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 {
141 const struct comedi_lrange *ao_range_list[2];
142 /* range of channels of ao module */
143 unsigned int last_data[2];
153 struct pci20xxx_private {
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 pci20xxx_attach(struct comedi_device *dev,
163 struct comedi_devconfig *it);
164 static int pci20xxx_detach(struct comedi_device *dev);
166 static struct comedi_driver driver_pci20xxx = {
167 .driver_name = "ii_pci20kc",
168 .module = THIS_MODULE,
169 .attach = pci20xxx_attach,
170 .detach = pci20xxx_detach,
173 static int pci20006_init(struct comedi_device *dev, struct comedi_subdevice *s,
175 static int pci20341_init(struct comedi_device *dev, struct comedi_subdevice *s,
177 static int pci20xxx_dio_init(struct comedi_device *dev,
178 struct comedi_subdevice *s);
181 options[0] Board base address
183 options[2] first option for module 1
184 options[3] second option for module 1
185 options[4] first option for module 2
186 options[5] second option for module 2
187 options[6] first option for module 3
188 options[7] second option for module 3
190 options for PCI-20341M:
191 first Analog input gain configuration
197 options for PCI-20006M:
198 first Analog output channel 0 range configuration
199 0 == bipolar 10 (-10V -- +10V)
200 1 == unipolar 10V (0V -- +10V)
201 2 == bipolar 5V (-5V -- +5V)
202 second Analog output channel 1 range configuration
203 0 == bipolar 10 (-10V -- +10V)
204 1 == unipolar 10V (0V -- +10V)
205 2 == bipolar 5V (-5V -- +5V)
207 static int pci20xxx_attach(struct comedi_device *dev,
208 struct comedi_devconfig *it)
213 struct comedi_subdevice *s;
214 union pci20xxx_subdev_private *sdp;
216 ret = alloc_subdevices(dev, 1 + PCI20000_MODULES);
220 ret = alloc_private(dev, sizeof(struct pci20xxx_private));
224 devpriv->ioaddr = (void *)(unsigned long)it->options[0];
225 dev->board_name = "pci20kc";
227 /* Check PCI-20001 C-2A Carrier Board ID */
228 if ((readb(devpriv->ioaddr) & PCI20000_ID) != PCI20000_ID) {
229 printk(KERN_WARNING "comedi%d: ii_pci20kc PCI-20001"
230 " C-2A Carrier Board at base=0x%p not found !\n",
231 dev->minor, devpriv->ioaddr);
234 printk(KERN_INFO "comedi%d: ii_pci20kc: PCI-20001 C-2A at base=0x%p\n",
235 dev->minor, devpriv->ioaddr);
237 for (i = 0; i < PCI20000_MODULES; i++) {
238 s = dev->subdevices + i;
239 id = readb(devpriv->ioaddr + (i + 1) * PCI20000_OFFSET);
240 s->private = devpriv->subdev_private + i;
244 sdp->pci20006.iobase =
245 devpriv->ioaddr + (i + 1) * PCI20000_OFFSET;
246 pci20006_init(dev, s, it->options[2 * i + 2],
247 it->options[2 * i + 3]);
248 printk(KERN_INFO "comedi%d: "
249 "ii_pci20kc PCI-20006 module in slot %d \n",
253 sdp->pci20341.iobase =
254 devpriv->ioaddr + (i + 1) * PCI20000_OFFSET;
255 pci20341_init(dev, s, it->options[2 * i + 2],
256 it->options[2 * i + 3]);
257 printk(KERN_INFO "comedi%d: "
258 "ii_pci20kc PCI-20341 module in slot %d \n",
262 printk(KERN_WARNING "ii_pci20kc: unknown module "
263 "code 0x%02x in slot %d: module disabled\n",
264 id, i); /* XXX this looks like a bug! i + 1 ?? */
266 case PCI20xxx_EMPTY_ID:
267 s->type = COMEDI_SUBD_UNUSED;
272 /* initialize struct pci20xxx_private */
273 pci20xxx_dio_init(dev, dev->subdevices + PCI20000_MODULES);
278 static int pci20xxx_detach(struct comedi_device *dev)
280 printk(KERN_INFO "comedi%d: pci20xxx: remove\n", dev->minor);
287 static int pci20006_insn_read(struct comedi_device *dev,
288 struct comedi_subdevice *s,
289 struct comedi_insn *insn, unsigned int *data);
290 static int pci20006_insn_write(struct comedi_device *dev,
291 struct comedi_subdevice *s,
292 struct comedi_insn *insn, unsigned int *data);
294 static const struct comedi_lrange *pci20006_range_list[] = {
300 static int pci20006_init(struct comedi_device *dev, struct comedi_subdevice *s,
303 union pci20xxx_subdev_private *sdp = s->private;
305 if (opt0 < 0 || opt0 > 2)
307 if (opt1 < 0 || opt1 > 2)
310 sdp->pci20006.ao_range_list[0] = pci20006_range_list[opt0];
311 sdp->pci20006.ao_range_list[1] = pci20006_range_list[opt1];
314 s->type = COMEDI_SUBD_AO;
315 s->subdev_flags = SDF_WRITABLE;
318 s->insn_read = pci20006_insn_read;
319 s->insn_write = pci20006_insn_write;
321 s->range_table_list = sdp->pci20006.ao_range_list;
325 static int pci20006_insn_read(struct comedi_device *dev,
326 struct comedi_subdevice *s,
327 struct comedi_insn *insn, unsigned int *data)
329 union pci20xxx_subdev_private *sdp = s->private;
331 data[0] = sdp->pci20006.last_data[CR_CHAN(insn->chanspec)];
336 static int pci20006_insn_write(struct comedi_device *dev,
337 struct comedi_subdevice *s,
338 struct comedi_insn *insn, unsigned int *data)
340 union pci20xxx_subdev_private *sdp = s->private;
342 unsigned int boarddata;
344 sdp->pci20006.last_data[CR_CHAN(insn->chanspec)] = data[0];
345 boarddata = (((unsigned int)data[0] + 0x8000) & 0xffff);
346 /* comedi-data -> board-data */
347 lo = (boarddata & 0xff);
348 hi = ((boarddata >> 8) & 0xff);
350 switch (CR_CHAN(insn->chanspec)) {
352 writeb(lo, sdp->iobase + PCI20006_LCHAN0);
353 writeb(hi, sdp->iobase + PCI20006_LCHAN0 + 1);
354 writeb(0x00, sdp->iobase + PCI20006_STROBE0);
357 writeb(lo, sdp->iobase + PCI20006_LCHAN1);
358 writeb(hi, sdp->iobase + PCI20006_LCHAN1 + 1);
359 writeb(0x00, sdp->iobase + PCI20006_STROBE1);
363 " comedi%d: pci20xxx: ao channel Error!\n", dev->minor);
372 static int pci20341_insn_read(struct comedi_device *dev,
373 struct comedi_subdevice *s,
374 struct comedi_insn *insn, unsigned int *data);
376 static const int pci20341_timebase[] = { 0x00, 0x00, 0x00, 0x04 };
377 static const int pci20341_settling_time[] = { 0x58, 0x58, 0x93, 0x99 };
379 static const struct comedi_lrange range_bipolar0_5 = { 1, {BIP_RANGE(0.5)} };
380 static const struct comedi_lrange range_bipolar0_05 = { 1, {BIP_RANGE(0.05)} };
381 static const struct comedi_lrange range_bipolar0_025 = { 1, {BIP_RANGE(0.025)} };
383 static const struct comedi_lrange *const pci20341_ranges[] = {
390 static int pci20341_init(struct comedi_device *dev, struct comedi_subdevice *s,
393 union pci20xxx_subdev_private *sdp = s->private;
396 /* options handling */
397 if (opt0 < 0 || opt0 > 3)
399 sdp->pci20341.timebase = pci20341_timebase[opt0];
400 sdp->pci20341.settling_time = pci20341_settling_time[opt0];
403 s->type = COMEDI_SUBD_AI;
404 s->subdev_flags = SDF_READABLE;
405 s->n_chan = PCI20341_CHAN_NR;
406 s->len_chanlist = PCI20341_SCANLIST;
407 s->insn_read = pci20341_insn_read;
409 s->range_table = pci20341_ranges[opt0];
411 option = sdp->pci20341.timebase | PCI20341_REPMODE; /* depends on gain, trigger, repetition mode */
413 writeb(PCI20341_INIT, sdp->iobase + PCI20341_CONFIG_REG); /* initialize Module */
414 writeb(PCI20341_PACER, sdp->iobase + PCI20341_MOD_STATUS); /* set Pacer */
415 writeb(option, sdp->iobase + PCI20341_OPT_REG); /* option register */
416 writeb(sdp->pci20341.settling_time, sdp->iobase + PCI20341_SET_TIME_REG); /* settling time counter */
417 /* trigger not implemented */
421 static int pci20341_insn_read(struct comedi_device *dev,
422 struct comedi_subdevice *s,
423 struct comedi_insn *insn, unsigned int *data)
425 union pci20xxx_subdev_private *sdp = s->private;
426 unsigned int i = 0, j = 0;
428 unsigned char eoc; /* end of conversion */
429 unsigned int clb; /* channel list byte */
430 unsigned int boarddata;
432 writeb(1, sdp->iobase + PCI20341_LCHAN_ADDR_REG); /* write number of input channels */
433 clb = PCI20341_DAISY_CHAIN | PCI20341_MUX | (sdp->pci20341.ai_gain << 3)
434 | CR_CHAN(insn->chanspec);
435 writeb(clb, sdp->iobase + PCI20341_CHAN_LIST);
436 writeb(0x00, sdp->iobase + PCI20341_CC_RESET); /* reset settling time counter and trigger delay counter */
437 writeb(0x00, sdp->iobase + PCI20341_CHAN_RESET);
441 for (i = 0; i < insn->n; i++) {
442 /* data polling isn't the niciest way to get the data, I know,
443 * but there are only 6 cycles (mean) and it is easier than
444 * the whole interrupt stuff
447 readb(sdp->iobase + PCI20341_SOFT_PACER); /* generate Pacer */
448 eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
449 while ((eoc < 0x80) && j < 100) { /* poll Interrupt Flag */
451 eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
455 "comedi%d: pci20xxx: "
456 "AI interrupt channel %i polling exit !\n",
460 lo = readb(sdp->iobase + PCI20341_LDATA);
461 hi = readb(sdp->iobase + PCI20341_LDATA + 1);
462 boarddata = lo + 0x100 * hi;
463 data[i] = (short)((boarddata + 0x8000) & 0xffff); /* board-data -> comedi-data */
471 static void pci20xxx_dio_config(struct comedi_device *dev,
472 struct comedi_subdevice *s);
473 static int pci20xxx_dio_insn_bits(struct comedi_device *dev,
474 struct comedi_subdevice *s,
475 struct comedi_insn *insn, unsigned int *data);
476 static int pci20xxx_dio_insn_config(struct comedi_device *dev,
477 struct comedi_subdevice *s,
478 struct comedi_insn *insn,
481 /* initialize struct pci20xxx_private */
482 static int pci20xxx_dio_init(struct comedi_device *dev,
483 struct comedi_subdevice *s)
486 s->type = COMEDI_SUBD_DIO;
487 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
489 s->insn_bits = pci20xxx_dio_insn_bits;
490 s->insn_config = pci20xxx_dio_insn_config;
492 s->len_chanlist = 32;
493 s->range_table = &range_digital;
496 /* digital I/O lines default to input on board reset. */
497 pci20xxx_dio_config(dev, s);
502 static int pci20xxx_dio_insn_config(struct comedi_device *dev,
503 struct comedi_subdevice *s,
504 struct comedi_insn *insn,
509 mask = 1 << CR_CHAN(insn->chanspec);
510 if (mask & 0x000000ff)
512 else if (mask & 0x0000ff00)
514 else if (mask & 0x00ff0000)
522 pci20xxx_dio_config(dev, s);
527 static int pci20xxx_dio_insn_bits(struct comedi_device *dev,
528 struct comedi_subdevice *s,
529 struct comedi_insn *insn, unsigned int *data)
531 unsigned int mask = data[0];
534 s->state |= (mask & data[1]);
537 if (mask & 0x000000ff)
538 writeb((s->state >> 0) & 0xff,
539 devpriv->ioaddr + PCI20000_DIO_0);
540 if (mask & 0x0000ff00)
541 writeb((s->state >> 8) & 0xff,
542 devpriv->ioaddr + PCI20000_DIO_1);
543 if (mask & 0x00ff0000)
544 writeb((s->state >> 16) & 0xff,
545 devpriv->ioaddr + PCI20000_DIO_2);
546 if (mask & 0xff000000)
547 writeb((s->state >> 24) & 0xff,
548 devpriv->ioaddr + PCI20000_DIO_3);
550 data[1] = readb(devpriv->ioaddr + PCI20000_DIO_0);
551 data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_1) << 8;
552 data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_2) << 16;
553 data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_3) << 24;
558 static void pci20xxx_dio_config(struct comedi_device *dev,
559 struct comedi_subdevice *s)
561 unsigned char control_01;
562 unsigned char control_23;
563 unsigned char buffer;
565 control_01 = readb(devpriv->ioaddr + PCI20000_DIO_CONTROL_01);
566 control_23 = readb(devpriv->ioaddr + PCI20000_DIO_CONTROL_23);
567 buffer = readb(devpriv->ioaddr + PCI20000_DIO_BUFFER);
569 if (s->io_bits & 0x000000ff) {
571 control_01 &= PCI20000_DIO_EOC;
572 buffer = (buffer & (~(DIO_BE << DIO_PS_0))) | (DIO_BO <<
576 control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_EIC;
577 buffer = (buffer & (~(DIO_BI << DIO_PS_0)));
579 if (s->io_bits & 0x0000ff00) {
581 control_01 &= PCI20000_DIO_OOC;
582 buffer = (buffer & (~(DIO_BE << DIO_PS_1))) | (DIO_BO <<
586 control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_OIC;
587 buffer = (buffer & (~(DIO_BI << DIO_PS_1)));
589 if (s->io_bits & 0x00ff0000) {
591 control_23 &= PCI20000_DIO_EOC;
592 buffer = (buffer & (~(DIO_BE << DIO_PS_2))) | (DIO_BO <<
596 control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_EIC;
597 buffer = (buffer & (~(DIO_BI << DIO_PS_2)));
599 if (s->io_bits & 0xff000000) {
601 control_23 &= PCI20000_DIO_OOC;
602 buffer = (buffer & (~(DIO_BE << DIO_PS_3))) | (DIO_BO <<
606 control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_OIC;
607 buffer = (buffer & (~(DIO_BI << DIO_PS_3)));
609 writeb(control_01, devpriv->ioaddr + PCI20000_DIO_CONTROL_01);
610 writeb(control_23, devpriv->ioaddr + PCI20000_DIO_CONTROL_23);
611 writeb(buffer, devpriv->ioaddr + PCI20000_DIO_BUFFER);
615 static void pci20xxx_do(struct comedi_device *dev, struct comedi_subdevice *s)
617 /* XXX if the channel is configured for input, does this
619 /* XXX it would be a good idea to only update the registers
620 that _need_ to be updated. This requires changes to
622 writeb((s->state >> 0) & 0xff, devpriv->ioaddr + PCI20000_DIO_0);
623 writeb((s->state >> 8) & 0xff, devpriv->ioaddr + PCI20000_DIO_1);
624 writeb((s->state >> 16) & 0xff, devpriv->ioaddr + PCI20000_DIO_2);
625 writeb((s->state >> 24) & 0xff, devpriv->ioaddr + PCI20000_DIO_3);
628 static unsigned int pci20xxx_di(struct comedi_device *dev,
629 struct comedi_subdevice *s)
631 /* XXX same note as above */
634 bits = readb(devpriv->ioaddr + PCI20000_DIO_0);
635 bits |= readb(devpriv->ioaddr + PCI20000_DIO_1) << 8;
636 bits |= readb(devpriv->ioaddr + PCI20000_DIO_2) << 16;
637 bits |= readb(devpriv->ioaddr + PCI20000_DIO_3) << 24;
643 static int __init driver_pci20xxx_init_module(void)
645 return comedi_driver_register(&driver_pci20xxx);
648 static void __exit driver_pci20xxx_cleanup_module(void)
650 comedi_driver_unregister(&driver_pci20xxx);
653 module_init(driver_pci20xxx_init_module);
654 module_exit(driver_pci20xxx_cleanup_module);
656 MODULE_AUTHOR("Comedi http://www.comedi.org");
657 MODULE_DESCRIPTION("Comedi low-level driver");
658 MODULE_LICENSE("GPL");