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px4-firmware/nuttx/drivers/analog/dac.c

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/****************************************************************************
* drivers/analog/dac.c
*
* Copyright (C) 2011 Li Zhuoyi. All rights reserved.
* Author: Li Zhuoyi <lzyy.cn@gmail.com>
* History: 0.1 2011-08-04 initial version
*
* Derived from drivers/can.c
*
* Copyright (C) 2008-2009Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <unistd.h>
#include <string.h>
#include <semaphore.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/fs/fs.h>
#include <nuttx/arch.h>
#include <nuttx/analog/dac.h>
#include <arch/irq.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define HALF_SECOND_MSEC 500
#define HALF_SECOND_USEC 500000L
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int dac_open(FAR struct file *filep);
static int dac_close(FAR struct file *filep);
static ssize_t dac_read(FAR struct file *, FAR char *, size_t);
static ssize_t dac_write(FAR struct file *filep, FAR const char *buffer, size_t buflen);
static int dac_ioctl(FAR struct file *filep,int cmd,unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations dac_fops =
{
dac_open,
dac_close,
dac_read,
dac_write,
0,
dac_ioctl
#ifndef CONFIG_DISABLE_POLL
, 0
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/************************************************************************************
* Name: dac_open
*
* Description:
* This function is called whenever the DAC device is opened.
*
************************************************************************************/
static int dac_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct dac_dev_s *dev = inode->i_private;
uint8_t tmp;
int ret = OK;
/* If the port is the middle of closing, wait until the close is finished */
if (sem_wait(&dev->ad_closesem) != OK)
{
ret = -errno;
}
else
{
/* Increment the count of references to the device. If this the first
* time that the driver has been opened for this device, then initialize
* the device.
*/
tmp = dev->ad_ocount + 1;
if (tmp == 0)
{
/* More than 255 opens; uint8_t overflows to zero */
ret = -EMFILE;
}
else
{
/* Check if this is the first time that the driver has been opened. */
if (tmp == 1)
{
/* Yes.. perform one time hardware initialization. */
irqstate_t flags = irqsave();
ret = dev->ad_ops->ao_setup(dev);
if (ret == OK)
{
/* Mark the FIFOs empty */
dev->ad_xmit.af_head = 0;
dev->ad_xmit.af_tail = 0;
/* Save the new open count on success */
dev->ad_ocount = tmp;
}
irqrestore(flags);
}
}
sem_post(&dev->ad_closesem);
}
return ret;
}
/************************************************************************************
* Name: dac_close
*
* Description:
* This routine is called when the DAC device is closed.
* It waits for the last remaining data to be sent.
*
************************************************************************************/
static int dac_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct dac_dev_s *dev = inode->i_private;
irqstate_t flags;
int ret = OK;
if (sem_wait(&dev->ad_closesem) != OK)
{
ret = -errno;
}
else
{
/* Decrement the references to the driver. If the reference count will
* decrement to 0, then uninitialize the driver.
*/
if (dev->ad_ocount > 1)
{
dev->ad_ocount--;
sem_post(&dev->ad_closesem);
}
else
{
/* There are no more references to the port */
dev->ad_ocount = 0;
/* Now we wait for the transmit FIFO to clear */
while (dev->ad_xmit.af_head != dev->ad_xmit.af_tail)
{
#ifndef CONFIG_DISABLE_SIGNALS
usleep(HALF_SECOND_USEC);
#else
up_mdelay(HALF_SECOND_MSEC);
#endif
}
/* Free the IRQ and disable the DAC device */
flags = irqsave(); /* Disable interrupts */
dev->ad_ops->ao_shutdown(dev); /* Disable the DAC */
irqrestore(flags);
sem_post(&dev->ad_closesem);
}
}
return ret;
}
/****************************************************************************
* Name: dac_read
****************************************************************************/
static ssize_t dac_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
{
return 0;
}
/************************************************************************************
* Name: dac_xmit
*
* Description:
* Send the message at the head of the ad_xmit FIFO
*
* Assumptions:
* Called with interrupts disabled
*
************************************************************************************/
static int dac_xmit(FAR struct dac_dev_s *dev)
{
bool enable = false;
int ret = OK;
/* Check if the xmit FIFO is empty */
if (dev->ad_xmit.af_head != dev->ad_xmit.af_tail)
{
/* Send the next message at the head of the FIFO */
ret = dev->ad_ops->ao_send(dev, &dev->ad_xmit.af_buffer[dev->ad_xmit.af_head]);
/* Make sure the TX done interrupts are enabled */
enable = (ret == OK ? true : false);
}
dev->ad_ops->ao_txint(dev, enable);
return ret;
}
/************************************************************************************
* Name: dac_write
************************************************************************************/
static ssize_t dac_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
{
FAR struct inode *inode = filep->f_inode;
FAR struct dac_dev_s *dev = inode->i_private;
FAR struct dac_fifo_s *fifo = &dev->ad_xmit;
FAR struct dac_msg_s *msg;
bool empty = false;
ssize_t nsent = 0;
irqstate_t flags;
int nexttail;
int msglen;
int ret = 0;
/* Interrupts must disabled throughout the following */
flags = irqsave();
/* Check if the TX FIFO was empty when we started. That is a clue that we have
* to kick off a new TX sequence.
*/
empty = (fifo->af_head == fifo->af_tail);
/* Add the messages to the FIFO. Ignore any trailing messages that are
* shorter than the minimum.
*/
if (buflen % 5 ==0 )
msglen=5;
else if (buflen % 4 ==0 )
msglen=4;
else if (buflen % 3 ==0 )
msglen=3;
else if (buflen % 2 ==0 )
msglen=2;
else if (buflen == 1)
msglen=1;
else
msglen=5;
while ((buflen - nsent) >= msglen )
{
/* Check if adding this new message would over-run the drivers ability to enqueue
* xmit data.
*/
nexttail = fifo->af_tail + 1;
if (nexttail >= CONFIG_DAC_FIFOSIZE)
{
nexttail = 0;
}
/* If the XMIT fifo becomes full, then wait for space to become available */
while (nexttail == fifo->af_head)
{
/* The transmit FIFO is full -- was non-blocking mode selected? */
if (filep->f_oflags & O_NONBLOCK)
{
if (nsent == 0)
{
ret = -EAGAIN;
}
else
{
ret = nsent;
}
goto return_with_irqdisabled;
}
/* If the FIFO was empty when we started, then we will have
* start the XMIT sequence to clear the FIFO.
*/
if (empty)
{
dac_xmit(dev);
}
/* Wait for a message to be sent */
do
{
ret = sem_wait(&fifo->af_sem);
if (ret < 0 && errno != EINTR)
{
ret = -errno;
goto return_with_irqdisabled;
}
}
while (ret < 0);
/* Re-check the FIFO state */
empty = (fifo->af_head == fifo->af_tail);
}
/* We get here if there is space at the end of the FIFO. Add the new
* CAN message at the tail of the FIFO.
*/
if (msglen==5)
{
msg = (FAR struct dac_msg_s *)&buffer[nsent];
memcpy(&fifo->af_buffer[fifo->af_tail], msg, msglen);
}
else if(msglen == 4)
{
fifo->af_buffer[fifo->af_tail].am_channel=buffer[nsent];
fifo->af_buffer[fifo->af_tail].am_data=*(uint32_t *)&buffer[nsent];
fifo->af_buffer[fifo->af_tail].am_data&=0xffffff00;
}
else if(msglen == 3)
{
fifo->af_buffer[fifo->af_tail].am_channel=buffer[nsent];
fifo->af_buffer[fifo->af_tail].am_data=(*(uint16_t *)&buffer[nsent+1]);
fifo->af_buffer[fifo->af_tail].am_data<<=16;
}
else if(msglen == 2)
{
fifo->af_buffer[fifo->af_tail].am_channel=0;
fifo->af_buffer[fifo->af_tail].am_data=(*(uint16_t *)&buffer[nsent]);
fifo->af_buffer[fifo->af_tail].am_data<<=16;
}
else if(msglen == 1)
{
fifo->af_buffer[fifo->af_tail].am_channel=0;
fifo->af_buffer[fifo->af_tail].am_data=buffer[nsent];
fifo->af_buffer[fifo->af_tail].am_data<<=24;
}
/* Increment the tail of the circular buffer */
fifo->af_tail = nexttail;
/* Increment the number of bytes that were sent */
nsent += msglen;
}
/* We get here after all messages have been added to the FIFO. Check if
* we need to kick of the XMIT sequence.
*/
if (empty)
{
dac_xmit(dev);
}
/* Return the number of bytes that were sent */
ret = nsent;
return_with_irqdisabled:
irqrestore(flags);
return ret;
}
/************************************************************************************
* Name: dac_ioctl
************************************************************************************/
static int dac_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct dac_dev_s *dev = inode->i_private;
int ret = OK;
ret = dev->ad_ops->ao_ioctl(dev, cmd, arg);
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: dac_txdone
*
* Description:
* Called from the DAC interrupt handler at the completion of a send operation.
*
* Return:
* OK on success; a negated errno on failure.
*
************************************************************************************/
int dac_txdone(FAR struct dac_dev_s *dev)
{
int ret = -ENOENT;
/* Verify that the xmit FIFO is not empty */
if (dev->ad_xmit.af_head != dev->ad_xmit.af_tail)
{
/* Remove the message at the head of the xmit FIFO */
if (++dev->ad_xmit.af_head >= CONFIG_DAC_FIFOSIZE)
{
dev->ad_xmit.af_head = 0;
}
/* Send the next message in the FIFO */
ret = dac_xmit(dev);
if (ret == OK)
{
/* Inform any waiting threads that new xmit space is available */
ret = sem_post(&dev->ad_xmit.af_sem);
}
}
return ret;
}
int dac_register(FAR const char *path, FAR struct dac_dev_s *dev)
{
/* Initialize the DAC device structure */
dev->ad_ocount = 0;
sem_init(&dev->ad_xmit.af_sem, 0, 0);
sem_init(&dev->ad_closesem, 0, 1);
dev->ad_ops->ao_reset(dev);
return register_driver(path, &dac_fops, 0555, dev);
}
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