2 * Application using MF624 UIO driver
4 * Copyright (C) 2011 Rostislav Lisovy <lisovy@gmail.com>
6 * This program is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <sys/types.h>
30 #include <stdint.h> // uintX_t
35 #include "mf624_SIMULINK.h"
37 /****************************************************************/
42 /* Which uio device node to use */
45 mf624_state_t* mfst=NULL;
47 int bar_mapping_fill(bar_mapping_t *barmap, const char *uio_dev, int map_nr)
52 static size_t page_size;
54 page_size = sysconf(_SC_PAGESIZE);
56 ssiz = snprintf(NULL, 0, "/sys/class/uio/%s/maps/map%i/", uio_dev, map_nr);
59 /* add reserve to store each size addr, name, offset, size */
63 snprintf(s, ssiz, "/sys/class/uio/%s/maps/map%i/addr", uio_dev, map_nr);
64 file = fopen(s, "rb");
67 fscanf(file, "%"SCNiPTR, &barmap->phys_addr);
70 snprintf(s, ssiz, "/sys/class/uio/%s/maps/map%i/offset", uio_dev, map_nr);
71 file = fopen(s, "rb");
73 barmap->offset = barmap->phys_addr & (page_size - 1);
75 fscanf(file, "%"SCNi32, &barmap->offset);
79 snprintf(s, ssiz, "/sys/class/uio/%s/maps/map%i/size", uio_dev, map_nr);
80 file = fopen(s, "rb");
83 fscanf(file, "%"SCNi32, &barmap->size);
86 barmap->mmap_offset = page_size * map_nr + barmap->offset;
91 int bar_mapping_setup(bar_mapping_t *barmap, int device_fd)
93 static size_t page_mask = 0;
98 page_mask = sysconf(_SC_PAGESIZE) - 1;
100 mmap_start = barmap->mmap_offset & ~page_mask;
101 mmap_size = barmap->mmap_offset + barmap->size + page_mask - mmap_start;
102 mmap_size &= ~page_mask;
104 barmap->mmap_addr = mmap(0, mmap_size, PROT_READ | PROT_WRITE, MAP_SHARED, device_fd, mmap_start);
105 if (barmap->mmap_addr == MAP_FAILED) {
109 barmap->virt_addr = (uintptr_t)barmap->mmap_addr;
110 barmap->virt_addr += barmap->mmap_offset & page_mask;
115 /****************************************************************/
117 #define BUFF_SMALL 32
119 #define min(a, b) ((a) > (b) ? (b) : (a))
125 mf624_state_t mf624_state;
127 /* Print one byte as binary number */
128 void print_8bin(int nr)
131 for (i = 7; i >= 0; i--) {
132 printf("%d" , ((nr & (1 << i)) > 0));
140 void DIO_write(mf624_state_t* mfst, int16_t val)
142 mf624_write16(val, MFST2REG(mfst, 2, DOUT_reg));
145 uint16_t DIO_read(mf624_state_t* mfst)
147 return mf624_read16(MFST2REG(mfst, 2, DIN_reg)) & 0xFF;
150 void DAC_enable(mf624_state_t* mfst)
152 // Setting DACEN and LDAC bits in GPIO register influences all DACs
153 mf624_write32((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg))
154 | GPIOC_DACEN_mask) // enable output
155 & ~GPIOC_LDAC_mask, // enable conversion
156 MFST2REG(mfst, 0, GPIOC_reg));
161 int DAC_write(mf624_state_t* mfst, dac_channel_t channel, int val)
163 if (channel > sizeof(dac_channel2reg)/sizeof(*dac_channel2reg))
166 mf624_write16(val, MFST2REG(mfst, 2, dac_channel2reg[channel]));
170 int ADC_enable(mf624_state_t* mfst, adc_channel_t channel)
172 mfst->ADC_enabled = 0;
174 if (channel > sizeof(adc_channel2reg)/sizeof(*adc_channel2reg))
177 mfst->ADC_enabled = (1 << channel);
179 mfst->ADC_enabled &= 0xFF;
180 mf624_write16(mfst->ADC_enabled, MFST2REG(mfst, 2, ADCTRL_reg));
181 //print_8bin(ADC_enabled);
186 /* This function blocks until conversion is finished */
187 double ADC_read(mf624_state_t* mfst, adc_channel_t channel)
192 // Activate trigger to start conversion
193 mf624_read16(MFST2REG(mfst, 2, ADSTART_reg));
195 // Check if conversion has finished
196 while((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) & GPIOC_EOLC_mask)) {
197 for (i = 0; i < 1000; i++) {} // small wait
200 ADC_enable(mfst, channel);
201 result = mf624_read16(MFST2REG(mfst, 2, ADDATA0_reg));
203 return 10.0 * ((int16_t) (result << 2)) / (double) 0x8000;
207 int open_device(char* path) {
210 device_fd = open(path, O_RDWR | O_SYNC);
211 if (device_fd == -1) {
219 void wait_for_interrupts(int device_fd)
221 read(device_fd, NULL, 1);
224 int disable_interrupts(int device_fd)
226 uint32_t control_value = 0;
229 status = write(device_fd, &control_value, sizeof(uint32_t));
238 int enable_interrupts(int device_fd)
240 uint32_t control_value = 1;
243 status = write(device_fd, &control_value, sizeof(uint32_t));
252 void list_available_mem_regions(char* device)
255 char path[] = "/sys/class/uio/";
256 char subdir[] = "/maps/";
257 char directory[BUFF_MID];
258 memset(directory, '\0', BUFF_MID);
263 strncat(directory, path, strlen(path));
264 strncat(directory, device, min(strlen(device), 8));
265 strncat(directory, subdir, strlen(subdir));
267 dip = opendir(directory);
273 while ((dit = readdir(dip)) != NULL) {
274 if (strcmp(dit->d_name, ".") && strcmp(dit->d_name, "..")) {
275 printf(" %s\n", dit->d_name);
279 status = closedir(dip);
281 perror("closedir()");
288 void list_available_io_ports(char *device)
291 char path[] = "/sys/class/uio/";
292 char subdir[] = "/portio/";
293 char directory[BUFF_MID];
294 memset(directory, '\0', BUFF_MID);
299 strncat(directory, path, strlen(path));
300 strncat(directory, device, min(strlen(device), 8));
301 strncat(directory, subdir, strlen(subdir));
303 status = access(directory, F_OK);
305 printf(" There are no IO port available\n");
309 dip = opendir(directory);
315 while ((dit = readdir(dip)) != NULL) {
316 if (strcmp(dit->d_name, ".") && strcmp(dit->d_name, "..")) {
317 printf(" %s\n", dit->d_name);
321 status = closedir(dip);
323 perror("closedir()");
330 void run_simple_tests(char* dev_name)
334 char buff[BUFF_SMALL];
335 memset(buff, '\0', BUFF_SMALL);
337 strncat(buff, "/dev/", 5);
338 strncat(buff, dev_name, min(strlen(dev_name), 8));
340 printf("Opening %s\n", buff);
342 device_fd = open_device(buff);
343 if (device_fd != -1) {
344 printf("Tring to enable interrupts\n");
345 status = enable_interrupts(device_fd);
347 printf(" Probably OK\n");
350 printf("Tring to disable interrupts\n");
351 status = disable_interrupts(device_fd);
353 printf(" Probably OK\n");
358 printf("Checking for available memory regions exported by the UIO driver\n");
359 list_available_mem_regions(dev_name);
361 printf("Checking for available IO ports exported by the UIO driver\n");
362 list_available_io_ports(dev_name);
365 int mmap_regions(mf624_state_t* mfst)
367 if (bar_mapping_fill(&mfst->bar0, mfst->uio_dev, 0) < 0) {
368 fprintf(stderr, "%s bar0 mapping fill failed\n", mfst->uio_dev);
372 if (bar_mapping_fill(&mfst->bar2, mfst->uio_dev, 1) < 0) {
373 fprintf(stderr, "%s bar2 mapping fill failed\n", mfst->uio_dev);
377 if (bar_mapping_fill(&mfst->bar4, mfst->uio_dev, 2) < 0) {
378 fprintf(stderr, "%s bar4 mapping fill failed\n", mfst->uio_dev);
382 if (bar_mapping_setup(&mfst->bar0, mfst->device_fd) < 0) {
383 fprintf(stderr, "%s bar0 mapping setup failed\n", mfst->uio_dev);
387 if (bar_mapping_setup(&mfst->bar2, mfst->device_fd) < 0) {
388 fprintf(stderr, "%s bar2 mapping setup failed\n", mfst->uio_dev);
392 if (bar_mapping_setup(&mfst->bar4, mfst->device_fd) < 0) {
393 fprintf(stderr, "%s bar4 mapping setup failed\n", mfst->uio_dev);
398 printf("bar0.phys_addr = %"PRIxPTR"\n", mfst->bar0.phys_addr);
399 printf("bar2.phys_addr = %"PRIxPTR"\n", mfst->bar2.phys_addr);
400 printf("bar4.phys_addr = %"PRIxPTR"\n", mfst->bar4.phys_addr);
402 printf("bar0.virt_addr = %"PRIxPTR"\n", mfst->bar0.virt_addr);
403 printf("bar2.virt_addr = %"PRIxPTR"\n", mfst->bar2.virt_addr);
404 printf("bar4.virt_addr = %"PRIxPTR"\n", mfst->bar4.virt_addr);
413 * Try to initialize the MF624 UIO driver.
415 * If and only if S is not NULL and initialization fails, then
416 * ssSetErrorStatus() gets called to report the error via Simulink
419 * @param S Pointer to SimStruct for error reporting or NULL.
421 * @return Zero in case of success, -1 in case of error.
423 int mf624_init(SimStruct *S)
426 mfst = malloc(sizeof(mf624_state_t));
429 snprintf(fn, sizeof(fn), "/dev/%s", mfst->uio_dev);
431 mfst->device_fd = open_device(fn);
432 if (mfst->device_fd < 0) {
433 if (S) ssSetErrorStatus(S,"/dev/" UIO ": open failed");
436 if (mmap_regions(mfst) < 0) {
437 if (S) ssSetErrorStatus(S,"/dev/" UIO ": mmap_regions failed");
444 close(mfst->device_fd);
451 /*int main(int argc, char* argv[])
453 mf624_state_t* mfst = &mf624_state;
454 char buff[BUFF_SMALL];
455 memset(buff, '\0', BUFF_SMALL);
458 printf("Usage: %s UIO_DEVICE\n UIO_DEVICE\tname of uio device in /dev\n", argv[0]);
462 mfst->uio_dev = argv[1];
464 strncat(buff, "/dev/", 5);
465 strncat(buff, mfst->uio_dev, sizeof(buff) - 6);
467 mfst->device_fd = open_device(buff);
468 if (mfst->device_fd < 0) {
469 fprintf(stderr, "%s open failed (%s)!\n", mfst->uio_dev, strerror(errno));
472 if (mmap_regions(mfst) < 0) {
473 fprintf(stderr, "%s mmap_regions failed (%s)!\n", mfst->uio_dev, strerror(errno));
480 printf("Reading DIO: ");
481 print_8bin(DIO_read(mfst));
484 printf("Setting DA1 to 10 V\n");
485 DAC_write(mfst, DA1, 0x3FFF);
488 printf("Reading ADC0: ");
489 printf("%f V\n", ADC_read(mfst, AD0));
492 printf("Reading ADC1: ");
493 printf("%f V\n", ADC_read(mfst, AD1));
496 printf("Setting DIO to 0xff\n");
497 DIO_write(mfst, 0xff);
500 printf("Setting DIO to 0x00\n");
501 DIO_write(mfst, 0x00);
504 printf("Setting DA1 to 5 V\n");
505 DAC_write(mfst, DA1, 0x3000);
508 printf("Reading ADC0: ");
509 printf("%f V\n", ADC_read(mfst, AD0));
512 printf("Reading ADC1: ");
513 printf("%f V\n", ADC_read(mfst, AD1));
515 printf("----------------------\n\n");