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58dd7c0a M |
1 | /* |
2 | comedi/drivers/ni_660x.c | |
3 | Hardware driver for NI 660x devices | |
4 | ||
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. | |
9 | ||
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. | |
14 | ||
15 | You should have received a copy of the GNU General Public License | |
16 | along with this program; if not, write to the Free Software | |
17 | Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. | |
18 | */ | |
19 | ||
20 | /* | |
21 | Driver: ni_660x | |
22 | Description: National Instruments 660x counter/timer boards | |
23 | Devices: | |
24 | [National Instruments] PCI-6601 (ni_660x), PCI-6602, PXI-6602, | |
25 | PXI-6608 | |
26 | Author: J.P. Mellor <jpmellor@rose-hulman.edu>, | |
27 | Herman.Bruyninckx@mech.kuleuven.ac.be, | |
28 | Wim.Meeussen@mech.kuleuven.ac.be, | |
29 | Klaas.Gadeyne@mech.kuleuven.ac.be, | |
30 | Frank Mori Hess <fmhess@users.sourceforge.net> | |
31 | Updated: Thu Oct 18 12:56:06 EDT 2007 | |
32 | Status: experimental | |
33 | ||
34 | Encoders work. PulseGeneration (both single pulse and pulse train) | |
35 | works. Buffered commands work for input but not output. | |
36 | ||
37 | References: | |
38 | DAQ 660x Register-Level Programmer Manual (NI 370505A-01) | |
39 | DAQ 6601/6602 User Manual (NI 322137B-01) | |
40 | ||
41 | */ | |
42 | ||
43 | #include "../comedidev.h" | |
44 | #include "mite.h" | |
45 | #include "ni_tio.h" | |
46 | ||
47 | enum ni_660x_constants { | |
48 | min_counter_pfi_chan = 8, | |
49 | max_dio_pfi_chan = 31, | |
50 | counters_per_chip = 4 | |
51 | }; | |
52 | ||
53 | #define NUM_PFI_CHANNELS 40 | |
54 | // really there are only up to 3 dma channels, but the register layout allows for 4 | |
55 | #define MAX_DMA_CHANNEL 4 | |
56 | ||
57 | /* See Register-Level Programmer Manual page 3.1 */ | |
58 | typedef enum { | |
59 | G0InterruptAcknowledge, | |
60 | G0StatusRegister, | |
61 | G1InterruptAcknowledge, | |
62 | G1StatusRegister, | |
63 | G01StatusRegister, | |
64 | G0CommandRegister, | |
65 | STCDIOParallelInput, | |
66 | G1CommandRegister, | |
67 | G0HWSaveRegister, | |
68 | G1HWSaveRegister, | |
69 | STCDIOOutput, | |
70 | STCDIOControl, | |
71 | G0SWSaveRegister, | |
72 | G1SWSaveRegister, | |
73 | G0ModeRegister, | |
74 | G01JointStatus1Register, | |
75 | G1ModeRegister, | |
76 | STCDIOSerialInput, | |
77 | G0LoadARegister, | |
78 | G01JointStatus2Register, | |
79 | G0LoadBRegister, | |
80 | G1LoadARegister, | |
81 | G1LoadBRegister, | |
82 | G0InputSelectRegister, | |
83 | G1InputSelectRegister, | |
84 | G0AutoincrementRegister, | |
85 | G1AutoincrementRegister, | |
86 | G01JointResetRegister, | |
87 | G0InterruptEnable, | |
88 | G1InterruptEnable, | |
89 | G0CountingModeRegister, | |
90 | G1CountingModeRegister, | |
91 | G0SecondGateRegister, | |
92 | G1SecondGateRegister, | |
93 | G0DMAConfigRegister, | |
94 | G0DMAStatusRegister, | |
95 | G1DMAConfigRegister, | |
96 | G1DMAStatusRegister, | |
97 | G2InterruptAcknowledge, | |
98 | G2StatusRegister, | |
99 | G3InterruptAcknowledge, | |
100 | G3StatusRegister, | |
101 | G23StatusRegister, | |
102 | G2CommandRegister, | |
103 | G3CommandRegister, | |
104 | G2HWSaveRegister, | |
105 | G3HWSaveRegister, | |
106 | G2SWSaveRegister, | |
107 | G3SWSaveRegister, | |
108 | G2ModeRegister, | |
109 | G23JointStatus1Register, | |
110 | G3ModeRegister, | |
111 | G2LoadARegister, | |
112 | G23JointStatus2Register, | |
113 | G2LoadBRegister, | |
114 | G3LoadARegister, | |
115 | G3LoadBRegister, | |
116 | G2InputSelectRegister, | |
117 | G3InputSelectRegister, | |
118 | G2AutoincrementRegister, | |
119 | G3AutoincrementRegister, | |
120 | G23JointResetRegister, | |
121 | G2InterruptEnable, | |
122 | G3InterruptEnable, | |
123 | G2CountingModeRegister, | |
124 | G3CountingModeRegister, | |
125 | G3SecondGateRegister, | |
126 | G2SecondGateRegister, | |
127 | G2DMAConfigRegister, | |
128 | G2DMAStatusRegister, | |
129 | G3DMAConfigRegister, | |
130 | G3DMAStatusRegister, | |
131 | DIO32Input, | |
132 | DIO32Output, | |
133 | ClockConfigRegister, | |
134 | GlobalInterruptStatusRegister, | |
135 | DMAConfigRegister, | |
136 | GlobalInterruptConfigRegister, | |
137 | IOConfigReg0_1, | |
138 | IOConfigReg2_3, | |
139 | IOConfigReg4_5, | |
140 | IOConfigReg6_7, | |
141 | IOConfigReg8_9, | |
142 | IOConfigReg10_11, | |
143 | IOConfigReg12_13, | |
144 | IOConfigReg14_15, | |
145 | IOConfigReg16_17, | |
146 | IOConfigReg18_19, | |
147 | IOConfigReg20_21, | |
148 | IOConfigReg22_23, | |
149 | IOConfigReg24_25, | |
150 | IOConfigReg26_27, | |
151 | IOConfigReg28_29, | |
152 | IOConfigReg30_31, | |
153 | IOConfigReg32_33, | |
154 | IOConfigReg34_35, | |
155 | IOConfigReg36_37, | |
156 | IOConfigReg38_39, | |
157 | NumRegisters, | |
158 | } NI_660x_Register; | |
159 | ||
160 | static inline unsigned IOConfigReg(unsigned pfi_channel) | |
161 | { | |
162 | unsigned reg = IOConfigReg0_1 + pfi_channel / 2; | |
163 | BUG_ON(reg > IOConfigReg38_39); | |
164 | return reg; | |
165 | } | |
166 | ||
167 | enum ni_660x_register_width { | |
168 | DATA_1B, | |
169 | DATA_2B, | |
170 | DATA_4B | |
171 | }; | |
172 | ||
173 | enum ni_660x_register_direction { | |
174 | NI_660x_READ, | |
175 | NI_660x_WRITE, | |
176 | NI_660x_READ_WRITE | |
177 | }; | |
178 | ||
179 | enum ni_660x_pfi_output_select { | |
180 | pfi_output_select_high_Z = 0, | |
181 | pfi_output_select_counter = 1, | |
182 | pfi_output_select_do = 2, | |
183 | num_pfi_output_selects | |
184 | }; | |
185 | ||
186 | enum ni_660x_subdevices { | |
187 | NI_660X_DIO_SUBDEV = 1, | |
188 | NI_660X_GPCT_SUBDEV_0 = 2 | |
189 | }; | |
190 | static inline unsigned NI_660X_GPCT_SUBDEV(unsigned index) | |
191 | { | |
192 | return NI_660X_GPCT_SUBDEV_0 + index; | |
193 | } | |
194 | ||
195 | typedef struct { | |
196 | const char *name; // Register Name | |
197 | int offset; // Offset from base address from GPCT chip | |
198 | enum ni_660x_register_direction direction; | |
199 | enum ni_660x_register_width size; // 1 byte, 2 bytes, or 4 bytes | |
200 | } NI_660xRegisterData; | |
201 | ||
202 | static const NI_660xRegisterData registerData[NumRegisters] = { | |
203 | {"G0 Interrupt Acknowledge", 0x004, NI_660x_WRITE, DATA_2B}, | |
204 | {"G0 Status Register", 0x004, NI_660x_READ, DATA_2B}, | |
205 | {"G1 Interrupt Acknowledge", 0x006, NI_660x_WRITE, DATA_2B}, | |
206 | {"G1 Status Register", 0x006, NI_660x_READ, DATA_2B}, | |
207 | {"G01 Status Register ", 0x008, NI_660x_READ, DATA_2B}, | |
208 | {"G0 Command Register", 0x00C, NI_660x_WRITE, DATA_2B}, | |
209 | {"STC DIO Parallel Input", 0x00E, NI_660x_READ, DATA_2B}, | |
210 | {"G1 Command Register", 0x00E, NI_660x_WRITE, DATA_2B}, | |
211 | {"G0 HW Save Register", 0x010, NI_660x_READ, DATA_4B}, | |
212 | {"G1 HW Save Register", 0x014, NI_660x_READ, DATA_4B}, | |
213 | {"STC DIO Output", 0x014, NI_660x_WRITE, DATA_2B}, | |
214 | {"STC DIO Control", 0x016, NI_660x_WRITE, DATA_2B}, | |
215 | {"G0 SW Save Register", 0x018, NI_660x_READ, DATA_4B}, | |
216 | {"G1 SW Save Register", 0x01C, NI_660x_READ, DATA_4B}, | |
217 | {"G0 Mode Register", 0x034, NI_660x_WRITE, DATA_2B}, | |
218 | {"G01 Joint Status 1 Register", 0x036, NI_660x_READ, DATA_2B}, | |
219 | {"G1 Mode Register", 0x036, NI_660x_WRITE, DATA_2B}, | |
220 | {"STC DIO Serial Input", 0x038, NI_660x_READ, DATA_2B}, | |
221 | {"G0 Load A Register", 0x038, NI_660x_WRITE, DATA_4B}, | |
222 | {"G01 Joint Status 2 Register", 0x03A, NI_660x_READ, DATA_2B}, | |
223 | {"G0 Load B Register", 0x03C, NI_660x_WRITE, DATA_4B}, | |
224 | {"G1 Load A Register", 0x040, NI_660x_WRITE, DATA_4B}, | |
225 | {"G1 Load B Register", 0x044, NI_660x_WRITE, DATA_4B}, | |
226 | {"G0 Input Select Register", 0x048, NI_660x_WRITE, DATA_2B}, | |
227 | {"G1 Input Select Register", 0x04A, NI_660x_WRITE, DATA_2B}, | |
228 | {"G0 Autoincrement Register", 0x088, NI_660x_WRITE, DATA_2B}, | |
229 | {"G1 Autoincrement Register", 0x08A, NI_660x_WRITE, DATA_2B}, | |
230 | {"G01 Joint Reset Register", 0x090, NI_660x_WRITE, DATA_2B}, | |
231 | {"G0 Interrupt Enable", 0x092, NI_660x_WRITE, DATA_2B}, | |
232 | {"G1 Interrupt Enable", 0x096, NI_660x_WRITE, DATA_2B}, | |
233 | {"G0 Counting Mode Register", 0x0B0, NI_660x_WRITE, DATA_2B}, | |
234 | {"G1 Counting Mode Register", 0x0B2, NI_660x_WRITE, DATA_2B}, | |
235 | {"G0 Second Gate Register", 0x0B4, NI_660x_WRITE, DATA_2B}, | |
236 | {"G1 Second Gate Register", 0x0B6, NI_660x_WRITE, DATA_2B}, | |
237 | {"G0 DMA Config Register", 0x0B8, NI_660x_WRITE, DATA_2B}, | |
238 | {"G0 DMA Status Register", 0x0B8, NI_660x_READ, DATA_2B}, | |
239 | {"G1 DMA Config Register", 0x0BA, NI_660x_WRITE, DATA_2B}, | |
240 | {"G1 DMA Status Register", 0x0BA, NI_660x_READ, DATA_2B}, | |
241 | {"G2 Interrupt Acknowledge", 0x104, NI_660x_WRITE, DATA_2B}, | |
242 | {"G2 Status Register", 0x104, NI_660x_READ, DATA_2B}, | |
243 | {"G3 Interrupt Acknowledge", 0x106, NI_660x_WRITE, DATA_2B}, | |
244 | {"G3 Status Register", 0x106, NI_660x_READ, DATA_2B}, | |
245 | {"G23 Status Register", 0x108, NI_660x_READ, DATA_2B}, | |
246 | {"G2 Command Register", 0x10C, NI_660x_WRITE, DATA_2B}, | |
247 | {"G3 Command Register", 0x10E, NI_660x_WRITE, DATA_2B}, | |
248 | {"G2 HW Save Register", 0x110, NI_660x_READ, DATA_4B}, | |
249 | {"G3 HW Save Register", 0x114, NI_660x_READ, DATA_4B}, | |
250 | {"G2 SW Save Register", 0x118, NI_660x_READ, DATA_4B}, | |
251 | {"G3 SW Save Register", 0x11C, NI_660x_READ, DATA_4B}, | |
252 | {"G2 Mode Register", 0x134, NI_660x_WRITE, DATA_2B}, | |
253 | {"G23 Joint Status 1 Register", 0x136, NI_660x_READ, DATA_2B}, | |
254 | {"G3 Mode Register", 0x136, NI_660x_WRITE, DATA_2B}, | |
255 | {"G2 Load A Register", 0x138, NI_660x_WRITE, DATA_4B}, | |
256 | {"G23 Joint Status 2 Register", 0x13A, NI_660x_READ, DATA_2B}, | |
257 | {"G2 Load B Register", 0x13C, NI_660x_WRITE, DATA_4B}, | |
258 | {"G3 Load A Register", 0x140, NI_660x_WRITE, DATA_4B}, | |
259 | {"G3 Load B Register", 0x144, NI_660x_WRITE, DATA_4B}, | |
260 | {"G2 Input Select Register", 0x148, NI_660x_WRITE, DATA_2B}, | |
261 | {"G3 Input Select Register", 0x14A, NI_660x_WRITE, DATA_2B}, | |
262 | {"G2 Autoincrement Register", 0x188, NI_660x_WRITE, DATA_2B}, | |
263 | {"G3 Autoincrement Register", 0x18A, NI_660x_WRITE, DATA_2B}, | |
264 | {"G23 Joint Reset Register", 0x190, NI_660x_WRITE, DATA_2B}, | |
265 | {"G2 Interrupt Enable", 0x192, NI_660x_WRITE, DATA_2B}, | |
266 | {"G3 Interrupt Enable", 0x196, NI_660x_WRITE, DATA_2B}, | |
267 | {"G2 Counting Mode Register", 0x1B0, NI_660x_WRITE, DATA_2B}, | |
268 | {"G3 Counting Mode Register", 0x1B2, NI_660x_WRITE, DATA_2B}, | |
269 | {"G3 Second Gate Register", 0x1B6, NI_660x_WRITE, DATA_2B}, | |
270 | {"G2 Second Gate Register", 0x1B4, NI_660x_WRITE, DATA_2B}, | |
271 | {"G2 DMA Config Register", 0x1B8, NI_660x_WRITE, DATA_2B}, | |
272 | {"G2 DMA Status Register", 0x1B8, NI_660x_READ, DATA_2B}, | |
273 | {"G3 DMA Config Register", 0x1BA, NI_660x_WRITE, DATA_2B}, | |
274 | {"G3 DMA Status Register", 0x1BA, NI_660x_READ, DATA_2B}, | |
275 | {"32 bit Digital Input", 0x414, NI_660x_READ, DATA_4B}, | |
276 | {"32 bit Digital Output", 0x510, NI_660x_WRITE, DATA_4B}, | |
277 | {"Clock Config Register", 0x73C, NI_660x_WRITE, DATA_4B}, | |
278 | {"Global Interrupt Status Register", 0x754, NI_660x_READ, DATA_4B}, | |
279 | {"DMA Configuration Register", 0x76C, NI_660x_WRITE, DATA_4B}, | |
280 | {"Global Interrupt Config Register", 0x770, NI_660x_WRITE, DATA_4B}, | |
281 | {"IO Config Register 0-1", 0x77C, NI_660x_READ_WRITE, DATA_2B}, | |
282 | {"IO Config Register 2-3", 0x77E, NI_660x_READ_WRITE, DATA_2B}, | |
283 | {"IO Config Register 4-5", 0x780, NI_660x_READ_WRITE, DATA_2B}, | |
284 | {"IO Config Register 6-7", 0x782, NI_660x_READ_WRITE, DATA_2B}, | |
285 | {"IO Config Register 8-9", 0x784, NI_660x_READ_WRITE, DATA_2B}, | |
286 | {"IO Config Register 10-11", 0x786, NI_660x_READ_WRITE, DATA_2B}, | |
287 | {"IO Config Register 12-13", 0x788, NI_660x_READ_WRITE, DATA_2B}, | |
288 | {"IO Config Register 14-15", 0x78A, NI_660x_READ_WRITE, DATA_2B}, | |
289 | {"IO Config Register 16-17", 0x78C, NI_660x_READ_WRITE, DATA_2B}, | |
290 | {"IO Config Register 18-19", 0x78E, NI_660x_READ_WRITE, DATA_2B}, | |
291 | {"IO Config Register 20-21", 0x790, NI_660x_READ_WRITE, DATA_2B}, | |
292 | {"IO Config Register 22-23", 0x792, NI_660x_READ_WRITE, DATA_2B}, | |
293 | {"IO Config Register 24-25", 0x794, NI_660x_READ_WRITE, DATA_2B}, | |
294 | {"IO Config Register 26-27", 0x796, NI_660x_READ_WRITE, DATA_2B}, | |
295 | {"IO Config Register 28-29", 0x798, NI_660x_READ_WRITE, DATA_2B}, | |
296 | {"IO Config Register 30-31", 0x79A, NI_660x_READ_WRITE, DATA_2B}, | |
297 | {"IO Config Register 32-33", 0x79C, NI_660x_READ_WRITE, DATA_2B}, | |
298 | {"IO Config Register 34-35", 0x79E, NI_660x_READ_WRITE, DATA_2B}, | |
299 | {"IO Config Register 36-37", 0x7A0, NI_660x_READ_WRITE, DATA_2B}, | |
300 | {"IO Config Register 38-39", 0x7A2, NI_660x_READ_WRITE, DATA_2B} | |
301 | }; | |
302 | ||
303 | // kind of ENABLE for the second counter | |
304 | enum clock_config_register_bits { | |
305 | CounterSwap = 0x1 << 21 | |
306 | }; | |
307 | ||
308 | // ioconfigreg | |
309 | static inline unsigned ioconfig_bitshift(unsigned pfi_channel) | |
310 | { | |
311 | if (pfi_channel % 2) | |
312 | return 0; | |
313 | else | |
314 | return 8; | |
315 | } | |
316 | static inline unsigned pfi_output_select_mask(unsigned pfi_channel) | |
317 | { | |
318 | return 0x3 << ioconfig_bitshift(pfi_channel); | |
319 | } | |
320 | static inline unsigned pfi_output_select_bits(unsigned pfi_channel, | |
321 | unsigned output_select) | |
322 | { | |
323 | return (output_select & 0x3) << ioconfig_bitshift(pfi_channel); | |
324 | } | |
325 | static inline unsigned pfi_input_select_mask(unsigned pfi_channel) | |
326 | { | |
327 | return 0x7 << (4 + ioconfig_bitshift(pfi_channel)); | |
328 | } | |
329 | static inline unsigned pfi_input_select_bits(unsigned pfi_channel, | |
330 | unsigned input_select) | |
331 | { | |
332 | return (input_select & 0x7) << (4 + ioconfig_bitshift(pfi_channel)); | |
333 | } | |
334 | ||
335 | // dma configuration register bits | |
336 | static inline unsigned dma_select_mask(unsigned dma_channel) | |
337 | { | |
338 | BUG_ON(dma_channel >= MAX_DMA_CHANNEL); | |
339 | return 0x1f << (8 * dma_channel); | |
340 | } | |
341 | enum dma_selection { | |
342 | dma_selection_none = 0x1f, | |
343 | }; | |
344 | static inline unsigned dma_selection_counter(unsigned counter_index) | |
345 | { | |
346 | BUG_ON(counter_index >= counters_per_chip); | |
347 | return counter_index; | |
348 | } | |
349 | static inline unsigned dma_select_bits(unsigned dma_channel, unsigned selection) | |
350 | { | |
351 | BUG_ON(dma_channel >= MAX_DMA_CHANNEL); | |
352 | return (selection << (8 * dma_channel)) & dma_select_mask(dma_channel); | |
353 | } | |
354 | static inline unsigned dma_reset_bit(unsigned dma_channel) | |
355 | { | |
356 | BUG_ON(dma_channel >= MAX_DMA_CHANNEL); | |
357 | return 0x80 << (8 * dma_channel); | |
358 | } | |
359 | ||
360 | enum global_interrupt_status_register_bits { | |
361 | Counter_0_Int_Bit = 0x100, | |
362 | Counter_1_Int_Bit = 0x200, | |
363 | Counter_2_Int_Bit = 0x400, | |
364 | Counter_3_Int_Bit = 0x800, | |
365 | Cascade_Int_Bit = 0x20000000, | |
366 | Global_Int_Bit = 0x80000000 | |
367 | }; | |
368 | ||
369 | enum global_interrupt_config_register_bits { | |
370 | Cascade_Int_Enable_Bit = 0x20000000, | |
371 | Global_Int_Polarity_Bit = 0x40000000, | |
372 | Global_Int_Enable_Bit = 0x80000000 | |
373 | }; | |
374 | ||
375 | // Offset of the GPCT chips from the base-adress of the card | |
376 | static const unsigned GPCT_OFFSET[2] = { 0x0, 0x800 }; /* First chip is at base-address + | |
377 | 0x00, etc. */ | |
378 | ||
379 | /* Board description*/ | |
380 | typedef struct { | |
381 | unsigned short dev_id; /* `lspci` will show you this */ | |
382 | const char *name; | |
383 | unsigned n_chips; /* total number of TIO chips */ | |
384 | } ni_660x_board; | |
385 | ||
386 | static const ni_660x_board ni_660x_boards[] = { | |
387 | { | |
388 | dev_id: 0x2c60, | |
389 | name: "PCI-6601", | |
390 | n_chips: 1, | |
391 | }, | |
392 | { | |
393 | dev_id: 0x1310, | |
394 | name: "PCI-6602", | |
395 | n_chips: 2, | |
396 | }, | |
397 | { | |
398 | dev_id: 0x1360, | |
399 | name: "PXI-6602", | |
400 | n_chips: 2, | |
401 | }, | |
402 | { | |
403 | dev_id: 0x2cc0, | |
404 | name: "PXI-6608", | |
405 | n_chips: 2, | |
406 | }, | |
407 | }; | |
408 | ||
409 | #define NI_660X_MAX_NUM_CHIPS 2 | |
410 | #define NI_660X_MAX_NUM_COUNTERS (NI_660X_MAX_NUM_CHIPS * counters_per_chip) | |
411 | ||
412 | static DEFINE_PCI_DEVICE_TABLE(ni_660x_pci_table) = { | |
413 | {PCI_VENDOR_ID_NATINST, 0x2c60, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
414 | {PCI_VENDOR_ID_NATINST, 0x1310, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
415 | {PCI_VENDOR_ID_NATINST, 0x1360, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
416 | {PCI_VENDOR_ID_NATINST, 0x2cc0, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
417 | {0} | |
418 | }; | |
419 | ||
420 | MODULE_DEVICE_TABLE(pci, ni_660x_pci_table); | |
421 | ||
422 | typedef struct { | |
423 | struct mite_struct *mite; | |
424 | struct ni_gpct_device *counter_dev; | |
425 | uint64_t pfi_direction_bits; | |
426 | struct mite_dma_descriptor_ring | |
427 | *mite_rings[NI_660X_MAX_NUM_CHIPS][counters_per_chip]; | |
428 | spinlock_t mite_channel_lock; | |
429 | unsigned dma_configuration_soft_copies[NI_660X_MAX_NUM_CHIPS]; | |
430 | spinlock_t soft_reg_copy_lock; | |
431 | unsigned short pfi_output_selects[NUM_PFI_CHANNELS]; | |
432 | } ni_660x_private; | |
433 | ||
434 | static inline ni_660x_private *private(comedi_device * dev) | |
435 | { | |
436 | return dev->private; | |
437 | } | |
438 | ||
439 | /* initialized in ni_660x_find_device() */ | |
440 | static inline const ni_660x_board *board(comedi_device * dev) | |
441 | { | |
442 | return dev->board_ptr; | |
443 | } | |
444 | ||
445 | #define n_ni_660x_boards (sizeof(ni_660x_boards)/sizeof(ni_660x_boards[0])) | |
446 | ||
447 | static int ni_660x_attach(comedi_device * dev, comedi_devconfig * it); | |
448 | static int ni_660x_detach(comedi_device * dev); | |
449 | static void init_tio_chip(comedi_device * dev, int chipset); | |
450 | static void ni_660x_select_pfi_output(comedi_device * dev, unsigned pfi_channel, | |
451 | unsigned output_select); | |
452 | ||
453 | static comedi_driver driver_ni_660x = { | |
454 | driver_name:"ni_660x", | |
455 | module:THIS_MODULE, | |
456 | attach:ni_660x_attach, | |
457 | detach:ni_660x_detach, | |
458 | }; | |
459 | ||
460 | COMEDI_PCI_INITCLEANUP(driver_ni_660x, ni_660x_pci_table); | |
461 | ||
462 | static int ni_660x_find_device(comedi_device * dev, int bus, int slot); | |
463 | static int ni_660x_set_pfi_routing(comedi_device * dev, unsigned chan, | |
464 | unsigned source); | |
465 | ||
466 | /* Possible instructions for a GPCT */ | |
467 | static int ni_660x_GPCT_rinsn(comedi_device * dev, | |
790c5541 | 468 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data); |
58dd7c0a | 469 | static int ni_660x_GPCT_insn_config(comedi_device * dev, |
790c5541 | 470 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data); |
58dd7c0a | 471 | static int ni_660x_GPCT_winsn(comedi_device * dev, |
790c5541 | 472 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data); |
58dd7c0a M |
473 | |
474 | /* Possible instructions for Digital IO */ | |
475 | static int ni_660x_dio_insn_config(comedi_device * dev, | |
790c5541 | 476 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data); |
58dd7c0a | 477 | static int ni_660x_dio_insn_bits(comedi_device * dev, |
790c5541 | 478 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data); |
58dd7c0a M |
479 | |
480 | static inline unsigned ni_660x_num_counters(comedi_device * dev) | |
481 | { | |
482 | return board(dev)->n_chips * counters_per_chip; | |
483 | } | |
484 | ||
485 | static NI_660x_Register ni_gpct_to_660x_register(enum ni_gpct_register reg) | |
486 | { | |
487 | NI_660x_Register ni_660x_register; | |
488 | switch (reg) { | |
489 | case NITIO_G0_Autoincrement_Reg: | |
490 | ni_660x_register = G0AutoincrementRegister; | |
491 | break; | |
492 | case NITIO_G1_Autoincrement_Reg: | |
493 | ni_660x_register = G1AutoincrementRegister; | |
494 | break; | |
495 | case NITIO_G2_Autoincrement_Reg: | |
496 | ni_660x_register = G2AutoincrementRegister; | |
497 | break; | |
498 | case NITIO_G3_Autoincrement_Reg: | |
499 | ni_660x_register = G3AutoincrementRegister; | |
500 | break; | |
501 | case NITIO_G0_Command_Reg: | |
502 | ni_660x_register = G0CommandRegister; | |
503 | break; | |
504 | case NITIO_G1_Command_Reg: | |
505 | ni_660x_register = G1CommandRegister; | |
506 | break; | |
507 | case NITIO_G2_Command_Reg: | |
508 | ni_660x_register = G2CommandRegister; | |
509 | break; | |
510 | case NITIO_G3_Command_Reg: | |
511 | ni_660x_register = G3CommandRegister; | |
512 | break; | |
513 | case NITIO_G0_HW_Save_Reg: | |
514 | ni_660x_register = G0HWSaveRegister; | |
515 | break; | |
516 | case NITIO_G1_HW_Save_Reg: | |
517 | ni_660x_register = G1HWSaveRegister; | |
518 | break; | |
519 | case NITIO_G2_HW_Save_Reg: | |
520 | ni_660x_register = G2HWSaveRegister; | |
521 | break; | |
522 | case NITIO_G3_HW_Save_Reg: | |
523 | ni_660x_register = G3HWSaveRegister; | |
524 | break; | |
525 | case NITIO_G0_SW_Save_Reg: | |
526 | ni_660x_register = G0SWSaveRegister; | |
527 | break; | |
528 | case NITIO_G1_SW_Save_Reg: | |
529 | ni_660x_register = G1SWSaveRegister; | |
530 | break; | |
531 | case NITIO_G2_SW_Save_Reg: | |
532 | ni_660x_register = G2SWSaveRegister; | |
533 | break; | |
534 | case NITIO_G3_SW_Save_Reg: | |
535 | ni_660x_register = G3SWSaveRegister; | |
536 | break; | |
537 | case NITIO_G0_Mode_Reg: | |
538 | ni_660x_register = G0ModeRegister; | |
539 | break; | |
540 | case NITIO_G1_Mode_Reg: | |
541 | ni_660x_register = G1ModeRegister; | |
542 | break; | |
543 | case NITIO_G2_Mode_Reg: | |
544 | ni_660x_register = G2ModeRegister; | |
545 | break; | |
546 | case NITIO_G3_Mode_Reg: | |
547 | ni_660x_register = G3ModeRegister; | |
548 | break; | |
549 | case NITIO_G0_LoadA_Reg: | |
550 | ni_660x_register = G0LoadARegister; | |
551 | break; | |
552 | case NITIO_G1_LoadA_Reg: | |
553 | ni_660x_register = G1LoadARegister; | |
554 | break; | |
555 | case NITIO_G2_LoadA_Reg: | |
556 | ni_660x_register = G2LoadARegister; | |
557 | break; | |
558 | case NITIO_G3_LoadA_Reg: | |
559 | ni_660x_register = G3LoadARegister; | |
560 | break; | |
561 | case NITIO_G0_LoadB_Reg: | |
562 | ni_660x_register = G0LoadBRegister; | |
563 | break; | |
564 | case NITIO_G1_LoadB_Reg: | |
565 | ni_660x_register = G1LoadBRegister; | |
566 | break; | |
567 | case NITIO_G2_LoadB_Reg: | |
568 | ni_660x_register = G2LoadBRegister; | |
569 | break; | |
570 | case NITIO_G3_LoadB_Reg: | |
571 | ni_660x_register = G3LoadBRegister; | |
572 | break; | |
573 | case NITIO_G0_Input_Select_Reg: | |
574 | ni_660x_register = G0InputSelectRegister; | |
575 | break; | |
576 | case NITIO_G1_Input_Select_Reg: | |
577 | ni_660x_register = G1InputSelectRegister; | |
578 | break; | |
579 | case NITIO_G2_Input_Select_Reg: | |
580 | ni_660x_register = G2InputSelectRegister; | |
581 | break; | |
582 | case NITIO_G3_Input_Select_Reg: | |
583 | ni_660x_register = G3InputSelectRegister; | |
584 | break; | |
585 | case NITIO_G01_Status_Reg: | |
586 | ni_660x_register = G01StatusRegister; | |
587 | break; | |
588 | case NITIO_G23_Status_Reg: | |
589 | ni_660x_register = G23StatusRegister; | |
590 | break; | |
591 | case NITIO_G01_Joint_Reset_Reg: | |
592 | ni_660x_register = G01JointResetRegister; | |
593 | break; | |
594 | case NITIO_G23_Joint_Reset_Reg: | |
595 | ni_660x_register = G23JointResetRegister; | |
596 | break; | |
597 | case NITIO_G01_Joint_Status1_Reg: | |
598 | ni_660x_register = G01JointStatus1Register; | |
599 | break; | |
600 | case NITIO_G23_Joint_Status1_Reg: | |
601 | ni_660x_register = G23JointStatus1Register; | |
602 | break; | |
603 | case NITIO_G01_Joint_Status2_Reg: | |
604 | ni_660x_register = G01JointStatus2Register; | |
605 | break; | |
606 | case NITIO_G23_Joint_Status2_Reg: | |
607 | ni_660x_register = G23JointStatus2Register; | |
608 | break; | |
609 | case NITIO_G0_Counting_Mode_Reg: | |
610 | ni_660x_register = G0CountingModeRegister; | |
611 | break; | |
612 | case NITIO_G1_Counting_Mode_Reg: | |
613 | ni_660x_register = G1CountingModeRegister; | |
614 | break; | |
615 | case NITIO_G2_Counting_Mode_Reg: | |
616 | ni_660x_register = G2CountingModeRegister; | |
617 | break; | |
618 | case NITIO_G3_Counting_Mode_Reg: | |
619 | ni_660x_register = G3CountingModeRegister; | |
620 | break; | |
621 | case NITIO_G0_Second_Gate_Reg: | |
622 | ni_660x_register = G0SecondGateRegister; | |
623 | break; | |
624 | case NITIO_G1_Second_Gate_Reg: | |
625 | ni_660x_register = G1SecondGateRegister; | |
626 | break; | |
627 | case NITIO_G2_Second_Gate_Reg: | |
628 | ni_660x_register = G2SecondGateRegister; | |
629 | break; | |
630 | case NITIO_G3_Second_Gate_Reg: | |
631 | ni_660x_register = G3SecondGateRegister; | |
632 | break; | |
633 | case NITIO_G0_DMA_Config_Reg: | |
634 | ni_660x_register = G0DMAConfigRegister; | |
635 | break; | |
636 | case NITIO_G0_DMA_Status_Reg: | |
637 | ni_660x_register = G0DMAStatusRegister; | |
638 | break; | |
639 | case NITIO_G1_DMA_Config_Reg: | |
640 | ni_660x_register = G1DMAConfigRegister; | |
641 | break; | |
642 | case NITIO_G1_DMA_Status_Reg: | |
643 | ni_660x_register = G1DMAStatusRegister; | |
644 | break; | |
645 | case NITIO_G2_DMA_Config_Reg: | |
646 | ni_660x_register = G2DMAConfigRegister; | |
647 | break; | |
648 | case NITIO_G2_DMA_Status_Reg: | |
649 | ni_660x_register = G2DMAStatusRegister; | |
650 | break; | |
651 | case NITIO_G3_DMA_Config_Reg: | |
652 | ni_660x_register = G3DMAConfigRegister; | |
653 | break; | |
654 | case NITIO_G3_DMA_Status_Reg: | |
655 | ni_660x_register = G3DMAStatusRegister; | |
656 | break; | |
657 | case NITIO_G0_Interrupt_Acknowledge_Reg: | |
658 | ni_660x_register = G0InterruptAcknowledge; | |
659 | break; | |
660 | case NITIO_G1_Interrupt_Acknowledge_Reg: | |
661 | ni_660x_register = G1InterruptAcknowledge; | |
662 | break; | |
663 | case NITIO_G2_Interrupt_Acknowledge_Reg: | |
664 | ni_660x_register = G2InterruptAcknowledge; | |
665 | break; | |
666 | case NITIO_G3_Interrupt_Acknowledge_Reg: | |
667 | ni_660x_register = G3InterruptAcknowledge; | |
668 | break; | |
669 | case NITIO_G0_Status_Reg: | |
670 | ni_660x_register = G0StatusRegister; | |
671 | break; | |
672 | case NITIO_G1_Status_Reg: | |
673 | ni_660x_register = G0StatusRegister; | |
674 | break; | |
675 | case NITIO_G2_Status_Reg: | |
676 | ni_660x_register = G0StatusRegister; | |
677 | break; | |
678 | case NITIO_G3_Status_Reg: | |
679 | ni_660x_register = G0StatusRegister; | |
680 | break; | |
681 | case NITIO_G0_Interrupt_Enable_Reg: | |
682 | ni_660x_register = G0InterruptEnable; | |
683 | break; | |
684 | case NITIO_G1_Interrupt_Enable_Reg: | |
685 | ni_660x_register = G1InterruptEnable; | |
686 | break; | |
687 | case NITIO_G2_Interrupt_Enable_Reg: | |
688 | ni_660x_register = G2InterruptEnable; | |
689 | break; | |
690 | case NITIO_G3_Interrupt_Enable_Reg: | |
691 | ni_660x_register = G3InterruptEnable; | |
692 | break; | |
693 | default: | |
694 | rt_printk("%s: unhandled register 0x%x in switch.\n", | |
695 | __FUNCTION__, reg); | |
696 | BUG(); | |
697 | return 0; | |
698 | break; | |
699 | } | |
700 | return ni_660x_register; | |
701 | } | |
702 | ||
703 | static inline void ni_660x_write_register(comedi_device * dev, | |
704 | unsigned chip_index, unsigned bits, NI_660x_Register reg) | |
705 | { | |
706 | void *const write_address = | |
707 | private(dev)->mite->daq_io_addr + GPCT_OFFSET[chip_index] + | |
708 | registerData[reg].offset; | |
709 | ||
710 | switch (registerData[reg].size) { | |
711 | case DATA_2B: | |
712 | writew(bits, write_address); | |
713 | break; | |
714 | case DATA_4B: | |
715 | writel(bits, write_address); | |
716 | break; | |
717 | default: | |
718 | rt_printk("%s: %s: bug! unhandled case (reg=0x%x) in switch.\n", | |
719 | __FILE__, __FUNCTION__, reg); | |
720 | BUG(); | |
721 | break; | |
722 | } | |
723 | } | |
724 | ||
725 | static inline unsigned ni_660x_read_register(comedi_device * dev, | |
726 | unsigned chip_index, NI_660x_Register reg) | |
727 | { | |
728 | void *const read_address = | |
729 | private(dev)->mite->daq_io_addr + GPCT_OFFSET[chip_index] + | |
730 | registerData[reg].offset; | |
731 | ||
732 | switch (registerData[reg].size) { | |
733 | case DATA_2B: | |
734 | return readw(read_address); | |
735 | break; | |
736 | case DATA_4B: | |
737 | return readl(read_address); | |
738 | break; | |
739 | default: | |
740 | rt_printk("%s: %s: bug! unhandled case (reg=0x%x) in switch.\n", | |
741 | __FILE__, __FUNCTION__, reg); | |
742 | BUG(); | |
743 | break; | |
744 | } | |
745 | return 0; | |
746 | } | |
747 | ||
748 | static void ni_gpct_write_register(struct ni_gpct *counter, unsigned bits, | |
749 | enum ni_gpct_register reg) | |
750 | { | |
751 | comedi_device *dev = counter->counter_dev->dev; | |
752 | NI_660x_Register ni_660x_register = ni_gpct_to_660x_register(reg); | |
753 | ni_660x_write_register(dev, counter->chip_index, bits, | |
754 | ni_660x_register); | |
755 | } | |
756 | ||
757 | static unsigned ni_gpct_read_register(struct ni_gpct *counter, | |
758 | enum ni_gpct_register reg) | |
759 | { | |
760 | comedi_device *dev = counter->counter_dev->dev; | |
761 | NI_660x_Register ni_660x_register = ni_gpct_to_660x_register(reg); | |
762 | return ni_660x_read_register(dev, counter->chip_index, | |
763 | ni_660x_register); | |
764 | } | |
765 | ||
766 | static inline struct mite_dma_descriptor_ring *mite_ring(ni_660x_private * priv, | |
767 | struct ni_gpct *counter) | |
768 | { | |
769 | return priv->mite_rings[counter->chip_index][counter->counter_index]; | |
770 | } | |
771 | ||
772 | static inline void ni_660x_set_dma_channel(comedi_device * dev, | |
773 | unsigned mite_channel, struct ni_gpct *counter) | |
774 | { | |
775 | unsigned long flags; | |
776 | comedi_spin_lock_irqsave(&private(dev)->soft_reg_copy_lock, flags); | |
777 | private(dev)->dma_configuration_soft_copies[counter->chip_index] &= | |
778 | ~dma_select_mask(mite_channel); | |
779 | private(dev)->dma_configuration_soft_copies[counter->chip_index] |= | |
780 | dma_select_bits(mite_channel, | |
781 | dma_selection_counter(counter->counter_index)); | |
782 | ni_660x_write_register(dev, counter->chip_index, | |
783 | private(dev)->dma_configuration_soft_copies[counter-> | |
784 | chip_index] | dma_reset_bit(mite_channel), | |
785 | DMAConfigRegister); | |
786 | mmiowb(); | |
787 | comedi_spin_unlock_irqrestore(&private(dev)->soft_reg_copy_lock, flags); | |
788 | } | |
789 | ||
790 | static inline void ni_660x_unset_dma_channel(comedi_device * dev, | |
791 | unsigned mite_channel, struct ni_gpct *counter) | |
792 | { | |
793 | unsigned long flags; | |
794 | comedi_spin_lock_irqsave(&private(dev)->soft_reg_copy_lock, flags); | |
795 | private(dev)->dma_configuration_soft_copies[counter->chip_index] &= | |
796 | ~dma_select_mask(mite_channel); | |
797 | private(dev)->dma_configuration_soft_copies[counter->chip_index] |= | |
798 | dma_select_bits(mite_channel, dma_selection_none); | |
799 | ni_660x_write_register(dev, counter->chip_index, | |
800 | private(dev)->dma_configuration_soft_copies[counter-> | |
801 | chip_index], DMAConfigRegister); | |
802 | mmiowb(); | |
803 | comedi_spin_unlock_irqrestore(&private(dev)->soft_reg_copy_lock, flags); | |
804 | } | |
805 | ||
806 | static int ni_660x_request_mite_channel(comedi_device * dev, | |
807 | struct ni_gpct *counter, enum comedi_io_direction direction) | |
808 | { | |
809 | unsigned long flags; | |
810 | struct mite_channel *mite_chan; | |
811 | ||
812 | comedi_spin_lock_irqsave(&private(dev)->mite_channel_lock, flags); | |
813 | BUG_ON(counter->mite_chan); | |
814 | mite_chan = | |
815 | mite_request_channel(private(dev)->mite, mite_ring(private(dev), | |
816 | counter)); | |
817 | if (mite_chan == NULL) { | |
818 | comedi_spin_unlock_irqrestore(&private(dev)->mite_channel_lock, | |
819 | flags); | |
820 | comedi_error(dev, | |
821 | "failed to reserve mite dma channel for counter."); | |
822 | return -EBUSY; | |
823 | } | |
824 | mite_chan->dir = direction; | |
825 | ni_tio_set_mite_channel(counter, mite_chan); | |
826 | ni_660x_set_dma_channel(dev, mite_chan->channel, counter); | |
827 | comedi_spin_unlock_irqrestore(&private(dev)->mite_channel_lock, flags); | |
828 | return 0; | |
829 | } | |
830 | ||
831 | void ni_660x_release_mite_channel(comedi_device * dev, struct ni_gpct *counter) | |
832 | { | |
833 | unsigned long flags; | |
834 | ||
835 | comedi_spin_lock_irqsave(&private(dev)->mite_channel_lock, flags); | |
836 | if (counter->mite_chan) { | |
837 | struct mite_channel *mite_chan = counter->mite_chan; | |
838 | ||
839 | ni_660x_unset_dma_channel(dev, mite_chan->channel, counter); | |
840 | ni_tio_set_mite_channel(counter, NULL); | |
841 | mite_release_channel(mite_chan); | |
842 | } | |
843 | comedi_spin_unlock_irqrestore(&private(dev)->mite_channel_lock, flags); | |
844 | } | |
845 | ||
846 | static int ni_660x_cmd(comedi_device * dev, comedi_subdevice * s) | |
847 | { | |
848 | int retval; | |
849 | ||
850 | struct ni_gpct *counter = subdev_to_counter(s); | |
851 | // const comedi_cmd *cmd = &s->async->cmd; | |
852 | ||
853 | retval = ni_660x_request_mite_channel(dev, counter, COMEDI_INPUT); | |
854 | if (retval) { | |
855 | comedi_error(dev, | |
856 | "no dma channel available for use by counter"); | |
857 | return retval; | |
858 | } | |
859 | ni_tio_acknowledge_and_confirm(counter, NULL, NULL, NULL, NULL); | |
860 | retval = ni_tio_cmd(counter, s->async); | |
861 | ||
862 | return retval; | |
863 | } | |
864 | ||
865 | static int ni_660x_cmdtest(comedi_device * dev, comedi_subdevice * s, | |
866 | comedi_cmd * cmd) | |
867 | { | |
868 | struct ni_gpct *counter = subdev_to_counter(s); | |
869 | ||
870 | return ni_tio_cmdtest(counter, cmd); | |
871 | } | |
872 | ||
873 | static int ni_660x_cancel(comedi_device * dev, comedi_subdevice * s) | |
874 | { | |
875 | struct ni_gpct *counter = subdev_to_counter(s); | |
876 | int retval; | |
877 | ||
878 | retval = ni_tio_cancel(counter); | |
879 | ni_660x_release_mite_channel(dev, counter); | |
880 | return retval; | |
881 | } | |
882 | ||
883 | static void set_tio_counterswap(comedi_device * dev, int chipset) | |
884 | { | |
885 | /* See P. 3.5 of the Register-Level Programming manual. The | |
886 | CounterSwap bit has to be set on the second chip, otherwise | |
887 | it will try to use the same pins as the first chip. | |
888 | */ | |
889 | if (chipset) | |
890 | ni_660x_write_register(dev, chipset, CounterSwap, | |
891 | ClockConfigRegister); | |
892 | else | |
893 | ni_660x_write_register(dev, chipset, 0, ClockConfigRegister); | |
894 | } | |
895 | ||
896 | static void ni_660x_handle_gpct_interrupt(comedi_device * dev, | |
897 | comedi_subdevice * s) | |
898 | { | |
899 | ni_tio_handle_interrupt(subdev_to_counter(s), s); | |
900 | if (s->async->events) { | |
901 | if (s->async-> | |
902 | events & (COMEDI_CB_EOA | COMEDI_CB_ERROR | | |
903 | COMEDI_CB_OVERFLOW)) { | |
904 | ni_660x_cancel(dev, s); | |
905 | } | |
906 | comedi_event(dev, s); | |
907 | } | |
908 | } | |
909 | ||
910 | static irqreturn_t ni_660x_interrupt(int irq, void *d PT_REGS_ARG) | |
911 | { | |
912 | comedi_device *dev = d; | |
913 | comedi_subdevice *s; | |
914 | unsigned i; | |
915 | ||
916 | if (dev->attached == 0) | |
917 | return IRQ_NONE; | |
918 | smp_mb(); | |
919 | for (i = 0; i < ni_660x_num_counters(dev); ++i) { | |
920 | s = dev->subdevices + NI_660X_GPCT_SUBDEV(i); | |
921 | ni_660x_handle_gpct_interrupt(dev, s); | |
922 | } | |
923 | return IRQ_HANDLED; | |
924 | } | |
925 | ||
926 | static int ni_660x_buf_change(comedi_device * dev, comedi_subdevice * s, | |
927 | unsigned long new_size) | |
928 | { | |
929 | int ret; | |
930 | ||
931 | ret = mite_buf_change(mite_ring(private(dev), subdev_to_counter(s)), | |
932 | s->async); | |
933 | if (ret < 0) | |
934 | return ret; | |
935 | ||
936 | return 0; | |
937 | } | |
938 | ||
939 | static int ni_660x_allocate_private(comedi_device * dev) | |
940 | { | |
941 | int retval; | |
942 | unsigned i; | |
943 | ||
944 | if ((retval = alloc_private(dev, sizeof(ni_660x_private))) < 0) | |
945 | return retval; | |
946 | spin_lock_init(&private(dev)->mite_channel_lock); | |
947 | spin_lock_init(&private(dev)->soft_reg_copy_lock); | |
948 | for (i = 0; i < NUM_PFI_CHANNELS; ++i) { | |
949 | private(dev)->pfi_output_selects[i] = pfi_output_select_counter; | |
950 | } | |
951 | return 0; | |
952 | } | |
953 | ||
954 | static int ni_660x_alloc_mite_rings(comedi_device * dev) | |
955 | { | |
956 | unsigned i; | |
957 | unsigned j; | |
958 | ||
959 | for (i = 0; i < board(dev)->n_chips; ++i) { | |
960 | for (j = 0; j < counters_per_chip; ++j) { | |
961 | private(dev)->mite_rings[i][j] = | |
962 | mite_alloc_ring(private(dev)->mite); | |
963 | if (private(dev)->mite_rings[i][j] == NULL) { | |
964 | return -ENOMEM; | |
965 | } | |
966 | } | |
967 | } | |
968 | return 0; | |
969 | } | |
970 | ||
971 | static void ni_660x_free_mite_rings(comedi_device * dev) | |
972 | { | |
973 | unsigned i; | |
974 | unsigned j; | |
975 | ||
976 | for (i = 0; i < board(dev)->n_chips; ++i) { | |
977 | for (j = 0; j < counters_per_chip; ++j) { | |
978 | mite_free_ring(private(dev)->mite_rings[i][j]); | |
979 | } | |
980 | } | |
981 | } | |
982 | ||
983 | static int ni_660x_attach(comedi_device * dev, comedi_devconfig * it) | |
984 | { | |
985 | comedi_subdevice *s; | |
986 | int ret; | |
987 | unsigned i; | |
988 | unsigned global_interrupt_config_bits; | |
989 | ||
990 | printk("comedi%d: ni_660x: ", dev->minor); | |
991 | ||
992 | ret = ni_660x_allocate_private(dev); | |
993 | if (ret < 0) | |
994 | return ret; | |
995 | ret = ni_660x_find_device(dev, it->options[0], it->options[1]); | |
996 | if (ret < 0) | |
997 | return ret; | |
998 | ||
999 | dev->board_name = board(dev)->name; | |
1000 | ||
1001 | ret = mite_setup2(private(dev)->mite, 1); | |
1002 | if (ret < 0) { | |
1003 | printk("error setting up mite\n"); | |
1004 | return ret; | |
1005 | } | |
1006 | comedi_set_hw_dev(dev, &private(dev)->mite->pcidev->dev); | |
1007 | ret = ni_660x_alloc_mite_rings(dev); | |
1008 | if (ret < 0) | |
1009 | return ret; | |
1010 | ||
1011 | printk(" %s ", dev->board_name); | |
1012 | ||
1013 | dev->n_subdevices = 2 + NI_660X_MAX_NUM_COUNTERS; | |
1014 | ||
1015 | if (alloc_subdevices(dev, dev->n_subdevices) < 0) | |
1016 | return -ENOMEM; | |
1017 | ||
1018 | s = dev->subdevices + 0; | |
1019 | /* Old GENERAL-PURPOSE COUNTER/TIME (GPCT) subdevice, no longer used */ | |
1020 | s->type = COMEDI_SUBD_UNUSED; | |
1021 | ||
1022 | s = dev->subdevices + NI_660X_DIO_SUBDEV; | |
1023 | /* DIGITAL I/O SUBDEVICE */ | |
1024 | s->type = COMEDI_SUBD_DIO; | |
1025 | s->subdev_flags = SDF_READABLE | SDF_WRITABLE; | |
1026 | s->n_chan = NUM_PFI_CHANNELS; | |
1027 | s->maxdata = 1; | |
1028 | s->range_table = &range_digital; | |
1029 | s->insn_bits = ni_660x_dio_insn_bits; | |
1030 | s->insn_config = ni_660x_dio_insn_config; | |
1031 | s->io_bits = 0; /* all bits default to input */ | |
1032 | // we use the ioconfig registers to control dio direction, so zero output enables in stc dio control reg | |
1033 | ni_660x_write_register(dev, 0, 0, STCDIOControl); | |
1034 | ||
1035 | private(dev)->counter_dev = ni_gpct_device_construct(dev, | |
1036 | &ni_gpct_write_register, &ni_gpct_read_register, | |
1037 | ni_gpct_variant_660x, ni_660x_num_counters(dev)); | |
1038 | if (private(dev)->counter_dev == NULL) | |
1039 | return -ENOMEM; | |
1040 | for (i = 0; i < NI_660X_MAX_NUM_COUNTERS; ++i) { | |
1041 | s = dev->subdevices + NI_660X_GPCT_SUBDEV(i); | |
1042 | if (i < ni_660x_num_counters(dev)) { | |
1043 | s->type = COMEDI_SUBD_COUNTER; | |
1044 | s->subdev_flags = | |
1045 | SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL | | |
1046 | SDF_CMD_READ /* | SDF_CMD_WRITE */ ; | |
1047 | s->n_chan = 3; | |
1048 | s->maxdata = 0xffffffff; | |
1049 | s->insn_read = ni_660x_GPCT_rinsn; | |
1050 | s->insn_write = ni_660x_GPCT_winsn; | |
1051 | s->insn_config = ni_660x_GPCT_insn_config; | |
1052 | s->do_cmd = &ni_660x_cmd; | |
1053 | s->len_chanlist = 1; | |
1054 | s->do_cmdtest = &ni_660x_cmdtest; | |
1055 | s->cancel = &ni_660x_cancel; | |
1056 | s->async_dma_dir = DMA_BIDIRECTIONAL; | |
1057 | s->buf_change = &ni_660x_buf_change; | |
1058 | s->private = &private(dev)->counter_dev->counters[i]; | |
1059 | ||
1060 | private(dev)->counter_dev->counters[i].chip_index = | |
1061 | i / counters_per_chip; | |
1062 | private(dev)->counter_dev->counters[i].counter_index = | |
1063 | i % counters_per_chip; | |
1064 | } else { | |
1065 | s->type = COMEDI_SUBD_UNUSED; | |
1066 | } | |
1067 | } | |
1068 | for (i = 0; i < board(dev)->n_chips; ++i) { | |
1069 | init_tio_chip(dev, i); | |
1070 | } | |
1071 | for (i = 0; i < ni_660x_num_counters(dev); ++i) { | |
1072 | ni_tio_init_counter(&private(dev)->counter_dev->counters[i]); | |
1073 | } | |
1074 | for (i = 0; i < NUM_PFI_CHANNELS; ++i) { | |
1075 | if (i < min_counter_pfi_chan) | |
1076 | ni_660x_set_pfi_routing(dev, i, pfi_output_select_do); | |
1077 | else | |
1078 | ni_660x_set_pfi_routing(dev, i, | |
1079 | pfi_output_select_counter); | |
1080 | ni_660x_select_pfi_output(dev, i, pfi_output_select_high_Z); | |
1081 | } | |
1082 | /* to be safe, set counterswap bits on tio chips after all the counter | |
1083 | outputs have been set to high impedance mode */ | |
1084 | for (i = 0; i < board(dev)->n_chips; ++i) { | |
1085 | set_tio_counterswap(dev, i); | |
1086 | } | |
1087 | if ((ret = comedi_request_irq(mite_irq(private(dev)->mite), | |
1088 | &ni_660x_interrupt, IRQF_SHARED, "ni_660x", | |
1089 | dev)) < 0) { | |
1090 | printk(" irq not available\n"); | |
1091 | return ret; | |
1092 | } | |
1093 | dev->irq = mite_irq(private(dev)->mite); | |
1094 | global_interrupt_config_bits = Global_Int_Enable_Bit; | |
1095 | if (board(dev)->n_chips > 1) | |
1096 | global_interrupt_config_bits |= Cascade_Int_Enable_Bit; | |
1097 | ni_660x_write_register(dev, 0, global_interrupt_config_bits, | |
1098 | GlobalInterruptConfigRegister); | |
1099 | printk("attached\n"); | |
1100 | return 0; | |
1101 | } | |
1102 | ||
1103 | static int ni_660x_detach(comedi_device * dev) | |
1104 | { | |
1105 | printk("comedi%d: ni_660x: remove\n", dev->minor); | |
1106 | ||
1107 | /* Free irq */ | |
1108 | if (dev->irq) | |
1109 | comedi_free_irq(dev->irq, dev); | |
1110 | ||
1111 | if (dev->private) { | |
1112 | if (private(dev)->counter_dev) | |
1113 | ni_gpct_device_destroy(private(dev)->counter_dev); | |
1114 | if (private(dev)->mite) { | |
1115 | ni_660x_free_mite_rings(dev); | |
1116 | mite_unsetup(private(dev)->mite); | |
1117 | } | |
1118 | } | |
1119 | return 0; | |
1120 | } | |
1121 | ||
1122 | static int | |
1123 | ni_660x_GPCT_rinsn(comedi_device * dev, comedi_subdevice * s, | |
790c5541 | 1124 | comedi_insn * insn, unsigned int * data) |
58dd7c0a M |
1125 | { |
1126 | return ni_tio_rinsn(subdev_to_counter(s), insn, data); | |
1127 | } | |
1128 | ||
1129 | static void init_tio_chip(comedi_device * dev, int chipset) | |
1130 | { | |
1131 | unsigned i; | |
1132 | ||
1133 | // init dma configuration register | |
1134 | private(dev)->dma_configuration_soft_copies[chipset] = 0; | |
1135 | for (i = 0; i < MAX_DMA_CHANNEL; ++i) { | |
1136 | private(dev)->dma_configuration_soft_copies[chipset] |= | |
1137 | dma_select_bits(i, | |
1138 | dma_selection_none) & dma_select_mask(i); | |
1139 | } | |
1140 | ni_660x_write_register(dev, chipset, | |
1141 | private(dev)->dma_configuration_soft_copies[chipset], | |
1142 | DMAConfigRegister); | |
1143 | for(i = 0; i < NUM_PFI_CHANNELS; ++i) | |
1144 | { | |
1145 | ni_660x_write_register(dev, chipset, 0, IOConfigReg(i)); | |
1146 | } | |
1147 | } | |
1148 | ||
1149 | static int | |
1150 | ni_660x_GPCT_insn_config(comedi_device * dev, comedi_subdevice * s, | |
790c5541 | 1151 | comedi_insn * insn, unsigned int * data) |
58dd7c0a M |
1152 | { |
1153 | return ni_tio_insn_config(subdev_to_counter(s), insn, data); | |
1154 | } | |
1155 | ||
1156 | static int ni_660x_GPCT_winsn(comedi_device * dev, | |
790c5541 | 1157 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data) |
58dd7c0a M |
1158 | { |
1159 | return ni_tio_winsn(subdev_to_counter(s), insn, data); | |
1160 | } | |
1161 | ||
1162 | static int ni_660x_find_device(comedi_device * dev, int bus, int slot) | |
1163 | { | |
1164 | struct mite_struct *mite; | |
1165 | int i; | |
1166 | ||
1167 | for (mite = mite_devices; mite; mite = mite->next) { | |
1168 | if (mite->used) | |
1169 | continue; | |
1170 | if (bus || slot) { | |
1171 | if (bus != mite->pcidev->bus->number || | |
1172 | slot != PCI_SLOT(mite->pcidev->devfn)) | |
1173 | continue; | |
1174 | } | |
1175 | ||
1176 | for (i = 0; i < n_ni_660x_boards; i++) { | |
1177 | if (mite_device_id(mite) == ni_660x_boards[i].dev_id) { | |
1178 | dev->board_ptr = ni_660x_boards + i; | |
1179 | private(dev)->mite = mite; | |
1180 | return 0; | |
1181 | } | |
1182 | } | |
1183 | } | |
1184 | printk("no device found\n"); | |
1185 | mite_list_devices(); | |
1186 | return -EIO; | |
1187 | } | |
1188 | ||
1189 | static int ni_660x_dio_insn_bits(comedi_device * dev, | |
790c5541 | 1190 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data) |
58dd7c0a M |
1191 | { |
1192 | unsigned base_bitfield_channel = CR_CHAN(insn->chanspec); | |
1193 | ||
1194 | // Check if we have to write some bits | |
1195 | if (data[0]) { | |
1196 | s->state &= ~(data[0] << base_bitfield_channel); | |
1197 | s->state |= (data[0] & data[1]) << base_bitfield_channel; | |
1198 | /* Write out the new digital output lines */ | |
1199 | ni_660x_write_register(dev, 0, s->state, DIO32Output); | |
1200 | } | |
1201 | /* on return, data[1] contains the value of the digital | |
1202 | * input and output lines. */ | |
1203 | data[1] = | |
1204 | (ni_660x_read_register(dev, 0, | |
1205 | DIO32Input) >> base_bitfield_channel); | |
1206 | return 2; | |
1207 | } | |
1208 | ||
1209 | static void ni_660x_select_pfi_output(comedi_device * dev, unsigned pfi_channel, | |
1210 | unsigned output_select) | |
1211 | { | |
1212 | static const unsigned counter_4_7_first_pfi = 8; | |
1213 | static const unsigned counter_4_7_last_pfi = 23; | |
1214 | unsigned active_chipset = 0; | |
1215 | unsigned idle_chipset = 0; | |
1216 | unsigned active_bits; | |
1217 | unsigned idle_bits; | |
1218 | ||
1219 | if(board(dev)->n_chips > 1) { | |
1220 | if(output_select == pfi_output_select_counter && | |
1221 | pfi_channel >= counter_4_7_first_pfi && | |
1222 | pfi_channel <= counter_4_7_last_pfi) { | |
1223 | active_chipset = 1; | |
1224 | idle_chipset = 0; | |
1225 | }else { | |
1226 | active_chipset = 0; | |
1227 | idle_chipset = 1; | |
1228 | } | |
1229 | } | |
1230 | ||
1231 | if(idle_chipset != active_chipset) { | |
1232 | idle_bits = ni_660x_read_register(dev, idle_chipset, IOConfigReg(pfi_channel)); | |
1233 | idle_bits &= ~pfi_output_select_mask(pfi_channel); | |
1234 | idle_bits |= pfi_output_select_bits(pfi_channel, pfi_output_select_high_Z); | |
1235 | ni_660x_write_register(dev, idle_chipset, idle_bits, IOConfigReg(pfi_channel)); | |
1236 | } | |
1237 | ||
1238 | active_bits = ni_660x_read_register(dev, active_chipset, IOConfigReg(pfi_channel)); | |
1239 | active_bits &= ~pfi_output_select_mask(pfi_channel); | |
1240 | active_bits |= pfi_output_select_bits(pfi_channel, output_select); | |
1241 | ni_660x_write_register(dev, active_chipset, active_bits, IOConfigReg(pfi_channel)); | |
1242 | } | |
1243 | ||
1244 | static int ni_660x_set_pfi_routing(comedi_device * dev, unsigned chan, | |
1245 | unsigned source) | |
1246 | { | |
1247 | if (source > num_pfi_output_selects) | |
1248 | return -EINVAL; | |
1249 | if (source == pfi_output_select_high_Z) | |
1250 | return -EINVAL; | |
1251 | if (chan < min_counter_pfi_chan) { | |
1252 | if (source == pfi_output_select_counter) | |
1253 | return -EINVAL; | |
1254 | } else if (chan > max_dio_pfi_chan) { | |
1255 | if (source == pfi_output_select_do) | |
1256 | return -EINVAL; | |
1257 | } | |
1258 | BUG_ON(chan >= NUM_PFI_CHANNELS); | |
1259 | ||
1260 | private(dev)->pfi_output_selects[chan] = source; | |
1261 | if (private(dev)->pfi_direction_bits & (((uint64_t) 1) << chan)) | |
1262 | ni_660x_select_pfi_output(dev, chan, | |
1263 | private(dev)->pfi_output_selects[chan]); | |
1264 | return 0; | |
1265 | } | |
1266 | ||
1267 | static unsigned ni_660x_get_pfi_routing(comedi_device * dev, unsigned chan) | |
1268 | { | |
1269 | BUG_ON(chan >= NUM_PFI_CHANNELS); | |
1270 | return private(dev)->pfi_output_selects[chan]; | |
1271 | } | |
1272 | ||
1273 | static void ni660x_config_filter(comedi_device * dev, unsigned pfi_channel, | |
1274 | enum ni_gpct_filter_select filter) | |
1275 | { | |
1276 | unsigned bits = ni_660x_read_register(dev, 0, IOConfigReg(pfi_channel)); | |
1277 | bits &= ~pfi_input_select_mask(pfi_channel); | |
1278 | bits |= pfi_input_select_bits(pfi_channel, filter); | |
1279 | ni_660x_write_register(dev, 0, bits, IOConfigReg(pfi_channel)); | |
1280 | } | |
1281 | ||
1282 | static int ni_660x_dio_insn_config(comedi_device * dev, | |
790c5541 | 1283 | comedi_subdevice * s, comedi_insn * insn, unsigned int * data) |
58dd7c0a M |
1284 | { |
1285 | int chan = CR_CHAN(insn->chanspec); | |
1286 | ||
1287 | /* The input or output configuration of each digital line is | |
1288 | * configured by a special insn_config instruction. chanspec | |
1289 | * contains the channel to be changed, and data[0] contains the | |
1290 | * value COMEDI_INPUT or COMEDI_OUTPUT. */ | |
1291 | ||
1292 | switch (data[0]) { | |
1293 | case INSN_CONFIG_DIO_OUTPUT: | |
1294 | private(dev)->pfi_direction_bits |= ((uint64_t) 1) << chan; | |
1295 | ni_660x_select_pfi_output(dev, chan, | |
1296 | private(dev)->pfi_output_selects[chan]); | |
1297 | break; | |
1298 | case INSN_CONFIG_DIO_INPUT: | |
1299 | private(dev)->pfi_direction_bits &= ~(((uint64_t) 1) << chan); | |
1300 | ni_660x_select_pfi_output(dev, chan, pfi_output_select_high_Z); | |
1301 | break; | |
1302 | case INSN_CONFIG_DIO_QUERY: | |
1303 | data[1] = | |
1304 | (private(dev)-> | |
1305 | pfi_direction_bits & (((uint64_t) 1) << chan)) ? | |
1306 | COMEDI_OUTPUT : COMEDI_INPUT; | |
1307 | return 0; | |
1308 | case INSN_CONFIG_SET_ROUTING: | |
1309 | return ni_660x_set_pfi_routing(dev, chan, data[1]); | |
1310 | break; | |
1311 | case INSN_CONFIG_GET_ROUTING: | |
1312 | data[1] = ni_660x_get_pfi_routing(dev, chan); | |
1313 | break; | |
1314 | case INSN_CONFIG_FILTER: | |
1315 | ni660x_config_filter(dev, chan, data[1]); | |
1316 | break; | |
1317 | default: | |
1318 | return -EINVAL; | |
1319 | break; | |
1320 | }; | |
1321 | return 0; | |
1322 | } |