Add OutM simple output module support

Author: pcw-mesa

docs/man/man9/hostmot2.9

@@ -1374,6 +1374,35 @@ The state of this SSR instance's NNth output.  Set to 0 to make
 the output pins act like an open switch (no connection), set to 1 to
 make them act like a closed switch.
 
+.TP
+(bit in) invert-NN
+Inverts the state of this SSR instance's NNth output, defaults to 0. 
+When invert-NN is set to 1, SSR output NN is closed when the out-NN 
+pin is 0 and open when the out-NN pin is 1
+
+.SH OutM Simple output module
+
+OutMs have names like
+"hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.OutM.\fI<Instance>\fR".
+"Instance" is a two-digit number that corresponds to the HostMot2 OutM
+instance number.  There are 'num_outms' instances, starting
+with 00.
+
+Each instance has between 1 and 32 output pins.
+
+Pins:
+
+.TP
+(bit in) out-NN
+The sets the state of this OutM instance's NNth output. Normally the output
+pin follows the state of this pin but may be inverted by the invert-nn hal pin 
+
+.TP
+(bit in) invert-NN
+Inverts the state of the this OutM instance's NNth output, defaults to 0. 
+When invert-NN is set to 1, OutM output NN is high when the out-NN 
+pin is 0 and low when the out-NN pin is 1
+
 .SH xy2mod
 
 The xy2mod is a xy2-100 galvanometer interface. It supports 16 and 18 bit 

src/Makefile

@@ -912,6 +912,7 @@ hostmot2-objs :=			  \
     hal/drivers/mesa-hostmot2/resolver.o  \
     hal/drivers/mesa-hostmot2/sserial.o   \
     hal/drivers/mesa-hostmot2/ssr.o       \
+    hal/drivers/mesa-hostmot2/outm.o      \
     hal/drivers/mesa-hostmot2/stepgen.o   \
     hal/drivers/mesa-hostmot2/tp_pwmgen.o \
     hal/drivers/mesa-hostmot2/tram.o	  \

src/hal/drivers/mesa-hostmot2/hostmot2.c

@@ -142,8 +142,9 @@ static void hm2_write(void *void_hm2, long period) {
     hm2_stepgen_prepare_tram_write(hm2, period);
     hm2_sserial_prepare_tram_write(hm2, period);
     hm2_bspi_prepare_tram_write(hm2, period);
-    hm2_ssr_prepare_tram_write(hm2);
-    //UARTS need to be explicity handled by an external component
+    hm2_ssr_prepare_tram_write(hm2); 
+    hm2_outm_prepare_tram_write(hm2);
+    //UARTS need to be explicitly handled by an external component
     hm2_tram_write(hm2);
 
     // these usually do nothing
@@ -311,6 +312,7 @@ const char *hm2_get_general_function_name(int gtag) {
         case HM2_GTAG_HM2DPLL:         return "Hostmot2 DPLL";
         case HM2_GTAG_INMUX:           return "InMux Input Mux";
         case HM2_GTAG_INM:             return "InM Input Module";
+        case HM2_GTAG_OUTM:             return "OutM Output Module";
         case HM2_GTAG_XY2MOD:          return "xy2mod Galvo interface";
         case HM2_GTAG_DPAINTER:        return "Data Painter";
         case HM2_GTAG_SSR:             return "SSR";
@@ -390,6 +392,7 @@ static int hm2_parse_config_string(hostmot2_t *hm2, char *config_string) {
     hm2->config.num_xy2mods = -1;
     hm2->config.num_leds = -1;
     hm2->config.num_ssrs = -1;
+    hm2->config.num_outms = -1;
     hm2->config.enable_raw = 0;
     hm2->config.firmware = NULL;
 
@@ -444,6 +447,14 @@ static int hm2_parse_config_string(hostmot2_t *hm2, char *config_string) {
             token += 9;
             hm2->config.num_inms = simple_strtol(token, NULL, 0);
 
+        } else if (strncmp(token, "num_outms=", 10) == 0) {
+            token += 9;
+            hm2->config.num_outms = simple_strtol(token, NULL, 0);
+
+        } else if (strncmp(token, "num_ssrs=", 9) == 0) {
+            token += 9;
+            hm2->config.num_ssrs = simple_strtol(token, NULL, 0);
+
         } else if (strncmp(token, "num_xy2mods=", 12) == 0) {
             token += 12;
             hm2->config.num_xy2mods = simple_strtol(token, NULL, 0);
@@ -534,6 +545,8 @@ static int hm2_parse_config_string(hostmot2_t *hm2, char *config_string) {
     HM2_DBG("    num_rcpwmgens=%d\n",  hm2->config.num_rcpwmgens);
     HM2_DBG("    num_inmuxs=%d\n",  hm2->config.num_inmuxs);
     HM2_DBG("    num_inms=%d\n",  hm2->config.num_inms);
+    HM2_DBG("    num_outms=%d\n",  hm2->config.num_outms);
+    HM2_DBG("    num_ssrs=%d\n",  hm2->config.num_ssrs);
     HM2_DBG("    num_xy2mods=%d\n",  hm2->config.num_xy2mods);
     HM2_DBG("    num_3pwmgens=%d\n", hm2->config.num_tp_pwmgens);
     HM2_DBG("    sserial_port_0=%8.8s\n"
@@ -1027,6 +1040,10 @@ static int hm2_parse_module_descriptors(hostmot2_t *hm2) {
             case HM2_GTAG_SSR:
                 md_accepted = hm2_ssr_parse_md(hm2, md_index);
                 break;
+
+            case HM2_GTAG_OUTM:
+                md_accepted = hm2_outm_parse_md(hm2, md_index);
+                break;
 
           case HM2_GTAG_RCPWMGEN:
                 md_accepted = hm2_rcpwmgen_parse_md(hm2, md_index);
@@ -1104,6 +1121,7 @@ static void hm2_cleanup(hostmot2_t *hm2) {
     hm2_sserial_cleanup(hm2);
     hm2_bspi_cleanup(hm2);
     hm2_ssr_cleanup(hm2);
+    hm2_outm_cleanup(hm2);
     hm2_rcpwmgen_cleanup(hm2);
 
     // free all the tram entries
@@ -1124,6 +1142,7 @@ void hm2_print_modules(hostmot2_t *hm2) {
     hm2_bspi_print_module(hm2);
     hm2_ioport_print_module(hm2);
     hm2_ssr_print_module(hm2);
+    hm2_outm_print_module(hm2);
     hm2_watchdog_print_module(hm2);
     hm2_inmux_print_module(hm2);
     hm2_inm_print_module(hm2);
@@ -1790,5 +1809,6 @@ void hm2_force_write(hostmot2_t *hm2) {
     // ioport is written.  Initialization of the SSR requires that
     // the IO Port pin directions is set appropriately.
     hm2_ssr_force_write(hm2);
+    hm2_outm_force_write(hm2);
 }
 

src/hal/drivers/mesa-hostmot2/hostmot2.h

@@ -123,6 +123,7 @@
 #define HM2_GTAG_DPAINTER          (42) 
 #define HM2_GTAG_XY2MOD            (43) 
 #define HM2_GTAG_RCPWMGEN          (44) 
+#define HM2_GTAG_OUTM              (45) 
 #define HM2_GTAG_LIOPORT           (64) // Not supported
 #define HM2_GTAG_LED               (128)
 
@@ -1359,6 +1360,36 @@ typedef struct {
     rtapi_u32 *rate_reg;
 } hm2_ssr_t;
 
+//
+// OUTM
+//
+
+typedef struct {
+    struct {
+
+        struct {
+            hal_bit_t *out[32];
+            hal_bit_t *invert[32];
+        } pin;
+
+    } hal;
+
+    rtapi_u32 written_data;
+
+} hm2_outm_instance_t;
+
+typedef struct {
+    int num_instances;
+    hm2_outm_instance_t *instance;
+
+    rtapi_u8 version;
+    rtapi_u32 clock_freq;
+
+    rtapi_u32 data_addr;
+    rtapi_u32 *data_reg;
+
+} hm2_outm_t;
+
 
 // 
 // raw peek/poke access
@@ -1423,6 +1454,7 @@ typedef struct {
         int num_inms;
         int num_xy2mods;
         int num_ssrs;
+        int num_outms;
         char sserial_modes[4][8];
         int enable_raw;
         char *firmware;
@@ -1471,6 +1503,7 @@ typedef struct {
     hm2_xy2mod_t xy2mod;
     hm2_led_t led;
     hm2_ssr_t ssr;
+    hm2_outm_t outm;
 
     hm2_raw_t *raw;
 
@@ -1814,6 +1847,17 @@ void hm2_ssr_prepare_tram_write(hostmot2_t *hm2);
 void hm2_ssr_print_module(hostmot2_t *hm2);
 
 
+//
+// OUTM functions
+//
+
+int hm2_outm_parse_md(hostmot2_t *hm2, int md_index);
+void hm2_outm_cleanup(hostmot2_t *hm2);
+void hm2_outm_force_write(hostmot2_t *hm2);
+void hm2_outm_prepare_tram_write(hostmot2_t *hm2);
+void hm2_outm_print_module(hostmot2_t *hm2);
+
+
 //
 // the raw interface lets you peek and poke the hostmot2 instance from HAL
 //