TDRV016-SW-42
Contents
1. STATUS result Initialize Driver result tdrv016Drv if result ERROR Error handling TDRV016 SW 42 VxWorks Device Driver Page 42 of 48 TENSE TECHNOLOGIES RETURNS OK or ERROR If the function fails an error code will be stored in errno ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description ENOBUFS Not enough system resources SEE ALSO VxWorks Programmer s Guide I O System TDRV016 SW 42 VxWorks Device Driver Page 43 of 48 TEWS amp TECHNOLOGIES 4 2 tdrv016DevCreate NAME tdrv016DevCreate Add a TDRV016 device to the VxWorks system SYNOPSIS include tdrv016 h STATUS tdrv016DevCreate char name int devidx int funcT ype DESCRIPTION This routine adds the selected device to the VxWorks system The device hardware will be setup and prepared for use This function must be called before performing any I O request to this device PARAMETER name This string specifies the name of the device that will be used to identify the device for example for open calls devidx This index number specifies the device to add to the system The index number depends on the search priority of the modules The modules will be searched in the following order TPMC553 xx TPMC554 xx If modules of the same type are installed the channel numbers2. TENSE The Embedded I O Company TECHNOLOGIES TDRV016 SW 42 VxWorks Device Driver 32 16 Channels of 16 bit D A Version 1 0 x User Manual Issue 1 0 0 November 2010 TEWS TECHNOLOGIES GmbH Am Bahnhof 7 25469 Halstenbek Germany Phone 49 0 4101 40580 Fax 49 0 4101 4058 19 e mail info tews com www tews com TDRV016 SW 42 VxWorks Device Driver 32 16 Channels of 16 bit D A Supported Modules TPMC553 TPMC554 Issue Description 1 0 0 First Issue TDRV016 SW 42 VxWorks Device Driver TENSE TECHNOLOGIES This document contains information which is proprietary to TEWS TECHNOLOGIES GmbH Any reproduction without written permission is forbidden TEWS TECHNOLOGIES GmbH has made any effort to ensure that this manual is accurate and complete However TEWS TECHNOLOGIES GmbH reserves the right to change the product described in this document at any time without notice TEWS TECHNOLOGIES GmbH is not liable for any damage arising out of the application or use of the device described herein 2010 by TEWS TECHNOLOGIES GmbH Date November 12 2010 Page 2 of 48 1 INTRODUCTION 1 1 Device Driver 2 INSTALLATION 2 1 Legacy vs VxBus Driver 2 2 VxBus Driver Installation Direct BSP Builds 2 3 Legacy Driver Installation Include device driver in VxWorks projects Special installation for Intel x86 based targets BSP dependent adjustments 2 3 4 System resource requirement 3 API DOCUMENTATION
3. Value Description TDRV016_ CORR Use data correction for all values Num Values This argument specifies the number of DAC data values which shall be written into the FIFO pDacData This parameter points to the DAC data section where the specified number of 16bit values is stored TDRV016 SW 42 VxWorks Device Driver Page 39 of 48 TENSE TECHNOLOGIES timeout This parameter specifies the time the function will block until the data is transferred into the FIFO which might be done using interrupts The interrupts are raised based upon the configured sequencer cycle time so this timeout value must be chosen according to the configured cycle time This timeout value is specified in milliseconds The resulting time depends on the system tick granularity To wait indefinitely specify 1 The timeout value specifies the time to wait for the next interrupt Multiple interrupts might be required to transfer the complete amount of specified data into the FIFO Example include tdrv016 h TDRV016_DEV pDev STATUS result unsigned short DacData 100 xx Write 100 DAC data values to FIFO 2 with data correction Use 500ms for timeout DacData 0 0x1234 DacData 1 0x5678 DacData 2 Ox9ABC result tdrv01l6FifoWrite pDev 2 TDRVO16_CORR 100 DacData 500 if result ERROR handle error else successful TDRV016 SW 42 VxWorks Device Driver
4. CycleTime This argument specifies the sequencer cycle time The sequencer timer is configurable in steps of 10us Possible values are 0 to the maximum value specified in the corresponding module hardware user manual TDRV016 SW 42 VxWorks Device Driver Page 28 of 48 TEWS amp TECHNOLOGIES Example include tdrv016 h TDRVO16_DEV pDev STATUS result xx Configure Sequencer Timer of Q DAC 1 D A channel 1 to 4 Use Ims cycle time result tdrv016SequencerConfig pDev 1 99 if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid Q DAC specified EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 29 of 48 TEWS amp TECHNOLOGIES 3 2 9 tdrv016SequencerStart Name tdrv016SequencerStart start sequencer timer Synopsis STATUS tdrv016SequencerStart TDRV016 DEV pDev UINT32 SequencerMask Description This function starts the sequencer timer of specified Q DACs This function starts the sequencer operation of both Timer and FIFO mode Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function SequencerMask This argument specifies the Q DA
5. VxWorks Device Driver Page 15 of 48 TENSE TECHNOLOGIES Example include tdrv016 h TDRV016_DEV pDev STATUS result int VoltageRange Polarity Read current voltage range configuration of DAC channel 3 result tdrv016GetVoltageRange pDev 3 amp VoltageRange amp Polarity if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid channel specified EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 16 of 48 TEWS amp TECHNOLOGIES 3 2 3 tdrv016GetModulelnfo Name tdrv016GetModulelnfo get module information Synopsis STATUS tdrv016GetModulelnfo TDRV016_DEV pDev int pModuleType int pModuleVariant int pPciBusNo int pPciDevNo Description This function reads the currently configured voltage range of a specific D A channel Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function pModuleType This argument is a pointer to an int value where the Module Type is returned Possible values are Value Description TDRV016_MODTYPE_TPMC553_ TPMC553 TDRV016_MODTYPE_TPMC554 TPMC554 pModule Variant This argumen
6. CxrCat txt cache file to provide component parameter information for the kernel configuration tool as long as the timestamp of the copied CDF file is newer than the one of the CxrCat txt If your copy command preserves the timestamp force to update the timestamp by a utility such as touch In earlier VxWorks releases the CxrCat txt file may not be updated automatically In this case remove or rename the original CxrCat txt file and invoke the make command to force recreation of this file C gt cd Windriver vxworks 6 7 target config comps vxWorks C gt del CxrCat txt C gt make After successful completion of all steps above and restart of the Wind River Workbench the TDRV016 driver and API can be included in VxWorks projects by selecting the TEWS TDRV016 Driver and TEWS TDRV016 API components in the hardware default Device Drivers folder with the kernel configuration tool 2 2 1 Direct BSP Builds In development scenarios with the direct BSP build method without using the Workbench or the vxprj command line utility the TDRV016 configuration stub files must be copied to the directory installDir vxworks 6 x target contig comps src hwif Afterwards the vxbUsrCmdLine c file must be updated by invoking the appropriate make command C gt cd WindRiver vxworks 6 7 target 3rdparty tews tdrv016 C gt copy tdrv016 dce Windriver vxworks 6 7 target config comps src hwif C gt copy tdrv016 dr Windriver vxworks 6
7. STATUS result int DacData 4 xk Use 500ms for timeout Write new data to Q DAC 2 without data correction result tdrv01l6SequencerWrite pDev 2 0 DacData 500 if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid Q DAC specified or Q DAC not in Timer mode EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 35 of 48 TEWS amp TECHNOLOGIES 3 2 12 tdrv016FifoConfig Name tdrv016FifoConfig configure FIFO mode TPMC554 only Synopsis STATUS tdrv016FifoConfig TDRV016_DEV pDev UINT32 DacChannelMask UINT32 ContinuousModeMask int Size 32 int Limit 32 Description This function configures the FIFO mode of specified DAC channels All four channels of one affected Q DAC are used in FIFO mode All channels which were previously configured to FIFO mode and are not again configured with this function are configured to Instant mode without changing the DAC value Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function DacChannelMask This argument specifies the DAC channels which shall be used in FIFO mode All four DAC channels of one
8. affected Q DAC must be configured for FIFO mode A set 1 bit specifies that the corresponding channel shall be configured Bit 0 corresponds to the first DAC channel bit 1 corresponds to the second DAC channel and so on ContinuousModeMask This argument specifies if the corresponding DAC channel FIFO shall be used in continuous mode A set 1 configures the corresponding channel to repeat its FIFO data An unset 0 bit configures the channel to stop the data output if the FIFO runs empty Bit 0 corresponds to the first DAC channel bit 1 corresponds to the second DAC channel and so on Size This argument specifies the size of the FIFO in number of values Array index 0 corresponds to the first DAC channel array index 1 corresponds to the second DAC channel and so on TDRV016 SW 42 VxWorks Device Driver Page 36 of 48 TEWS amp TECHNOLOGIES Limit This argument specifies the FIFO trigger limit where an interrupt is raised The limit is specified as 2 Array index 0 corresponds to the first DAC channel array index 1 corresponds to the second DAC channel and so on Example include tdrv016 h TDRVO16_DEV pDev STATUS result int Size 32 int Limit 32 Configure FIFO mode for channel 1 to 8 Q DAC 1 and 2 xx Use DAC 1 and 4 in Continuous Mode Size 0 100 Limit 0 5 Limit at 32 values result tdrv016FifoConfig pDev 0x000000ff 1 lt lt 3 1 lt lt
9. are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid channel or parameter specified EIO Error during hardware configuration EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 14 of 48 TEWS amp TECHNOLOGIES 3 2 2 tdrv016GetVoltageRange Name tdrv016GetVoltageRange get current voltage range Synopsis STATUS tdrv016GetVoltageRange TDRV016_DEV pDev int DacChannel int pVoltageRange int pPolarity Description This function reads the currently configured voltage range of a specific D A channel Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function DacChannel This argument specifies the DAC channel number Possible values are 1 up to the available number of channels for the specific module pVoltageRange This argument is a pointer to an int value where the configured voltage range for the selected DAC channel is returned Possible values are Value Description TDRV016_VOLTRANGE_5V Vmax 5V TDRV016_VOLTRANGE_10V Vmax 10V TDRV016_VOLTRANGE_10P8V Vmax 10 8V pPolarity This argument is a pointer to an int value where the configured polarity for the selected DAC channel is returned Possible values are Value Description TDRV016_ POLARITY_UNIPOL OV Vmax TDRV016_POLARITY_BIPOL Vmax Vmax TDRV016 SW 42
10. modification first you can change the include tdhal h and define the corresponding definition and its value or you can do it using the command line option D There are 3 offset definitions USERDEFINED_MEM_OFFSET USERDEFINED_IO_OFFSET and USERDEFINED_LEV2VEC that must be configured if a corresponding warning message appears during compilation These definitions always need values Definition values can be assigned by command line option D lt definition gt lt value gt definition description USERDEFINED_MEM_ OFFSET The value of this definition must be set to the offset between CPU Bus and PCl Bus Address for PCI memory space access USERDEFINED_lIO OFFSET The value of this definition must be set to the offset between CPU Bus and PCl Bus Address for PCI I O space access USERDEFINED_LEV2VEC The value of this definition must be set to the TDRV016 SW 42 VxWorks Device Driver Page 8 of 48 TEWS amp TECHNOLOGIES difference of the interrupt vector used to connect the ISR and the interrupt level stored to the PCI header Another definition allows a simple adaptation for BSPs that utilize a pcilntConnect function to connect shared PCI interrupts If this function is defined in the used BSP the definition of USERDEFINED_SEL_PCIINTCONNECT should be enabled The definition by command line option is made by D lt definition gt Please refer to the BSP documentation and header files to get information about the interrup
11. the fact that some Intel x86 BSP s doesn t map PCI memory spaces of devices which are not used by the BSP the required device memory spaces can t be accessed To solve this problem a MMU mapping entry has to be added for the required TDRV016 PCI memory spaces prior the MMU initialization usrMmutInit is done The C source file tdrv016pci c contains the function tdrv0O16Pcilnit This routine finds out all TDRV016 devices and adds MMU mapping entries for all used PCI memory spaces Please insert a call to this function after the PCI initialization is done and prior to MMU initialization usrMmulnit The right place to call the function tdrv016Pcilnit is at the end of the function sysHwinit in sysLib c it can be opened from the project Files window tdrv016PcilInit Be sure that the function is called prior to MMU initialization otherwise the TDRV016 PCI spaces remains unmapped and an access fault occurs during driver initialization Modifying the sysLib c file will change the sysLib c in the BSP path Remember this for future projects and recompilations 2 3 3 BSP dependent adjustments The driver includes a file called include tdhal h which contains functions and definitions for BSP adaptation It may be necessary to modify them for BSP specific settings Most settings can be made automatically by conditional compilation set by the BSP header files but some settings must be configured manually There are two way of
12. variable tdrv016Status obtains the result of the device initialization and can be polled later by the application before the driver will be installed Value Meaning gt 0 Initialization successful completed The value of tdrv016Status is equal to the number of mapped PCI spaces 0 No TDRV016 device found lt 0 Initialization failed The value of tdrv016Status amp OxFF is equal to the number of mapped spaces until the error occurs Possible cause Too few entries for dynamic mappings in sysPhysMemDesc Remedy Add dummy entries as necessary syslib c EXAMPLE extern void tdrv016Pcilnit tdrv016PcilInit TDRV016 SW 42 VxWorks Device Driver Page 46 of 48 TEWS amp TECHNOLOGIES 4 4 tdrv016lnit NAME tdrv016lnit initialize TDRVO16 driver and devices SYNOPSIS include tdrv016 h STATUS tdrv016lnit void DESCRIPTION This function is used by the TDRV016 example application to install the driver and to add all available devices to the VxWorks system See also 3 1 1 tdrv016Open for the device naming convention for legacy devices After calling this function it is not necessary to call tdrv016Drv and tdrv016DevCreate explicitly EXAMPLE include tdrv016 h STATUS result result tdrv0l6Init if result ERROR Error handling TDRV016 SW 42 VxWorks Device Driver Page 47 of 48 TEWS amp TECHNOLOGIES RETURNS OK or ERROR
13. vxworks 6 x target 3rdparty tews tdrv0 16 At this point the TDRV016 driver is not configurable and cannot be included with the kernel configuration tool in a Wind River Workbench project To make the driver configurable the driver library for the desired processor CPU and build tool TOOL must be built in the following way 1 Open a VxWorks development shell e g C WindRiver wrenv exe p vxworks 6 7 2 Change into the driver installation directory installDir vxworks 6 x target 3rdparty tews tdrv016 3 Invoke the build command for the required processor and build tool make CPU cpuName TOOL tool For Windows hosts this may look like this C gt cd WindRiver vxworks 6 7 target 3rdparty tews tdrv016 C gt make CPU PENTIUM4 TOOL diab To compile SMP enabled libraries the argument VXBUILD SMP must be added to the command line C gt make CPU PENTIUM4 TOOL diab VXBUILD SMP To integrate the TDRV016 driver with the VxWorks development tools Workbench the component configuration file 40tdrv016 cdf must be copied to the directory installDir vxworks 6 x target contig comps VxWorks C gt cd WindRiver vxworks 6 7 target 3rdparty tews tdrv016 C gt copy 40tdrv016 cdf Windriver vxworks 6 7 target config comps vxWorks TDRV016 SW 42 VxWorks Device Driver Page 6 of 48 TEWS amp TECHNOLOGIES In VxWorks 6 7 and newer releases the kernel configuration tool scans the CDF file automatically and updates the
14. 0 Size Limit if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR TDRV016 SW 42 VxWorks Device Driver Page 37 of 48 TENSE TECHNOLOGIES ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description ENOTSUP FIFO mode is not supported by TPMC553 EINVAL Not all DAC channels of a Q DAC specified invalid Size or Limit EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 38 of 48 TEWS amp TECHNOLOGIES 3 2 13 tdrv016FifoWrite Name tdrv016FifoWrite Write DAC data in FIFO mode TPMC554 only Synopsis STATUS tdrv016FifoWrite TDRV016_DEV pDev int DacChannel UINT32 Flags int NumValues unsigned short pDacData int timeout Description This function writes new DAC data of a specific DAC channel into the FIFO This function is only supported in FIFO Mode The function blocks until all data is written into the FIFO or the timeout expires Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function DacChannel This argument specifies the DAC channel number Possible values are 1 up to the available number of DACs for the specific module Flags This argument specifies additional options for this DAC update Possible value
15. 016QDacConfig configure Q DAC mode Synopsis STATUS tdrv016QDacConfig TDRV016_DEV pDev int QDacNumber int QDacMode int GlobalLoadMode Description This function configures the operation mode of a specific Q DAC which serves 4 single D A channels Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function QDacNumber This argument specifies the Q DAC number Possible values are 1 up to the available number of Q DACs for the specific module Q DAC 1 serves D A channels 1 to 4 Q DAC 2 serves D A channels 5 to 8 and so on QDacMode This argument specifies the desired operation mode for the selected Q DAC Possible values are Value Description TDRV016_QDACMODE_INSTANT Instant Mode DAC values are written immediately TDRV016 QDACMODE_MANUAL Manual mode DAC values are written after manual load operation TDRV016_ QDACMODE_TIMER Timer mode DAC values are written in sequencer mode GlobalLoadMode This argument specifies if the Q DAC should synchronize to other Q DACs If TRUE all selected Q DACs are updated simultaneously This parameter is only relevant for Manual mode TDRV016 SW 42 VxWorks Device Driver Page 20 of 48 TEWS amp TECHNOLOGIES Example include tdrv016 h TDRV016_DEV pDev STATUS result Configure Q DAC 1 D A channel 1 to 4 use Manual Mode without global s
16. 3 1 General Functions tdrv016Open tdrv016Close 3 2 Device Access Functions tdrv016SetVoltageRange tdrv016GetVoltageRange tdrv016GetModulelnfo tdrv016QDacConfig tdrv016DacWrite tdrv016DacWriteMulti tdrv016QDacLoad tdrv016SequencerConfig tdrv016SequencerStart tdrv016SequencerStop tdrv016SequencerWrite 2 2 1 2 3 1 2 3 2 2 3 3 3 1 1 3 1 2 3 2 1 3 2 2 3 2 3 3 2 4 3 2 5 3 2 6 3 2 7 3 2 8 3 2 9 3 2 10 3 2 11 3 2 12 3 2 13 TDRV016 SW 42 VxWorks Device Driver Table of Contents tdrv016FifoConfig tdrvO16FIfOW rite oo c cece eeeeee ee eeees 4 LEGACY I O SYSTEM FUNCTIONS 4 1 tdrv016Drv 4 2 tdrv016DevCreate 4 3 tdrv016Pcilnit 4 4 tdrv016lnit TEWS amp TECHNOLOGIES Page 3 of 48 TENSE TECHNOLOGIES 1 Introduction 1 1 Device Driver The TDRV016 SW 42 VxWorks device driver software allows the operation of the supported PMCs conforming to the VxWorks I O system specification The TDRV016 SW 42 release contains independent driver sources for the old legacy pre VxBus and the new VxBus enabled driver model The VxBus enabled driver is recommended for new developments with later VxWorks 6 x release and mandatory for VxWorks SMP systems Both drivers legacy and VxBus share the same application programming interface API and device independent basic I O interface with open close and ioctl functions The basic I O interface is only for backward compatibility with existing appl
17. 6DacWriteMulti pDev 1 lt lt 31 1 lt lt 1 1 lt lt 0 1 lt lt 0 TRUE DacData if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid Q DAC specified ENOTSUP At least one of the specified channels is not in l or M Mode EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 25 of 48 TEWS amp TECHNOLOGIES 3 2 7 tdrv016QDacLoad Name tdrv016QDacLoad Perform Load Operation for specified Q DACs Synopsis STATUS tdrv016QDacLoad TDRV016 DEV pDev UINT32 QDacMask Description This function performs the Load Operation for specified Q DACs to achieve simultaneous update of multiple DAC channels This function is supported for Q DACs configured to Manual Mode Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function QDacMask This argument specifies the Q DACs which shall be loaded A set 1 bit specifies that the corresponding Q DAC shall be loaded Bit 0 corresponds to the first Q DAC DAC channels 1 to 4 bit 1 corresponds to the second Q DAC DAC channels 5 to 8 and so on TDRV016 SW 42 VxWorks Device Driver Page 26 of 48 TEWS amp TECHNOLOGIE
18. 7 target config comps src hwif gt cd Windriver vxworks 6 7 target config comps srce hwif C gt make vxbUsrCmdLine c 2 3 Legacy Driver Installation 2 3 1 Include device driver in VxWorks projects For including the TDRV016 SW 42 device driver into a VxWorks project e g Tornado IDE or Workbench follow the steps below 1 Extract all files from the archive TDRV016 SW 42 LEGACY zip to your project directory 2 Add the device drivers C files to your project Make a right click to your project in the Workspace window and use the Add Files topic A file select box appears and the driver files in the tdrv016 directory can be selected 3 Now the driver is included in the project and will be built with the project TDRV016 SW 42 VxWorks Device Driver Page 7 of 48 TEWS amp TECHNOLOGIES For a more detailed description of the project facility please refer to your VxWorks User s Guide e g Tornado Workbench etc 2 3 2 Special installation for Intel x86 based targets The TDRV016 device driver is fully adapted for Intel x86 based targets This is done by conditional compilation directives inside the source code and controlled by the VxWorks global defined macro CPU_FAMILY If the content of this macro is equal to 80X86 special Intel x86 conforming code and function calls will be included The second problem for Intel x86 based platforms can t be solved by conditional compilation directives Due to
19. CORR Use data correction for this conversion TDRV016_LOAD Perform Load Operation for corresponding Q DAC only if Q DAC is in Manual Mode TDRV016 SW 42 VxWorks Device Driver Page 22 of 48 TEWS amp TECHNOLOGIES Example include tdrv016 h TDRVO016_DEV pDev STATUS result xx Write new DAC value to channel 1 use data correction result tdrv016DacWrite pDev 1 0x1000 TDRV016_CORR if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid DAC channel specified ENOTSUP The specified channel is not in l or M Mode EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 23 of 48 TEWS amp TECHNOLOGIES 3 2 6 tdrv016DacWriteMulti Name tdrv016DacWriteMulti Write DAC values to multiple DAC channels Synopsis STATUS tdrv016DacWriteMulti TDRV016_DEV pDev UINT32 DacChannelMask UINT32 CorrectionMask int PerformLoad unsigned short DacData 32 Description This function writes different DAC value to specified DAC channels This function is supported for channels configured to Instant or Manual Mode Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the
20. Cs which shall be started in sequencer mode A set 1 bit specifies that the corresponding Q DAC shall be started Bit 0 corresponds to the first Q DAC DAC channels 1 to 4 bit 1 corresponds to the second Q DAC DAC channels 5 to 8 and so on TDRV016 SW 42 VxWorks Device Driver Page 30 of 48 TEWS amp TECHNOLOGIES Example include tdrv016 h TDRV016_DEV pDev STATUS result Start Sequencer Timer of Q DAC 1 and 2 La result tdrv01l6SequencerStart pDev 1 lt lt 1 1 lt lt 0 if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL At least one specified Q DAC is not in Timer or FIFO mode EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 31 of 48 TEWS amp TECHNOLOGIES 3 2 10 tdrv016SequencerStop Name tdrv016SequencerStop stop sequencer timer Synopsis STATUS tdrv016SequencerStop TDRV016 DEV pDev UINT32 SequencerMask Description This function stops the sequencer timer of specified Q DACs This function stops the sequencer operation of both Timer and FIFO mode Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function Se
21. DRV016_DEV pDev open the specified devic pDev tdrv0160pen tdrv016 0 if pDev NULL handle open error TDRV016 SW 42 VxWorks Device Driver Page 10 of 48 TEWS amp TECHNOLOGIES RETURNS A device descriptor pointer or NULL if the function fails An error code will be stored in errno ERROR CODES The error codes are stored in errno The error code is a standard error code set by the I O system 3 1 2 tdrv016Close Name tdrv016Close closes a device Synopsis int tdrv016Close TDRV016_DEV pDev Description This function closes previously opened devices Parameters pDev This value specifies the device descriptor pointer to the hardware module retrieved by a call to the corresponding open function Example include tdrv016 h TDRV016_DEV pDev int result xx close the device result tdrv016Close pDev if result lt 0 TDRV016 SW 42 VxWorks Device Driver Page 11 of 48 TENSE TECHNOLOGIES handle close error RETURNS Zero or 1 if the function fails An error code will be stored in errno ERROR CODES The error codes are stored in errno The error code is a standard error code set by the I O system TDRV016 SW 42 VxWorks Device Driver Page 12 of 48 TEWS amp TECHNOLOGIES 3 2 Device Access Functions 3 2 1 tdrv016SetVoltageRange Name tdrv016SetVoltag
22. If the function fails an error code will be stored in errno ERROR CODES Error codes are only set by system functions The error codes are stored in errno and can be read with the function errnoGet See 4 1 and 4 2 for a description of possible error codes TDRV016 SW 42 VxWorks Device Driver Page 48 of 48
23. Page 40 of 48 TEWS amp TECHNOLOGIES RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description ENOTSUP FIFO mode is not supported by TPMC553 EINVAL Invalid DAC channel specified EACCES Channel not in FIFO mode EBUSY This DAC channel is already busy transferring data into the FIFO EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 41 of 48 TEWS amp TECHNOLOGIES 4 Legacy I O system functions This chapter describes the legacy driver level interface to the I O system The purpose of these functions is to install the driver in the I O system add and initialize devices The legacy I O system functions are only relevant for the legacy TDRV016 driver For the VxBus enabled TDRV016 driver the driver will be installed automatically in the I O system and devices will be created as needed for detected modules 4 1 tdrv016Drv NAME tdrv016Drv installs the TDRV016 driver in the I O system SYNOPSIS include tdrv016 h STATUS tdrv016Drv void DESCRIPTION This function searches for devices on the PCI bus installs the TDRV016 driver in the I O system A call to this function is the first thing the user has to do before adding any device to the system or performing any I O request EXAMPLE include tdrv016 h
24. S Example include tdrv016 h TDRVO16_DEV pDev STATUS result Load Q DACs 1 and 8 simultaneously result tdrv016QDacLoad if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES pDev 1 lt lt 7 1 lt lt 0 The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid Q DAC specified EACCES At least one of the specified Q DACs is not in M Mode EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 27 of 48 TEWS amp TECHNOLOGIES 3 2 8 tdrv016SequencerConfig Name tdrv016SequencerConfig configure sequencer cycle time Synopsis STATUS tdrv016SequencerConfig TDRV016_DEV pDev int QDacNumber UINT32 CycleTime Description This function configures the sequencer cycle time of a specific Q DAC which serves 4 single D A channels The configured sequencer cycle time is used in both Timer and FIFO mode Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function QDacNumber This argument specifies the Q DAC number Possible values are 1 up to the available number of Q DACs for the specific module Q DAC 1 serves D A channels 1 to 4 Q DAC 2 serves D A channels 5 to 8 and so on
25. archive TDRV000 SW 42 VXBUS zip contains the following files and directories Directory path tews tdrv016 tdrvO16drv c TDRV016 device driver source tdrvO16def h TDRV016 driver include file tdrv016 h TDRV016 include file for driver and application tdrv016api c TDRV016 API file Makefile Driver Makefile 40tdrv016 cadf Component description file for VxWorks development tools tdrv016 dc Configuration stub file for direct BSP builds tdrv016 dr Configuration stub file for direct BSP builds include tvxbHal h Hardware dependent interface functions and definitions apps tdrv01 6exa c Example application The archive TDRV016 SW 42 LEGACY zip contains the following files and directories Directory path tdrv01 6 tdrv016drv c TDRV016 device driver source tdrvO16def h TDRV016 driver include file tdrv016 h TDRV016 include file for driver and application tdrv016pci c TDRV016 device driver source for x86 based systems tdrv016api c TDRV016 API file tdrv016exa c Example application include tdhal h Hardware dependent interface functions and definitions 2 1 Legacy vs VxBus Driver In later VxWorks 6 x releases the old VxWorks 5 x legacy device driver model was replaced by VxBus enabled device drivers Legacy device drivers are tightly coupled with the BSP and the board hardware The VxBus infrastructure hides all BSP and hardware differences under a well defined interface which improves the portability and reduces the configuration effor
26. corresponding open function DacChannelMask This argument specifies DAC channels which shall be updated A set 1 bit specifies that the corresponding channel shall be updated Bit 0 corresponds to the first DAC channel bit 1 corresponds to the second DAC channel and so on CorrectionMask This argument specifies if data correction shall be used for specific DAC channels A set 1 bit enables data correction for the corresponding channel Bit O corresponds to the first DAC channel bit 1 corresponds to the second DAC channel and so on PerformLoad This argument specifies if the corresponding Q DACs shall be updated If TRUE all affected Q DACs are updated using the Load Operation If this parameter is FALSE all Q DACs configured to Manual Mode will not be updated DacData This argument specifies the new DAC data Array index 0 corresponds to the first DAC channel array index 1 corresponds to the second DAC channel and so on Only channels marked for update using parameter DacChannelMask will be modified TDRV016 SW 42 VxWorks Device Driver Page 24 of 48 TENSE TECHNOLOGIES Example include tdrv016 h TDRV016_DEV pDev STATUS result unsigned short DacData 32 xx Write new DAC values to channel 1 2 and 32 Use data correction only for channel 1 Update all channels which are in M Mode DacData 0 0x1000 DacData 1 0x2000 DacData 31 0x0000 result tdrv01
27. eRange set voltage range Synopsis STATUS tdrv016SetVoltageRange TDRV016_DEV pDev int DacChannel int VoltageRange int Polarity Description This function configures the voltage range of a specific D A channel Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function DacChannel This argument specifies the DAC channel number Possible values are 1 up to the available number of channels for the specific module VoltageRange This argument specifies the desired voltage range for the selected DAC channel Possible values are Value Description TDRV016_VOLTRANGE_5V Vmax 5V TDRV016_VOLTRANGE_10V Vmax 10V TDRV016_VOLTRANGE_10P8V Vmax 10 8V Polarity This argument specifies the desired polarity for the selected DAC channel Possible values are Value Description TDRV016_POLARITY_UNIPOL OV Vmax TDRV016_POLARITY_BIPOL Vmax Vmax TDRV016 SW 42 VxWorks Device Driver Page 13 of 48 TENSE TECHNOLOGIES Example include tdrv016 h TDRV016_DEV pDev STATUS result Configure DAC channel 3 to 10V 10V result tdrv016SetVoltageRange pDev 3 TDRVO16_VOLTRANGE_10V TDRVO16_POLARITY_BIPOL if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes
28. he timeout expires Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function QDacNumber This argument specifies the Q DAC number Possible values are 1 up to the available number of Q DACs for the specific module Q DAC 1 serves D A channels 1 to 4 Q DAC 2 serves D A channels 5 to 8 and so on UseCorrection This argument specifies if data correction shall be used for specific DAC channels A set 1 bit enables data correction for the corresponding channel Bit O corresponds to the first DAC channel of the Q DAC bit 1 corresponds to the second DAC channel of the Q DAC and so on DacValue This argument specifies the new DAC data Array index 0 corresponds to the first DAC channel of the Q DAC array index 1 corresponds to the second DAC channel of the Q DAC and so on timeout This parameter specifies the time the function will block until the data is transferred into the DAC channels which is done using interrupts The interrupts are raised based upon the configured sequencer cycle time so this timeout value must be chosen according to the configured cycle time This timeout value is specified in milliseconds The resulting time depends on the system tick granularity To wait indefinitely specify 1 TDRV016 SW 42 VxWorks Device Driver Page 34 of 48 TEWS amp TECHNOLOGIES Example include tdrv016 h TDRVO16_DEV pDev
29. ications and should not be used for new developments Both drivers invoke a mutual exclusion and binary semaphore mechanism to prevent simultaneous requests by multiple tasks from interfering with each other The TDRV016 SW 42 device driver supports the following features Configuration of DAC channel voltage ranges Configuration of Q DAC operation modes I M T or F Mode Write analog output values in l and M Mode Use analog sequencer modes T or F Mode SMP support VxBus driver only VVVVV The TDRV016 SW 42 supports the modules listed below TPMC553 32 16 Channels of 16 bit D A PMC TPMC554 32 16 Channels of 16 bit D A with memory PMC In this document all supported modules and devices will be called TDRV016 Specials for certain devices will be advised To get more information about the features and use of supported devices it is recommended to read the manuals listed below TPMC553 554 User Manual TPMC553 554 Engineering Manual TDRV016 SW 42 VxWorks Device Driver Page 4 of 48 TEWS amp TECHNOLOGIES 2 Installation Following files are located on the distribution media Directory path TDRV016 SW 42 TDRV016 SW 42 1 0 0 pdf PDF copy of this manual TDRV016 SW 42 VXBUS zip Zip compressed archive with VxBus driver sources TDRV016 SW 42 LEGACY zip Zip compressed archive with legacy driver sources ChangeLog txt Release history Release txt Release information The
30. quencerMask This argument specifies the Q DACs which shall be stopped A set 1 bit specifies that the corresponding Q DAC shall be stopped Bit 0 corresponds to the first Q DAC DAC channels 1 to 4 bit 1 corresponds to the second Q DAC DAC channels 5 to 8 and so on TDRV016 SW 42 VxWorks Device Driver Page 32 of 48 TEWS amp TECHNOLOGIES Example include tdrv016 h TDRVO016_DEV pDev STATUS result Stop Sequencer Timer of Q DAC 2 f result tdrv016SequencerStop pDev 1 lt lt 1 if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 33 of 48 TEWS amp TECHNOLOGIES 3 2 11 tdrv016SequencerWrite Name tdrv016SequencerWrite Write DAC data in Timer mode Synopsis STATUS tdrv016SequencerWrite TDRV016_DEV pDev int QDacNumber UINT32 UseCorrection int DacValue 4 int timeout Description This function writes new DAC data to a specific Q DAC which serves 4 single D A channels All four channels of the Q DAC are affected This function is only supported in Timer Mode This function might block until the next sequencer interrupt allows transferrin the DAC data or t
31. t connection function and the required offset values 2 3 4 System resource requirement The table gives an overview over the system resources that will be needed by the driver Resource Driver requirement Devices requirement Memory lt 1KB lt 1KB Stack lt 1KB Semaphores 0 40 Memory and Stack usage may differ from system to system depending on the used compiler and its setup The following formula shows the way to calculate the common requirements of the driver and devices lt total requirement gt lt driver requirement gt lt number of devices gt lt device requirement gt The maximum usage of some resources is limited by adjustable parameters If the application and driver exceed these limits increase the according values in your project TDRV016 SW 42 VxWorks Device Driver Page 9 of 48 TEWS amp TECHNOLOGIES 3 API Documentation 3 1 General Functions 3 1 1 tdrv016Open Name tdrv016Open opens a device Synopsis TDRV016_DEV tdrv016Open char DeviceName Description Before I O can be performed to a device a device descriptor must be opened by a call to this function Parameters DeviceName This parameter points to a null terminated string that specifies the name of the device The first TDRV016 device is named tdrv016 0 the second device is named tdrv016 1 and so on Example include tdrv016 h T
32. t A further advantage is the improved performance of API calls by using the method interface and bypassing the VxWorks basic I O interface VxBus enabled device drivers are the preferred driver interface for new developments TDRV016 SW 42 VxWorks Device Driver Page 5 of 48 TEWS amp TECHNOLOGIES The checklist below will help you to make a decision which driver model is suitable and possible for your application Legacy Driver VxBus Driver VxWorks 5 x releases VxWorks 6 6 and later releases VxWorks 6 5 and earlier wt WxBus POI Bug releases SMP systems only the VxBus i i VxWorks 6 x releases without driver is SMP safe VxBus PCI bus support TEWS TECHNOLOGIES recommends not using the VxBus Driver before VxWorks release 6 6 In previous releases required header files are missing and the support for 3 party drivers may not be available 2 2 VxBus Driver Installation Because Wind River doesn t provide a standard installation method for 3 party VxBus device drivers the installation procedure needs to be done manually In order to perform a manual installation extract all files from the archive TDRV016 SW 42 VXBUS zip to the typical g party directory installDir vxworks 6 x target 3rdparty whereas installDir must be substituted by the VxWorks installation directory After successful installation the TDRV016 device driver is located in the vendor and driver specific directory installDir
33. t is a pointer to an int value where the Module Variant is returned Possible values are Value Description 10 10 32 D A channels 11 11 16 D A channels pPciBusNo This argument is a pointer to an int value where the PCI Bus number of the module is returned TDRV016 SW 42 VxWorks Device Driver Page 17 of 48 TENSE TECHNOLOGIES pPciDevNo This argument is a pointer to an int value where the PCI Device number of the module is returned Example include tdrv016 h TDRV016_DEV pDev STATUS result int ModuleType int ModuleVariant int PciBusNo int PciDevNo x Read module information result tdrv016GetModulelInfo pDev amp ModuleType amp ModuleVariant amp PciBusNo amp PciDevNo if result ERROR handle error else successful printf Module Type d n ModuleType printf Module Variant d n ModuleVariant printf Localization Bus d Device d n PciBusNo PciDevNo RETURN VALUE OK if function succeeds or ERROR TDRV016 SW 42 VxWorks Device Driver Page 18 of 48 TENSE TECHNOLOGIES ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 19 of 48 TEWS amp TECHNOLOGIES 3 2 4 tdrv016QDacConfig Name tdrv
34. will be assigned in the order the VxWorks pciFindDevice function will find the devices Example A system with 1x TPMC553 xx and 2x TPMC554 xx will assign the following device indices Module Device Index TPMC553 xx 0 TPMC554 xx 1 1 TPMC554 xx 2 2 TDRV016 SW 42 VxWorks Device Driver Page 44 of 48 TENSE TECHNOLOGIES funcType This parameter is unused and should be set to 0 EXAMPLE include tdrv016 h STATUS result Create the device tdrv016 0 for the first device FA result tdrv016DevCreate tdrv016 0 0 0 if result OK Device successfully created else Error occurred when creating the device RETURNS OK or ERROR If the function fails an error code will be stored in errno ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description ENXIO Device driver not started or device not found SEE ALSO VxWorks Programmers Guide I O System TDRV016 SW 42 VxWorks Device Driver Page 45 of 48 TEWS amp TECHNOLOGIES 4 3 tdrv016Pcilnit NAME tdrv016Pcilnit Generic PCI device initialization SYNOPSIS void tdrv016Pcilnit DESCRIPTION This function is required only for Intel x86 VxWorks platforms The purpose is to setup the MMU mapping for all required TDRV016 PCI spaces base address register and to enable the TDRV016 device for access The global
35. ynchronization result tdrv016QDacConfig if result ERROR handle error else successful RETURN VALUE OK if function succeeds or ERROR pDev 1 TDRV016_QDACMODE_MANUAL FALSE ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description EINVAL Invalid channel or parameter specified EIO Error during hardware configuration EBADF The device handle is invalid TDRV016 SW 42 VxWorks Device Driver Page 21 of 48 TEWS amp TECHNOLOGIES 3 2 5 tdrv016DacWrite Name tdrv016DacWrite Write one DAC value to a specific DAC channel Synopsis STATUS tdrv016DacWrite TDRV016 DEV pDev int DacChannel int DacValue int Flags Description This function writes one DAC value to a specific DAC channel This function is supported for channels configured to Instant or Manual Mode Parameters pDev This parameter specifies the device descriptor to the hardware module retrieved by a call to the corresponding open function DacChannel This argument specifies the DAC channel which shall be updated Possible values are 1 up to the number of available DAC channels of the specific module DacValue This argument specifies the new DAC value for the specified channel Flags This argument specifies additional options for this DAC update Possible OR ed flags are Value Description TDRV016_
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