X-Git-Url: http://rtime.felk.cvut.cz/gitweb/mf6xx.git/blobdiff_plain/067093b692cc8348ab5ac6629655451e52f09b6a..e57abff00beba6d71529322e3b74d539750f4aa9:/src/uio/mf624/userspace/test_application/main.c diff --git a/src/uio/mf624/userspace/test_application/main.c b/src/uio/mf624/userspace/test_application/main.c old mode 100755 new mode 100644 index 2265286..321a22e --- a/src/uio/mf624/userspace/test_application/main.c +++ b/src/uio/mf624/userspace/test_application/main.c @@ -1,3 +1,23 @@ +/* + * Application using MF624 UIO driver + * + * Copyright (C) 2011 Rostislav Lisovy + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + */ + #include #include #include @@ -8,27 +28,153 @@ #include #include #include // uintX_t +#include #include +#include + +/****************************************************************/ -#define BUFF_SMALL 32 -#define BUFF_MID 256 -#define min(a, b) ((a) > (b) ? (b) : (a)) +typedef struct bar_mapping_t { + uintptr_t virt_addr; + void * mmap_addr; + uintptr_t phys_addr; + uint32_t size; + uint32_t offset; +} bar_mapping_t; + +int bar_mapping_fill(bar_mapping_t *barmap, const char *uio_dev, int map_nr) +{ + FILE *file; + void *s; + int ssiz; + ssiz = snprintf(NULL, 0, "/sys/class/uio/%s/maps/map%i/", uio_dev, map_nr); + if (ssiz < 0) + return -1; + /* add reserve to store each size addr, name, offset, size */ + ssiz += 6 + 1; + s = alloca(ssiz + 6 + 1); + + snprintf(s, ssiz, "/sys/class/uio/%s/maps/map%i/addr", uio_dev, map_nr); + file = fopen(s, "rb"); + fscanf(file, "%"SCNiPTR, &barmap->phys_addr); + fclose(file); + + snprintf(s, ssiz, "/sys/class/uio/%s/maps/map%i/offset", uio_dev, map_nr); + file = fopen(s, "rb"); + fscanf(file, "%"SCNi32, &barmap->offset); + fclose(file); + + snprintf(s, ssiz, "/sys/class/uio/%s/maps/map%i/size", uio_dev, map_nr); + file = fopen(s, "rb"); + fscanf(file, "%"SCNi32, &barmap->size); + fclose(file); + + return 0; +} + +int bar_mapping_setup(bar_mapping_t *barmap, int device_fd) +{ + static size_t page_mask = 0; + off_t mmap_offset; + size_t mmap_size; + + if (!page_mask) + page_mask = sysconf(_SC_PAGESIZE) - 1; + + mmap_offset = barmap->offset & ~page_mask; + mmap_size = barmap->offset + barmap->size + page_mask - mmap_offset; + mmap_size &= ~page_mask; + + barmap->mmap_addr = mmap(0, mmap_size, PROT_READ | PROT_WRITE, MAP_SHARED, device_fd, mmap_offset); + if (barmap->mmap_addr == MAP_FAILED) { + return -1; + } + + barmap->virt_addr = (uintptr_t)barmap->mmap_addr; + barmap->virt_addr += barmap->offset & page_mask; + + return 0; +} + +/****************************************************************/ + +#define BUFF_SMALL 32 +#define BUFF_MID 256 +#define min(a, b) ((a) > (b) ? (b) : (a)) /* Hardware specific */ -#define DOUT_reg 0x10 +/* BAR0 */ +#define GPIOC_reg 0x54 + +/* BAR2 */ +#define ADCTRL_reg 0x00 +#define ADDATA0_reg 0x00 +#define ADDATA1_reg 0x02 +#define ADDATA2_reg 0x04 +#define ADDATA3_reg 0x06 +#define ADDATA4_reg 0x08 +#define ADDATA5_reg 0x0a +#define ADDATA6_reg 0x0c +#define ADDATA7_reg 0x0e +#define ADSTART_reg 0x20 + +#define DOUT_reg 0x10 +#define DIN_reg 0x10 +#define DA0_reg 0x20 +#define DA1_reg 0x22 +#define DA2_reg 0x24 +#define DA3_reg 0x26 +#define DA4_reg 0x28 +#define DA5_reg 0x2A +#define DA6_reg 0x2C +#define DA7_reg 0x2E + +#define GPIOC_DACEN_mask (1 << 26) +#define GPIOC_LDAC_mask (1 << 23) +#define GPIOC_EOLC_mask (1 << 17) + + +typedef enum {DA0, DA1, DA2, DA3, DA4, DA5, DA6, DA7} dac_channel_t; +typedef enum {AD0, AD1, AD2, AD3, AD4, AD5, AD6, AD7} adc_channel_t; + +static uint32_t dac_channel2reg[] = { + [DA0] = DA0_reg, + [DA1] = DA1_reg, + [DA2] = DA2_reg, + [DA3] = DA3_reg, + [DA4] = DA4_reg, + [DA5] = DA5_reg, + [DA6] = DA6_reg, + [DA7] = DA7_reg, +}; + +static uint32_t adc_channel2reg[] = { + [AD0] = ADDATA0_reg, + [AD1] = ADDATA1_reg, + [AD2] = ADDATA2_reg, + [AD3] = ADDATA3_reg, + [AD4] = ADDATA4_reg, + [AD5] = ADDATA5_reg, + [AD6] = ADDATA6_reg, + [AD7] = ADDATA7_reg, +}; + +typedef struct mf624_state_t { + int device_fd; + char *uio_dev; + bar_mapping_t bar0; + bar_mapping_t bar2; + bar_mapping_t bar4; + int status; + int ADC_enabled; // Which ADCs are enabled +} mf624_state_t; -#define BAR0_offset (0 * sysconf(_SC_PAGESIZE)) -#define BAR2_offset (1 * sysconf(_SC_PAGESIZE)) -#define BAR4_offset (2 * sysconf(_SC_PAGESIZE)) +#define MFST2REG(mfst, bar_num, reg_offs) \ + ((void *)(mfst->bar##bar_num.virt_addr + (reg_offs))) -int status; -void* mf624_BAR0 = NULL; -void* mf624_BAR2 = NULL; -void* mf624_BAR4 = NULL; -int BAR0_phys_addr; -int BAR2_phys_addr; -int BAR4_phys_addr; +mf624_state_t mf624_state; +/* Print one byte as binary number */ void print_8bin(int nr) { int i; @@ -39,43 +185,100 @@ void print_8bin(int nr) printf("\n"); } -static inline int16_t mf624_read16(uint16_t *ptr) +static inline int16_t mf624_read16(void *ptr) { - return (volatile uint16_t) *ptr; + return *(volatile uint16_t*)ptr; } -static inline int32_t mf624_read32(uint32_t *ptr) +static inline int32_t mf624_read32(void *ptr) { - return (volatile uint32_t) *ptr; + return *(volatile uint32_t*) ptr; } -static inline void mf624_write16(uint16_t val, uint16_t *ptr) +static inline void mf624_write16(uint16_t val, void *ptr) { *(volatile uint16_t*) ptr = val; } -static inline void mf624_write32(uint32_t val, uint32_t *ptr) +static inline void mf624_write32(uint32_t val, void *ptr) { *(volatile uint32_t*) ptr = val; } -void DIO_set(int16_t val) +void DIO_write(mf624_state_t* mfst, int16_t val) +{ + mf624_write16(val, MFST2REG(mfst, 2, DOUT_reg)); +} + +uint16_t DIO_read(mf624_state_t* mfst) +{ + return mf624_read16(MFST2REG(mfst, 2, DIN_reg)) & 0xFF; +} + +void DAC_enable(mf624_state_t* mfst) +{ + // Setting DACEN and LDAC bits in GPIO register influences all DACs + mf624_write32((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) + | GPIOC_DACEN_mask) // enable output + & ~GPIOC_LDAC_mask, // enable conversion + MFST2REG(mfst, 0, GPIOC_reg)); +} + +int DAC_write(mf624_state_t* mfst, dac_channel_t channel, int val) +{ + if (channel > sizeof(dac_channel2reg)/sizeof(*dac_channel2reg)) + return -1; + + mf624_write16(val, MFST2REG(mfst, 2, dac_channel2reg[channel])); + return 0; +} + +int ADC_enable(mf624_state_t* mfst, adc_channel_t channel) { - mf624_write16(val, ((uint16_t*) mf624_BAR2) + (DOUT_reg/2)); + mfst->ADC_enabled = 0; + + if (channel > sizeof(adc_channel2reg)/sizeof(*adc_channel2reg)) + return -1; + + mfst->ADC_enabled = (1 << channel); + + mfst->ADC_enabled &= 0xFF; + mf624_write16(mfst->ADC_enabled, MFST2REG(mfst, 2, ADCTRL_reg)); + //print_8bin(ADC_enabled); + + return 0; } -uint16_t DIO_read() +/* This function blocks until conversion is finished */ +double ADC_read(mf624_state_t* mfst, adc_channel_t channel) { - return mf624_read16(((uint16_t*) mf624_BAR2) + (DOUT_reg/2)) & 0xF; + volatile int i; + int result; + + // Activate trigger to start conversion + mf624_read16(MFST2REG(mfst, 2, ADSTART_reg)); + + // Check if conversion has finished + while((mf624_read32(MFST2REG(mfst, 0, GPIOC_reg)) & GPIOC_EOLC_mask)) { + for (i = 0; i < 1000; i++) {} // small wait + } + + ADC_enable(mfst, channel); + result = mf624_read16(MFST2REG(mfst, 2, ADDATA0_reg)); + + return 10.0 * ((int16_t) (result << 2)) / (double) 0x8000; } + int open_device(char* path) { - status = open(path, O_RDWR); - if (status == -1) { + int device_fd; + + device_fd = open(path, O_RDWR | O_SYNC); + if (device_fd == -1) { perror("open()"); return -1; } - return status; + return device_fd; } void wait_for_interrupts(int device_fd) @@ -86,6 +289,7 @@ void wait_for_interrupts(int device_fd) int disable_interrupts(int device_fd) { uint32_t control_value = 0; + int status; status = write(device_fd, &control_value, sizeof(uint32_t)); if (status == -1) { @@ -99,6 +303,7 @@ int disable_interrupts(int device_fd) int enable_interrupts(int device_fd) { uint32_t control_value = 1; + int status; status = write(device_fd, &control_value, sizeof(uint32_t)); if (status == -1) { @@ -111,6 +316,7 @@ int enable_interrupts(int device_fd) void list_available_mem_regions(char* device) { + int status; char path[] = "/sys/class/uio/"; char subdir[] = "/maps/"; char directory[BUFF_MID]; @@ -140,12 +346,13 @@ void list_available_mem_regions(char* device) perror("closedir()"); return; } - + } void list_available_io_ports(char *device) { + int status; char path[] = "/sys/class/uio/"; char subdir[] = "/portio/"; char directory[BUFF_MID]; @@ -187,6 +394,7 @@ void list_available_io_ports(char *device) void run_simple_tests(char* dev_name) { + int status; int device_fd; char buff[BUFF_SMALL]; memset(buff, '\0', BUFF_SMALL); @@ -203,7 +411,7 @@ void run_simple_tests(char* dev_name) if (status != -1) { printf(" Probably OK\n"); } - + printf("Tring to disable interrupts\n"); status = disable_interrupts(device_fd); if (status != -1) { @@ -219,92 +427,117 @@ void run_simple_tests(char* dev_name) list_available_io_ports(dev_name); } -void mmap_regions(int device_fd, char* uio_dev) +int mmap_regions(mf624_state_t* mfst) { - char path[BUFF_MID]; - FILE *file; - - sprintf(path, "/sys/class/uio/%s/maps/map0/addr", uio_dev); - file = fopen(path, "rb"); - fscanf(file, "%llx", &BAR0_phys_addr); - fclose(file); - - sprintf(path, "/sys/class/uio/%s/maps/map1/addr", uio_dev); - file = fopen(path, "rb"); - fscanf(file, "%llx", &BAR2_phys_addr); - fclose(file); - - sprintf(path, "/sys/class/uio/%s/maps/map2/addr", uio_dev); - file = fopen(path, "rb"); - fscanf(file, "%llx", &BAR4_phys_addr); - fclose(file); - + if (bar_mapping_fill(&mfst->bar0, mfst->uio_dev, 0) < 0) { + fprintf(stderr, "%s bar0 mapping fill failed\n", mfst->uio_dev); + return -1; + } - //FIXME size of memory must be in multiples of memory pages - // size = (size + PAGE_SIZE -1) / PAGE_SIZE * PAGE_SIZE; ? - mf624_BAR0 = mmap(0, 1 * sysconf(_SC_PAGESIZE), PROT_READ | PROT_WRITE, MAP_SHARED, device_fd, BAR0_offset); - if (mf624_BAR2 == MAP_FAILED) { - perror("mmap()"); + if (bar_mapping_fill(&mfst->bar2, mfst->uio_dev, 1) < 0) { + fprintf(stderr, "%s bar2 mapping fill failed\n", mfst->uio_dev); + return -1; } - mf624_BAR0 += (BAR0_phys_addr & (sysconf(_SC_PAGESIZE) - 1)); + if (bar_mapping_fill(&mfst->bar4, mfst->uio_dev, 2) < 0) { + fprintf(stderr, "%s bar4 mapping fill failed\n", mfst->uio_dev); + return -1; + } - mf624_BAR2 = mmap(0, 1 * sysconf(_SC_PAGESIZE), PROT_READ | PROT_WRITE, MAP_SHARED, device_fd, BAR2_offset); - if (mf624_BAR2 == MAP_FAILED) { - perror("mmap()"); + if (bar_mapping_setup(&mfst->bar0, mfst->device_fd) < 0) { + fprintf(stderr, "%s bar0 mapping setup failed\n", mfst->uio_dev); + return -1; } - mf624_BAR2 += (BAR2_phys_addr & (sysconf(_SC_PAGESIZE) - 1)); + if (bar_mapping_setup(&mfst->bar2, mfst->device_fd) < 0) { + fprintf(stderr, "%s bar2 mapping setup failed\n", mfst->uio_dev); + return -1; + } - mf624_BAR4 = mmap(0, 1 * sysconf(_SC_PAGESIZE), PROT_READ | PROT_WRITE, MAP_SHARED, device_fd, BAR4_offset); - if (mf624_BAR2 == MAP_FAILED) { - perror("mmap()"); + if (bar_mapping_setup(&mfst->bar4, mfst->device_fd) < 0) { + fprintf(stderr, "%s bar4 mapping setup failed\n", mfst->uio_dev); + return -1; } - mf624_BAR4 += (BAR4_phys_addr & (sysconf(_SC_PAGESIZE) - 1)); - /* - printf("BAR0_phys_addr = %x\n", BAR0_phys_addr); - printf("BAR2_phys_addr = %x\n", BAR2_phys_addr); - printf("BAR4_phys_addr = %x\n", BAR4_phys_addr); +#if 1 + printf("bar0.phys_addr = %"PRIxPTR"\n", mfst->bar0.phys_addr); + printf("bar2.phys_addr = %"PRIxPTR"\n", mfst->bar2.phys_addr); + printf("bar4.phys_addr = %"PRIxPTR"\n", mfst->bar4.phys_addr); + + printf("bar0.virt_addr = %"PRIxPTR"\n", mfst->bar0.virt_addr); + printf("bar2.virt_addr = %"PRIxPTR"\n", mfst->bar2.virt_addr); + printf("bar4.virt_addr = %"PRIxPTR"\n", mfst->bar4.virt_addr); +#endif - printf("mf624_BAR0 = %x\n", mf624_BAR0); - printf("mf624_BAR2 = %x\n", mf624_BAR2); - printf("mf624_BAR4 = %x\n", mf624_BAR4); - */ + return 0; } int main(int argc, char* argv[]) { - int device_fd; + mf624_state_t* mfst = &mf624_state; char buff[BUFF_SMALL]; memset(buff, '\0', BUFF_SMALL); if (argc < 2) { printf("Usage: %s UIO_DEVICE\n UIO_DEVICE\tname of uio device in /dev\n", argv[0]); return 1; - } + } + + mfst->uio_dev = argv[1]; strncat(buff, "/dev/", 5); - strncat(buff, argv[1], min(strlen(argv[1]), 8)); + strncat(buff, mfst->uio_dev, sizeof(buff) - 6); - device_fd = open_device(buff); - mmap_regions(device_fd, argv[1]); + mfst->device_fd = open_device(buff); + if (mfst->device_fd < 0) { + fprintf(stderr, "%s open failed (%s)!\n", mfst->uio_dev, strerror(errno)); + return 2; + } + if (mmap_regions(mfst) < 0) { + fprintf(stderr, "%s mmap_regions failed (%s)!\n", mfst->uio_dev, strerror(errno)); + return 2; + } - if (device_fd != -1) { + DAC_enable(mfst); - while (1){ - printf("Reading DIO = "); - print_8bin(DIO_read()); - - printf("Setting DIO to 0xff\n"); - DIO_set(0xff); - sleep(1); - - printf("Setting DIO to 0x00\n"); - DIO_set(0x00); - sleep(1); - } + while (1){ + printf("Reading DIO: "); + print_8bin(DIO_read(mfst)); + sleep(1); + + printf("Setting DA1 to 10 V\n"); + DAC_write(mfst, DA1, 0x3FFF); + sleep(1); + + printf("Reading ADC0: "); + printf("%f V\n", ADC_read(mfst, AD0)); + sleep(1); + + printf("Reading ADC1: "); + printf("%f V\n", ADC_read(mfst, AD1)); + sleep(1); + + printf("Setting DIO to 0xff\n"); + DIO_write(mfst, 0xff); + sleep(1); + + printf("Setting DIO to 0x00\n"); + DIO_write(mfst, 0x00); + sleep(1); + + printf("Setting DA1 to 5 V\n"); + DAC_write(mfst, DA1, 0x3000); + sleep(1); + + printf("Reading ADC0: "); + printf("%f V\n", ADC_read(mfst, AD0)); + sleep(1); + + printf("Reading ADC1: "); + printf("%f V\n", ADC_read(mfst, AD1)); + sleep(1); + printf("----------------------\n\n"); }