| 1 | /* |
| 2 | comedi/drivers/ni_at_ao.c |
| 3 | Driver for NI AT-AO-6/10 boards |
| 4 | |
| 5 | COMEDI - Linux Control and Measurement Device Interface |
| 6 | Copyright (C) 2000,2002 David A. Schleef <ds@schleef.org> |
| 7 | |
| 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. |
| 12 | |
| 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. |
| 17 | |
| 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. |
| 21 | |
| 22 | */ |
| 23 | /* |
| 24 | Driver: ni_at_ao |
| 25 | Description: National Instruments AT-AO-6/10 |
| 26 | Devices: [National Instruments] AT-AO-6 (at-ao-6), AT-AO-10 (at-ao-10) |
| 27 | Status: should work |
| 28 | Author: ds |
| 29 | Updated: Sun Dec 26 12:26:28 EST 2004 |
| 30 | |
| 31 | Configuration options: |
| 32 | [0] - I/O port base address |
| 33 | [1] - IRQ (unused) |
| 34 | [2] - DMA (unused) |
| 35 | [3] - analog output range, set by jumpers on hardware (0 for -10 to 10V |
| 36 | bipolar, 1 for 0V to 10V unipolar) |
| 37 | |
| 38 | */ |
| 39 | /* |
| 40 | * Register-level programming information can be found in NI |
| 41 | * document 320379.pdf. |
| 42 | */ |
| 43 | |
| 44 | #include "../comedidev.h" |
| 45 | |
| 46 | #include <linux/ioport.h> |
| 47 | |
| 48 | /* board egisters */ |
| 49 | /* registers with _2_ are accessed when GRP2WR is set in CFG1 */ |
| 50 | |
| 51 | #define ATAO_SIZE 0x20 |
| 52 | |
| 53 | #define ATAO_2_DMATCCLR 0x00 /* W 16 */ |
| 54 | #define ATAO_DIN 0x00 /* R 16 */ |
| 55 | #define ATAO_DOUT 0x00 /* W 16 */ |
| 56 | |
| 57 | #define ATAO_CFG2 0x02 /* W 16 */ |
| 58 | #define CALLD1 0x8000 |
| 59 | #define CALLD0 0x4000 |
| 60 | #define FFRTEN 0x2000 |
| 61 | #define DAC2S8 0x1000 |
| 62 | #define DAC2S6 0x0800 |
| 63 | #define DAC2S4 0x0400 |
| 64 | #define DAC2S2 0x0200 |
| 65 | #define DAC2S0 0x0100 |
| 66 | #define LDAC8 0x0080 |
| 67 | #define LDAC6 0x0040 |
| 68 | #define LDAC4 0x0020 |
| 69 | #define LDAC2 0x0010 |
| 70 | #define LDAC0 0x0008 |
| 71 | #define PROMEN 0x0004 |
| 72 | #define SCLK 0x0002 |
| 73 | #define SDATA 0x0001 |
| 74 | |
| 75 | #define ATAO_2_INT1CLR 0x02 /* W 16 */ |
| 76 | |
| 77 | #define ATAO_CFG3 0x04 /* W 16 */ |
| 78 | #define DMAMODE 0x0040 |
| 79 | #define CLKOUT 0x0020 |
| 80 | #define RCLKEN 0x0010 |
| 81 | #define DOUTEN2 0x0008 |
| 82 | #define DOUTEN1 0x0004 |
| 83 | #define EN2_5V 0x0002 |
| 84 | #define SCANEN 0x0001 |
| 85 | |
| 86 | #define ATAO_2_INT2CLR 0x04 /* W 16 */ |
| 87 | |
| 88 | #define ATAO_82C53_BASE 0x06 /* RW 8 */ |
| 89 | |
| 90 | #define ATAO_82C53_CNTR1 0x06 /* RW 8 */ |
| 91 | #define ATAO_82C53_CNTR2 0x07 /* RW 8 */ |
| 92 | #define ATAO_82C53_CNTR3 0x08 /* RW 8 */ |
| 93 | #define ATAO_82C53_CNTRCMD 0x09 /* W 8 */ |
| 94 | #define CNTRSEL1 0x80 |
| 95 | #define CNTRSEL0 0x40 |
| 96 | #define RWSEL1 0x20 |
| 97 | #define RWSEL0 0x10 |
| 98 | #define MODESEL2 0x08 |
| 99 | #define MODESEL1 0x04 |
| 100 | #define MODESEL0 0x02 |
| 101 | #define BCDSEL 0x01 |
| 102 | /* read-back command */ |
| 103 | #define COUNT 0x20 |
| 104 | #define STATUS 0x10 |
| 105 | #define CNTR3 0x08 |
| 106 | #define CNTR2 0x04 |
| 107 | #define CNTR1 0x02 |
| 108 | /* status */ |
| 109 | #define OUT 0x80 |
| 110 | #define _NULL 0x40 |
| 111 | #define RW1 0x20 |
| 112 | #define RW0 0x10 |
| 113 | #define MODE2 0x08 |
| 114 | #define MODE1 0x04 |
| 115 | #define MODE0 0x02 |
| 116 | #define BCD 0x01 |
| 117 | |
| 118 | #define ATAO_2_RTSISHFT 0x06 /* W 8 */ |
| 119 | #define RSI 0x01 |
| 120 | |
| 121 | #define ATAO_2_RTSISTRB 0x07 /* W 8 */ |
| 122 | |
| 123 | #define ATAO_CFG1 0x0a /* W 16 */ |
| 124 | #define EXTINT2EN 0x8000 |
| 125 | #define EXTINT1EN 0x4000 |
| 126 | #define CNTINT2EN 0x2000 |
| 127 | #define CNTINT1EN 0x1000 |
| 128 | #define TCINTEN 0x0800 |
| 129 | #define CNT1SRC 0x0400 |
| 130 | #define CNT2SRC 0x0200 |
| 131 | #define FIFOEN 0x0100 |
| 132 | #define GRP2WR 0x0080 |
| 133 | #define EXTUPDEN 0x0040 |
| 134 | #define DMARQ 0x0020 |
| 135 | #define DMAEN 0x0010 |
| 136 | #define CH_mask 0x000f |
| 137 | #define ATAO_STATUS 0x0a /* R 16 */ |
| 138 | #define FH 0x0040 |
| 139 | #define FE 0x0020 |
| 140 | #define FF 0x0010 |
| 141 | #define INT2 0x0008 |
| 142 | #define INT1 0x0004 |
| 143 | #define TCINT 0x0002 |
| 144 | #define PROMOUT 0x0001 |
| 145 | |
| 146 | #define ATAO_FIFO_WRITE 0x0c /* W 16 */ |
| 147 | #define ATAO_FIFO_CLEAR 0x0c /* R 16 */ |
| 148 | #define ATAO_DACn(x) (0x0c + 2*(x)) /* W */ |
| 149 | |
| 150 | /* |
| 151 | * Board descriptions for two imaginary boards. Describing the |
| 152 | * boards in this way is optional, and completely driver-dependent. |
| 153 | * Some drivers use arrays such as this, other do not. |
| 154 | */ |
| 155 | struct atao_board { |
| 156 | const char *name; |
| 157 | int n_ao_chans; |
| 158 | }; |
| 159 | |
| 160 | struct atao_private { |
| 161 | |
| 162 | unsigned short cfg1; |
| 163 | unsigned short cfg2; |
| 164 | unsigned short cfg3; |
| 165 | |
| 166 | /* Used for AO readback */ |
| 167 | unsigned int ao_readback[10]; |
| 168 | }; |
| 169 | |
| 170 | static void atao_reset(struct comedi_device *dev) |
| 171 | { |
| 172 | struct atao_private *devpriv = dev->private; |
| 173 | |
| 174 | /* This is the reset sequence described in the manual */ |
| 175 | |
| 176 | devpriv->cfg1 = 0; |
| 177 | outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); |
| 178 | |
| 179 | outb(RWSEL0 | MODESEL2, dev->iobase + ATAO_82C53_CNTRCMD); |
| 180 | outb(0x03, dev->iobase + ATAO_82C53_CNTR1); |
| 181 | outb(CNTRSEL0 | RWSEL0 | MODESEL2, dev->iobase + ATAO_82C53_CNTRCMD); |
| 182 | |
| 183 | devpriv->cfg2 = 0; |
| 184 | outw(devpriv->cfg2, dev->iobase + ATAO_CFG2); |
| 185 | |
| 186 | devpriv->cfg3 = 0; |
| 187 | outw(devpriv->cfg3, dev->iobase + ATAO_CFG3); |
| 188 | |
| 189 | inw(dev->iobase + ATAO_FIFO_CLEAR); |
| 190 | |
| 191 | devpriv->cfg1 |= GRP2WR; |
| 192 | outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); |
| 193 | |
| 194 | outw(0, dev->iobase + ATAO_2_INT1CLR); |
| 195 | outw(0, dev->iobase + ATAO_2_INT2CLR); |
| 196 | outw(0, dev->iobase + ATAO_2_DMATCCLR); |
| 197 | |
| 198 | devpriv->cfg1 &= ~GRP2WR; |
| 199 | outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); |
| 200 | } |
| 201 | |
| 202 | static int atao_ao_winsn(struct comedi_device *dev, struct comedi_subdevice *s, |
| 203 | struct comedi_insn *insn, unsigned int *data) |
| 204 | { |
| 205 | struct atao_private *devpriv = dev->private; |
| 206 | int i; |
| 207 | int chan = CR_CHAN(insn->chanspec); |
| 208 | short bits; |
| 209 | |
| 210 | for (i = 0; i < insn->n; i++) { |
| 211 | bits = data[i] - 0x800; |
| 212 | if (chan == 0) { |
| 213 | devpriv->cfg1 |= GRP2WR; |
| 214 | outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); |
| 215 | } |
| 216 | outw(bits, dev->iobase + ATAO_DACn(chan)); |
| 217 | if (chan == 0) { |
| 218 | devpriv->cfg1 &= ~GRP2WR; |
| 219 | outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); |
| 220 | } |
| 221 | devpriv->ao_readback[chan] = data[i]; |
| 222 | } |
| 223 | |
| 224 | return i; |
| 225 | } |
| 226 | |
| 227 | static int atao_ao_rinsn(struct comedi_device *dev, struct comedi_subdevice *s, |
| 228 | struct comedi_insn *insn, unsigned int *data) |
| 229 | { |
| 230 | struct atao_private *devpriv = dev->private; |
| 231 | int i; |
| 232 | int chan = CR_CHAN(insn->chanspec); |
| 233 | |
| 234 | for (i = 0; i < insn->n; i++) |
| 235 | data[i] = devpriv->ao_readback[chan]; |
| 236 | |
| 237 | return i; |
| 238 | } |
| 239 | |
| 240 | static int atao_dio_insn_bits(struct comedi_device *dev, |
| 241 | struct comedi_subdevice *s, |
| 242 | struct comedi_insn *insn, unsigned int *data) |
| 243 | { |
| 244 | if (data[0]) { |
| 245 | s->state &= ~data[0]; |
| 246 | s->state |= data[0] & data[1]; |
| 247 | outw(s->state, dev->iobase + ATAO_DOUT); |
| 248 | } |
| 249 | |
| 250 | data[1] = inw(dev->iobase + ATAO_DIN); |
| 251 | |
| 252 | return insn->n; |
| 253 | } |
| 254 | |
| 255 | static int atao_dio_insn_config(struct comedi_device *dev, |
| 256 | struct comedi_subdevice *s, |
| 257 | struct comedi_insn *insn, unsigned int *data) |
| 258 | { |
| 259 | struct atao_private *devpriv = dev->private; |
| 260 | int chan = CR_CHAN(insn->chanspec); |
| 261 | unsigned int mask, bit; |
| 262 | |
| 263 | /* The input or output configuration of each digital line is |
| 264 | * configured by a special insn_config instruction. chanspec |
| 265 | * contains the channel to be changed, and data[0] contains the |
| 266 | * value COMEDI_INPUT or COMEDI_OUTPUT. */ |
| 267 | |
| 268 | mask = (chan < 4) ? 0x0f : 0xf0; |
| 269 | bit = (chan < 4) ? DOUTEN1 : DOUTEN2; |
| 270 | |
| 271 | switch (data[0]) { |
| 272 | case INSN_CONFIG_DIO_OUTPUT: |
| 273 | s->io_bits |= mask; |
| 274 | devpriv->cfg3 |= bit; |
| 275 | break; |
| 276 | case INSN_CONFIG_DIO_INPUT: |
| 277 | s->io_bits &= ~mask; |
| 278 | devpriv->cfg3 &= ~bit; |
| 279 | break; |
| 280 | case INSN_CONFIG_DIO_QUERY: |
| 281 | data[1] = |
| 282 | (s->io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT; |
| 283 | return insn->n; |
| 284 | break; |
| 285 | default: |
| 286 | return -EINVAL; |
| 287 | break; |
| 288 | } |
| 289 | |
| 290 | outw(devpriv->cfg3, dev->iobase + ATAO_CFG3); |
| 291 | |
| 292 | return 1; |
| 293 | } |
| 294 | |
| 295 | /* |
| 296 | * Figure 2-1 in the manual shows 3 chips labeled DAC8800, which |
| 297 | * are 8-channel 8-bit DACs. These are most likely the calibration |
| 298 | * DACs. It is not explicitly stated in the manual how to access |
| 299 | * the caldacs, but we can guess. |
| 300 | */ |
| 301 | static int atao_calib_insn_read(struct comedi_device *dev, |
| 302 | struct comedi_subdevice *s, |
| 303 | struct comedi_insn *insn, unsigned int *data) |
| 304 | { |
| 305 | int i; |
| 306 | for (i = 0; i < insn->n; i++) |
| 307 | data[i] = 0; /* XXX */ |
| 308 | return insn->n; |
| 309 | } |
| 310 | |
| 311 | static int atao_calib_insn_write(struct comedi_device *dev, |
| 312 | struct comedi_subdevice *s, |
| 313 | struct comedi_insn *insn, unsigned int *data) |
| 314 | { |
| 315 | struct atao_private *devpriv = dev->private; |
| 316 | unsigned int bitstring, bit; |
| 317 | unsigned int chan = CR_CHAN(insn->chanspec); |
| 318 | |
| 319 | bitstring = ((chan & 0x7) << 8) | (data[insn->n - 1] & 0xff); |
| 320 | |
| 321 | for (bit = 1 << (11 - 1); bit; bit >>= 1) { |
| 322 | outw(devpriv->cfg2 | ((bit & bitstring) ? SDATA : 0), |
| 323 | dev->iobase + ATAO_CFG2); |
| 324 | outw(devpriv->cfg2 | SCLK | ((bit & bitstring) ? SDATA : 0), |
| 325 | dev->iobase + ATAO_CFG2); |
| 326 | } |
| 327 | /* strobe the appropriate caldac */ |
| 328 | outw(devpriv->cfg2 | (((chan >> 3) + 1) << 14), |
| 329 | dev->iobase + ATAO_CFG2); |
| 330 | outw(devpriv->cfg2, dev->iobase + ATAO_CFG2); |
| 331 | |
| 332 | return insn->n; |
| 333 | } |
| 334 | |
| 335 | static int atao_attach(struct comedi_device *dev, struct comedi_devconfig *it) |
| 336 | { |
| 337 | const struct atao_board *board = comedi_board(dev); |
| 338 | struct atao_private *devpriv; |
| 339 | struct comedi_subdevice *s; |
| 340 | unsigned long iobase; |
| 341 | int ao_unipolar; |
| 342 | int ret; |
| 343 | |
| 344 | iobase = it->options[0]; |
| 345 | if (iobase == 0) |
| 346 | iobase = 0x1c0; |
| 347 | ao_unipolar = it->options[3]; |
| 348 | |
| 349 | printk(KERN_INFO "comedi%d: ni_at_ao: 0x%04lx", dev->minor, iobase); |
| 350 | |
| 351 | if (!request_region(iobase, ATAO_SIZE, "ni_at_ao")) { |
| 352 | printk(" I/O port conflict\n"); |
| 353 | return -EIO; |
| 354 | } |
| 355 | dev->iobase = iobase; |
| 356 | |
| 357 | dev->board_name = board->name; |
| 358 | |
| 359 | devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL); |
| 360 | if (!devpriv) |
| 361 | return -ENOMEM; |
| 362 | dev->private = devpriv; |
| 363 | |
| 364 | ret = comedi_alloc_subdevices(dev, 4); |
| 365 | if (ret) |
| 366 | return ret; |
| 367 | |
| 368 | s = &dev->subdevices[0]; |
| 369 | /* analog output subdevice */ |
| 370 | s->type = COMEDI_SUBD_AO; |
| 371 | s->subdev_flags = SDF_WRITABLE; |
| 372 | s->n_chan = board->n_ao_chans; |
| 373 | s->maxdata = (1 << 12) - 1; |
| 374 | if (ao_unipolar) |
| 375 | s->range_table = &range_unipolar10; |
| 376 | else |
| 377 | s->range_table = &range_bipolar10; |
| 378 | s->insn_write = &atao_ao_winsn; |
| 379 | s->insn_read = &atao_ao_rinsn; |
| 380 | |
| 381 | s = &dev->subdevices[1]; |
| 382 | /* digital i/o subdevice */ |
| 383 | s->type = COMEDI_SUBD_DIO; |
| 384 | s->subdev_flags = SDF_READABLE | SDF_WRITABLE; |
| 385 | s->n_chan = 8; |
| 386 | s->maxdata = 1; |
| 387 | s->range_table = &range_digital; |
| 388 | s->insn_bits = atao_dio_insn_bits; |
| 389 | s->insn_config = atao_dio_insn_config; |
| 390 | |
| 391 | s = &dev->subdevices[2]; |
| 392 | /* caldac subdevice */ |
| 393 | s->type = COMEDI_SUBD_CALIB; |
| 394 | s->subdev_flags = SDF_WRITABLE | SDF_INTERNAL; |
| 395 | s->n_chan = 21; |
| 396 | s->maxdata = 0xff; |
| 397 | s->insn_read = atao_calib_insn_read; |
| 398 | s->insn_write = atao_calib_insn_write; |
| 399 | |
| 400 | s = &dev->subdevices[3]; |
| 401 | /* eeprom subdevice */ |
| 402 | /* s->type=COMEDI_SUBD_EEPROM; */ |
| 403 | s->type = COMEDI_SUBD_UNUSED; |
| 404 | |
| 405 | atao_reset(dev); |
| 406 | |
| 407 | printk(KERN_INFO "\n"); |
| 408 | |
| 409 | return 0; |
| 410 | } |
| 411 | |
| 412 | static void atao_detach(struct comedi_device *dev) |
| 413 | { |
| 414 | if (dev->iobase) |
| 415 | release_region(dev->iobase, ATAO_SIZE); |
| 416 | } |
| 417 | |
| 418 | static const struct atao_board atao_boards[] = { |
| 419 | { |
| 420 | .name = "ai-ao-6", |
| 421 | .n_ao_chans = 6, |
| 422 | }, { |
| 423 | .name = "ai-ao-10", |
| 424 | .n_ao_chans = 10, |
| 425 | }, |
| 426 | }; |
| 427 | |
| 428 | static struct comedi_driver ni_at_ao_driver = { |
| 429 | .driver_name = "ni_at_ao", |
| 430 | .module = THIS_MODULE, |
| 431 | .attach = atao_attach, |
| 432 | .detach = atao_detach, |
| 433 | .board_name = &atao_boards[0].name, |
| 434 | .offset = sizeof(struct atao_board), |
| 435 | .num_names = ARRAY_SIZE(atao_boards), |
| 436 | }; |
| 437 | module_comedi_driver(ni_at_ao_driver); |
| 438 | |
| 439 | MODULE_AUTHOR("Comedi http://www.comedi.org"); |
| 440 | MODULE_DESCRIPTION("Comedi low-level driver"); |
| 441 | MODULE_LICENSE("GPL"); |