3 * Copyright (C) 2003-2014 Bernd Porr, mail@berndporr.me.uk
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
18 * Description: University of Stirling USB DAQ & INCITE Technology Limited
19 * Devices: [ITL] USB-DUX (usbdux)
20 * Author: Bernd Porr <mail@berndporr.me.uk>
21 * Updated: 10 Oct 2014
24 * Connection scheme for the counter at the digital port:
25 * 0=/CLK0, 1=UP/DOWN0, 2=RESET0, 4=/CLK1, 5=UP/DOWN1, 6=RESET1.
26 * The sampling rate of the counter is approximately 500Hz.
28 * Note that under USB2.0 the length of the channel list determines
29 * the max sampling rate. If you sample only one channel you get 8kHz
30 * sampling rate. If you sample two channels you get 4kHz and so on.
34 * I must give credit here to Chris Baugher who
35 * wrote the driver for AT-MIO-16d. I used some parts of this
36 * driver. I also must give credits to David Brownell
37 * who supported me with the USB development.
43 * 0.94: D/A output should work now with any channel list combinations
44 * 0.95: .owner commented out for kernel vers below 2.4.19
45 * sanity checks in ai/ao_cmd
46 * 0.96: trying to get it working with 2.6, moved all memory alloc to comedi's
47 * attach final USB IDs
48 * moved memory allocation completely to the corresponding comedi
49 * functions firmware upload is by fxload and no longer by comedi (due to
51 * 0.97: USB IDs received, adjusted table
52 * 0.98: SMP, locking, memory alloc: moved all usb memory alloc
53 * to the usb subsystem and moved all comedi related memory
55 * | kernel | registration | usbdux-usb | usbdux-comedi | comedi |
56 * 0.99: USB 2.0: changed protocol to isochronous transfer
57 * IRQ transfer is too buggy and too risky in 2.0
58 * for the high speed ISO transfer is now a working version
60 * 0.99b: Increased the iso transfer buffer for high sp.to 10 buffers. Some VIA
61 * chipsets miss out IRQs. Deeper buffering is needed.
62 * 1.00: full USB 2.0 support for the A/D converter. Now: max 8kHz sampling
64 * Firmware vers 1.00 is needed for this.
65 * Two 16 bit up/down/reset counter with a sampling rate of 1kHz
66 * And loads of cleaning up, in particular streamlining the
68 * 1.1: moved EP4 transfers to EP1 to make space for a PWM output on EP4
69 * 1.2: added PWM support via EP4
70 * 2.0: PWM seems to be stable and is not interfering with the other functions
71 * 2.1: changed PWM API
72 * 2.2: added firmware kernel request to fix an udev problem
73 * 2.3: corrected a bug in bulk timeouts which were far too short
74 * 2.4: fixed a bug which causes the driver to hang when it ran out of data.
75 * Thanks to Jan-Matthias Braun and Ian to spot the bug and fix it.
79 #include <linux/kernel.h>
80 #include <linux/module.h>
81 #include <linux/slab.h>
82 #include <linux/input.h>
83 #include <linux/fcntl.h>
84 #include <linux/compiler.h>
86 #include "../comedi_usb.h"
88 /* constants for firmware upload and download */
89 #define USBDUX_FIRMWARE "usbdux_firmware.bin"
90 #define USBDUX_FIRMWARE_MAX_LEN 0x2000
91 #define USBDUX_FIRMWARE_CMD 0xa0
92 #define VENDOR_DIR_IN 0xc0
93 #define VENDOR_DIR_OUT 0x40
94 #define USBDUX_CPU_CS 0xe600
96 /* usbdux bulk transfer commands */
97 #define USBDUX_CMD_MULT_AI 0
98 #define USBDUX_CMD_AO 1
99 #define USBDUX_CMD_DIO_CFG 2
100 #define USBDUX_CMD_DIO_BITS 3
101 #define USBDUX_CMD_SINGLE_AI 4
102 #define USBDUX_CMD_TIMER_RD 5
103 #define USBDUX_CMD_TIMER_WR 6
104 #define USBDUX_CMD_PWM_ON 7
105 #define USBDUX_CMD_PWM_OFF 8
107 /* timeout for the USB-transfer in ms */
108 #define BULK_TIMEOUT 1000
110 /* 300Hz max frequ under PWM */
111 #define MIN_PWM_PERIOD ((long)(1E9/300))
113 /* Default PWM frequency */
114 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
116 /* Size of one A/D value */
117 #define SIZEADIN ((sizeof(uint16_t)))
120 * Size of the input-buffer IN BYTES
121 * Always multiple of 8 for 8 microframes which is needed in the highspeed mode
123 #define SIZEINBUF ((8*SIZEADIN))
126 #define SIZEINSNBUF 16
128 /* size of one value for the D/A converter: channel and value */
129 #define SIZEDAOUT ((sizeof(uint8_t)+sizeof(uint16_t)))
132 * Size of the output-buffer in bytes
133 * Actually only the first 4 triplets are used but for the
134 * high speed mode we need to pad it to 8 (microframes).
136 #define SIZEOUTBUF ((8*SIZEDAOUT))
139 * Size of the buffer for the dux commands: just now max size is determined
140 * by the analogue out + command byte + panic bytes...
142 #define SIZEOFDUXBUFFER ((8*SIZEDAOUT+2))
144 /* Number of in-URBs which receive the data: min=2 */
145 #define NUMOFINBUFFERSFULL 5
147 /* Number of out-URBs which send the data: min=2 */
148 #define NUMOFOUTBUFFERSFULL 5
150 /* Number of in-URBs which receive the data: min=5 */
151 /* must have more buffers due to buggy USB ctr */
152 #define NUMOFINBUFFERSHIGH 10
154 /* Number of out-URBs which send the data: min=5 */
155 /* must have more buffers due to buggy USB ctr */
156 #define NUMOFOUTBUFFERSHIGH 10
158 /* number of retries to get the right dux command */
161 static const struct comedi_lrange range_usbdux_ai_range = {
164 BIP_RANGE(4.096 / 2),
170 static const struct comedi_lrange range_usbdux_ao_range = {
177 struct usbdux_private {
178 /* actual number of in-buffers */
180 /* actual number of out-buffers */
182 /* ISO-transfer handling: buffers */
183 struct urb **ai_urbs;
184 struct urb **ao_urbs;
185 /* pwm-transfer handling */
188 unsigned int pwm_period;
189 /* PWM internal delay for the GPIF in the FX2 */
191 /* size of the PWM buffer which holds the bit pattern */
193 /* input buffer for the ISO-transfer */
195 /* input buffer for single insn */
198 unsigned int high_speed:1;
199 unsigned int ai_cmd_running:1;
200 unsigned int ao_cmd_running:1;
201 unsigned int pwm_cmd_running:1;
203 /* time between samples in units of the timer */
204 unsigned int ai_timer;
205 unsigned int ao_timer;
206 /* counter between aquisitions */
207 unsigned int ai_counter;
208 unsigned int ao_counter;
209 /* interval in frames/uframes */
210 unsigned int ai_interval;
212 uint8_t *dux_commands;
213 struct semaphore sem;
216 static void usbdux_unlink_urbs(struct urb **urbs, int num_urbs)
220 for (i = 0; i < num_urbs; i++)
221 usb_kill_urb(urbs[i]);
224 static void usbdux_ai_stop(struct comedi_device *dev, int do_unlink)
226 struct usbdux_private *devpriv = dev->private;
228 if (do_unlink && devpriv->ai_urbs)
229 usbdux_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
231 devpriv->ai_cmd_running = 0;
234 static int usbdux_ai_cancel(struct comedi_device *dev,
235 struct comedi_subdevice *s)
237 struct usbdux_private *devpriv = dev->private;
239 /* prevent other CPUs from submitting new commands just now */
241 /* unlink only if the urb really has been submitted */
242 usbdux_ai_stop(dev, devpriv->ai_cmd_running);
248 static void usbduxsub_ai_handle_urb(struct comedi_device *dev,
249 struct comedi_subdevice *s,
252 struct usbdux_private *devpriv = dev->private;
253 struct comedi_async *async = s->async;
254 struct comedi_cmd *cmd = &async->cmd;
258 devpriv->ai_counter--;
259 if (devpriv->ai_counter == 0) {
260 devpriv->ai_counter = devpriv->ai_timer;
262 /* get the data from the USB bus and hand it over to comedi */
263 for (i = 0; i < cmd->chanlist_len; i++) {
264 unsigned int range = CR_RANGE(cmd->chanlist[i]);
265 uint16_t val = le16_to_cpu(devpriv->in_buf[i]);
267 /* bipolar data is two's-complement */
268 if (comedi_range_is_bipolar(s, range))
269 val ^= ((s->maxdata + 1) >> 1);
272 if (!comedi_buf_write_samples(s, &val, 1))
276 if (cmd->stop_src == TRIG_COUNT &&
277 async->scans_done >= cmd->stop_arg)
278 async->events |= COMEDI_CB_EOA;
281 /* if command is still running, resubmit urb */
282 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
283 urb->dev = comedi_to_usb_dev(dev);
284 ret = usb_submit_urb(urb, GFP_ATOMIC);
286 dev_err(dev->class_dev,
287 "urb resubmit failed in int-context! err=%d\n",
289 if (ret == -EL2NSYNC)
290 dev_err(dev->class_dev,
291 "buggy USB host controller or bug in IRQ handler!\n");
292 async->events |= COMEDI_CB_ERROR;
297 static void usbduxsub_ai_isoc_irq(struct urb *urb)
299 struct comedi_device *dev = urb->context;
300 struct comedi_subdevice *s = dev->read_subdev;
301 struct comedi_async *async = s->async;
302 struct usbdux_private *devpriv = dev->private;
304 /* exit if not running a command, do not resubmit urb */
305 if (!devpriv->ai_cmd_running)
308 switch (urb->status) {
310 /* copy the result in the transfer buffer */
311 memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF);
312 usbduxsub_ai_handle_urb(dev, s, urb);
317 * error in the ISOchronous data
318 * we don't copy the data into the transfer buffer
319 * and recycle the last data byte
321 dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
322 usbduxsub_ai_handle_urb(dev, s, urb);
329 /* after an unlink command, unplug, ... etc */
330 async->events |= COMEDI_CB_ERROR;
335 dev_err(dev->class_dev,
336 "Non-zero urb status received in ai intr context: %d\n",
338 async->events |= COMEDI_CB_ERROR;
343 * comedi_handle_events() cannot be used in this driver. The (*cancel)
344 * operation would unlink the urb.
346 if (async->events & COMEDI_CB_CANCEL_MASK)
347 usbdux_ai_stop(dev, 0);
349 comedi_event(dev, s);
352 static void usbdux_ao_stop(struct comedi_device *dev, int do_unlink)
354 struct usbdux_private *devpriv = dev->private;
356 if (do_unlink && devpriv->ao_urbs)
357 usbdux_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
359 devpriv->ao_cmd_running = 0;
362 static int usbdux_ao_cancel(struct comedi_device *dev,
363 struct comedi_subdevice *s)
365 struct usbdux_private *devpriv = dev->private;
367 /* prevent other CPUs from submitting a command just now */
369 /* unlink only if it is really running */
370 usbdux_ao_stop(dev, devpriv->ao_cmd_running);
376 static void usbduxsub_ao_handle_urb(struct comedi_device *dev,
377 struct comedi_subdevice *s,
380 struct usbdux_private *devpriv = dev->private;
381 struct comedi_async *async = s->async;
382 struct comedi_cmd *cmd = &async->cmd;
387 devpriv->ao_counter--;
388 if (devpriv->ao_counter == 0) {
389 devpriv->ao_counter = devpriv->ao_timer;
391 if (cmd->stop_src == TRIG_COUNT &&
392 async->scans_done >= cmd->stop_arg) {
393 async->events |= COMEDI_CB_EOA;
397 /* transmit data to the USB bus */
398 datap = urb->transfer_buffer;
399 *datap++ = cmd->chanlist_len;
400 for (i = 0; i < cmd->chanlist_len; i++) {
401 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
404 if (!comedi_buf_read_samples(s, &val, 1)) {
405 dev_err(dev->class_dev, "buffer underflow\n");
406 async->events |= COMEDI_CB_OVERFLOW;
410 /* pointer to the DA */
411 *datap++ = val & 0xff;
412 *datap++ = (val >> 8) & 0xff;
413 *datap++ = chan << 6;
414 s->readback[chan] = val;
418 /* if command is still running, resubmit urb for BULK transfer */
419 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
420 urb->transfer_buffer_length = SIZEOUTBUF;
421 urb->dev = comedi_to_usb_dev(dev);
423 if (devpriv->high_speed)
424 urb->interval = 8; /* uframes */
426 urb->interval = 1; /* frames */
427 urb->number_of_packets = 1;
428 urb->iso_frame_desc[0].offset = 0;
429 urb->iso_frame_desc[0].length = SIZEOUTBUF;
430 urb->iso_frame_desc[0].status = 0;
431 ret = usb_submit_urb(urb, GFP_ATOMIC);
433 dev_err(dev->class_dev,
434 "ao urb resubm failed in int-cont. ret=%d",
436 if (ret == -EL2NSYNC)
437 dev_err(dev->class_dev,
438 "buggy USB host controller or bug in IRQ handling!\n");
439 async->events |= COMEDI_CB_ERROR;
444 static void usbduxsub_ao_isoc_irq(struct urb *urb)
446 struct comedi_device *dev = urb->context;
447 struct comedi_subdevice *s = dev->write_subdev;
448 struct comedi_async *async = s->async;
449 struct usbdux_private *devpriv = dev->private;
451 /* exit if not running a command, do not resubmit urb */
452 if (!devpriv->ao_cmd_running)
455 switch (urb->status) {
457 usbduxsub_ao_handle_urb(dev, s, urb);
464 /* after an unlink command, unplug, ... etc */
465 async->events |= COMEDI_CB_ERROR;
470 dev_err(dev->class_dev,
471 "Non-zero urb status received in ao intr context: %d\n",
473 async->events |= COMEDI_CB_ERROR;
478 * comedi_handle_events() cannot be used in this driver. The (*cancel)
479 * operation would unlink the urb.
481 if (async->events & COMEDI_CB_CANCEL_MASK)
482 usbdux_ao_stop(dev, 0);
484 comedi_event(dev, s);
487 static int usbdux_submit_urbs(struct comedi_device *dev,
488 struct urb **urbs, int num_urbs,
491 struct usb_device *usb = comedi_to_usb_dev(dev);
492 struct usbdux_private *devpriv = dev->private;
497 /* Submit all URBs and start the transfer on the bus */
498 for (i = 0; i < num_urbs; i++) {
501 /* in case of a resubmission after an unlink... */
503 urb->interval = devpriv->ai_interval;
507 urb->transfer_flags = URB_ISO_ASAP;
509 ret = usb_submit_urb(urb, GFP_ATOMIC);
516 static int usbdux_ai_cmdtest(struct comedi_device *dev,
517 struct comedi_subdevice *s, struct comedi_cmd *cmd)
519 struct usbdux_private *this_usbduxsub = dev->private;
521 unsigned int tmp_timer;
523 /* Step 1 : check if triggers are trivially valid */
525 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
526 err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
527 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
528 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
529 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
534 /* Step 2a : make sure trigger sources are unique */
536 err |= comedi_check_trigger_is_unique(cmd->start_src);
537 err |= comedi_check_trigger_is_unique(cmd->stop_src);
539 /* Step 2b : and mutually compatible */
544 /* Step 3: check if arguments are trivially valid */
546 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
548 if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
549 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
551 if (cmd->scan_begin_src == TRIG_TIMER) {
552 if (this_usbduxsub->high_speed) {
554 * In high speed mode microframes are possible.
555 * However, during one microframe we can roughly
556 * sample one channel. Thus, the more channels
557 * are in the channel list the more time we need.
560 /* find a power of 2 for the number of channels */
561 while (i < (cmd->chanlist_len))
564 err |= comedi_check_trigger_arg_min(&cmd->
567 /* now calc the real sampling rate with all the
570 ((unsigned int)(cmd->scan_begin_arg / 125000)) *
574 /* 1kHz scans every USB frame */
575 err |= comedi_check_trigger_arg_min(&cmd->
579 * calc the real sampling rate with the rounding errors
581 tmp_timer = ((unsigned int)(cmd->scan_begin_arg /
584 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg,
588 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
591 if (cmd->stop_src == TRIG_COUNT)
592 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
594 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
603 * creates the ADC command for the MAX1271
604 * range is the range value from comedi
606 static uint8_t create_adc_command(unsigned int chan, unsigned int range)
608 uint8_t p = (range <= 1);
609 uint8_t r = ((range % 2) == 0);
611 return (chan << 4) | ((p == 1) << 2) | ((r == 1) << 3);
614 static int send_dux_commands(struct comedi_device *dev, unsigned int cmd_type)
616 struct usb_device *usb = comedi_to_usb_dev(dev);
617 struct usbdux_private *devpriv = dev->private;
620 devpriv->dux_commands[0] = cmd_type;
622 return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
623 devpriv->dux_commands, SIZEOFDUXBUFFER,
624 &nsent, BULK_TIMEOUT);
627 static int receive_dux_commands(struct comedi_device *dev, unsigned int command)
629 struct usb_device *usb = comedi_to_usb_dev(dev);
630 struct usbdux_private *devpriv = dev->private;
635 for (i = 0; i < RETRIES; i++) {
636 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
637 devpriv->insn_buf, SIZEINSNBUF,
638 &nrec, BULK_TIMEOUT);
641 if (le16_to_cpu(devpriv->insn_buf[0]) == command)
644 /* command not received */
648 static int usbdux_ai_inttrig(struct comedi_device *dev,
649 struct comedi_subdevice *s,
650 unsigned int trig_num)
652 struct usbdux_private *devpriv = dev->private;
653 struct comedi_cmd *cmd = &s->async->cmd;
656 if (trig_num != cmd->start_arg)
661 if (!devpriv->ai_cmd_running) {
662 devpriv->ai_cmd_running = 1;
663 ret = usbdux_submit_urbs(dev, devpriv->ai_urbs,
664 devpriv->n_ai_urbs, 1);
666 devpriv->ai_cmd_running = 0;
669 s->async->inttrig = NULL;
679 static int usbdux_ai_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
681 struct usbdux_private *devpriv = dev->private;
682 struct comedi_cmd *cmd = &s->async->cmd;
683 int len = cmd->chanlist_len;
687 /* block other CPUs from starting an ai_cmd */
690 if (devpriv->ai_cmd_running)
693 devpriv->dux_commands[1] = len;
694 for (i = 0; i < len; ++i) {
695 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
696 unsigned int range = CR_RANGE(cmd->chanlist[i]);
698 devpriv->dux_commands[i + 2] = create_adc_command(chan, range);
701 ret = send_dux_commands(dev, USBDUX_CMD_MULT_AI);
705 if (devpriv->high_speed) {
707 * every channel gets a time window of 125us. Thus, if we
708 * sample all 8 channels we need 1ms. If we sample only one
709 * channel we need only 125us
711 devpriv->ai_interval = 1;
712 /* find a power of 2 for the interval */
713 while (devpriv->ai_interval < len)
714 devpriv->ai_interval *= 2;
716 devpriv->ai_timer = cmd->scan_begin_arg /
717 (125000 * devpriv->ai_interval);
719 /* interval always 1ms */
720 devpriv->ai_interval = 1;
721 devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
723 if (devpriv->ai_timer < 1) {
728 devpriv->ai_counter = devpriv->ai_timer;
730 if (cmd->start_src == TRIG_NOW) {
731 /* enable this acquisition operation */
732 devpriv->ai_cmd_running = 1;
733 ret = usbdux_submit_urbs(dev, devpriv->ai_urbs,
734 devpriv->n_ai_urbs, 1);
736 devpriv->ai_cmd_running = 0;
737 /* fixme: unlink here?? */
740 s->async->inttrig = NULL;
743 /* don't enable the acquision operation */
744 /* wait for an internal signal */
745 s->async->inttrig = usbdux_ai_inttrig;
754 /* Mode 0 is used to get a single conversion on demand */
755 static int usbdux_ai_insn_read(struct comedi_device *dev,
756 struct comedi_subdevice *s,
757 struct comedi_insn *insn,
760 struct usbdux_private *devpriv = dev->private;
761 unsigned int chan = CR_CHAN(insn->chanspec);
762 unsigned int range = CR_RANGE(insn->chanspec);
769 if (devpriv->ai_cmd_running)
772 /* set command for the first channel */
773 devpriv->dux_commands[1] = create_adc_command(chan, range);
776 ret = send_dux_commands(dev, USBDUX_CMD_SINGLE_AI);
780 for (i = 0; i < insn->n; i++) {
781 ret = receive_dux_commands(dev, USBDUX_CMD_SINGLE_AI);
785 val = le16_to_cpu(devpriv->insn_buf[1]);
787 /* bipolar data is two's-complement */
788 if (comedi_range_is_bipolar(s, range))
789 val ^= ((s->maxdata + 1) >> 1);
797 return ret ? ret : insn->n;
800 static int usbdux_ao_insn_read(struct comedi_device *dev,
801 struct comedi_subdevice *s,
802 struct comedi_insn *insn,
805 struct usbdux_private *devpriv = dev->private;
809 ret = comedi_readback_insn_read(dev, s, insn, data);
815 static int usbdux_ao_insn_write(struct comedi_device *dev,
816 struct comedi_subdevice *s,
817 struct comedi_insn *insn,
820 struct usbdux_private *devpriv = dev->private;
821 unsigned int chan = CR_CHAN(insn->chanspec);
822 unsigned int val = s->readback[chan];
823 __le16 *p = (__le16 *)&devpriv->dux_commands[2];
829 if (devpriv->ao_cmd_running)
832 /* number of channels: 1 */
833 devpriv->dux_commands[1] = 1;
835 devpriv->dux_commands[4] = chan << 6;
837 for (i = 0; i < insn->n; i++) {
840 /* one 16 bit value */
841 *p = cpu_to_le16(val);
843 ret = send_dux_commands(dev, USBDUX_CMD_AO);
847 s->readback[chan] = val;
853 return ret ? ret : insn->n;
856 static int usbdux_ao_inttrig(struct comedi_device *dev,
857 struct comedi_subdevice *s,
858 unsigned int trig_num)
860 struct usbdux_private *devpriv = dev->private;
861 struct comedi_cmd *cmd = &s->async->cmd;
864 if (trig_num != cmd->start_arg)
869 if (!devpriv->ao_cmd_running) {
870 devpriv->ao_cmd_running = 1;
871 ret = usbdux_submit_urbs(dev, devpriv->ao_urbs,
872 devpriv->n_ao_urbs, 0);
874 devpriv->ao_cmd_running = 0;
877 s->async->inttrig = NULL;
887 static int usbdux_ao_cmdtest(struct comedi_device *dev,
888 struct comedi_subdevice *s, struct comedi_cmd *cmd)
890 struct usbdux_private *this_usbduxsub = dev->private;
897 /* Step 1 : check if triggers are trivially valid */
899 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
901 if (0) { /* (this_usbduxsub->high_speed) */
902 /* the sampling rate is set by the coversion rate */
905 /* start a new scan (output at once) with a timer */
908 err |= comedi_check_trigger_src(&cmd->scan_begin_src, flags);
910 if (0) { /* (this_usbduxsub->high_speed) */
912 * in usb-2.0 only one conversion it transmitted
918 * all conversion events happen simultaneously with
923 err |= comedi_check_trigger_src(&cmd->convert_src, flags);
925 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
926 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
931 /* Step 2a : make sure trigger sources are unique */
933 err |= comedi_check_trigger_is_unique(cmd->start_src);
934 err |= comedi_check_trigger_is_unique(cmd->stop_src);
936 /* Step 2b : and mutually compatible */
941 /* Step 3: check if arguments are trivially valid */
943 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
945 if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
946 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
948 if (cmd->scan_begin_src == TRIG_TIMER) {
949 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
953 /* not used now, is for later use */
954 if (cmd->convert_src == TRIG_TIMER)
955 err |= comedi_check_trigger_arg_min(&cmd->convert_arg, 125000);
957 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
960 if (cmd->stop_src == TRIG_COUNT)
961 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
963 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
971 static int usbdux_ao_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
973 struct usbdux_private *devpriv = dev->private;
974 struct comedi_cmd *cmd = &s->async->cmd;
979 if (devpriv->ao_cmd_running)
982 /* we count in steps of 1ms (125us) */
983 /* 125us mode not used yet */
984 if (0) { /* (devpriv->high_speed) */
986 /* timing of the conversion itself: every 125 us */
987 devpriv->ao_timer = cmd->convert_arg / 125000;
990 /* timing of the scan: we get all channels at once */
991 devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
992 if (devpriv->ao_timer < 1) {
998 devpriv->ao_counter = devpriv->ao_timer;
1000 if (cmd->start_src == TRIG_NOW) {
1001 /* enable this acquisition operation */
1002 devpriv->ao_cmd_running = 1;
1003 ret = usbdux_submit_urbs(dev, devpriv->ao_urbs,
1004 devpriv->n_ao_urbs, 0);
1006 devpriv->ao_cmd_running = 0;
1007 /* fixme: unlink here?? */
1010 s->async->inttrig = NULL;
1013 /* submit the urbs later */
1014 /* wait for an internal signal */
1015 s->async->inttrig = usbdux_ao_inttrig;
1024 static int usbdux_dio_insn_config(struct comedi_device *dev,
1025 struct comedi_subdevice *s,
1026 struct comedi_insn *insn,
1031 ret = comedi_dio_insn_config(dev, s, insn, data, 0);
1036 * We don't tell the firmware here as it would take 8 frames
1037 * to submit the information. We do it in the insn_bits.
1042 static int usbdux_dio_insn_bits(struct comedi_device *dev,
1043 struct comedi_subdevice *s,
1044 struct comedi_insn *insn,
1047 struct usbdux_private *devpriv = dev->private;
1050 down(&devpriv->sem);
1052 comedi_dio_update_state(s, data);
1054 /* Always update the hardware. See the (*insn_config). */
1055 devpriv->dux_commands[1] = s->io_bits;
1056 devpriv->dux_commands[2] = s->state;
1059 * This command also tells the firmware to return
1060 * the digital input lines.
1062 ret = send_dux_commands(dev, USBDUX_CMD_DIO_BITS);
1065 ret = receive_dux_commands(dev, USBDUX_CMD_DIO_BITS);
1069 data[1] = le16_to_cpu(devpriv->insn_buf[1]);
1074 return ret ? ret : insn->n;
1077 static int usbdux_counter_read(struct comedi_device *dev,
1078 struct comedi_subdevice *s,
1079 struct comedi_insn *insn,
1082 struct usbdux_private *devpriv = dev->private;
1083 unsigned int chan = CR_CHAN(insn->chanspec);
1087 down(&devpriv->sem);
1089 for (i = 0; i < insn->n; i++) {
1090 ret = send_dux_commands(dev, USBDUX_CMD_TIMER_RD);
1092 goto counter_read_exit;
1093 ret = receive_dux_commands(dev, USBDUX_CMD_TIMER_RD);
1095 goto counter_read_exit;
1097 data[i] = le16_to_cpu(devpriv->insn_buf[chan + 1]);
1103 return ret ? ret : insn->n;
1106 static int usbdux_counter_write(struct comedi_device *dev,
1107 struct comedi_subdevice *s,
1108 struct comedi_insn *insn,
1111 struct usbdux_private *devpriv = dev->private;
1112 unsigned int chan = CR_CHAN(insn->chanspec);
1113 __le16 *p = (__le16 *)&devpriv->dux_commands[2];
1117 down(&devpriv->sem);
1119 devpriv->dux_commands[1] = chan;
1121 for (i = 0; i < insn->n; i++) {
1122 *p = cpu_to_le16(data[i]);
1124 ret = send_dux_commands(dev, USBDUX_CMD_TIMER_WR);
1131 return ret ? ret : insn->n;
1134 static int usbdux_counter_config(struct comedi_device *dev,
1135 struct comedi_subdevice *s,
1136 struct comedi_insn *insn, unsigned int *data)
1138 /* nothing to do so far */
1142 static void usbduxsub_unlink_pwm_urbs(struct comedi_device *dev)
1144 struct usbdux_private *devpriv = dev->private;
1146 usb_kill_urb(devpriv->pwm_urb);
1149 static void usbdux_pwm_stop(struct comedi_device *dev, int do_unlink)
1151 struct usbdux_private *devpriv = dev->private;
1154 usbduxsub_unlink_pwm_urbs(dev);
1156 devpriv->pwm_cmd_running = 0;
1159 static int usbdux_pwm_cancel(struct comedi_device *dev,
1160 struct comedi_subdevice *s)
1162 struct usbdux_private *devpriv = dev->private;
1165 down(&devpriv->sem);
1166 /* unlink only if it is really running */
1167 usbdux_pwm_stop(dev, devpriv->pwm_cmd_running);
1168 ret = send_dux_commands(dev, USBDUX_CMD_PWM_OFF);
1174 static void usbduxsub_pwm_irq(struct urb *urb)
1176 struct comedi_device *dev = urb->context;
1177 struct usbdux_private *devpriv = dev->private;
1180 switch (urb->status) {
1190 * after an unlink command, unplug, ... etc
1191 * no unlink needed here. Already shutting down.
1193 if (devpriv->pwm_cmd_running)
1194 usbdux_pwm_stop(dev, 0);
1200 if (devpriv->pwm_cmd_running) {
1201 dev_err(dev->class_dev,
1202 "Non-zero urb status received in pwm intr context: %d\n",
1204 usbdux_pwm_stop(dev, 0);
1209 /* are we actually running? */
1210 if (!devpriv->pwm_cmd_running)
1213 urb->transfer_buffer_length = devpriv->pwm_buf_sz;
1214 urb->dev = comedi_to_usb_dev(dev);
1216 if (devpriv->pwm_cmd_running) {
1217 ret = usb_submit_urb(urb, GFP_ATOMIC);
1219 dev_err(dev->class_dev,
1220 "pwm urb resubm failed in int-cont. ret=%d",
1222 if (ret == -EL2NSYNC)
1223 dev_err(dev->class_dev,
1224 "buggy USB host controller or bug in IRQ handling!\n");
1226 /* don't do an unlink here */
1227 usbdux_pwm_stop(dev, 0);
1232 static int usbduxsub_submit_pwm_urbs(struct comedi_device *dev)
1234 struct usb_device *usb = comedi_to_usb_dev(dev);
1235 struct usbdux_private *devpriv = dev->private;
1236 struct urb *urb = devpriv->pwm_urb;
1238 /* in case of a resubmission after an unlink... */
1239 usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
1240 urb->transfer_buffer,
1241 devpriv->pwm_buf_sz,
1245 return usb_submit_urb(urb, GFP_ATOMIC);
1248 static int usbdux_pwm_period(struct comedi_device *dev,
1249 struct comedi_subdevice *s,
1250 unsigned int period)
1252 struct usbdux_private *devpriv = dev->private;
1255 if (period < MIN_PWM_PERIOD)
1258 fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1262 devpriv->pwm_delay = fx2delay;
1263 devpriv->pwm_period = period;
1268 static int usbdux_pwm_start(struct comedi_device *dev,
1269 struct comedi_subdevice *s)
1271 struct usbdux_private *devpriv = dev->private;
1274 down(&devpriv->sem);
1276 if (devpriv->pwm_cmd_running)
1277 goto pwm_start_exit;
1279 devpriv->dux_commands[1] = devpriv->pwm_delay;
1280 ret = send_dux_commands(dev, USBDUX_CMD_PWM_ON);
1282 goto pwm_start_exit;
1284 /* initialise the buffer */
1285 memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
1287 devpriv->pwm_cmd_running = 1;
1288 ret = usbduxsub_submit_pwm_urbs(dev);
1290 devpriv->pwm_cmd_running = 0;
1298 static void usbdux_pwm_pattern(struct comedi_device *dev,
1299 struct comedi_subdevice *s,
1304 struct usbdux_private *devpriv = dev->private;
1305 char pwm_mask = (1 << chan); /* DIO bit for the PWM data */
1306 char sgn_mask = (16 << chan); /* DIO bit for the sign */
1307 char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
1308 int szbuf = devpriv->pwm_buf_sz;
1311 for (i = 0; i < szbuf; i++) {
1325 static int usbdux_pwm_write(struct comedi_device *dev,
1326 struct comedi_subdevice *s,
1327 struct comedi_insn *insn,
1330 unsigned int chan = CR_CHAN(insn->chanspec);
1333 * It doesn't make sense to support more than one value here
1334 * because it would just overwrite the PWM buffer.
1340 * The sign is set via a special INSN only, this gives us 8 bits
1341 * for normal operation, sign is 0 by default.
1343 usbdux_pwm_pattern(dev, s, chan, data[0], 0);
1348 static int usbdux_pwm_config(struct comedi_device *dev,
1349 struct comedi_subdevice *s,
1350 struct comedi_insn *insn,
1353 struct usbdux_private *devpriv = dev->private;
1354 unsigned int chan = CR_CHAN(insn->chanspec);
1357 case INSN_CONFIG_ARM:
1359 * if not zero the PWM is limited to a certain time which is
1360 * not supported here
1364 return usbdux_pwm_start(dev, s);
1365 case INSN_CONFIG_DISARM:
1366 return usbdux_pwm_cancel(dev, s);
1367 case INSN_CONFIG_GET_PWM_STATUS:
1368 data[1] = devpriv->pwm_cmd_running;
1370 case INSN_CONFIG_PWM_SET_PERIOD:
1371 return usbdux_pwm_period(dev, s, data[1]);
1372 case INSN_CONFIG_PWM_GET_PERIOD:
1373 data[1] = devpriv->pwm_period;
1375 case INSN_CONFIG_PWM_SET_H_BRIDGE:
1378 * data[2] = sign (for a relay)
1380 usbdux_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
1382 case INSN_CONFIG_PWM_GET_H_BRIDGE:
1383 /* values are not kept in this driver, nothing to return here */
1389 static int usbdux_firmware_upload(struct comedi_device *dev,
1390 const u8 *data, size_t size,
1391 unsigned long context)
1393 struct usb_device *usb = comedi_to_usb_dev(dev);
1401 if (size > USBDUX_FIRMWARE_MAX_LEN) {
1402 dev_err(dev->class_dev,
1403 "usbdux firmware binary it too large for FX2.\n");
1407 /* we generate a local buffer for the firmware */
1408 buf = kmemdup(data, size, GFP_KERNEL);
1412 /* we need a malloc'ed buffer for usb_control_msg() */
1413 tmp = kmalloc(1, GFP_KERNEL);
1419 /* stop the current firmware on the device */
1420 *tmp = 1; /* 7f92 to one */
1421 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1422 USBDUX_FIRMWARE_CMD,
1424 USBDUX_CPU_CS, 0x0000,
1428 dev_err(dev->class_dev, "can not stop firmware\n");
1432 /* upload the new firmware to the device */
1433 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1434 USBDUX_FIRMWARE_CMD,
1440 dev_err(dev->class_dev, "firmware upload failed\n");
1444 /* start the new firmware on the device */
1445 *tmp = 0; /* 7f92 to zero */
1446 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1447 USBDUX_FIRMWARE_CMD,
1449 USBDUX_CPU_CS, 0x0000,
1453 dev_err(dev->class_dev, "can not start firmware\n");
1461 static int usbdux_alloc_usb_buffers(struct comedi_device *dev)
1463 struct usb_device *usb = comedi_to_usb_dev(dev);
1464 struct usbdux_private *devpriv = dev->private;
1468 devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1469 devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
1470 devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1471 devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(void *),
1473 devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(void *),
1475 if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
1476 !devpriv->ai_urbs || !devpriv->ao_urbs)
1479 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1480 /* one frame: 1ms */
1481 urb = usb_alloc_urb(1, GFP_KERNEL);
1484 devpriv->ai_urbs[i] = urb;
1488 urb->pipe = usb_rcvisocpipe(usb, 6);
1489 urb->transfer_flags = URB_ISO_ASAP;
1490 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1491 if (!urb->transfer_buffer)
1494 urb->complete = usbduxsub_ai_isoc_irq;
1495 urb->number_of_packets = 1;
1496 urb->transfer_buffer_length = SIZEINBUF;
1497 urb->iso_frame_desc[0].offset = 0;
1498 urb->iso_frame_desc[0].length = SIZEINBUF;
1501 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1502 /* one frame: 1ms */
1503 urb = usb_alloc_urb(1, GFP_KERNEL);
1506 devpriv->ao_urbs[i] = urb;
1510 urb->pipe = usb_sndisocpipe(usb, 2);
1511 urb->transfer_flags = URB_ISO_ASAP;
1512 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1513 if (!urb->transfer_buffer)
1516 urb->complete = usbduxsub_ao_isoc_irq;
1517 urb->number_of_packets = 1;
1518 urb->transfer_buffer_length = SIZEOUTBUF;
1519 urb->iso_frame_desc[0].offset = 0;
1520 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1521 if (devpriv->high_speed)
1522 urb->interval = 8; /* uframes */
1524 urb->interval = 1; /* frames */
1528 if (devpriv->pwm_buf_sz) {
1529 urb = usb_alloc_urb(0, GFP_KERNEL);
1532 devpriv->pwm_urb = urb;
1534 /* max bulk ep size in high speed */
1535 urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
1537 if (!urb->transfer_buffer)
1544 static void usbdux_free_usb_buffers(struct comedi_device *dev)
1546 struct usbdux_private *devpriv = dev->private;
1550 urb = devpriv->pwm_urb;
1552 kfree(urb->transfer_buffer);
1555 if (devpriv->ao_urbs) {
1556 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1557 urb = devpriv->ao_urbs[i];
1559 kfree(urb->transfer_buffer);
1563 kfree(devpriv->ao_urbs);
1565 if (devpriv->ai_urbs) {
1566 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1567 urb = devpriv->ai_urbs[i];
1569 kfree(urb->transfer_buffer);
1573 kfree(devpriv->ai_urbs);
1575 kfree(devpriv->insn_buf);
1576 kfree(devpriv->in_buf);
1577 kfree(devpriv->dux_commands);
1580 static int usbdux_auto_attach(struct comedi_device *dev,
1581 unsigned long context_unused)
1583 struct usb_interface *intf = comedi_to_usb_interface(dev);
1584 struct usb_device *usb = comedi_to_usb_dev(dev);
1585 struct usbdux_private *devpriv;
1586 struct comedi_subdevice *s;
1589 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
1593 sema_init(&devpriv->sem, 1);
1595 usb_set_intfdata(intf, devpriv);
1597 devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1598 if (devpriv->high_speed) {
1599 devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
1600 devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
1601 devpriv->pwm_buf_sz = 512;
1603 devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
1604 devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
1607 ret = usbdux_alloc_usb_buffers(dev);
1611 /* setting to alternate setting 3: enabling iso ep and bulk ep. */
1612 ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
1615 dev_err(dev->class_dev,
1616 "could not set alternate setting 3 in high speed\n");
1620 ret = comedi_load_firmware(dev, &usb->dev, USBDUX_FIRMWARE,
1621 usbdux_firmware_upload, 0);
1625 ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 5 : 4);
1629 /* Analog Input subdevice */
1630 s = &dev->subdevices[0];
1631 dev->read_subdev = s;
1632 s->type = COMEDI_SUBD_AI;
1633 s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ;
1635 s->maxdata = 0x0fff;
1636 s->len_chanlist = 8;
1637 s->range_table = &range_usbdux_ai_range;
1638 s->insn_read = usbdux_ai_insn_read;
1639 s->do_cmdtest = usbdux_ai_cmdtest;
1640 s->do_cmd = usbdux_ai_cmd;
1641 s->cancel = usbdux_ai_cancel;
1643 /* Analog Output subdevice */
1644 s = &dev->subdevices[1];
1645 dev->write_subdev = s;
1646 s->type = COMEDI_SUBD_AO;
1647 s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1649 s->maxdata = 0x0fff;
1650 s->len_chanlist = s->n_chan;
1651 s->range_table = &range_usbdux_ao_range;
1652 s->do_cmdtest = usbdux_ao_cmdtest;
1653 s->do_cmd = usbdux_ao_cmd;
1654 s->cancel = usbdux_ao_cancel;
1655 s->insn_read = usbdux_ao_insn_read;
1656 s->insn_write = usbdux_ao_insn_write;
1658 ret = comedi_alloc_subdev_readback(s);
1662 /* Digital I/O subdevice */
1663 s = &dev->subdevices[2];
1664 s->type = COMEDI_SUBD_DIO;
1665 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1668 s->range_table = &range_digital;
1669 s->insn_bits = usbdux_dio_insn_bits;
1670 s->insn_config = usbdux_dio_insn_config;
1672 /* Counter subdevice */
1673 s = &dev->subdevices[3];
1674 s->type = COMEDI_SUBD_COUNTER;
1675 s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
1677 s->maxdata = 0xffff;
1678 s->insn_read = usbdux_counter_read;
1679 s->insn_write = usbdux_counter_write;
1680 s->insn_config = usbdux_counter_config;
1682 if (devpriv->high_speed) {
1684 s = &dev->subdevices[4];
1685 s->type = COMEDI_SUBD_PWM;
1686 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1688 s->maxdata = devpriv->pwm_buf_sz;
1689 s->insn_write = usbdux_pwm_write;
1690 s->insn_config = usbdux_pwm_config;
1692 usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1698 static void usbdux_detach(struct comedi_device *dev)
1700 struct usb_interface *intf = comedi_to_usb_interface(dev);
1701 struct usbdux_private *devpriv = dev->private;
1703 usb_set_intfdata(intf, NULL);
1708 down(&devpriv->sem);
1710 /* force unlink all urbs */
1711 usbdux_pwm_stop(dev, 1);
1712 usbdux_ao_stop(dev, 1);
1713 usbdux_ai_stop(dev, 1);
1715 usbdux_free_usb_buffers(dev);
1720 static struct comedi_driver usbdux_driver = {
1721 .driver_name = "usbdux",
1722 .module = THIS_MODULE,
1723 .auto_attach = usbdux_auto_attach,
1724 .detach = usbdux_detach,
1727 static int usbdux_usb_probe(struct usb_interface *intf,
1728 const struct usb_device_id *id)
1730 return comedi_usb_auto_config(intf, &usbdux_driver, 0);
1733 static const struct usb_device_id usbdux_usb_table[] = {
1734 { USB_DEVICE(0x13d8, 0x0001) },
1735 { USB_DEVICE(0x13d8, 0x0002) },
1738 MODULE_DEVICE_TABLE(usb, usbdux_usb_table);
1740 static struct usb_driver usbdux_usb_driver = {
1742 .probe = usbdux_usb_probe,
1743 .disconnect = comedi_usb_auto_unconfig,
1744 .id_table = usbdux_usb_table,
1746 module_comedi_usb_driver(usbdux_driver, usbdux_usb_driver);
1748 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1749 MODULE_DESCRIPTION("Stirling/ITL USB-DUX -- Bernd.Porr@f2s.com");
1750 MODULE_LICENSE("GPL");
1751 MODULE_FIRMWARE(USBDUX_FIRMWARE);