2 * comedi/drivers/ii_pci20kc.c
3 * Driver for Intelligent Instruments PCI-20001C carrier board
6 * Copyright (C) 2000 Markus Kempf <kempf@matsci.uni-sb.de>
7 * with suggestions from David Schleef
10 * Linux device driver for COMEDI
11 * Intelligent Instrumentation
12 * PCI-20001 C-2A Carrier Board
13 * PCI-20341 M-1A 16-Bit analog input module
17 * PCI-20006 M-2 16-Bit analog output module
18 * - ranges (-10V - +10V) (0V - +10V) (-5V - +5V)
21 * only ONE PCI-20341 module possible
22 * only ONE PCI-20006 module possible
23 * no extern trigger implemented
25 * NOT WORKING (but soon) only 4 on-board differential channels supported
26 * NOT WORKING (but soon) only ONE di-port and ONE do-port supported
27 * instead of 4 digital ports
31 * The state of this driver is only a starting point for a complete
32 * COMEDI-driver. The final driver should support all features of the
33 * carrier board and modules.
35 * The test configuration:
37 * kernel 2.2.14 with RTAI v1.2 and patch-2.2.14rthal2
44 Description: Intelligent Instruments PCI-20001C carrier board
45 Author: Markus Kempf <kempf@matsci.uni-sb.de>
46 Devices: [Intelligent Instrumentation] PCI-20001C (ii_pci20kc)
49 Supports the PCI-20001 C-2a Carrier board, and could probably support
50 the other carrier boards with small modifications. Modules supported
52 PCI-20006 M-2 16-bit analog output module
53 PCI-20341 M-1A 16-bit analog input module
58 2 first option for module 1
59 3 second option for module 1
60 4 first option for module 2
61 5 second option for module 2
62 6 first option for module 3
63 7 second option for module 3
65 options for PCI-20006M:
66 first: Analog output channel 0 range configuration
67 0 bipolar 10 (-10V -- +10V)
68 1 unipolar 10 (0V -- +10V)
69 2 bipolar 5 (-5V -- 5V)
70 second: Analog output channel 1 range configuration
72 options for PCI-20341M:
73 first: Analog input gain configuration
80 /* XXX needs to use ioremap() for compatibility with 2.4 kernels. Should also
81 * check_mem_region() etc. - fmhess */
83 #include "../comedidev.h"
85 #define PCI20000_ID 0x1d
86 #define PCI20341_ID 0x77
87 #define PCI20006_ID 0xe3
88 #define PCI20xxx_EMPTY_ID 0xff
90 #define PCI20000_OFFSET 0x100
91 #define PCI20000_MODULES 3
93 #define PCI20000_DIO_0 0x80
94 #define PCI20000_DIO_1 0x81
95 #define PCI20000_DIO_2 0xc0
96 #define PCI20000_DIO_3 0xc1
97 #define PCI20000_DIO_CONTROL_01 0x83 /* port 0, 1 control */
98 #define PCI20000_DIO_CONTROL_23 0xc3 /* port 2, 3 control */
99 #define PCI20000_DIO_BUFFER 0x82 /* buffer direction & enable */
100 #define PCI20000_DIO_EOC 0xef /* even port, control output */
101 #define PCI20000_DIO_OOC 0xfd /* odd port, control output */
102 #define PCI20000_DIO_EIC 0x90 /* even port, control input */
103 #define PCI20000_DIO_OIC 0x82 /* odd port, control input */
104 #define DIO_CAND 0x12 /* and bit 1 & 4 of control */
105 #define DIO_BE 0x01 /* buffer: port enable */
106 #define DIO_BO 0x04 /* buffer: output */
107 #define DIO_BI 0x05 /* buffer: input */
108 #define DIO_PS_0 0x00 /* buffer: port shift 0 */
109 #define DIO_PS_1 0x01 /* buffer: port shift 1 */
110 #define DIO_PS_2 0x04 /* buffer: port shift 2 */
111 #define DIO_PS_3 0x05 /* buffer: port shift 3 */
113 #define PCI20006_LCHAN0 0x0d
114 #define PCI20006_STROBE0 0x0b
115 #define PCI20006_LCHAN1 0x15
116 #define PCI20006_STROBE1 0x13
118 #define PCI20341_INIT 0x04
119 #define PCI20341_REPMODE 0x00 /* single shot mode */
120 #define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
121 #define PCI20341_CHAN_NR 0x04 /* number of input channels */
122 #define PCI20341_CONFIG_REG 0x10
123 #define PCI20341_MOD_STATUS 0x01
124 #define PCI20341_OPT_REG 0x11
125 #define PCI20341_SET_TIME_REG 0x15
126 #define PCI20341_LCHAN_ADDR_REG 0x13
127 #define PCI20341_CHAN_LIST 0x80
128 #define PCI20341_CC_RESET 0x1b
129 #define PCI20341_CHAN_RESET 0x19
130 #define PCI20341_SOFT_PACER 0x04
131 #define PCI20341_STATUS_REG 0x12
132 #define PCI20341_LDATA 0x02
133 #define PCI20341_DAISY_CHAIN 0x20 /* On-board inputs only */
134 #define PCI20341_MUX 0x04 /* Enable on-board MUX */
135 #define PCI20341_SCANLIST 0x80 /* Channel/Gain Scan List */
137 union pci20xxx_subdev_private
{
138 void __iomem
*iobase
;
140 void __iomem
*iobase
;
141 const struct comedi_lrange
*ao_range_list
[2];
142 /* range of channels of ao module */
143 unsigned int last_data
[2];
146 void __iomem
*iobase
;
153 struct pci20xxx_private
{
155 void __iomem
*ioaddr
;
156 union pci20xxx_subdev_private subdev_private
[PCI20000_MODULES
];
159 #define devpriv ((struct pci20xxx_private *)dev->private)
160 #define CHAN (CR_CHAN(it->chanlist[0]))
162 static int pci20006_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
164 static int pci20341_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
166 static int pci20xxx_dio_init(struct comedi_device
*dev
,
167 struct comedi_subdevice
*s
);
170 options[0] Board base address
172 options[2] first option for module 1
173 options[3] second option for module 1
174 options[4] first option for module 2
175 options[5] second option for module 2
176 options[6] first option for module 3
177 options[7] second option for module 3
179 options for PCI-20341M:
180 first Analog input gain configuration
186 options for PCI-20006M:
187 first Analog output channel 0 range configuration
188 0 == bipolar 10 (-10V -- +10V)
189 1 == unipolar 10V (0V -- +10V)
190 2 == bipolar 5V (-5V -- +5V)
191 second Analog output channel 1 range configuration
192 0 == bipolar 10 (-10V -- +10V)
193 1 == unipolar 10V (0V -- +10V)
194 2 == bipolar 5V (-5V -- +5V)
196 static int pci20xxx_attach(struct comedi_device
*dev
,
197 struct comedi_devconfig
*it
)
202 struct comedi_subdevice
*s
;
203 union pci20xxx_subdev_private
*sdp
;
205 ret
= comedi_alloc_subdevices(dev
, 1 + PCI20000_MODULES
);
209 ret
= alloc_private(dev
, sizeof(struct pci20xxx_private
));
213 devpriv
->ioaddr
= (void __iomem
*)(unsigned long)it
->options
[0];
214 dev
->board_name
= "pci20kc";
216 /* Check PCI-20001 C-2A Carrier Board ID */
217 if ((readb(devpriv
->ioaddr
) & PCI20000_ID
) != PCI20000_ID
) {
218 printk(KERN_WARNING
"comedi%d: ii_pci20kc PCI-20001"
219 " C-2A Carrier Board at base=0x%p not found !\n",
220 dev
->minor
, devpriv
->ioaddr
);
223 printk(KERN_INFO
"comedi%d: ii_pci20kc: PCI-20001 C-2A at base=0x%p\n",
224 dev
->minor
, devpriv
->ioaddr
);
226 for (i
= 0; i
< PCI20000_MODULES
; i
++) {
227 s
= dev
->subdevices
+ i
;
228 id
= readb(devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
);
229 s
->private = devpriv
->subdev_private
+ i
;
233 sdp
->pci20006
.iobase
=
234 devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
;
235 pci20006_init(dev
, s
, it
->options
[2 * i
+ 2],
236 it
->options
[2 * i
+ 3]);
237 printk(KERN_INFO
"comedi%d: "
238 "ii_pci20kc PCI-20006 module in slot %d\n",
242 sdp
->pci20341
.iobase
=
243 devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
;
244 pci20341_init(dev
, s
, it
->options
[2 * i
+ 2],
245 it
->options
[2 * i
+ 3]);
246 printk(KERN_INFO
"comedi%d: "
247 "ii_pci20kc PCI-20341 module in slot %d\n",
251 printk(KERN_WARNING
"ii_pci20kc: unknown module "
252 "code 0x%02x in slot %d: module disabled\n",
253 id
, i
); /* XXX this looks like a bug! i + 1 ?? */
255 case PCI20xxx_EMPTY_ID
:
256 s
->type
= COMEDI_SUBD_UNUSED
;
261 /* initialize struct pci20xxx_private */
262 pci20xxx_dio_init(dev
, dev
->subdevices
+ PCI20000_MODULES
);
267 static void pci20xxx_detach(struct comedi_device
*dev
)
269 /* Nothing to cleanup */
274 static int pci20006_insn_read(struct comedi_device
*dev
,
275 struct comedi_subdevice
*s
,
276 struct comedi_insn
*insn
, unsigned int *data
);
277 static int pci20006_insn_write(struct comedi_device
*dev
,
278 struct comedi_subdevice
*s
,
279 struct comedi_insn
*insn
, unsigned int *data
);
281 static const struct comedi_lrange
*pci20006_range_list
[] = {
287 static int pci20006_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
290 union pci20xxx_subdev_private
*sdp
= s
->private;
292 if (opt0
< 0 || opt0
> 2)
294 if (opt1
< 0 || opt1
> 2)
297 sdp
->pci20006
.ao_range_list
[0] = pci20006_range_list
[opt0
];
298 sdp
->pci20006
.ao_range_list
[1] = pci20006_range_list
[opt1
];
301 s
->type
= COMEDI_SUBD_AO
;
302 s
->subdev_flags
= SDF_WRITABLE
;
305 s
->insn_read
= pci20006_insn_read
;
306 s
->insn_write
= pci20006_insn_write
;
308 s
->range_table_list
= sdp
->pci20006
.ao_range_list
;
312 static int pci20006_insn_read(struct comedi_device
*dev
,
313 struct comedi_subdevice
*s
,
314 struct comedi_insn
*insn
, unsigned int *data
)
316 union pci20xxx_subdev_private
*sdp
= s
->private;
318 data
[0] = sdp
->pci20006
.last_data
[CR_CHAN(insn
->chanspec
)];
323 static int pci20006_insn_write(struct comedi_device
*dev
,
324 struct comedi_subdevice
*s
,
325 struct comedi_insn
*insn
, unsigned int *data
)
327 union pci20xxx_subdev_private
*sdp
= s
->private;
329 unsigned int boarddata
;
331 sdp
->pci20006
.last_data
[CR_CHAN(insn
->chanspec
)] = data
[0];
332 boarddata
= (((unsigned int)data
[0] + 0x8000) & 0xffff);
333 /* comedi-data -> board-data */
334 lo
= (boarddata
& 0xff);
335 hi
= ((boarddata
>> 8) & 0xff);
337 switch (CR_CHAN(insn
->chanspec
)) {
339 writeb(lo
, sdp
->iobase
+ PCI20006_LCHAN0
);
340 writeb(hi
, sdp
->iobase
+ PCI20006_LCHAN0
+ 1);
341 writeb(0x00, sdp
->iobase
+ PCI20006_STROBE0
);
344 writeb(lo
, sdp
->iobase
+ PCI20006_LCHAN1
);
345 writeb(hi
, sdp
->iobase
+ PCI20006_LCHAN1
+ 1);
346 writeb(0x00, sdp
->iobase
+ PCI20006_STROBE1
);
350 " comedi%d: pci20xxx: ao channel Error!\n", dev
->minor
);
359 static int pci20341_insn_read(struct comedi_device
*dev
,
360 struct comedi_subdevice
*s
,
361 struct comedi_insn
*insn
, unsigned int *data
);
363 static const int pci20341_timebase
[] = { 0x00, 0x00, 0x00, 0x04 };
364 static const int pci20341_settling_time
[] = { 0x58, 0x58, 0x93, 0x99 };
366 static const struct comedi_lrange range_bipolar0_5
= {
371 static const struct comedi_lrange range_bipolar0_05
= {
376 static const struct comedi_lrange range_bipolar0_025
= {
381 static const struct comedi_lrange
*const pci20341_ranges
[] = {
388 static int pci20341_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
391 union pci20xxx_subdev_private
*sdp
= s
->private;
394 /* options handling */
395 if (opt0
< 0 || opt0
> 3)
397 sdp
->pci20341
.timebase
= pci20341_timebase
[opt0
];
398 sdp
->pci20341
.settling_time
= pci20341_settling_time
[opt0
];
401 s
->type
= COMEDI_SUBD_AI
;
402 s
->subdev_flags
= SDF_READABLE
;
403 s
->n_chan
= PCI20341_CHAN_NR
;
404 s
->len_chanlist
= PCI20341_SCANLIST
;
405 s
->insn_read
= pci20341_insn_read
;
407 s
->range_table
= pci20341_ranges
[opt0
];
409 /* depends on gain, trigger, repetition mode */
410 option
= sdp
->pci20341
.timebase
| PCI20341_REPMODE
;
412 /* initialize Module */
413 writeb(PCI20341_INIT
, sdp
->iobase
+ PCI20341_CONFIG_REG
);
415 writeb(PCI20341_PACER
, sdp
->iobase
+ PCI20341_MOD_STATUS
);
416 /* option register */
417 writeb(option
, sdp
->iobase
+ PCI20341_OPT_REG
);
418 /* settling time counter */
419 writeb(sdp
->pci20341
.settling_time
,
420 sdp
->iobase
+ PCI20341_SET_TIME_REG
);
421 /* trigger not implemented */
425 static int pci20341_insn_read(struct comedi_device
*dev
,
426 struct comedi_subdevice
*s
,
427 struct comedi_insn
*insn
, unsigned int *data
)
429 union pci20xxx_subdev_private
*sdp
= s
->private;
430 unsigned int i
= 0, j
= 0;
432 unsigned char eoc
; /* end of conversion */
433 unsigned int clb
; /* channel list byte */
434 unsigned int boarddata
;
436 /* write number of input channels */
437 writeb(1, sdp
->iobase
+ PCI20341_LCHAN_ADDR_REG
);
438 clb
= PCI20341_DAISY_CHAIN
| PCI20341_MUX
| (sdp
->pci20341
.ai_gain
<< 3)
439 | CR_CHAN(insn
->chanspec
);
440 writeb(clb
, sdp
->iobase
+ PCI20341_CHAN_LIST
);
442 /* reset settling time counter and trigger delay counter */
443 writeb(0x00, sdp
->iobase
+ PCI20341_CC_RESET
);
445 writeb(0x00, sdp
->iobase
+ PCI20341_CHAN_RESET
);
449 for (i
= 0; i
< insn
->n
; i
++) {
450 /* data polling isn't the niciest way to get the data, I know,
451 * but there are only 6 cycles (mean) and it is easier than
452 * the whole interrupt stuff
456 readb(sdp
->iobase
+ PCI20341_SOFT_PACER
);
458 eoc
= readb(sdp
->iobase
+ PCI20341_STATUS_REG
);
459 /* poll Interrupt Flag */
460 while ((eoc
< 0x80) && j
< 100) {
462 eoc
= readb(sdp
->iobase
+ PCI20341_STATUS_REG
);
466 "comedi%d: pci20xxx: "
467 "AI interrupt channel %i polling exit !\n",
471 lo
= readb(sdp
->iobase
+ PCI20341_LDATA
);
472 hi
= readb(sdp
->iobase
+ PCI20341_LDATA
+ 1);
473 boarddata
= lo
+ 0x100 * hi
;
475 /* board-data -> comedi-data */
476 data
[i
] = (short)((boarddata
+ 0x8000) & 0xffff);
484 static void pci20xxx_dio_config(struct comedi_device
*dev
,
485 struct comedi_subdevice
*s
);
486 static int pci20xxx_dio_insn_bits(struct comedi_device
*dev
,
487 struct comedi_subdevice
*s
,
488 struct comedi_insn
*insn
, unsigned int *data
);
489 static int pci20xxx_dio_insn_config(struct comedi_device
*dev
,
490 struct comedi_subdevice
*s
,
491 struct comedi_insn
*insn
,
494 /* initialize struct pci20xxx_private */
495 static int pci20xxx_dio_init(struct comedi_device
*dev
,
496 struct comedi_subdevice
*s
)
499 s
->type
= COMEDI_SUBD_DIO
;
500 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
502 s
->insn_bits
= pci20xxx_dio_insn_bits
;
503 s
->insn_config
= pci20xxx_dio_insn_config
;
505 s
->len_chanlist
= 32;
506 s
->range_table
= &range_digital
;
509 /* digital I/O lines default to input on board reset. */
510 pci20xxx_dio_config(dev
, s
);
515 static int pci20xxx_dio_insn_config(struct comedi_device
*dev
,
516 struct comedi_subdevice
*s
,
517 struct comedi_insn
*insn
,
522 mask
= 1 << CR_CHAN(insn
->chanspec
);
523 if (mask
& 0x000000ff)
525 else if (mask
& 0x0000ff00)
527 else if (mask
& 0x00ff0000)
535 pci20xxx_dio_config(dev
, s
);
540 static int pci20xxx_dio_insn_bits(struct comedi_device
*dev
,
541 struct comedi_subdevice
*s
,
542 struct comedi_insn
*insn
, unsigned int *data
)
544 unsigned int mask
= data
[0];
547 s
->state
|= (mask
& data
[1]);
550 if (mask
& 0x000000ff)
551 writeb((s
->state
>> 0) & 0xff,
552 devpriv
->ioaddr
+ PCI20000_DIO_0
);
553 if (mask
& 0x0000ff00)
554 writeb((s
->state
>> 8) & 0xff,
555 devpriv
->ioaddr
+ PCI20000_DIO_1
);
556 if (mask
& 0x00ff0000)
557 writeb((s
->state
>> 16) & 0xff,
558 devpriv
->ioaddr
+ PCI20000_DIO_2
);
559 if (mask
& 0xff000000)
560 writeb((s
->state
>> 24) & 0xff,
561 devpriv
->ioaddr
+ PCI20000_DIO_3
);
563 data
[1] = readb(devpriv
->ioaddr
+ PCI20000_DIO_0
);
564 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_1
) << 8;
565 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_2
) << 16;
566 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_3
) << 24;
571 static void pci20xxx_dio_config(struct comedi_device
*dev
,
572 struct comedi_subdevice
*s
)
574 unsigned char control_01
;
575 unsigned char control_23
;
576 unsigned char buffer
;
578 control_01
= readb(devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_01
);
579 control_23
= readb(devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_23
);
580 buffer
= readb(devpriv
->ioaddr
+ PCI20000_DIO_BUFFER
);
582 if (s
->io_bits
& 0x000000ff) {
584 control_01
&= PCI20000_DIO_EOC
;
585 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_0
))) | (DIO_BO
<<
589 control_01
= (control_01
& DIO_CAND
) | PCI20000_DIO_EIC
;
590 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_0
)));
592 if (s
->io_bits
& 0x0000ff00) {
594 control_01
&= PCI20000_DIO_OOC
;
595 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_1
))) | (DIO_BO
<<
599 control_01
= (control_01
& DIO_CAND
) | PCI20000_DIO_OIC
;
600 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_1
)));
602 if (s
->io_bits
& 0x00ff0000) {
604 control_23
&= PCI20000_DIO_EOC
;
605 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_2
))) | (DIO_BO
<<
609 control_23
= (control_23
& DIO_CAND
) | PCI20000_DIO_EIC
;
610 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_2
)));
612 if (s
->io_bits
& 0xff000000) {
614 control_23
&= PCI20000_DIO_OOC
;
615 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_3
))) | (DIO_BO
<<
619 control_23
= (control_23
& DIO_CAND
) | PCI20000_DIO_OIC
;
620 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_3
)));
622 writeb(control_01
, devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_01
);
623 writeb(control_23
, devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_23
);
624 writeb(buffer
, devpriv
->ioaddr
+ PCI20000_DIO_BUFFER
);
628 static void pci20xxx_do(struct comedi_device
*dev
, struct comedi_subdevice
*s
)
630 /* XXX if the channel is configured for input, does this
632 /* XXX it would be a good idea to only update the registers
633 that _need_ to be updated. This requires changes to
635 writeb((s
->state
>> 0) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_0
);
636 writeb((s
->state
>> 8) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_1
);
637 writeb((s
->state
>> 16) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_2
);
638 writeb((s
->state
>> 24) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_3
);
641 static unsigned int pci20xxx_di(struct comedi_device
*dev
,
642 struct comedi_subdevice
*s
)
644 /* XXX same note as above */
647 bits
= readb(devpriv
->ioaddr
+ PCI20000_DIO_0
);
648 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_1
) << 8;
649 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_2
) << 16;
650 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_3
) << 24;
656 static struct comedi_driver pci20xxx_driver
= {
657 .driver_name
= "ii_pci20kc",
658 .module
= THIS_MODULE
,
659 .attach
= pci20xxx_attach
,
660 .detach
= pci20xxx_detach
,
662 module_comedi_driver(pci20xxx_driver
);
664 MODULE_AUTHOR("Comedi http://www.comedi.org");
665 MODULE_DESCRIPTION("Comedi low-level driver");
666 MODULE_LICENSE("GPL");