2 comedi/drivers/ni_pcidio.c
3 driver for National Instruments PCI-DIO-32HS
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 1999,2002 David A. Schleef <ds@schleef.org>
8 This program is free software; you can redistribute it and/or modify
9 it under the terms of the GNU General Public License as published by
10 the Free Software Foundation; either version 2 of the License, or
11 (at your option) any later version.
13 This program is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 GNU General Public License for more details.
18 You should have received a copy of the GNU General Public License
19 along with this program; if not, write to the Free Software
20 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 Description: National Instruments PCI-DIO32HS, PCI-6533
28 Devices: [National Instruments] PCI-DIO-32HS (ni_pcidio)
29 [National Instruments] PXI-6533, PCI-6533 (pxi-6533)
30 [National Instruments] PCI-6534 (pci-6534)
31 Updated: Mon, 09 Jan 2012 14:27:23 +0000
33 The DIO32HS board appears as one subdevice, with 32 channels.
34 Each channel is individually I/O configurable. The channel order
35 is 0=A0, 1=A1, 2=A2, ... 8=B0, 16=C0, 24=D0. The driver only
36 supports simple digital I/O; no handshaking is supported.
38 DMA mostly works for the PCI-DIO32HS, but only in timed input mode.
40 The PCI-DIO-32HS/PCI-6533 has a configurable external trigger. Setting
41 scan_begin_arg to 0 or CR_EDGE triggers on the leading edge. Setting
42 scan_begin_arg to CR_INVERT or (CR_EDGE | CR_INVERT) triggers on the
45 This driver could be easily modified to support AT-MIO32HS and
48 The PCI-6534 requires a firmware upload after power-up to work, the
49 firmware data and instructions for loading it with comedi_config
50 it are contained in the
51 comedi_nonfree_firmware tarball available from http://www.comedi.org
56 /* #define DEBUG_FLAGS */
58 #include <linux/interrupt.h>
59 #include <linux/sched.h>
60 #include <linux/firmware.h>
61 #include "../comedidev.h"
63 #include "comedi_fc.h"
68 #define DPRINTK(format, args...) pr_debug(format, ## args)
70 #define DPRINTK(format, args...) do { } while (0)
73 #define PCI_DIO_SIZE 4096
74 #define PCI_MITE_SIZE 4096
76 /* defines for the PCI-DIO-32HS */
78 #define Window_Address 4 /* W */
79 #define Interrupt_And_Window_Status 4 /* R */
80 #define IntStatus1 (1<<0)
81 #define IntStatus2 (1<<1)
82 #define WindowAddressStatus_mask 0x7c
84 #define Master_DMA_And_Interrupt_Control 5 /* W */
85 #define InterruptLine(x) ((x)&3)
86 #define OpenInt (1<<2)
87 #define Group_Status 5 /* R */
88 #define DataLeft (1<<0)
90 #define StopTrig (1<<3)
92 #define Group_1_Flags 6 /* R */
93 #define Group_2_Flags 7 /* R */
94 #define TransferReady (1<<0)
95 #define CountExpired (1<<1)
97 #define PrimaryTC (1<<6)
98 #define SecondaryTC (1<<7)
99 /* #define SerialRose */
100 /* #define ReqRose */
103 #define Group_1_First_Clear 6 /* W */
104 #define Group_2_First_Clear 7 /* W */
105 #define ClearWaited (1<<3)
106 #define ClearPrimaryTC (1<<4)
107 #define ClearSecondaryTC (1<<5)
108 #define DMAReset (1<<6)
109 #define FIFOReset (1<<7)
110 #define ClearAll 0xf8
112 #define Group_1_FIFO 8 /* W */
113 #define Group_2_FIFO 12 /* W */
115 #define Transfer_Count 20
119 #define Chip_Version 27
120 #define Port_IO(x) (28+(x))
121 #define Port_Pin_Directions(x) (32+(x))
122 #define Port_Pin_Mask(x) (36+(x))
123 #define Port_Pin_Polarities(x) (40+(x))
125 #define Master_Clock_Routing 45
126 #define RTSIClocking(x) (((x)&3)<<4)
128 #define Group_1_Second_Clear 46 /* W */
129 #define Group_2_Second_Clear 47 /* W */
130 #define ClearExpired (1<<0)
132 #define Port_Pattern(x) (48+(x))
135 #define FIFOEnableA (1<<0)
136 #define FIFOEnableB (1<<1)
137 #define FIFOEnableC (1<<2)
138 #define FIFOEnableD (1<<3)
139 #define Funneling(x) (((x)&3)<<4)
140 #define GroupDirection (1<<7)
142 #define Protocol_Register_1 65
143 #define OpMode Protocol_Register_1
144 #define RunMode(x) ((x)&7)
145 #define Numbered (1<<3)
147 #define Protocol_Register_2 66
148 #define ClockReg Protocol_Register_2
149 #define ClockLine(x) (((x)&3)<<5)
150 #define InvertStopTrig (1<<7)
151 #define DataLatching(x) (((x)&3)<<5)
153 #define Protocol_Register_3 67
154 #define Sequence Protocol_Register_3
156 #define Protocol_Register_14 68 /* 16 bit */
157 #define ClockSpeed Protocol_Register_14
159 #define Protocol_Register_4 70
160 #define ReqReg Protocol_Register_4
161 #define ReqConditioning(x) (((x)&7)<<3)
163 #define Protocol_Register_5 71
164 #define BlockMode Protocol_Register_5
166 #define FIFO_Control 72
167 #define ReadyLevel(x) ((x)&7)
169 #define Protocol_Register_6 73
170 #define LinePolarities Protocol_Register_6
171 #define InvertAck (1<<0)
172 #define InvertReq (1<<1)
173 #define InvertClock (1<<2)
174 #define InvertSerial (1<<3)
175 #define OpenAck (1<<4)
176 #define OpenClock (1<<5)
178 #define Protocol_Register_7 74
179 #define AckSer Protocol_Register_7
180 #define AckLine(x) (((x)&3)<<2)
181 #define ExchangePins (1<<7)
183 #define Interrupt_Control 75
184 /* bits same as flags */
186 #define DMA_Line_Control_Group1 76
187 #define DMA_Line_Control_Group2 108
188 /* channel zero is none */
189 static inline unsigned primary_DMAChannel_bits(unsigned channel)
191 return channel & 0x3;
194 static inline unsigned secondary_DMAChannel_bits(unsigned channel)
196 return (channel << 2) & 0xc;
199 #define Transfer_Size_Control 77
200 #define TransferWidth(x) ((x)&3)
201 #define TransferLength(x) (((x)&3)<<3)
202 #define RequireRLevel (1<<5)
204 #define Protocol_Register_15 79
205 #define DAQOptions Protocol_Register_15
206 #define StartSource(x) ((x)&0x3)
207 #define InvertStart (1<<2)
208 #define StopSource(x) (((x)&0x3)<<3)
209 #define ReqStart (1<<6)
210 #define PreStart (1<<7)
212 #define Pattern_Detection 81
213 #define DetectionMethod (1<<0)
214 #define InvertMatch (1<<1)
215 #define IE_Pattern_Detection (1<<2)
217 #define Protocol_Register_9 82
218 #define ReqDelay Protocol_Register_9
220 #define Protocol_Register_10 83
221 #define ReqNotDelay Protocol_Register_10
223 #define Protocol_Register_11 84
224 #define AckDelay Protocol_Register_11
226 #define Protocol_Register_12 85
227 #define AckNotDelay Protocol_Register_12
229 #define Protocol_Register_13 86
230 #define Data1Delay Protocol_Register_13
232 #define Protocol_Register_8 88 /* 32 bit */
233 #define StartDelay Protocol_Register_8
235 /* Firmware files for PCI-6524 */
236 #define FW_PCI_6534_MAIN "ni6534a.bin"
237 #define FW_PCI_6534_SCARAB_DI "niscrb01.bin"
238 #define FW_PCI_6534_SCARAB_DO "niscrb02.bin"
239 MODULE_FIRMWARE(FW_PCI_6534_MAIN);
240 MODULE_FIRMWARE(FW_PCI_6534_SCARAB_DI);
241 MODULE_FIRMWARE(FW_PCI_6534_SCARAB_DO);
243 enum pci_6534_firmware_registers { /* 16 bit */
244 Firmware_Control_Register = 0x100,
245 Firmware_Status_Register = 0x104,
246 Firmware_Data_Register = 0x108,
247 Firmware_Mask_Register = 0x10c,
248 Firmware_Debug_Register = 0x110,
250 /* main fpga registers (32 bit)*/
251 enum pci_6534_fpga_registers {
252 FPGA_Control1_Register = 0x200,
253 FPGA_Control2_Register = 0x204,
254 FPGA_Irq_Mask_Register = 0x208,
255 FPGA_Status_Register = 0x20c,
256 FPGA_Signature_Register = 0x210,
257 FPGA_SCALS_Counter_Register = 0x280, /*write-clear */
258 FPGA_SCAMS_Counter_Register = 0x284, /*write-clear */
259 FPGA_SCBLS_Counter_Register = 0x288, /*write-clear */
260 FPGA_SCBMS_Counter_Register = 0x28c, /*write-clear */
261 FPGA_Temp_Control_Register = 0x2a0,
262 FPGA_DAR_Register = 0x2a8,
263 FPGA_ELC_Read_Register = 0x2b8,
264 FPGA_ELC_Write_Register = 0x2bc,
266 enum FPGA_Control_Bits {
267 FPGA_Enable_Bit = 0x8000,
270 #define TIMER_BASE 50 /* nanoseconds */
273 #define IntEn (CountExpired|Waited|PrimaryTC|SecondaryTC)
275 #define IntEn (TransferReady|CountExpired|Waited|PrimaryTC|SecondaryTC)
278 static int ni_pcidio_cancel(struct comedi_device *dev,
279 struct comedi_subdevice *s);
284 unsigned int uses_firmware:1;
287 static const struct nidio_board nidio_boards[] = {
290 .name = "pci-dio-32hs",
301 #define n_nidio_boards ARRAY_SIZE(nidio_boards)
302 #define this_board ((const struct nidio_board *)dev->board_ptr)
304 struct nidio96_private {
305 struct mite_struct *mite;
308 unsigned short OpModeBits;
309 struct mite_channel *di_mite_chan;
310 struct mite_dma_descriptor_ring *di_mite_ring;
311 spinlock_t mite_channel_lock;
314 static int ni_pcidio_cmdtest(struct comedi_device *dev,
315 struct comedi_subdevice *s,
316 struct comedi_cmd *cmd);
317 static int ni_pcidio_cmd(struct comedi_device *dev, struct comedi_subdevice *s);
318 static int ni_pcidio_inttrig(struct comedi_device *dev,
319 struct comedi_subdevice *s, unsigned int trignum);
320 static int ni_pcidio_ns_to_timer(int *nanosec, int round_mode);
321 static int setup_mite_dma(struct comedi_device *dev,
322 struct comedi_subdevice *s);
325 static void ni_pcidio_print_flags(unsigned int flags);
326 static void ni_pcidio_print_status(unsigned int status);
328 #define ni_pcidio_print_flags(x)
329 #define ni_pcidio_print_status(x)
332 static int ni_pcidio_request_di_mite_channel(struct comedi_device *dev)
334 struct nidio96_private *devpriv = dev->private;
337 spin_lock_irqsave(&devpriv->mite_channel_lock, flags);
338 BUG_ON(devpriv->di_mite_chan);
339 devpriv->di_mite_chan =
340 mite_request_channel_in_range(devpriv->mite,
341 devpriv->di_mite_ring, 1, 2);
342 if (devpriv->di_mite_chan == NULL) {
343 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
344 comedi_error(dev, "failed to reserve mite dma channel.");
347 devpriv->di_mite_chan->dir = COMEDI_INPUT;
348 writeb(primary_DMAChannel_bits(devpriv->di_mite_chan->channel) |
349 secondary_DMAChannel_bits(devpriv->di_mite_chan->channel),
350 devpriv->mite->daq_io_addr + DMA_Line_Control_Group1);
352 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
356 static void ni_pcidio_release_di_mite_channel(struct comedi_device *dev)
358 struct nidio96_private *devpriv = dev->private;
361 spin_lock_irqsave(&devpriv->mite_channel_lock, flags);
362 if (devpriv->di_mite_chan) {
363 mite_dma_disarm(devpriv->di_mite_chan);
364 mite_dma_reset(devpriv->di_mite_chan);
365 mite_release_channel(devpriv->di_mite_chan);
366 devpriv->di_mite_chan = NULL;
367 writeb(primary_DMAChannel_bits(0) |
368 secondary_DMAChannel_bits(0),
369 devpriv->mite->daq_io_addr + DMA_Line_Control_Group1);
372 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
375 static void ni_pcidio_event(struct comedi_device *dev,
376 struct comedi_subdevice *s)
379 async->events & (COMEDI_CB_EOA | COMEDI_CB_ERROR |
380 COMEDI_CB_OVERFLOW)) {
381 ni_pcidio_cancel(dev, s);
383 comedi_event(dev, s);
386 static int ni_pcidio_poll(struct comedi_device *dev, struct comedi_subdevice *s)
388 struct nidio96_private *devpriv = dev->private;
389 unsigned long irq_flags;
392 spin_lock_irqsave(&dev->spinlock, irq_flags);
393 spin_lock(&devpriv->mite_channel_lock);
394 if (devpriv->di_mite_chan)
395 mite_sync_input_dma(devpriv->di_mite_chan, s->async);
396 spin_unlock(&devpriv->mite_channel_lock);
397 count = s->async->buf_write_count - s->async->buf_read_count;
398 spin_unlock_irqrestore(&dev->spinlock, irq_flags);
402 static irqreturn_t nidio_interrupt(int irq, void *d)
404 struct comedi_device *dev = d;
405 struct nidio96_private *devpriv = dev->private;
406 struct comedi_subdevice *s = &dev->subdevices[0];
407 struct comedi_async *async = s->async;
408 struct mite_struct *mite = devpriv->mite;
411 long int AuxData = 0;
417 unsigned int m_status = 0;
419 /* interrupcions parasites */
420 if (dev->attached == 0) {
421 /* assume it's from another card */
425 /* Lock to avoid race with comedi_poll */
426 spin_lock(&dev->spinlock);
428 status = readb(devpriv->mite->daq_io_addr +
429 Interrupt_And_Window_Status);
430 flags = readb(devpriv->mite->daq_io_addr + Group_1_Flags);
432 DPRINTK("ni_pcidio_interrupt: status=0x%02x,flags=0x%02x\n",
434 ni_pcidio_print_flags(flags);
435 ni_pcidio_print_status(status);
437 spin_lock(&devpriv->mite_channel_lock);
438 if (devpriv->di_mite_chan)
439 m_status = mite_get_status(devpriv->di_mite_chan);
441 mite_print_chsr(m_status);
444 /* mite_dump_regs(mite); */
445 if (m_status & CHSR_INT) {
446 if (m_status & CHSR_LINKC) {
449 MITE_CHOR(devpriv->di_mite_chan->channel));
450 mite_sync_input_dma(devpriv->di_mite_chan, s->async);
451 /* XXX need to byteswap */
453 if (m_status & ~(CHSR_INT | CHSR_LINKC | CHSR_DONE | CHSR_DRDY |
454 CHSR_DRQ1 | CHSR_MRDY)) {
455 DPRINTK("unknown mite interrupt, disabling IRQ\n");
456 async->events |= COMEDI_CB_EOA | COMEDI_CB_ERROR;
457 disable_irq(dev->irq);
460 spin_unlock(&devpriv->mite_channel_lock);
462 while (status & DataLeft) {
465 DPRINTK("too much work in interrupt\n");
467 devpriv->mite->daq_io_addr +
468 Master_DMA_And_Interrupt_Control);
474 if (flags & TransferReady) {
475 /* DPRINTK("TransferReady\n"); */
476 while (flags & TransferReady) {
479 DPRINTK("too much work in interrupt\n");
481 devpriv->mite->daq_io_addr +
482 Master_DMA_And_Interrupt_Control
487 readl(devpriv->mite->daq_io_addr +
489 data1 = AuxData & 0xffff;
490 data2 = (AuxData & 0xffff0000) >> 16;
491 comedi_buf_put(async, data1);
492 comedi_buf_put(async, data2);
493 /* DPRINTK("read:%d, %d\n",data1,data2); */
494 flags = readb(devpriv->mite->daq_io_addr +
497 /* DPRINTK("buf_int_count: %d\n",
498 async->buf_int_count); */
499 /* DPRINTK("1) IntEn=%d,flags=%d,status=%d\n",
500 IntEn,flags,status); */
501 /* ni_pcidio_print_flags(flags); */
502 /* ni_pcidio_print_status(status); */
503 async->events |= COMEDI_CB_BLOCK;
506 if (flags & CountExpired) {
507 DPRINTK("CountExpired\n");
509 devpriv->mite->daq_io_addr +
510 Group_1_Second_Clear);
511 async->events |= COMEDI_CB_EOA;
513 writeb(0x00, devpriv->mite->daq_io_addr + OpMode);
515 } else if (flags & Waited) {
518 devpriv->mite->daq_io_addr +
519 Group_1_First_Clear);
520 async->events |= COMEDI_CB_EOA | COMEDI_CB_ERROR;
522 } else if (flags & PrimaryTC) {
523 DPRINTK("PrimaryTC\n");
524 writeb(ClearPrimaryTC,
525 devpriv->mite->daq_io_addr +
526 Group_1_First_Clear);
527 async->events |= COMEDI_CB_EOA;
528 } else if (flags & SecondaryTC) {
529 DPRINTK("SecondaryTC\n");
530 writeb(ClearSecondaryTC,
531 devpriv->mite->daq_io_addr +
532 Group_1_First_Clear);
533 async->events |= COMEDI_CB_EOA;
537 DPRINTK("ni_pcidio: unknown interrupt\n");
538 async->events |= COMEDI_CB_ERROR | COMEDI_CB_EOA;
540 devpriv->mite->daq_io_addr +
541 Master_DMA_And_Interrupt_Control);
544 flags = readb(devpriv->mite->daq_io_addr + Group_1_Flags);
545 status = readb(devpriv->mite->daq_io_addr +
546 Interrupt_And_Window_Status);
547 /* DPRINTK("loop end: IntEn=0x%02x,flags=0x%02x,"
548 "status=0x%02x\n", IntEn, flags, status); */
549 /* ni_pcidio_print_flags(flags); */
550 /* ni_pcidio_print_status(status); */
554 ni_pcidio_event(dev, s);
558 devpriv->mite->daq_io_addr +
559 Master_DMA_And_Interrupt_Control);
563 spin_unlock(&dev->spinlock);
568 static const char *bit_set_string(unsigned int bits, unsigned int bit,
569 const char *const strings[])
571 return (bits & (1U << bit)) ? strings[bit] : "";
574 static const char *const flags_strings[] = {
575 " TransferReady", " CountExpired", " 2", " 3",
576 " 4", " Waited", " PrimaryTC", " SecondaryTC",
580 static void ni_pcidio_print_flags(unsigned int flags)
582 pr_debug("group_1_flags:%s%s%s%s%s%s%s%s\n",
583 bit_set_string(flags, 7, flags_strings),
584 bit_set_string(flags, 6, flags_strings),
585 bit_set_string(flags, 5, flags_strings),
586 bit_set_string(flags, 4, flags_strings),
587 bit_set_string(flags, 3, flags_strings),
588 bit_set_string(flags, 2, flags_strings),
589 bit_set_string(flags, 1, flags_strings),
590 bit_set_string(flags, 0, flags_strings));
593 static const char *const status_strings[] = {
594 " DataLeft1", " Reserved1", " Req1", " StopTrig1",
595 " DataLeft2", " Reserved2", " Req2", " StopTrig2",
598 static void ni_pcidio_print_status(unsigned int flags)
600 pr_debug("group_status:%s%s%s%s%s%s%s%s\n",
601 bit_set_string(flags, 7, status_strings),
602 bit_set_string(flags, 6, status_strings),
603 bit_set_string(flags, 5, status_strings),
604 bit_set_string(flags, 4, status_strings),
605 bit_set_string(flags, 3, status_strings),
606 bit_set_string(flags, 2, status_strings),
607 bit_set_string(flags, 1, status_strings),
608 bit_set_string(flags, 0, status_strings));
613 static void debug_int(struct comedi_device *dev)
615 struct nidio96_private *devpriv = dev->private;
620 do_gettimeofday(&tv);
621 a = readb(devpriv->mite->daq_io_addr + Group_Status);
622 b = readb(devpriv->mite->daq_io_addr + Group_1_Flags);
625 DPRINTK("status 0x%02x flags 0x%02x time %06d\n", a, b,
630 writew(0xff, devpriv->mite->daq_io_addr + Group_1_FIFO);
631 b = readb(devpriv->mite->daq_io_addr + Group_1_Flags);
634 b = readb(devpriv->mite->daq_io_addr + Group_1_Flags);
637 DPRINTK("new status 0x%02x\n", b);
643 static int ni_pcidio_insn_config(struct comedi_device *dev,
644 struct comedi_subdevice *s,
645 struct comedi_insn *insn, unsigned int *data)
647 struct nidio96_private *devpriv = dev->private;
652 case INSN_CONFIG_DIO_OUTPUT:
653 s->io_bits |= 1 << CR_CHAN(insn->chanspec);
655 case INSN_CONFIG_DIO_INPUT:
656 s->io_bits &= ~(1 << CR_CHAN(insn->chanspec));
658 case INSN_CONFIG_DIO_QUERY:
661 io_bits & (1 << CR_CHAN(insn->chanspec))) ? COMEDI_OUTPUT :
668 writel(s->io_bits, devpriv->mite->daq_io_addr + Port_Pin_Directions(0));
673 static int ni_pcidio_insn_bits(struct comedi_device *dev,
674 struct comedi_subdevice *s,
675 struct comedi_insn *insn, unsigned int *data)
677 struct nidio96_private *devpriv = dev->private;
680 s->state &= ~data[0];
681 s->state |= (data[0] & data[1]);
682 writel(s->state, devpriv->mite->daq_io_addr + Port_IO(0));
684 data[1] = readl(devpriv->mite->daq_io_addr + Port_IO(0));
689 static int ni_pcidio_cmdtest(struct comedi_device *dev,
690 struct comedi_subdevice *s, struct comedi_cmd *cmd)
695 /* Step 1 : check if triggers are trivially valid */
697 err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
698 err |= cfc_check_trigger_src(&cmd->scan_begin_src,
699 TRIG_TIMER | TRIG_EXT);
700 err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
701 err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
702 err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
707 /* Step 2a : make sure trigger sources are unique */
709 err |= cfc_check_trigger_is_unique(cmd->start_src);
710 err |= cfc_check_trigger_is_unique(cmd->scan_begin_src);
711 err |= cfc_check_trigger_is_unique(cmd->stop_src);
713 /* Step 2b : and mutually compatible */
718 /* Step 3: check if arguments are trivially valid */
720 err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
722 #define MAX_SPEED (TIMER_BASE) /* in nanoseconds */
724 if (cmd->scan_begin_src == TRIG_TIMER) {
725 err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
727 /* no minimum speed */
730 /* should be level/edge, hi/lo specification here */
731 if ((cmd->scan_begin_arg & ~(CR_EDGE | CR_INVERT)) != 0) {
732 cmd->scan_begin_arg &= (CR_EDGE | CR_INVERT);
737 err |= cfc_check_trigger_arg_is(&cmd->convert_arg, 0);
738 err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->chanlist_len);
740 if (cmd->stop_src == TRIG_COUNT) {
742 } else { /* TRIG_NONE */
743 err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
749 /* step 4: fix up any arguments */
751 if (cmd->scan_begin_src == TRIG_TIMER) {
752 tmp = cmd->scan_begin_arg;
753 ni_pcidio_ns_to_timer(&cmd->scan_begin_arg,
754 cmd->flags & TRIG_ROUND_MASK);
755 if (tmp != cmd->scan_begin_arg)
765 static int ni_pcidio_ns_to_timer(int *nanosec, int round_mode)
771 switch (round_mode) {
772 case TRIG_ROUND_NEAREST:
774 divider = (*nanosec + base / 2) / base;
776 case TRIG_ROUND_DOWN:
777 divider = (*nanosec) / base;
780 divider = (*nanosec + base - 1) / base;
784 *nanosec = base * divider;
788 static int ni_pcidio_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
790 struct nidio96_private *devpriv = dev->private;
791 struct comedi_cmd *cmd = &s->async->cmd;
793 /* XXX configure ports for input */
794 writel(0x0000, devpriv->mite->daq_io_addr + Port_Pin_Directions(0));
797 /* enable fifos A B C D */
798 writeb(0x0f, devpriv->mite->daq_io_addr + Data_Path);
800 /* set transfer width a 32 bits */
801 writeb(TransferWidth(0) | TransferLength(0),
802 devpriv->mite->daq_io_addr + Transfer_Size_Control);
804 writeb(0x03, devpriv->mite->daq_io_addr + Data_Path);
805 writeb(TransferWidth(3) | TransferLength(0),
806 devpriv->mite->daq_io_addr + Transfer_Size_Control);
809 /* protocol configuration */
810 if (cmd->scan_begin_src == TRIG_TIMER) {
811 /* page 4-5, "input with internal REQs" */
812 writeb(0, devpriv->mite->daq_io_addr + OpMode);
813 writeb(0x00, devpriv->mite->daq_io_addr + ClockReg);
814 writeb(1, devpriv->mite->daq_io_addr + Sequence);
815 writeb(0x04, devpriv->mite->daq_io_addr + ReqReg);
816 writeb(4, devpriv->mite->daq_io_addr + BlockMode);
817 writeb(3, devpriv->mite->daq_io_addr + LinePolarities);
818 writeb(0xc0, devpriv->mite->daq_io_addr + AckSer);
819 writel(ni_pcidio_ns_to_timer(&cmd->scan_begin_arg,
821 devpriv->mite->daq_io_addr + StartDelay);
822 writeb(1, devpriv->mite->daq_io_addr + ReqDelay);
823 writeb(1, devpriv->mite->daq_io_addr + ReqNotDelay);
824 writeb(1, devpriv->mite->daq_io_addr + AckDelay);
825 writeb(0x0b, devpriv->mite->daq_io_addr + AckNotDelay);
826 writeb(0x01, devpriv->mite->daq_io_addr + Data1Delay);
827 /* manual, page 4-5: ClockSpeed comment is incorrectly listed
829 writew(0, devpriv->mite->daq_io_addr + ClockSpeed);
830 writeb(0, devpriv->mite->daq_io_addr + DAQOptions);
833 /* page 4-5, "input with external REQs" */
834 writeb(0, devpriv->mite->daq_io_addr + OpMode);
835 writeb(0x00, devpriv->mite->daq_io_addr + ClockReg);
836 writeb(0, devpriv->mite->daq_io_addr + Sequence);
837 writeb(0x00, devpriv->mite->daq_io_addr + ReqReg);
838 writeb(4, devpriv->mite->daq_io_addr + BlockMode);
839 if (!(cmd->scan_begin_arg & CR_INVERT)) {
840 /* Leading Edge pulse mode */
841 writeb(0, devpriv->mite->daq_io_addr + LinePolarities);
843 /* Trailing Edge pulse mode */
844 writeb(2, devpriv->mite->daq_io_addr + LinePolarities);
846 writeb(0x00, devpriv->mite->daq_io_addr + AckSer);
847 writel(1, devpriv->mite->daq_io_addr + StartDelay);
848 writeb(1, devpriv->mite->daq_io_addr + ReqDelay);
849 writeb(1, devpriv->mite->daq_io_addr + ReqNotDelay);
850 writeb(1, devpriv->mite->daq_io_addr + AckDelay);
851 writeb(0x0C, devpriv->mite->daq_io_addr + AckNotDelay);
852 writeb(0x10, devpriv->mite->daq_io_addr + Data1Delay);
853 writew(0, devpriv->mite->daq_io_addr + ClockSpeed);
854 writeb(0x60, devpriv->mite->daq_io_addr + DAQOptions);
857 if (cmd->stop_src == TRIG_COUNT) {
858 writel(cmd->stop_arg,
859 devpriv->mite->daq_io_addr + Transfer_Count);
865 writeb(ClearPrimaryTC | ClearSecondaryTC,
866 devpriv->mite->daq_io_addr + Group_1_First_Clear);
869 int retval = setup_mite_dma(dev, s);
874 writeb(0x00, devpriv->mite->daq_io_addr + DMA_Line_Control_Group1);
876 writeb(0x00, devpriv->mite->daq_io_addr + DMA_Line_Control_Group2);
878 /* clear and enable interrupts */
879 writeb(0xff, devpriv->mite->daq_io_addr + Group_1_First_Clear);
880 /* writeb(ClearExpired,
881 devpriv->mite->daq_io_addr+Group_1_Second_Clear); */
883 writeb(IntEn, devpriv->mite->daq_io_addr + Interrupt_Control);
885 devpriv->mite->daq_io_addr + Master_DMA_And_Interrupt_Control);
887 if (cmd->stop_src == TRIG_NONE) {
888 devpriv->OpModeBits = DataLatching(0) | RunMode(7);
889 } else { /* TRIG_TIMER */
890 devpriv->OpModeBits = Numbered | RunMode(7);
892 if (cmd->start_src == TRIG_NOW) {
894 writeb(devpriv->OpModeBits,
895 devpriv->mite->daq_io_addr + OpMode);
896 s->async->inttrig = NULL;
899 s->async->inttrig = ni_pcidio_inttrig;
902 DPRINTK("ni_pcidio: command started\n");
906 static int setup_mite_dma(struct comedi_device *dev, struct comedi_subdevice *s)
908 struct nidio96_private *devpriv = dev->private;
912 retval = ni_pcidio_request_di_mite_channel(dev);
916 /* write alloc the entire buffer */
917 comedi_buf_write_alloc(s->async, s->async->prealloc_bufsz);
919 spin_lock_irqsave(&devpriv->mite_channel_lock, flags);
920 if (devpriv->di_mite_chan) {
921 mite_prep_dma(devpriv->di_mite_chan, 32, 32);
922 mite_dma_arm(devpriv->di_mite_chan);
925 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
930 static int ni_pcidio_inttrig(struct comedi_device *dev,
931 struct comedi_subdevice *s, unsigned int trignum)
933 struct nidio96_private *devpriv = dev->private;
938 writeb(devpriv->OpModeBits, devpriv->mite->daq_io_addr + OpMode);
939 s->async->inttrig = NULL;
944 static int ni_pcidio_cancel(struct comedi_device *dev,
945 struct comedi_subdevice *s)
947 struct nidio96_private *devpriv = dev->private;
950 devpriv->mite->daq_io_addr + Master_DMA_And_Interrupt_Control);
951 ni_pcidio_release_di_mite_channel(dev);
956 static int ni_pcidio_change(struct comedi_device *dev,
957 struct comedi_subdevice *s, unsigned long new_size)
959 struct nidio96_private *devpriv = dev->private;
962 ret = mite_buf_change(devpriv->di_mite_ring, s->async);
966 memset(s->async->prealloc_buf, 0xaa, s->async->prealloc_bufsz);
971 static int pci_6534_load_fpga(struct comedi_device *dev, int fpga_index,
972 const u8 *data, size_t data_len)
974 struct nidio96_private *devpriv = dev->private;
975 static const int timeout = 1000;
979 writew(0x80 | fpga_index,
980 devpriv->mite->daq_io_addr + Firmware_Control_Register);
981 writew(0xc0 | fpga_index,
982 devpriv->mite->daq_io_addr + Firmware_Control_Register);
984 (readw(devpriv->mite->daq_io_addr +
985 Firmware_Status_Register) & 0x2) == 0 && i < timeout; ++i) {
989 dev_warn(dev->class_dev,
990 "ni_pcidio: failed to load fpga %i, waiting for status 0x2\n",
994 writew(0x80 | fpga_index,
995 devpriv->mite->daq_io_addr + Firmware_Control_Register);
997 readw(devpriv->mite->daq_io_addr + Firmware_Status_Register) !=
998 0x3 && i < timeout; ++i) {
1002 dev_warn(dev->class_dev,
1003 "ni_pcidio: failed to load fpga %i, waiting for status 0x3\n",
1007 for (j = 0; j + 1 < data_len;) {
1008 unsigned int value = data[j++];
1009 value |= data[j++] << 8;
1011 devpriv->mite->daq_io_addr + Firmware_Data_Register);
1013 (readw(devpriv->mite->daq_io_addr +
1014 Firmware_Status_Register) & 0x2) == 0
1015 && i < timeout; ++i) {
1019 dev_warn(dev->class_dev,
1020 "ni_pcidio: failed to load word into fpga %i\n",
1027 writew(0x0, devpriv->mite->daq_io_addr + Firmware_Control_Register);
1031 static int pci_6534_reset_fpga(struct comedi_device *dev, int fpga_index)
1033 return pci_6534_load_fpga(dev, fpga_index, NULL, 0);
1036 static int pci_6534_reset_fpgas(struct comedi_device *dev)
1038 struct nidio96_private *devpriv = dev->private;
1042 writew(0x0, devpriv->mite->daq_io_addr + Firmware_Control_Register);
1043 for (i = 0; i < 3; ++i) {
1044 ret = pci_6534_reset_fpga(dev, i);
1048 writew(0x0, devpriv->mite->daq_io_addr + Firmware_Mask_Register);
1052 static void pci_6534_init_main_fpga(struct comedi_device *dev)
1054 struct nidio96_private *devpriv = dev->private;
1056 writel(0, devpriv->mite->daq_io_addr + FPGA_Control1_Register);
1057 writel(0, devpriv->mite->daq_io_addr + FPGA_Control2_Register);
1058 writel(0, devpriv->mite->daq_io_addr + FPGA_SCALS_Counter_Register);
1059 writel(0, devpriv->mite->daq_io_addr + FPGA_SCAMS_Counter_Register);
1060 writel(0, devpriv->mite->daq_io_addr + FPGA_SCBLS_Counter_Register);
1061 writel(0, devpriv->mite->daq_io_addr + FPGA_SCBMS_Counter_Register);
1064 static int pci_6534_upload_firmware(struct comedi_device *dev)
1066 struct nidio96_private *devpriv = dev->private;
1068 const struct firmware *fw;
1069 static const char *const fw_file[3] = {
1070 FW_PCI_6534_SCARAB_DI, /* loaded into scarab A for DI */
1071 FW_PCI_6534_SCARAB_DO, /* loaded into scarab B for DO */
1072 FW_PCI_6534_MAIN, /* loaded into main FPGA */
1076 ret = pci_6534_reset_fpgas(dev);
1079 /* load main FPGA first, then the two scarabs */
1080 for (n = 2; n >= 0; n--) {
1081 ret = request_firmware(&fw, fw_file[n],
1082 &devpriv->mite->pcidev->dev);
1084 ret = pci_6534_load_fpga(dev, n, fw->data, fw->size);
1085 if (ret == 0 && n == 2)
1086 pci_6534_init_main_fpga(dev);
1087 release_firmware(fw);
1095 static const struct nidio_board *
1096 nidio_find_boardinfo(struct pci_dev *pcidev)
1098 unsigned int dev_id = pcidev->device;
1101 for (n = 0; n < ARRAY_SIZE(nidio_boards); n++) {
1102 const struct nidio_board *board = &nidio_boards[n];
1103 if (board->dev_id == dev_id)
1109 static int nidio_auto_attach(struct comedi_device *dev,
1110 unsigned long context_unused)
1112 struct pci_dev *pcidev = comedi_to_pci_dev(dev);
1113 struct nidio96_private *devpriv;
1114 struct comedi_subdevice *s;
1118 devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
1121 dev->private = devpriv;
1123 spin_lock_init(&devpriv->mite_channel_lock);
1125 dev->board_ptr = nidio_find_boardinfo(pcidev);
1126 if (!dev->board_ptr)
1128 devpriv->mite = mite_alloc(pcidev);
1132 ret = mite_setup(devpriv->mite);
1134 dev_warn(dev->class_dev, "error setting up mite\n");
1138 devpriv->di_mite_ring = mite_alloc_ring(devpriv->mite);
1139 if (devpriv->di_mite_ring == NULL)
1142 dev->board_name = this_board->name;
1143 irq = mite_irq(devpriv->mite);
1144 if (this_board->uses_firmware) {
1145 ret = pci_6534_upload_firmware(dev);
1150 ret = comedi_alloc_subdevices(dev, 1);
1154 dev_info(dev->class_dev, "%s rev=%d\n", dev->board_name,
1155 readb(devpriv->mite->daq_io_addr + Chip_Version));
1157 s = &dev->subdevices[0];
1159 dev->read_subdev = s;
1160 s->type = COMEDI_SUBD_DIO;
1162 SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL | SDF_PACKED |
1165 s->range_table = &range_digital;
1167 s->insn_config = &ni_pcidio_insn_config;
1168 s->insn_bits = &ni_pcidio_insn_bits;
1169 s->do_cmd = &ni_pcidio_cmd;
1170 s->do_cmdtest = &ni_pcidio_cmdtest;
1171 s->cancel = &ni_pcidio_cancel;
1172 s->len_chanlist = 32; /* XXX */
1173 s->buf_change = &ni_pcidio_change;
1174 s->async_dma_dir = DMA_BIDIRECTIONAL;
1175 s->poll = &ni_pcidio_poll;
1177 writel(0, devpriv->mite->daq_io_addr + Port_IO(0));
1178 writel(0, devpriv->mite->daq_io_addr + Port_Pin_Directions(0));
1179 writel(0, devpriv->mite->daq_io_addr + Port_Pin_Mask(0));
1181 /* disable interrupts on board */
1183 devpriv->mite->daq_io_addr +
1184 Master_DMA_And_Interrupt_Control);
1186 ret = request_irq(irq, nidio_interrupt, IRQF_SHARED,
1189 dev_warn(dev->class_dev, "irq not available\n");
1196 static void nidio_detach(struct comedi_device *dev)
1198 struct nidio96_private *devpriv = dev->private;
1201 free_irq(dev->irq, dev);
1203 if (devpriv->di_mite_ring) {
1204 mite_free_ring(devpriv->di_mite_ring);
1205 devpriv->di_mite_ring = NULL;
1207 if (devpriv->mite) {
1208 mite_unsetup(devpriv->mite);
1209 mite_free(devpriv->mite);
1214 static struct comedi_driver ni_pcidio_driver = {
1215 .driver_name = "ni_pcidio",
1216 .module = THIS_MODULE,
1217 .auto_attach = nidio_auto_attach,
1218 .detach = nidio_detach,
1221 static int ni_pcidio_pci_probe(struct pci_dev *dev,
1222 const struct pci_device_id *ent)
1224 return comedi_pci_auto_config(dev, &ni_pcidio_driver);
1227 static void ni_pcidio_pci_remove(struct pci_dev *dev)
1229 comedi_pci_auto_unconfig(dev);
1232 static DEFINE_PCI_DEVICE_TABLE(ni_pcidio_pci_table) = {
1233 { PCI_DEVICE(PCI_VENDOR_ID_NI, 0x1150) },
1234 { PCI_DEVICE(PCI_VENDOR_ID_NI, 0x1320) },
1235 { PCI_DEVICE(PCI_VENDOR_ID_NI, 0x12b0) },
1238 MODULE_DEVICE_TABLE(pci, ni_pcidio_pci_table);
1240 static struct pci_driver ni_pcidio_pci_driver = {
1241 .name = "ni_pcidio",
1242 .id_table = ni_pcidio_pci_table,
1243 .probe = ni_pcidio_pci_probe,
1244 .remove = ni_pcidio_pci_remove,
1246 module_comedi_pci_driver(ni_pcidio_driver, ni_pcidio_pci_driver);
1248 MODULE_AUTHOR("Comedi http://www.comedi.org");
1249 MODULE_DESCRIPTION("Comedi low-level driver");
1250 MODULE_LICENSE("GPL");