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 instead of 4 digital ports
30
* The state of this driver is only a starting point for a complete
31
* COMEDI-driver. The final driver should support all features of the
32
* carrier board and modules.
34
* The test configuration:
36
* kernel 2.2.14 with RTAI v1.2 and patch-2.2.14rthal2
43
Description: Intelligent Instruments PCI-20001C carrier board
44
Author: Markus Kempf <kempf@matsci.uni-sb.de>
45
Devices: [Intelligent Instrumentation] PCI-20001C (ii_pci20kc)
48
Supports the PCI-20001 C-2a Carrier board, and could probably support
49
the other carrier boards with small modifications. Modules supported
51
PCI-20006 M-2 16-bit analog output module
52
PCI-20341 M-1A 16-bit analog input module
57
2 first option for module 1
58
3 second option for module 1
59
4 first option for module 2
60
5 second option for module 2
61
6 first option for module 3
62
7 second option for module 3
64
options for PCI-20006M:
65
first: Analog output channel 0 range configuration
66
0 bipolar 10 (-10V -- +10V)
67
1 unipolar 10 (0V -- +10V)
68
2 bipolar 5 (-5V -- 5V)
69
second: Analog output channel 1 range configuration
71
options for PCI-20341M:
72
first: Analog input gain configuration
79
/* XXX needs to use ioremap() for compatibility with 2.4 kernels. Should also
80
* check_mem_region() etc. - fmhess */
82
#include "../comedidev.h"
84
#define PCI20000_ID 0x1d
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#define PCI20341_ID 0x77
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#define PCI20006_ID 0xe3
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#define PCI20xxx_EMPTY_ID 0xff
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#define PCI20000_OFFSET 0x100
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#define PCI20000_MODULES 3
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#define PCI20000_DIO_0 0x80
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#define PCI20000_DIO_1 0x81
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#define PCI20000_DIO_2 0xc0
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#define PCI20000_DIO_3 0xc1
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#define PCI20000_DIO_CONTROL_01 0x83 /* port 0, 1 control */
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#define PCI20000_DIO_CONTROL_23 0xc3 /* port 2, 3 control */
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#define PCI20000_DIO_BUFFER 0x82 /* buffer direction and enable */
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#define PCI20000_DIO_EOC 0xef /* even port, control output */
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#define PCI20000_DIO_OOC 0xfd /* odd port, control output */
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#define PCI20000_DIO_EIC 0x90 /* even port, control input */
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#define PCI20000_DIO_OIC 0x82 /* odd port, control input */
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#define DIO_CAND 0x12 /* and bit 1, bit 4 of control */
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#define DIO_BE 0x01 /* buffer: port enable */
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#define DIO_BO 0x04 /* buffer: output */
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#define DIO_BI 0x05 /* buffer: input */
107
#define DIO_PS_0 0x00 /* buffer: port shift 0 */
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#define DIO_PS_1 0x01 /* buffer: port shift 1 */
109
#define DIO_PS_2 0x04 /* buffer: port shift 2 */
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#define DIO_PS_3 0x05 /* buffer: port shift 3 */
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#define PCI20006_LCHAN0 0x0d
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#define PCI20006_STROBE0 0x0b
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#define PCI20006_LCHAN1 0x15
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#define PCI20006_STROBE1 0x13
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#define PCI20341_INIT 0x04
118
#define PCI20341_REPMODE 0x00 /* single shot mode */
119
#define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
120
#define PCI20341_CHAN_NR 0x04 /* number of input channels */
121
#define PCI20341_CONFIG_REG 0x10
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#define PCI20341_MOD_STATUS 0x01
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#define PCI20341_OPT_REG 0x11
124
#define PCI20341_SET_TIME_REG 0x15
125
#define PCI20341_LCHAN_ADDR_REG 0x13
126
#define PCI20341_CHAN_LIST 0x80
127
#define PCI20341_CC_RESET 0x1b
128
#define PCI20341_CHAN_RESET 0x19
129
#define PCI20341_SOFT_PACER 0x04
130
#define PCI20341_STATUS_REG 0x12
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#define PCI20341_LDATA 0x02
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#define PCI20341_DAISY_CHAIN 0x20 /* On-board inputs only */
133
#define PCI20341_MUX 0x04 /* Enable on-board MUX */
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#define PCI20341_SCANLIST 0x80 /* Channel/Gain Scan List */
136
union pci20xxx_subdev_private {
140
const struct comedi_lrange *ao_range_list[2]; /* range of channels of ao module */
141
unsigned int last_data[2];
151
struct pci20xxx_private {
154
union pci20xxx_subdev_private subdev_private[PCI20000_MODULES];
158
#define devpriv ((struct pci20xxx_private *)dev->private)
159
#define CHAN (CR_CHAN(it->chanlist[0]))
161
static int pci20xxx_attach(struct comedi_device * dev, struct comedi_devconfig * it);
162
static int pci20xxx_detach(struct comedi_device * dev);
164
static struct comedi_driver driver_pci20xxx = {
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driver_name:"ii_pci20kc",
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attach:pci20xxx_attach,
168
detach:pci20xxx_detach,
171
static int pci20006_init(struct comedi_device * dev, struct comedi_subdevice * s,
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static int pci20341_init(struct comedi_device * dev, struct comedi_subdevice * s,
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static int pci20xxx_dio_init(struct comedi_device * dev, struct comedi_subdevice * s);
178
options[0] Board base address
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options[2] first option for module 1
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options[3] second option for module 1
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options[4] first option for module 2
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options[5] second option for module 2
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options[6] first option for module 3
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options[7] second option for module 3
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options for PCI-20341M:
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first Analog input gain configuration
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options for PCI-20006M:
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first Analog output channel 0 range configuration
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0 == bipolar 10 (-10V -- +10V)
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1 == unipolar 10V (0V -- +10V)
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2 == bipolar 5V (-5V -- +5V)
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second Analog output channel 1 range configuration
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0 == bipolar 10 (-10V -- +10V)
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1 == unipolar 10V (0V -- +10V)
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2 == bipolar 5V (-5V -- +5V)
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static int pci20xxx_attach(struct comedi_device * dev, struct comedi_devconfig * it)
209
struct comedi_subdevice *s;
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union pci20xxx_subdev_private *sdp;
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if ((ret = alloc_subdevices(dev, 1 + PCI20000_MODULES)) < 0)
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if ((ret = alloc_private(dev, sizeof(struct pci20xxx_private))) < 0)
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devpriv->ioaddr = (void *)(unsigned long)it->options[0];
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dev->board_name = "pci20kc";
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/* Check PCI-20001 C-2A Carrier Board ID */
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if ((readb(devpriv->ioaddr) & PCI20000_ID) != PCI20000_ID) {
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printk("comedi%d: ii_pci20kc", dev->minor);
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printk(" PCI-20001 C-2A Carrier Board at base=0x%p not found !\n", devpriv->ioaddr);
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printk("comedi%d:\n", dev->minor);
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printk("ii_pci20kc: PCI-20001 C-2A at base=0x%p\n", devpriv->ioaddr);
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for (i = 0; i < PCI20000_MODULES; i++) {
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s = dev->subdevices + i;
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id = readb(devpriv->ioaddr + (i + 1) * PCI20000_OFFSET);
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s->private = devpriv->subdev_private + i;
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sdp->pci20006.iobase =
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devpriv->ioaddr + (i + 1) * PCI20000_OFFSET;
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pci20006_init(dev, s, it->options[2 * i + 2],
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it->options[2 * i + 3]);
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printk("comedi%d: ii_pci20kc", dev->minor);
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printk(" PCI-20006 module in slot %d \n", i + 1);
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sdp->pci20341.iobase =
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devpriv->ioaddr + (i + 1) * PCI20000_OFFSET;
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pci20341_init(dev, s, it->options[2 * i + 2],
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it->options[2 * i + 3]);
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printk("comedi%d: ii_pci20kc", dev->minor);
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printk(" PCI-20341 module in slot %d \n", i + 1);
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printk("ii_pci20kc: unknown module code 0x%02x in slot %d: module disabled\n", id, i);
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case PCI20xxx_EMPTY_ID:
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s->type = COMEDI_SUBD_UNUSED;
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/* initialize struct pci20xxx_private */
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pci20xxx_dio_init(dev, dev->subdevices + PCI20000_MODULES);
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static int pci20xxx_detach(struct comedi_device * dev)
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printk("comedi%d: pci20xxx: remove\n", dev->minor);
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static int pci20006_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
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struct comedi_insn * insn, unsigned int * data);
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static int pci20006_insn_write(struct comedi_device * dev, struct comedi_subdevice * s,
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struct comedi_insn * insn, unsigned int * data);
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static const struct comedi_lrange *pci20006_range_list[] = {
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static int pci20006_init(struct comedi_device * dev, struct comedi_subdevice * s,
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union pci20xxx_subdev_private *sdp = s->private;
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if (opt0 < 0 || opt0 > 2)
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if (opt1 < 0 || opt1 > 2)
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sdp->pci20006.ao_range_list[0] = pci20006_range_list[opt0];
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sdp->pci20006.ao_range_list[1] = pci20006_range_list[opt1];
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s->type = COMEDI_SUBD_AO;
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s->subdev_flags = SDF_WRITABLE;
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s->insn_read = pci20006_insn_read;
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s->insn_write = pci20006_insn_write;
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s->range_table_list = sdp->pci20006.ao_range_list;
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static int pci20006_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
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struct comedi_insn * insn, unsigned int * data)
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union pci20xxx_subdev_private *sdp = s->private;
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data[0] = sdp->pci20006.last_data[CR_CHAN(insn->chanspec)];
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static int pci20006_insn_write(struct comedi_device * dev, struct comedi_subdevice * s,
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struct comedi_insn * insn, unsigned int * data)
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union pci20xxx_subdev_private *sdp = s->private;
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unsigned int boarddata;
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sdp->pci20006.last_data[CR_CHAN(insn->chanspec)] = data[0];
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boarddata = (((unsigned int)data[0] + 0x8000) & 0xffff); /* comedi-data -> board-data */
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lo = (boarddata & 0xff);
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hi = ((boarddata >> 8) & 0xff);
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switch (CR_CHAN(insn->chanspec)) {
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writeb(lo, sdp->iobase + PCI20006_LCHAN0);
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writeb(hi, sdp->iobase + PCI20006_LCHAN0 + 1);
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writeb(0x00, sdp->iobase + PCI20006_STROBE0);
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writeb(lo, sdp->iobase + PCI20006_LCHAN1);
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writeb(hi, sdp->iobase + PCI20006_LCHAN1 + 1);
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writeb(0x00, sdp->iobase + PCI20006_STROBE1);
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printk(" comedi%d: pci20xxx: ao channel Error!\n", dev->minor);
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static int pci20341_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
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struct comedi_insn * insn, unsigned int * data);
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static const int pci20341_timebase[] = { 0x00, 0x00, 0x00, 0x04 };
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static const int pci20341_settling_time[] = { 0x58, 0x58, 0x93, 0x99 };
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static const struct comedi_lrange range_bipolar0_5 = { 1, {BIP_RANGE(0.5)} };
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static const struct comedi_lrange range_bipolar0_05 = { 1, {BIP_RANGE(0.05)} };
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static const struct comedi_lrange range_bipolar0_025 = { 1, {BIP_RANGE(0.025)} };
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static const struct comedi_lrange *const pci20341_ranges[] = {
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static int pci20341_init(struct comedi_device * dev, struct comedi_subdevice * s,
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union pci20xxx_subdev_private *sdp = s->private;
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/* options handling */
378
if (opt0 < 0 || opt0 > 3)
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sdp->pci20341.timebase = pci20341_timebase[opt0];
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sdp->pci20341.settling_time = pci20341_settling_time[opt0];
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s->type = COMEDI_SUBD_AI;
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s->subdev_flags = SDF_READABLE;
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s->n_chan = PCI20341_CHAN_NR;
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s->len_chanlist = PCI20341_SCANLIST;
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s->insn_read = pci20341_insn_read;
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s->range_table = pci20341_ranges[opt0];
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option = sdp->pci20341.timebase | PCI20341_REPMODE; /* depends on gain, trigger, repetition mode */
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writeb(PCI20341_INIT, sdp->iobase + PCI20341_CONFIG_REG); /* initialize Module */
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writeb(PCI20341_PACER, sdp->iobase + PCI20341_MOD_STATUS); /* set Pacer */
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writeb(option, sdp->iobase + PCI20341_OPT_REG); /* option register */
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writeb(sdp->pci20341.settling_time, sdp->iobase + PCI20341_SET_TIME_REG); /* settling time counter */
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/* trigger not implemented */
402
static int pci20341_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
403
struct comedi_insn * insn, unsigned int * data)
405
union pci20xxx_subdev_private *sdp = s->private;
406
unsigned int i = 0, j = 0;
408
unsigned char eoc; /* end of conversion */
409
unsigned int clb; /* channel list byte */
410
unsigned int boarddata;
412
writeb(1, sdp->iobase + PCI20341_LCHAN_ADDR_REG); /* write number of input channels */
413
clb = PCI20341_DAISY_CHAIN | PCI20341_MUX | (sdp->pci20341.ai_gain << 3)
414
| CR_CHAN(insn->chanspec);
415
writeb(clb, sdp->iobase + PCI20341_CHAN_LIST);
416
writeb(0x00, sdp->iobase + PCI20341_CC_RESET); /* reset settling time counter and trigger delay counter */
417
writeb(0x00, sdp->iobase + PCI20341_CHAN_RESET);
421
for (i = 0; i < insn->n; i++) {
422
/* data polling isn't the niciest way to get the data, I know,
423
* but there are only 6 cycles (mean) and it is easier than
424
* the whole interrupt stuff
427
readb(sdp->iobase + PCI20341_SOFT_PACER); /* generate Pacer */
428
eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
429
while ((eoc < 0x80) && j < 100) { /* poll Interrupt Flag */
431
eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
434
printk("comedi%d: pci20xxx: AI interrupt channel %i polling exit !\n", dev->minor, i);
437
lo = readb(sdp->iobase + PCI20341_LDATA);
438
hi = readb(sdp->iobase + PCI20341_LDATA + 1);
439
boarddata = lo + 0x100 * hi;
440
data[i] = (short) ((boarddata + 0x8000) & 0xffff); /* board-data -> comedi-data */
448
static void pci20xxx_dio_config(struct comedi_device * dev, struct comedi_subdevice * s);
449
static int pci20xxx_dio_insn_bits(struct comedi_device * dev, struct comedi_subdevice * s,
450
struct comedi_insn * insn, unsigned int * data);
451
static int pci20xxx_dio_insn_config(struct comedi_device * dev, struct comedi_subdevice * s,
452
struct comedi_insn * insn, unsigned int * data);
454
/* initialize struct pci20xxx_private */
455
static int pci20xxx_dio_init(struct comedi_device * dev, struct comedi_subdevice * s)
458
s->type = COMEDI_SUBD_DIO;
459
s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
461
s->insn_bits = pci20xxx_dio_insn_bits;
462
s->insn_config = pci20xxx_dio_insn_config;
464
s->len_chanlist = 32;
465
s->range_table = &range_digital;
468
/* digital I/O lines default to input on board reset. */
469
pci20xxx_dio_config(dev, s);
474
static int pci20xxx_dio_insn_config(struct comedi_device * dev, struct comedi_subdevice * s,
475
struct comedi_insn * insn, unsigned int * data)
479
mask = 1 << CR_CHAN(insn->chanspec);
480
if (mask & 0x000000ff) {
482
} else if (mask & 0x0000ff00) {
484
} else if (mask & 0x00ff0000) {
494
pci20xxx_dio_config(dev, s);
499
static int pci20xxx_dio_insn_bits(struct comedi_device * dev, struct comedi_subdevice * s,
500
struct comedi_insn * insn, unsigned int * data)
502
unsigned int mask = data[0];
505
s->state |= (mask & data[1]);
508
if (mask & 0x000000ff)
509
writeb((s->state >> 0) & 0xff,
510
devpriv->ioaddr + PCI20000_DIO_0);
511
if (mask & 0x0000ff00)
512
writeb((s->state >> 8) & 0xff,
513
devpriv->ioaddr + PCI20000_DIO_1);
514
if (mask & 0x00ff0000)
515
writeb((s->state >> 16) & 0xff,
516
devpriv->ioaddr + PCI20000_DIO_2);
517
if (mask & 0xff000000)
518
writeb((s->state >> 24) & 0xff,
519
devpriv->ioaddr + PCI20000_DIO_3);
521
data[1] = readb(devpriv->ioaddr + PCI20000_DIO_0);
522
data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_1) << 8;
523
data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_2) << 16;
524
data[1] |= readb(devpriv->ioaddr + PCI20000_DIO_3) << 24;
529
static void pci20xxx_dio_config(struct comedi_device * dev, struct comedi_subdevice * s)
531
unsigned char control_01;
532
unsigned char control_23;
533
unsigned char buffer;
535
control_01 = readb(devpriv->ioaddr + PCI20000_DIO_CONTROL_01);
536
control_23 = readb(devpriv->ioaddr + PCI20000_DIO_CONTROL_23);
537
buffer = readb(devpriv->ioaddr + PCI20000_DIO_BUFFER);
539
if (s->io_bits & 0x000000ff) {
541
control_01 &= PCI20000_DIO_EOC;
542
buffer = (buffer & (~(DIO_BE << DIO_PS_0))) | (DIO_BO <<
546
control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_EIC;
547
buffer = (buffer & (~(DIO_BI << DIO_PS_0)));
549
if (s->io_bits & 0x0000ff00) {
551
control_01 &= PCI20000_DIO_OOC;
552
buffer = (buffer & (~(DIO_BE << DIO_PS_1))) | (DIO_BO <<
556
control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_OIC;
557
buffer = (buffer & (~(DIO_BI << DIO_PS_1)));
559
if (s->io_bits & 0x00ff0000) {
561
control_23 &= PCI20000_DIO_EOC;
562
buffer = (buffer & (~(DIO_BE << DIO_PS_2))) | (DIO_BO <<
566
control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_EIC;
567
buffer = (buffer & (~(DIO_BI << DIO_PS_2)));
569
if (s->io_bits & 0xff000000) {
571
control_23 &= PCI20000_DIO_OOC;
572
buffer = (buffer & (~(DIO_BE << DIO_PS_3))) | (DIO_BO <<
576
control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_OIC;
577
buffer = (buffer & (~(DIO_BI << DIO_PS_3)));
579
writeb(control_01, devpriv->ioaddr + PCI20000_DIO_CONTROL_01);
580
writeb(control_23, devpriv->ioaddr + PCI20000_DIO_CONTROL_23);
581
writeb(buffer, devpriv->ioaddr + PCI20000_DIO_BUFFER);
585
static void pci20xxx_do(struct comedi_device * dev, struct comedi_subdevice * s)
587
/* XXX if the channel is configured for input, does this
589
/* XXX it would be a good idea to only update the registers
590
that _need_ to be updated. This requires changes to
592
writeb((s->state >> 0) & 0xff, devpriv->ioaddr + PCI20000_DIO_0);
593
writeb((s->state >> 8) & 0xff, devpriv->ioaddr + PCI20000_DIO_1);
594
writeb((s->state >> 16) & 0xff, devpriv->ioaddr + PCI20000_DIO_2);
595
writeb((s->state >> 24) & 0xff, devpriv->ioaddr + PCI20000_DIO_3);
598
static unsigned int pci20xxx_di(struct comedi_device * dev, struct comedi_subdevice * s)
600
/* XXX same note as above */
603
bits = readb(devpriv->ioaddr + PCI20000_DIO_0);
604
bits |= readb(devpriv->ioaddr + PCI20000_DIO_1) << 8;
605
bits |= readb(devpriv->ioaddr + PCI20000_DIO_2) << 16;
606
bits |= readb(devpriv->ioaddr + PCI20000_DIO_3) << 24;
612
COMEDI_INITCLEANUP(driver_pci20xxx);