Staging: comedi: add dt3000 driver

Driver for DataTranslation DT3000 devices

From: David Schleef <ds@schleef.org>
Cc: Ian Abbott <abbotti@mev.co.uk>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/comedi/drivers/dt3000.c

+/*
+    comedi/drivers/dt3000.c
+    Data Translation DT3000 series driver
+
+    COMEDI - Linux Control and Measurement Device Interface
+    Copyright (C) 1999 David A. Schleef <ds@schleef.org>
+
+    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.
+
+*/
+/*
+Driver: dt3000
+Description: Data Translation DT3000 series
+Author: ds
+Devices: [Data Translation] DT3001 (dt3000), DT3001-PGL, DT3002, DT3003,
+  DT3003-PGL, DT3004, DT3005, DT3004-200
+Updated: Mon, 14 Apr 2008 15:41:24 +0100
+Status: works
+
+Configuration Options:
+  [0] - PCI bus of device (optional)
+  [1] - PCI slot of device (optional)
+  If bus/slot is not specified, the first supported
+  PCI device found will be used.
+
+There is code to support AI commands, but it may not work.
+
+AO commands are not supported.
+*/
+
+/*
+   The DT3000 series is Data Translation's attempt to make a PCI
+   data acquisition board.  The design of this series is very nice,
+   since each board has an on-board DSP (Texas Instruments TMS320C52).
+   However, a few details are a little annoying.  The boards lack
+   bus-mastering DMA, which eliminates them from serious work.
+   They also are not capable of autocalibration, which is a common
+   feature in modern hardware.  The default firmware is pretty bad,
+   making it nearly impossible to write an RT compatible driver.
+   It would make an interesting project to write a decent firmware
+   for these boards.
+
+   Data Translation originally wanted an NDA for the documentation
+   for the 3k series.  However, if you ask nicely, they might send
+   you the docs without one, also.
+*/
+
+#define DEBUG 1
+
+#include "../comedidev.h"
+#include <linux/delay.h>
+
+#include "comedi_pci.h"
+
+#define PCI_VENDOR_ID_DT	0x1116
+
+static const comedi_lrange range_dt3000_ai = { 4, {
+			RANGE(-10, 10),
+			RANGE(-5, 5),
+			RANGE(-2.5, 2.5),
+			RANGE(-1.25, 1.25)
+	}
+};
+static const comedi_lrange range_dt3000_ai_pgl = { 4, {
+			RANGE(-10, 10),
+			RANGE(-1, 1),
+			RANGE(-0.1, 0.1),
+			RANGE(-0.02, 0.02)
+	}
+};
+
+typedef struct {
+	const char *name;
+	unsigned int device_id;
+	int adchan;
+	int adbits;
+	int ai_speed;
+	const comedi_lrange *adrange;
+	int dachan;
+	int dabits;
+} dt3k_boardtype;
+
+static const dt3k_boardtype dt3k_boardtypes[] = {
+      {name:"dt3001",
+	      device_id:0x22,
+	      adchan:	16,
+	      adbits:	12,
+	      adrange:	&range_dt3000_ai,
+	      ai_speed:3000,
+	      dachan:	2,
+	      dabits:	12,
+		},
+      {name:"dt3001-pgl",
+	      device_id:0x27,
+	      adchan:	16,
+	      adbits:	12,
+	      adrange:	&range_dt3000_ai_pgl,
+	      ai_speed:3000,
+	      dachan:	2,
+	      dabits:	12,
+		},
+      {name:"dt3002",
+	      device_id:0x23,
+	      adchan:	32,
+	      adbits:	12,
+	      adrange:	&range_dt3000_ai,
+	      ai_speed:3000,
+	      dachan:	0,
+	      dabits:	0,
+		},
+      {name:"dt3003",
+	      device_id:0x24,
+	      adchan:	64,
+	      adbits:	12,
+	      adrange:	&range_dt3000_ai,
+	      ai_speed:3000,
+	      dachan:	2,
+	      dabits:	12,
+		},
+      {name:"dt3003-pgl",
+	      device_id:0x28,
+	      adchan:	64,
+	      adbits:	12,
+	      adrange:	&range_dt3000_ai_pgl,
+	      ai_speed:3000,
+	      dachan:	2,
+	      dabits:	12,
+		},
+      {name:"dt3004",
+	      device_id:0x25,
+	      adchan:	16,
+	      adbits:	16,
+	      adrange:	&range_dt3000_ai,
+	      ai_speed:10000,
+	      dachan:	2,
+	      dabits:	12,
+		},
+      {name:"dt3005",		/* a.k.a. 3004-200 */
+	      device_id:0x26,
+	      adchan:	16,
+	      adbits:	16,
+	      adrange:	&range_dt3000_ai,
+	      ai_speed:5000,
+	      dachan:	2,
+	      dabits:	12,
+		},
+};
+
+#define n_dt3k_boards sizeof(dt3k_boardtypes)/sizeof(dt3k_boardtype)
+#define this_board ((const dt3k_boardtype *)dev->board_ptr)
+
+static DEFINE_PCI_DEVICE_TABLE(dt3k_pci_table) = {
+	{PCI_VENDOR_ID_DT, 0x0022, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{PCI_VENDOR_ID_DT, 0x0027, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{PCI_VENDOR_ID_DT, 0x0023, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{PCI_VENDOR_ID_DT, 0x0024, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{PCI_VENDOR_ID_DT, 0x0028, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{PCI_VENDOR_ID_DT, 0x0025, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{PCI_VENDOR_ID_DT, 0x0026, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+	{0}
+};
+
+MODULE_DEVICE_TABLE(pci, dt3k_pci_table);
+
+#define DT3000_SIZE		(4*0x1000)
+
+/* dual-ported RAM location definitions */
+
+#define DPR_DAC_buffer		(4*0x000)
+#define DPR_ADC_buffer		(4*0x800)
+#define DPR_Command		(4*0xfd3)
+#define DPR_SubSys		(4*0xfd3)
+#define DPR_Encode		(4*0xfd4)
+#define DPR_Params(a)		(4*(0xfd5+(a)))
+#define DPR_Tick_Reg_Lo		(4*0xff5)
+#define DPR_Tick_Reg_Hi		(4*0xff6)
+#define DPR_DA_Buf_Front	(4*0xff7)
+#define DPR_DA_Buf_Rear		(4*0xff8)
+#define DPR_AD_Buf_Front	(4*0xff9)
+#define DPR_AD_Buf_Rear		(4*0xffa)
+#define DPR_Int_Mask		(4*0xffb)
+#define DPR_Intr_Flag		(4*0xffc)
+#define DPR_Response_Mbx	(4*0xffe)
+#define DPR_Command_Mbx		(4*0xfff)
+
+#define AI_FIFO_DEPTH	2003
+#define AO_FIFO_DEPTH	2048
+
+/* command list */
+
+#define CMD_GETBRDINFO		0
+#define CMD_CONFIG		1
+#define CMD_GETCONFIG		2
+#define CMD_START		3
+#define CMD_STOP		4
+#define CMD_READSINGLE		5
+#define CMD_WRITESINGLE		6
+#define CMD_CALCCLOCK		7
+#define CMD_READEVENTS		8
+#define CMD_WRITECTCTRL		16
+#define CMD_READCTCTRL		17
+#define CMD_WRITECT		18
+#define CMD_READCT		19
+#define CMD_WRITEDATA		32
+#define CMD_READDATA		33
+#define CMD_WRITEIO		34
+#define CMD_READIO		35
+#define CMD_WRITECODE		36
+#define CMD_READCODE		37
+#define CMD_EXECUTE		38
+#define CMD_HALT		48
+
+#define SUBS_AI		0
+#define SUBS_AO		1
+#define SUBS_DIN	2
+#define SUBS_DOUT	3
+#define SUBS_MEM	4
+#define SUBS_CT		5
+
+/* interrupt flags */
+#define DT3000_CMDONE		0x80
+#define DT3000_CTDONE		0x40
+#define DT3000_DAHWERR		0x20
+#define DT3000_DASWERR		0x10
+#define DT3000_DAEMPTY		0x08
+#define DT3000_ADHWERR		0x04
+#define DT3000_ADSWERR		0x02
+#define DT3000_ADFULL		0x01
+
+#define DT3000_COMPLETION_MASK	0xff00
+#define DT3000_COMMAND_MASK	0x00ff
+#define DT3000_NOTPROCESSED	0x0000
+#define DT3000_NOERROR		0x5500
+#define DT3000_ERROR		0xaa00
+#define DT3000_NOTSUPPORTED	0xff00
+
+#define DT3000_EXTERNAL_CLOCK	1
+#define DT3000_RISING_EDGE	2
+
+#define TMODE_MASK		0x1c
+
+#define DT3000_AD_TRIG_INTERNAL		(0<<2)
+#define DT3000_AD_TRIG_EXTERNAL		(1<<2)
+#define DT3000_AD_RETRIG_INTERNAL	(2<<2)
+#define DT3000_AD_RETRIG_EXTERNAL	(3<<2)
+#define DT3000_AD_EXTRETRIG		(4<<2)
+
+#define DT3000_CHANNEL_MODE_SE		0
+#define DT3000_CHANNEL_MODE_DI		1
+
+typedef struct {
+	struct pci_dev *pci_dev;
+	resource_size_t phys_addr;
+	void *io_addr;
+	unsigned int lock;
+	lsampl_t ao_readback[2];
+	unsigned int ai_front;
+	unsigned int ai_rear;
+} dt3k_private;
+#define devpriv ((dt3k_private *)dev->private)
+
+static int dt3000_attach(comedi_device * dev, comedi_devconfig * it);
+static int dt3000_detach(comedi_device * dev);
+static comedi_driver driver_dt3000 = {
+      driver_name:"dt3000",
+      module:THIS_MODULE,
+      attach:dt3000_attach,
+      detach:dt3000_detach,
+};
+
+COMEDI_PCI_INITCLEANUP(driver_dt3000, dt3k_pci_table);
+
+static void dt3k_ai_empty_fifo(comedi_device * dev, comedi_subdevice * s);
+static int dt3k_ns_to_timer(unsigned int timer_base, unsigned int *arg,
+	unsigned int round_mode);
+static int dt3k_ai_cancel(comedi_device * dev, comedi_subdevice * s);
+#ifdef DEBUG
+static void debug_intr_flags(unsigned int flags);
+#endif
+
+#define TIMEOUT 100
+
+static int dt3k_send_cmd(comedi_device * dev, unsigned int cmd)
+{
+	int i;
+	unsigned int status = 0;
+
+	writew(cmd, devpriv->io_addr + DPR_Command_Mbx);
+
+	for (i = 0; i < TIMEOUT; i++) {
+		status = readw(devpriv->io_addr + DPR_Command_Mbx);
+		if ((status & DT3000_COMPLETION_MASK) != DT3000_NOTPROCESSED)
+			break;
+		comedi_udelay(1);
+	}
+	if ((status & DT3000_COMPLETION_MASK) == DT3000_NOERROR) {
+		return 0;
+	}
+
+	printk("dt3k_send_cmd() timeout/error status=0x%04x\n", status);
+
+	return -ETIME;
+}
+
+static unsigned int dt3k_readsingle(comedi_device * dev, unsigned int subsys,
+	unsigned int chan, unsigned int gain)
+{
+	writew(subsys, devpriv->io_addr + DPR_SubSys);
+
+	writew(chan, devpriv->io_addr + DPR_Params(0));
+	writew(gain, devpriv->io_addr + DPR_Params(1));
+
+	dt3k_send_cmd(dev, CMD_READSINGLE);
+
+	return readw(devpriv->io_addr + DPR_Params(2));
+}
+
+static void dt3k_writesingle(comedi_device * dev, unsigned int subsys,
+	unsigned int chan, unsigned int data)
+{
+	writew(subsys, devpriv->io_addr + DPR_SubSys);
+
+	writew(chan, devpriv->io_addr + DPR_Params(0));
+	writew(0, devpriv->io_addr + DPR_Params(1));
+	writew(data, devpriv->io_addr + DPR_Params(2));
+
+	dt3k_send_cmd(dev, CMD_WRITESINGLE);
+}
+
+static int debug_n_ints = 0;
+
+// FIXME! Assumes shared interrupt is for this card.
+// What's this debug_n_ints stuff? Obviously needs some work...
+static irqreturn_t dt3k_interrupt(int irq, void *d PT_REGS_ARG)
+{
+	comedi_device *dev = d;
+	comedi_subdevice *s;
+	unsigned int status;
+
+	if (!dev->attached) {
+		return IRQ_NONE;
+	}
+
+	s = dev->subdevices + 0;
+	status = readw(devpriv->io_addr + DPR_Intr_Flag);
+#ifdef DEBUG
+	debug_intr_flags(status);
+#endif
+
+	if (status & DT3000_ADFULL) {
+		dt3k_ai_empty_fifo(dev, s);
+		s->async->events |= COMEDI_CB_BLOCK;
+	}
+
+	if (status & (DT3000_ADSWERR | DT3000_ADHWERR)) {
+		s->async->events |= COMEDI_CB_ERROR | COMEDI_CB_EOA;
+	}
+
+	debug_n_ints++;
+	if (debug_n_ints >= 10) {
+		dt3k_ai_cancel(dev, s);
+		s->async->events |= COMEDI_CB_EOA;
+	}
+
+	comedi_event(dev, s);
+	return IRQ_HANDLED;
+}
+
+#ifdef DEBUG
+static char *intr_flags[] = {
+	"AdFull", "AdSwError", "AdHwError", "DaEmpty",
+	"DaSwError", "DaHwError", "CtDone", "CmDone",
+};
+static void debug_intr_flags(unsigned int flags)
+{
+	int i;
+	printk("dt3k: intr_flags:");
+	for (i = 0; i < 8; i++) {
+		if (flags & (1 << i)) {
+			printk(" %s", intr_flags[i]);
+		}
+	}
+	printk("\n");
+}
+#endif
+
+static void dt3k_ai_empty_fifo(comedi_device * dev, comedi_subdevice * s)
+{
+	int front;
+	int rear;
+	int count;
+	int i;
+	sampl_t data;
+
+	front = readw(devpriv->io_addr + DPR_AD_Buf_Front);
+	count = front - devpriv->ai_front;
+	if (count < 0)
+		count += AI_FIFO_DEPTH;
+
+	printk("reading %d samples\n", count);
+
+	rear = devpriv->ai_rear;
+
+	for (i = 0; i < count; i++) {
+		data = readw(devpriv->io_addr + DPR_ADC_buffer + rear);
+		comedi_buf_put(s->async, data);
+		rear++;
+		if (rear >= AI_FIFO_DEPTH)
+			rear = 0;
+	}
+
+	devpriv->ai_rear = rear;
+	writew(rear, devpriv->io_addr + DPR_AD_Buf_Rear);
+}
+
+static int dt3k_ai_cmdtest(comedi_device * dev, comedi_subdevice * s,
+	comedi_cmd * cmd)
+{
+	int err = 0;
+	int tmp;
+
+	/* step 1: make sure trigger sources are trivially valid */
+
+	tmp = cmd->start_src;
+	cmd->start_src &= TRIG_NOW;
+	if (!cmd->start_src || tmp != cmd->start_src)
+		err++;
+
+	tmp = cmd->scan_begin_src;
+	cmd->scan_begin_src &= TRIG_TIMER;
+	if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+		err++;
+
+	tmp = cmd->convert_src;
+	cmd->convert_src &= TRIG_TIMER;
+	if (!cmd->convert_src || tmp != cmd->convert_src)
+		err++;
+
+	tmp = cmd->scan_end_src;
+	cmd->scan_end_src &= TRIG_COUNT;
+	if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+		err++;
+
+	tmp = cmd->stop_src;
+	cmd->stop_src &= TRIG_COUNT;
+	if (!cmd->stop_src || tmp != cmd->stop_src)
+		err++;
+
+	if (err)
+		return 1;
+
+	/* step 2: make sure trigger sources are unique and mutually compatible */
+
+	if (err)
+		return 2;
+
+	/* step 3: make sure arguments are trivially compatible */
+
+	if (cmd->start_arg != 0) {
+		cmd->start_arg = 0;
+		err++;
+	}
+
+	if (cmd->scan_begin_src == TRIG_TIMER) {
+		if (cmd->scan_begin_arg < this_board->ai_speed) {
+			cmd->scan_begin_arg = this_board->ai_speed;
+			err++;
+		}
+		if (cmd->scan_begin_arg > 100 * 16 * 65535) {
+			cmd->scan_begin_arg = 100 * 16 * 65535;
+			err++;
+		}
+	} else {
+		/* not supported */
+	}
+	if (cmd->convert_src == TRIG_TIMER) {
+		if (cmd->convert_arg < this_board->ai_speed) {
+			cmd->convert_arg = this_board->ai_speed;
+			err++;
+		}
+		if (cmd->convert_arg > 50 * 16 * 65535) {
+			cmd->convert_arg = 50 * 16 * 65535;
+			err++;
+		}
+	} else {
+		/* not supported */
+	}
+
+	if (cmd->scan_end_arg != cmd->chanlist_len) {
+		cmd->scan_end_arg = cmd->chanlist_len;
+		err++;
+	}
+	if (cmd->stop_src == TRIG_COUNT) {
+		if (cmd->stop_arg > 0x00ffffff) {
+			cmd->stop_arg = 0x00ffffff;
+			err++;
+		}
+	} else {
+		/* TRIG_NONE */
+		if (cmd->stop_arg != 0) {
+			cmd->stop_arg = 0;
+			err++;
+		}
+	}
+
+	if (err)
+		return 3;
+
+	/* step 4: fix up any arguments */
+
+	if (cmd->scan_begin_src == TRIG_TIMER) {
+		tmp = cmd->scan_begin_arg;
+		dt3k_ns_to_timer(100, &cmd->scan_begin_arg,
+			cmd->flags & TRIG_ROUND_MASK);
+		if (tmp != cmd->scan_begin_arg)
+			err++;
+	} else {
+		/* not supported */
+	}
+	if (cmd->convert_src == TRIG_TIMER) {
+		tmp = cmd->convert_arg;
+		dt3k_ns_to_timer(50, &cmd->convert_arg,
+			cmd->flags & TRIG_ROUND_MASK);
+		if (tmp != cmd->convert_arg)
+			err++;
+		if (cmd->scan_begin_src == TRIG_TIMER &&
+			cmd->scan_begin_arg <
+			cmd->convert_arg * cmd->scan_end_arg) {
+			cmd->scan_begin_arg =
+				cmd->convert_arg * cmd->scan_end_arg;
+			err++;
+		}
+	} else {
+		/* not supported */
+	}
+
+	if (err)
+		return 4;
+
+	return 0;
+}
+
+static int dt3k_ns_to_timer(unsigned int timer_base, unsigned int *nanosec,
+	unsigned int round_mode)
+{
+	int divider, base, prescale;
+
+	/* This function needs improvment */
+	/* Don't know if divider==0 works. */
+
+	for (prescale = 0; prescale < 16; prescale++) {
+		base = timer_base * (prescale + 1);
+		switch (round_mode) {
+		case TRIG_ROUND_NEAREST:
+		default:
+			divider = (*nanosec + base / 2) / base;
+			break;
+		case TRIG_ROUND_DOWN:
+			divider = (*nanosec) / base;
+			break;
+		case TRIG_ROUND_UP:
+			divider = (*nanosec) / base;
+			break;
+		}
+		if (divider < 65536) {
+			*nanosec = divider * base;
+			return (prescale << 16) | (divider);
+		}
+	}
+
+	prescale = 15;
+	base = timer_base * (1 << prescale);
+	divider = 65535;
+	*nanosec = divider * base;
+	return (prescale << 16) | (divider);
+}
+
+static int dt3k_ai_cmd(comedi_device * dev, comedi_subdevice * s)
+{
+	comedi_cmd *cmd = &s->async->cmd;
+	int i;
+	unsigned int chan, range, aref;
+	unsigned int divider;
+	unsigned int tscandiv;
+	int ret;
+	unsigned int mode;
+
+	printk("dt3k_ai_cmd:\n");
+	for (i = 0; i < cmd->chanlist_len; i++) {
+		chan = CR_CHAN(cmd->chanlist[i]);
+		range = CR_RANGE(cmd->chanlist[i]);
+
+		writew((range << 6) | chan,
+			devpriv->io_addr + DPR_ADC_buffer + i);
+	}
+	aref = CR_AREF(cmd->chanlist[0]);
+
+	writew(cmd->scan_end_arg, devpriv->io_addr + DPR_Params(0));
+	printk("param[0]=0x%04x\n", cmd->scan_end_arg);
+
+	if (cmd->convert_src == TRIG_TIMER) {
+		divider = dt3k_ns_to_timer(50, &cmd->convert_arg,
+			cmd->flags & TRIG_ROUND_MASK);
+		writew((divider >> 16), devpriv->io_addr + DPR_Params(1));
+		printk("param[1]=0x%04x\n", divider >> 16);
+		writew((divider & 0xffff), devpriv->io_addr + DPR_Params(2));
+		printk("param[2]=0x%04x\n", divider & 0xffff);
+	} else {
+		/* not supported */
+	}
+
+	if (cmd->scan_begin_src == TRIG_TIMER) {
+		tscandiv = dt3k_ns_to_timer(100, &cmd->scan_begin_arg,
+			cmd->flags & TRIG_ROUND_MASK);
+		writew((tscandiv >> 16), devpriv->io_addr + DPR_Params(3));
+		printk("param[3]=0x%04x\n", tscandiv >> 16);
+		writew((tscandiv & 0xffff), devpriv->io_addr + DPR_Params(4));
+		printk("param[4]=0x%04x\n", tscandiv & 0xffff);
+	} else {
+		/* not supported */
+	}
+
+	mode = DT3000_AD_RETRIG_INTERNAL | 0 | 0;
+	writew(mode, devpriv->io_addr + DPR_Params(5));
+	printk("param[5]=0x%04x\n", mode);
+	writew(aref == AREF_DIFF, devpriv->io_addr + DPR_Params(6));
+	printk("param[6]=0x%04x\n", aref == AREF_DIFF);
+
+	writew(AI_FIFO_DEPTH / 2, devpriv->io_addr + DPR_Params(7));
+	printk("param[7]=0x%04x\n", AI_FIFO_DEPTH / 2);
+
+	writew(SUBS_AI, devpriv->io_addr + DPR_SubSys);
+	ret = dt3k_send_cmd(dev, CMD_CONFIG);
+
+	writew(DT3000_ADFULL | DT3000_ADSWERR | DT3000_ADHWERR,
+		devpriv->io_addr + DPR_Int_Mask);
+
+	debug_n_ints = 0;
+
+	writew(SUBS_AI, devpriv->io_addr + DPR_SubSys);
+	ret = dt3k_send_cmd(dev, CMD_START);
+
+	return 0;
+}
+
+static int dt3k_ai_cancel(comedi_device * dev, comedi_subdevice * s)
+{
+	int ret;
+
+	writew(SUBS_AI, devpriv->io_addr + DPR_SubSys);
+	ret = dt3k_send_cmd(dev, CMD_STOP);
+
+	writew(0, devpriv->io_addr + DPR_Int_Mask);
+
+	return 0;
+}
+
+static int dt3k_ai_insn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	unsigned int chan, gain, aref;
+
+	chan = CR_CHAN(insn->chanspec);
+	gain = CR_RANGE(insn->chanspec);
+	/* XXX docs don't explain how to select aref */
+	aref = CR_AREF(insn->chanspec);
+
+	for (i = 0; i < insn->n; i++) {
+		data[i] = dt3k_readsingle(dev, SUBS_AI, chan, gain);
+	}
+
+	return i;
+}
+
+static int dt3k_ao_insn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	unsigned int chan;
+
+	chan = CR_CHAN(insn->chanspec);
+	for (i = 0; i < insn->n; i++) {
+		dt3k_writesingle(dev, SUBS_AO, chan, data[i]);
+		devpriv->ao_readback[chan] = data[i];
+	}
+
+	return i;
+}
+
+static int dt3k_ao_insn_read(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	unsigned int chan;
+
+	chan = CR_CHAN(insn->chanspec);
+	for (i = 0; i < insn->n; i++) {
+		data[i] = devpriv->ao_readback[chan];
+	}
+
+	return i;
+}
+
+static void dt3k_dio_config(comedi_device * dev, int bits)
+{
+	/* XXX */
+	writew(SUBS_DOUT, devpriv->io_addr + DPR_SubSys);
+
+	writew(bits, devpriv->io_addr + DPR_Params(0));
+#if 0
+	/* don't know */
+	writew(0, devpriv->io_addr + DPR_Params(1));
+	writew(0, devpriv->io_addr + DPR_Params(2));
+#endif
+
+	dt3k_send_cmd(dev, CMD_CONFIG);
+}
+
+static int dt3k_dio_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int mask;
+
+	mask = (CR_CHAN(insn->chanspec) < 4) ? 0x0f : 0xf0;
+
+	switch (data[0]) {
+	case INSN_CONFIG_DIO_OUTPUT:
+		s->io_bits |= mask;
+		break;
+	case INSN_CONFIG_DIO_INPUT:
+		s->io_bits &= ~mask;
+		break;
+	case INSN_CONFIG_DIO_QUERY:
+		data[1] =
+			(s->io_bits & (1 << CR_CHAN(insn->
+					chanspec))) ? COMEDI_OUTPUT :
+			COMEDI_INPUT;
+		return insn->n;
+		break;
+	default:
+		return -EINVAL;
+		break;
+	}
+	mask = (s->io_bits & 0x01) | ((s->io_bits & 0x10) >> 3);
+	dt3k_dio_config(dev, mask);
+
+	return insn->n;
+}
+
+static int dt3k_dio_insn_bits(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	if (insn->n != 2)
+		return -EINVAL;
+
+	if (data[0]) {
+		s->state &= ~data[0];
+		s->state |= data[1] & data[0];
+		dt3k_writesingle(dev, SUBS_DOUT, 0, s->state);
+	}
+	data[1] = dt3k_readsingle(dev, SUBS_DIN, 0, 0);
+
+	return 2;
+}
+
+static int dt3k_mem_insn_read(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	unsigned int addr = CR_CHAN(insn->chanspec);
+	int i;
+
+	for (i = 0; i < insn->n; i++) {
+		writew(SUBS_MEM, devpriv->io_addr + DPR_SubSys);
+		writew(addr, devpriv->io_addr + DPR_Params(0));
+		writew(1, devpriv->io_addr + DPR_Params(1));
+
+		dt3k_send_cmd(dev, CMD_READCODE);
+
+		data[i] = readw(devpriv->io_addr + DPR_Params(2));
+	}
+
+	return i;
+}
+
+static int dt_pci_probe(comedi_device * dev, int bus, int slot);
+
+static int dt3000_attach(comedi_device * dev, comedi_devconfig * it)
+{
+	comedi_subdevice *s;
+	int bus, slot;
+	int ret = 0;
+
+	printk("dt3000:");
+	bus = it->options[0];
+	slot = it->options[1];
+
+	if ((ret = alloc_private(dev, sizeof(dt3k_private))) < 0)
+		return ret;
+
+	ret = dt_pci_probe(dev, bus, slot);
+	if (ret < 0)
+		return ret;
+	if (ret == 0) {
+		printk(" no DT board found\n");
+		return -ENODEV;
+	}
+
+	dev->board_name = this_board->name;
+
+	if (comedi_request_irq(devpriv->pci_dev->irq, dt3k_interrupt,
+			IRQF_SHARED, "dt3000", dev)) {
+		printk(" unable to allocate IRQ %u\n", devpriv->pci_dev->irq);
+		return -EINVAL;
+	}
+	dev->irq = devpriv->pci_dev->irq;
+
+	if ((ret = alloc_subdevices(dev, 4)) < 0)
+		return ret;
+
+	s = dev->subdevices;
+	dev->read_subdev = s;
+
+	/* ai subdevice */
+	s->type = COMEDI_SUBD_AI;
+	s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_DIFF | SDF_CMD_READ;
+	s->n_chan = this_board->adchan;
+	s->insn_read = dt3k_ai_insn;
+	s->maxdata = (1 << this_board->adbits) - 1;
+	s->len_chanlist = 512;
+	s->range_table = &range_dt3000_ai;	/* XXX */
+	s->do_cmd = dt3k_ai_cmd;
+	s->do_cmdtest = dt3k_ai_cmdtest;
+	s->cancel = dt3k_ai_cancel;
+
+	s++;
+	/* ao subsystem */
+	s->type = COMEDI_SUBD_AO;
+	s->subdev_flags = SDF_WRITABLE;
+	s->n_chan = 2;
+	s->insn_read = dt3k_ao_insn_read;
+	s->insn_write = dt3k_ao_insn;
+	s->maxdata = (1 << this_board->dabits) - 1;
+	s->len_chanlist = 1;
+	s->range_table = &range_bipolar10;
+
+	s++;
+	/* dio subsystem */
+	s->type = COMEDI_SUBD_DIO;
+	s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
+	s->n_chan = 8;
+	s->insn_config = dt3k_dio_insn_config;
+	s->insn_bits = dt3k_dio_insn_bits;
+	s->maxdata = 1;
+	s->len_chanlist = 8;
+	s->range_table = &range_digital;
+
+	s++;
+	/* mem subsystem */
+	s->type = COMEDI_SUBD_MEMORY;
+	s->subdev_flags = SDF_READABLE;
+	s->n_chan = 0x1000;
+	s->insn_read = dt3k_mem_insn_read;
+	s->maxdata = 0xff;
+	s->len_chanlist = 1;
+	s->range_table = &range_unknown;
+
+#if 0
+	s++;
+	/* proc subsystem */
+	s->type = COMEDI_SUBD_PROC;
+#endif
+
+	return 0;
+}
+
+static int dt3000_detach(comedi_device * dev)
+{
+	if (dev->irq)
+		comedi_free_irq(dev->irq, dev);
+
+	if (devpriv) {
+		if (devpriv->pci_dev) {
+			if (devpriv->phys_addr) {
+				comedi_pci_disable(devpriv->pci_dev);
+			}
+			pci_dev_put(devpriv->pci_dev);
+		}
+		if (devpriv->io_addr)
+			iounmap(devpriv->io_addr);
+	}
+	/* XXX */
+
+	return 0;
+}
+
+static struct pci_dev *dt_pci_find_device(struct pci_dev *from, int *board);
+static int setup_pci(comedi_device * dev);
+
+static int dt_pci_probe(comedi_device * dev, int bus, int slot)
+{
+	int board;
+	int ret;
+	struct pci_dev *pcidev;
+
+	pcidev = NULL;
+	while ((pcidev = dt_pci_find_device(pcidev, &board)) != NULL) {
+		if ((bus == 0 && slot == 0) ||
+			(pcidev->bus->number == bus &&
+			 PCI_SLOT(pcidev->devfn) == slot)) {
+			break;
+		}
+	}
+	devpriv->pci_dev = pcidev;
+
+	if (board >= 0)
+		dev->board_ptr = dt3k_boardtypes + board;
+
+	if (!devpriv->pci_dev)
+		return 0;
+
+	if ((ret = setup_pci(dev)) < 0)
+		return ret;
+
+	return 1;
+}
+
+static int setup_pci(comedi_device * dev)
+{
+	resource_size_t addr;
+	int ret;
+
+	ret = comedi_pci_enable(devpriv->pci_dev, "dt3000");
+	if (ret < 0)
+		return ret;
+
+	addr = pci_resource_start(devpriv->pci_dev, 0);
+	devpriv->phys_addr = addr;
+	devpriv->io_addr = ioremap(devpriv->phys_addr, DT3000_SIZE);
+	if (!devpriv->io_addr)
+		return -ENOMEM;
+#if DEBUG
+	printk("0x%08llx mapped to %p, ",
+		(unsigned long long)devpriv->phys_addr, devpriv->io_addr);
+#endif
+
+	return 0;
+}
+
+static struct pci_dev *dt_pci_find_device(struct pci_dev *from, int *board)
+{
+	int i;
+
+	for (from = pci_get_device(PCI_VENDOR_ID_DT, PCI_ANY_ID, from);
+		from != NULL;
+		from = pci_get_device(PCI_VENDOR_ID_DT, PCI_ANY_ID, from)) {
+		for (i = 0; i < n_dt3k_boards; i++) {
+			if (from->device == dt3k_boardtypes[i].device_id) {
+				*board = i;
+				return from;
+			}
+		}
+		printk("unknown Data Translation PCI device found with device_id=0x%04x\n", from->device);
+	}
+	*board = -1;
+	return from;
+}