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Commit eb3a3c1b authored by Markus Kempf's avatar Markus Kempf Committed by Greg Kroah-Hartman
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Staging: comedi: add ii_pci20kc driver 

Driver for Intelligent Instruments PCI-20001C carrier board
and modules.

From: Markus Kempf <kempf@matsci.uni-sb.de>
Cc: David Schleef <ds@schleef.org>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Cc: Ian Abbott <abbotti@mev.co.uk>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent f26c569b
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/*
* comedi/drivers/ii_pci20kc.c
* Driver for Intelligent Instruments PCI-20001C carrier board
* and modules.
*
* Copyright (C) 2000 Markus Kempf <kempf@matsci.uni-sb.de>
* with suggestions from David Schleef
* 16.06.2000
*
* Linux device driver for COMEDI
* Intelligent Instrumentation
* PCI-20001 C-2A Carrier Board
* PCI-20341 M-1A 16-Bit analog input module
* - differential
* - range (-5V - +5V)
* - 16 bit
* PCI-20006 M-2 16-Bit analog output module
* - ranges (-10V - +10V) (0V - +10V) (-5V - +5V)
* - 16 bit
*
* only ONE PCI-20341 module possible
* only ONE PCI-20006 module possible
* no extern trigger implemented
*
* NOT WORKING (but soon) only 4 on-board differential channels supported
* NOT WORKING (but soon) only ONE di-port and ONE do-port supported instead of 4 digital ports
* di-port == Port 0
* do-port == Port 1
*
* The state of this driver is only a starting point for a complete
* COMEDI-driver. The final driver should support all features of the
* carrier board and modules.
*
* The test configuration:
*
* kernel 2.2.14 with RTAI v1.2 and patch-2.2.14rthal2
* COMEDI 0.7.45
* COMEDILIB 0.7.9
*
*/
/*
Driver: ii_pci20kc
Description: Intelligent Instruments PCI-20001C carrier board
Author: Markus Kempf <kempf@matsci.uni-sb.de>
Devices: [Intelligent Instrumentation] PCI-20001C (ii_pci20kc)
Status: works
Supports the PCI-20001 C-2a Carrier board, and could probably support
the other carrier boards with small modifications. Modules supported
are:
PCI-20006 M-2 16-bit analog output module
PCI-20341 M-1A 16-bit analog input module
Options:
0 Board base address
1 IRQ
2 first option for module 1
3 second option for module 1
4 first option for module 2
5 second option for module 2
6 first option for module 3
7 second option for module 3
options for PCI-20006M:
first: Analog output channel 0 range configuration
0 bipolar 10 (-10V -- +10V)
1 unipolar 10 (0V -- +10V)
2 bipolar 5 (-5V -- 5V)
second: Analog output channel 1 range configuration
options for PCI-20341M:
first: Analog input gain configuration
0 1
1 10
2 100
3 200
*/
/* XXX needs to use ioremap() for compatibility with 2.4 kernels. Should also
* check_mem_region() etc. - fmhess */
#include "../comedidev.h"
#define PCI20000_ID 0x1d
#define PCI20341_ID 0x77
#define PCI20006_ID 0xe3
#define PCI20xxx_EMPTY_ID 0xff
#define PCI20000_OFFSET 0x100
#define PCI20000_MODULES 3
#define PCI20000_DIO_0 0x80
#define PCI20000_DIO_1 0x81
#define PCI20000_DIO_2 0xc0
#define PCI20000_DIO_3 0xc1
#define PCI20000_DIO_CONTROL_01 0x83 /* port 0, 1 control */
#define PCI20000_DIO_CONTROL_23 0xc3 /* port 2, 3 control */
#define PCI20000_DIO_BUFFER 0x82 /* buffer direction and enable */
#define PCI20000_DIO_EOC 0xef /* even port, control output */
#define PCI20000_DIO_OOC 0xfd /* odd port, control output */
#define PCI20000_DIO_EIC 0x90 /* even port, control input */
#define PCI20000_DIO_OIC 0x82 /* odd port, control input */
#define DIO_CAND 0x12 /* and bit 1, bit 4 of control */
#define DIO_BE 0x01 /* buffer: port enable */
#define DIO_BO 0x04 /* buffer: output */
#define DIO_BI 0x05 /* buffer: input */
#define DIO_PS_0 0x00 /* buffer: port shift 0 */
#define DIO_PS_1 0x01 /* buffer: port shift 1 */
#define DIO_PS_2 0x04 /* buffer: port shift 2 */
#define DIO_PS_3 0x05 /* buffer: port shift 3 */
#define PCI20006_LCHAN0 0x0d
#define PCI20006_STROBE0 0x0b
#define PCI20006_LCHAN1 0x15
#define PCI20006_STROBE1 0x13
#define PCI20341_INIT 0x04
#define PCI20341_REPMODE 0x00 /* single shot mode */
#define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
#define PCI20341_CHAN_NR 0x04 /* number of input channels */
#define PCI20341_CONFIG_REG 0x10
#define PCI20341_MOD_STATUS 0x01
#define PCI20341_OPT_REG 0x11
#define PCI20341_SET_TIME_REG 0x15
#define PCI20341_LCHAN_ADDR_REG 0x13
#define PCI20341_CHAN_LIST 0x80
#define PCI20341_CC_RESET 0x1b
#define PCI20341_CHAN_RESET 0x19
#define PCI20341_SOFT_PACER 0x04
#define PCI20341_STATUS_REG 0x12
#define PCI20341_LDATA 0x02
#define PCI20341_DAISY_CHAIN 0x20 /* On-board inputs only */
#define PCI20341_MUX 0x04 /* Enable on-board MUX */
#define PCI20341_SCANLIST 0x80 /* Channel/Gain Scan List */
typedef union {
void *iobase;
struct {
void *iobase;
const comedi_lrange *ao_range_list[2]; /* range of channels of ao module */
lsampl_t last_data[2];
} pci20006;
struct {
void *iobase;
int timebase;
int settling_time;
int ai_gain;
} pci20341;
} pci20xxx_subdev_private;
typedef struct {
void *ioaddr;
pci20xxx_subdev_private subdev_private[PCI20000_MODULES];
} pci20xxx_private;
#define devpriv ((pci20xxx_private *)dev->private)
#define CHAN (CR_CHAN(it->chanlist[0]))
static int pci20xxx_attach(comedi_device * dev, comedi_devconfig * it);
static int pci20xxx_detach(comedi_device * dev);
static comedi_driver driver_pci20xxx = {
driver_name:"ii_pci20kc",
module:THIS_MODULE,
attach:pci20xxx_attach,
detach:pci20xxx_detach,
};
static int pci20006_init(comedi_device * dev, comedi_subdevice * s,
int opt0, int opt1);
static int pci20341_init(comedi_device * dev, comedi_subdevice * s,
int opt0, int opt1);
static int pci20xxx_dio_init(comedi_device * dev, comedi_subdevice * s);
/*
options[0] Board base address
options[1] IRQ
options[2] first option for module 1
options[3] second option for module 1
options[4] first option for module 2
options[5] second option for module 2
options[6] first option for module 3
options[7] second option for module 3
options for PCI-20341M:
first Analog input gain configuration
0 == 1
1 == 10
2 == 100
3 == 200
options for PCI-20006M:
first Analog output channel 0 range configuration
0 == bipolar 10 (-10V -- +10V)
1 == unipolar 10V (0V -- +10V)
2 == bipolar 5V (-5V -- +5V)
second Analog output channel 1 range configuration
0 == bipolar 10 (-10V -- +10V)
1 == unipolar 10V (0V -- +10V)
2 == bipolar 5V (-5V -- +5V)
*/
static int pci20xxx_attach(comedi_device * dev, comedi_devconfig * it)
{
unsigned char i;
int ret;
int id;
comedi_subdevice *s;
pci20xxx_subdev_private *sdp;
if ((ret = alloc_subdevices(dev, 1 + PCI20000_MODULES)) < 0)
return ret;
if ((ret = alloc_private(dev, sizeof(pci20xxx_private))) < 0)
return ret;
devpriv->ioaddr = (void *)(unsigned long)it->options[0];
dev->board_name = "pci20kc";
/* Check PCI-20001 C-2A Carrier Board ID */
if ((readb(devpriv->ioaddr) & PCI20000_ID) != PCI20000_ID) {
printk("comedi%d: ii_pci20kc", dev->minor);
printk(" PCI-20001 C-2A Carrier Board at base=0x%p not found !\n", devpriv->ioaddr);
return -EINVAL;
}
printk("comedi%d:\n", dev->minor);
printk("ii_pci20kc: PCI-20001 C-2A at base=0x%p\n", devpriv->ioaddr);
for (i = 0; i < PCI20000_MODULES; i++) {
s = dev->subdevices + i;
id = readb(devpriv->ioaddr + (i + 1) * PCI20000_OFFSET);
s->private = devpriv->subdev_private + i;
sdp = s->private;
switch (id) {
case PCI20006_ID:
sdp->pci20006.iobase =
devpriv->ioaddr + (i + 1) * PCI20000_OFFSET;
pci20006_init(dev, s, it->options[2 * i + 2],
it->options[2 * i + 3]);
printk("comedi%d: ii_pci20kc", dev->minor);
printk(" PCI-20006 module in slot %d \n", i + 1);
break;
case PCI20341_ID:
sdp->pci20341.iobase =
devpriv->ioaddr + (i + 1) * PCI20000_OFFSET;
pci20341_init(dev, s, it->options[2 * i + 2],
it->options[2 * i + 3]);
printk("comedi%d: ii_pci20kc", dev->minor);
printk(" PCI-20341 module in slot %d \n", i + 1);
break;
default:
printk("ii_pci20kc: unknown module code 0x%02x in slot %d: module disabled\n", id, i);
/* fall through */
case PCI20xxx_EMPTY_ID:
s->type = COMEDI_SUBD_UNUSED;
break;
}
}
/* initialize pci20xxx_private */
pci20xxx_dio_init(dev, dev->subdevices + PCI20000_MODULES);
return 1;
}
static int pci20xxx_detach(comedi_device * dev)
{
printk("comedi%d: pci20xxx: remove\n", dev->minor);
return 0;
}
/* pci20006m */
static int pci20006_insn_read(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data);
static int pci20006_insn_write(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data);
static const comedi_lrange *pci20006_range_list[] = {
&range_bipolar10,
&range_unipolar10,
&range_bipolar5,
};
static int pci20006_init(comedi_device * dev, comedi_subdevice * s,
int opt0, int opt1)
{
pci20xxx_subdev_private *sdp = s->private;
if (opt0 < 0 || opt0 > 2)
opt0 = 0;
if (opt1 < 0 || opt1 > 2)
opt1 = 0;
sdp->pci20006.ao_range_list[0] = pci20006_range_list[opt0];
sdp->pci20006.ao_range_list[1] = pci20006_range_list[opt1];
/* ao subdevice */
s->type = COMEDI_SUBD_AO;
s->subdev_flags = SDF_WRITABLE;
s->n_chan = 2;
s->len_chanlist = 2;
s->insn_read = pci20006_insn_read;
s->insn_write = pci20006_insn_write;
s->maxdata = 0xffff;
s->range_table_list = sdp->pci20006.ao_range_list;
return 0;
}
static int pci20006_insn_read(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data)
{
pci20xxx_subdev_private *sdp = s->private;
data[0] = sdp->pci20006.last_data[CR_CHAN(insn->chanspec)];
return 1;
}
static int pci20006_insn_write(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data)
{
pci20xxx_subdev_private *sdp = s->private;
int hi, lo;
unsigned int boarddata;
sdp->pci20006.last_data[CR_CHAN(insn->chanspec)] = data[0];
boarddata = (((unsigned int)data[0] + 0x8000) & 0xffff); /* comedi-data -> board-data */
lo = (boarddata & 0xff);
hi = ((boarddata >> 8) & 0xff);
switch (CR_CHAN(insn->chanspec)) {
case 0:
writeb(lo, sdp->iobase + PCI20006_LCHAN0);
writeb(hi, sdp->iobase + PCI20006_LCHAN0 + 1);
writeb(0x00, sdp->iobase + PCI20006_STROBE0);
break;
case 1:
writeb(lo, sdp->iobase + PCI20006_LCHAN1);
writeb(hi, sdp->iobase + PCI20006_LCHAN1 + 1);
writeb(0x00, sdp->iobase + PCI20006_STROBE1);
break;
default:
printk(" comedi%d: pci20xxx: ao channel Error!\n", dev->minor);
return -EINVAL;
}
return 1;
}
/* PCI20341M */
static int pci20341_insn_read(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data);
static const int pci20341_timebase[] = { 0x00, 0x00, 0x00, 0x04 };
static const int pci20341_settling_time[] = { 0x58, 0x58, 0x93, 0x99 };
static const comedi_lrange range_bipolar0_5 = { 1, {BIP_RANGE(0.5)} };
static const comedi_lrange range_bipolar0_05 = { 1, {BIP_RANGE(0.05)} };
static const comedi_lrange range_bipolar0_025 = { 1, {BIP_RANGE(0.025)} };
static const comedi_lrange *const pci20341_ranges[] = {
&range_bipolar5,
&range_bipolar0_5,
&range_bipolar0_05,
&range_bipolar0_025,
};
static int pci20341_init(comedi_device * dev, comedi_subdevice * s,
int opt0, int opt1)
{
pci20xxx_subdev_private *sdp = s->private;
int option;
/* options handling */
if (opt0 < 0 || opt0 > 3)
opt0 = 0;
sdp->pci20341.timebase = pci20341_timebase[opt0];
sdp->pci20341.settling_time = pci20341_settling_time[opt0];
/* ai subdevice */
s->type = COMEDI_SUBD_AI;
s->subdev_flags = SDF_READABLE;
s->n_chan = PCI20341_CHAN_NR;
s->len_chanlist = PCI20341_SCANLIST;
s->insn_read = pci20341_insn_read;
s->maxdata = 0xffff;
s->range_table = pci20341_ranges[opt0];
option = sdp->pci20341.timebase | PCI20341_REPMODE; /* depends on gain, trigger, repetition mode */
writeb(PCI20341_INIT, sdp->iobase + PCI20341_CONFIG_REG); /* initialize Module */
writeb(PCI20341_PACER, sdp->iobase + PCI20341_MOD_STATUS); /* set Pacer */
writeb(option, sdp->iobase + PCI20341_OPT_REG); /* option register */
writeb(sdp->pci20341.settling_time, sdp->iobase + PCI20341_SET_TIME_REG); /* settling time counter */
/* trigger not implemented */
return 0;
}
static int pci20341_insn_read(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data)
{
pci20xxx_subdev_private *sdp = s->private;
unsigned int i = 0, j = 0;
int lo, hi;
unsigned char eoc; /* end of conversion */
unsigned int clb; /* channel list byte */
unsigned int boarddata;
writeb(1, sdp->iobase + PCI20341_LCHAN_ADDR_REG); /* write number of input channels */
clb = PCI20341_DAISY_CHAIN | PCI20341_MUX | (sdp->pci20341.ai_gain << 3)
| CR_CHAN(insn->chanspec);
writeb(clb, sdp->iobase + PCI20341_CHAN_LIST);
writeb(0x00, sdp->iobase + PCI20341_CC_RESET); /* reset settling time counter and trigger delay counter */
writeb(0x00, sdp->iobase + PCI20341_CHAN_RESET);
/* generate Pacer */
for (i = 0; i < insn->n; i++) {
/* data polling isn't the niciest way to get the data, I know,
* but there are only 6 cycles (mean) and it is easier than
* the whole interrupt stuff
*/
j = 0;
readb(sdp->iobase + PCI20341_SOFT_PACER); /* generate Pacer */
eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
while ((eoc < 0x80) && j < 100) { /* poll Interrupt Flag */
j++;
eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
}
if (j >= 100) {
printk("comedi%d: pci20xxx: AI interrupt channel %i polling exit !\n", dev->minor, i);
return -EINVAL;
}
lo = readb(sdp->iobase + PCI20341_LDATA);
hi = readb(sdp->iobase + PCI20341_LDATA + 1);
boarddata = lo + 0x100 * hi;
data[i] = (sampl_t) ((boarddata + 0x8000) & 0xffff); /* board-data -> comedi-data */
}
return i;
}
/* native DIO */
static void pci20xxx_dio_config(comedi_device * dev, comedi_subdevice * s);
static int pci20xxx_dio_insn_bits(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data);
static int pci20xxx_dio_insn_config(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data);
/* initialize pci20xxx_private */
static int pci20xxx_dio_init(comedi_device * dev, comedi_subdevice * s)
{
s->type = COMEDI_SUBD_DIO;
s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
s->n_chan = 32;
s->insn_bits = pci20xxx_dio_insn_bits;
s->insn_config = pci20xxx_dio_insn_config;
s->maxdata = 1;
s->len_chanlist = 32;
s->range_table = &range_digital;
s->io_bits = 0;
/* digital I/O lines default to input on board reset. */
pci20xxx_dio_config(dev, s);
return 0;
}
static int pci20xxx_dio_insn_config(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data)
{
int mask, bits;
mask = 1 << CR_CHAN(insn->chanspec);
if (mask & 0x000000ff) {
bits = 0x000000ff;
} else if (mask & 0x0000ff00) {
bits = 0x0000ff00;
} else if (mask & 0x00ff0000) {
bits = 0x00ff0000;
} else {
bits = 0xff000000;
}
if (data[0]) {
s->io_bits |= bits;
} else {
s->io_bits &= ~bits;
}
pci20xxx_dio_config(dev, s);
return 1;
}
static int pci20xxx_dio_insn_bits(comedi_device * dev, comedi_subdevice * s,
comedi_insn * insn, lsampl_t * data)
{
unsigned int mask = data[0];
s->state &= ~mask;
s->state |= (mask & data[1]);
mask &= s->io_bits;
if (mask & 0x000000ff)
writeb((s->state >> 0) & 0xff,
devpriv->ioaddr + PCI20000_DIO_0);
if (mask & 0x0000ff00)
writeb((s->state >> 8) & 0xff,
devpriv->ioaddr + PCI20000_DIO_1);
if (mask & 0x00ff0000)
writeb((s->state >> 16) & 0xff,
devpriv->ioaddr + PCI20000_DIO_2);
if (mask & 0xff000000)
writeb((s->state >> 24) & 0xff,
devpriv->ioaddr + PCI20000_DIO_3);
data[1] = readb(devpriv->ioaddr + PCI20000_DIO_0);
data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_1) << 8;
data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_2) << 16;
data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_3) << 24;
return 2;
}
static void pci20xxx_dio_config(comedi_device * dev, comedi_subdevice * s)
{
unsigned char control_01;
unsigned char control_23;
unsigned char buffer;
control_01 = readb(devpriv->ioaddr + PCI20000_DIO_CONTROL_01);
control_23 = readb(devpriv->ioaddr + PCI20000_DIO_CONTROL_23);
buffer = readb(devpriv->ioaddr + PCI20000_DIO_BUFFER);
if (s->io_bits & 0x000000ff) {
/* output port 0 */
control_01 &= PCI20000_DIO_EOC;
buffer = (buffer & (~(DIO_BE << DIO_PS_0))) | (DIO_BO <<
DIO_PS_0);
} else {
/* input port 0 */
control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_EIC;
buffer = (buffer & (~(DIO_BI << DIO_PS_0)));
}
if (s->io_bits & 0x0000ff00) {
/* output port 1 */
control_01 &= PCI20000_DIO_OOC;
buffer = (buffer & (~(DIO_BE << DIO_PS_1))) | (DIO_BO <<
DIO_PS_1);
} else {
/* input port 1 */
control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_OIC;
buffer = (buffer & (~(DIO_BI << DIO_PS_1)));
}
if (s->io_bits & 0x00ff0000) {
/* output port 2 */
control_23 &= PCI20000_DIO_EOC;
buffer = (buffer & (~(DIO_BE << DIO_PS_2))) | (DIO_BO <<
DIO_PS_2);
} else {
/* input port 2 */
control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_EIC;
buffer = (buffer & (~(DIO_BI << DIO_PS_2)));
}
if (s->io_bits & 0xff000000) {
/* output port 3 */
control_23 &= PCI20000_DIO_OOC;
buffer = (buffer & (~(DIO_BE << DIO_PS_3))) | (DIO_BO <<
DIO_PS_3);
} else {
/* input port 3 */
control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_OIC;
buffer = (buffer & (~(DIO_BI << DIO_PS_3)));
}
writeb(control_01, devpriv->ioaddr + PCI20000_DIO_CONTROL_01);
writeb(control_23, devpriv->ioaddr + PCI20000_DIO_CONTROL_23);
writeb(buffer, devpriv->ioaddr + PCI20000_DIO_BUFFER);
}
#if 0
static void pci20xxx_do(comedi_device * dev, comedi_subdevice * s)
{
/* XXX if the channel is configured for input, does this
do bad things? */
/* XXX it would be a good idea to only update the registers
that _need_ to be updated. This requires changes to
comedi, however. */
writeb((s->state >> 0) & 0xff, devpriv->ioaddr + PCI20000_DIO_0);
writeb((s->state >> 8) & 0xff, devpriv->ioaddr + PCI20000_DIO_1);
writeb((s->state >> 16) & 0xff, devpriv->ioaddr + PCI20000_DIO_2);
writeb((s->state >> 24) & 0xff, devpriv->ioaddr + PCI20000_DIO_3);
}
static unsigned int pci20xxx_di(comedi_device * dev, comedi_subdevice * s)
{
/* XXX same note as above */
unsigned int bits;
bits = readb(devpriv->ioaddr + PCI20000_DIO_0);
bits |= readb(devpriv->ioaddr + PCI20000_DIO_1) << 8;
bits |= readb(devpriv->ioaddr + PCI20000_DIO_2) << 16;
bits |= readb(devpriv->ioaddr + PCI20000_DIO_3) << 24;
return bits;
}
#endif
COMEDI_INITCLEANUP(driver_pci20xxx);
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