control_word &= ~(1 << 6);
      *((unsigned long *) 0xfff40030) = dmac_control_word;
      /* DMAC Byte Counter, 2-55 MVME162LX Programmer's Guide */
      while (*((unsigned long *) 0xfff40040) > 0)
        {
          /* Clear MPU status, MPU Status and DMA interrupt Count Register */
          if (*((unsigned long *) 0xfff40048) & 0x7f)
            {
              break;
            }
#ifdef VXWORKS
          ticks = tickGet () - startTicks;
#else
          ticks++;
#endif
          if (ticks > 100)
            {
#ifdef VXWORKS
              displayMemory ((void *) 0xfff40030, 8, 4);
#endif
              *((unsigned long *) 0xfff40044) = 0x3;
              *((unsigned long *) 0xfff40040) = 0;
              return -1;
            }
        }
      /* Table Counter */
      *((unsigned long *) 0xfff40044) = 0x3;
      memset (mvme162_dmac_commands_list, 0,
              sizeof (struct MVME162_DMAC_COMMAND) *
              MAX_MVME162_DMAC_COMMANDS);
      num_mvme162_dmac_commands = 0;
      dma_command_list = 0;
      break;

    default:
      break;
    }
  return 0;
}

---