3 * Copyright (C) 2011-2014 Bernd Porr, mail@berndporr.me.uk
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.
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.
18 * Description: University of Stirling USB DAQ & INCITE Technology Limited
19 * Devices: [ITL] USB-DUX-SIGMA (usbduxsigma)
20 * Author: Bernd Porr <mail@berndporr.me.uk>
21 * Updated: 10 Oct 2014
26 * I must give credit here to Chris Baugher who
27 * wrote the driver for AT-MIO-16d. I used some parts of this
28 * driver. I also must give credits to David Brownell
29 * who supported me with the USB development.
31 * Note: the raw data from the A/D converter is 24 bit big endian
32 * anything else is little endian to/from the dux board
36 * 0.1: initial version
37 * 0.2: all basic functions implemented, digital I/O only for one port
38 * 0.3: proper vendor ID and driver name
39 * 0.4: fixed D/A voltage range
40 * 0.5: various bug fixes, health check at startup
41 * 0.6: corrected wrong input range
44 #include <linux/kernel.h>
45 #include <linux/module.h>
46 #include <linux/slab.h>
47 #include <linux/input.h>
48 #include <linux/fcntl.h>
49 #include <linux/compiler.h>
50 #include <asm/unaligned.h>
52 #include "../comedi_usb.h"
54 /* timeout for the USB-transfer in ms*/
55 #define BULK_TIMEOUT 1000
57 /* constants for "firmware" upload and download */
58 #define FIRMWARE "usbduxsigma_firmware.bin"
59 #define FIRMWARE_MAX_LEN 0x4000
60 #define USBDUXSUB_FIRMWARE 0xa0
61 #define VENDOR_DIR_IN 0xc0
62 #define VENDOR_DIR_OUT 0x40
64 /* internal addresses of the 8051 processor */
65 #define USBDUXSUB_CPUCS 0xE600
67 /* 300Hz max frequ under PWM */
68 #define MIN_PWM_PERIOD ((long)(1E9/300))
70 /* Default PWM frequency */
71 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
73 /* Number of channels (16 AD and offset)*/
74 #define NUMCHANNELS 16
76 /* Size of one A/D value */
77 #define SIZEADIN ((sizeof(uint32_t)))
80 * Size of the async input-buffer IN BYTES, the DIO state is transmitted
83 #define SIZEINBUF (((NUMCHANNELS+1)*SIZEADIN))
86 #define SIZEINSNBUF 16
88 /* Number of DA channels */
89 #define NUMOUTCHANNELS 8
91 /* size of one value for the D/A converter: channel and value */
92 #define SIZEDAOUT ((sizeof(uint8_t)+sizeof(uint16_t)))
95 * Size of the output-buffer in bytes
96 * Actually only the first 4 triplets are used but for the
97 * high speed mode we need to pad it to 8 (microframes).
99 #define SIZEOUTBUF ((8*SIZEDAOUT))
102 * Size of the buffer for the dux commands: just now max size is determined
103 * by the analogue out + command byte + panic bytes...
105 #define SIZEOFDUXBUFFER ((8*SIZEDAOUT+2))
107 /* Number of in-URBs which receive the data: min=2 */
108 #define NUMOFINBUFFERSFULL 5
110 /* Number of out-URBs which send the data: min=2 */
111 #define NUMOFOUTBUFFERSFULL 5
113 /* Number of in-URBs which receive the data: min=5 */
114 /* must have more buffers due to buggy USB ctr */
115 #define NUMOFINBUFFERSHIGH 10
117 /* Number of out-URBs which send the data: min=5 */
118 /* must have more buffers due to buggy USB ctr */
119 #define NUMOFOUTBUFFERSHIGH 10
121 /* number of retries to get the right dux command */
124 /* bulk transfer commands to usbduxsigma */
125 #define USBBUXSIGMA_AD_CMD 0
126 #define USBDUXSIGMA_DA_CMD 1
127 #define USBDUXSIGMA_DIO_CFG_CMD 2
128 #define USBDUXSIGMA_DIO_BITS_CMD 3
129 #define USBDUXSIGMA_SINGLE_AD_CMD 4
130 #define USBDUXSIGMA_PWM_ON_CMD 7
131 #define USBDUXSIGMA_PWM_OFF_CMD 8
133 static const struct comedi_lrange usbduxsigma_ai_range = {
135 BIP_RANGE(2.5 * 0x800000 / 0x780000 / 2.0)
139 struct usbduxsigma_private {
140 /* actual number of in-buffers */
142 /* actual number of out-buffers */
144 /* ISO-transfer handling: buffers */
145 struct urb **ai_urbs;
146 struct urb **ao_urbs;
147 /* pwm-transfer handling */
150 unsigned int pwm_period;
151 /* PWM internal delay for the GPIF in the FX2 */
153 /* size of the PWM buffer which holds the bit pattern */
155 /* input buffer for the ISO-transfer */
157 /* input buffer for single insn */
160 unsigned high_speed:1;
161 unsigned ai_cmd_running:1;
162 unsigned ao_cmd_running:1;
163 unsigned pwm_cmd_running:1;
165 /* time between samples in units of the timer */
166 unsigned int ai_timer;
167 unsigned int ao_timer;
168 /* counter between acquisitions */
169 unsigned int ai_counter;
170 unsigned int ao_counter;
171 /* interval in frames/uframes */
172 unsigned int ai_interval;
174 uint8_t *dux_commands;
175 struct semaphore sem;
178 static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs)
182 for (i = 0; i < num_urbs; i++)
183 usb_kill_urb(urbs[i]);
186 static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink)
188 struct usbduxsigma_private *devpriv = dev->private;
190 if (do_unlink && devpriv->ai_urbs)
191 usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
193 devpriv->ai_cmd_running = 0;
196 static int usbduxsigma_ai_cancel(struct comedi_device *dev,
197 struct comedi_subdevice *s)
199 struct usbduxsigma_private *devpriv = dev->private;
202 /* unlink only if it is really running */
203 usbduxsigma_ai_stop(dev, devpriv->ai_cmd_running);
209 static void usbduxsigma_ai_handle_urb(struct comedi_device *dev,
210 struct comedi_subdevice *s,
213 struct usbduxsigma_private *devpriv = dev->private;
214 struct comedi_async *async = s->async;
215 struct comedi_cmd *cmd = &async->cmd;
220 devpriv->ai_counter--;
221 if (devpriv->ai_counter == 0) {
222 devpriv->ai_counter = devpriv->ai_timer;
224 /* get the data from the USB bus and hand it over to comedi */
225 for (i = 0; i < cmd->chanlist_len; i++) {
226 /* transfer data, note first byte is the DIO state */
227 val = be32_to_cpu(devpriv->in_buf[i+1]);
228 val &= 0x00ffffff; /* strip status byte */
229 val ^= 0x00800000; /* convert to unsigned */
231 if (!comedi_buf_write_samples(s, &val, 1))
235 if (cmd->stop_src == TRIG_COUNT &&
236 async->scans_done >= cmd->stop_arg)
237 async->events |= COMEDI_CB_EOA;
240 /* if command is still running, resubmit urb */
241 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
242 urb->dev = comedi_to_usb_dev(dev);
243 ret = usb_submit_urb(urb, GFP_ATOMIC);
245 dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
247 if (ret == -EL2NSYNC)
248 dev_err(dev->class_dev,
249 "buggy USB host controller or bug in IRQ handler\n");
250 async->events |= COMEDI_CB_ERROR;
255 static void usbduxsigma_ai_urb_complete(struct urb *urb)
257 struct comedi_device *dev = urb->context;
258 struct usbduxsigma_private *devpriv = dev->private;
259 struct comedi_subdevice *s = dev->read_subdev;
260 struct comedi_async *async = s->async;
262 /* exit if not running a command, do not resubmit urb */
263 if (!devpriv->ai_cmd_running)
266 switch (urb->status) {
268 /* copy the result in the transfer buffer */
269 memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF);
270 usbduxsigma_ai_handle_urb(dev, s, urb);
275 * error in the ISOchronous data
276 * we don't copy the data into the transfer buffer
277 * and recycle the last data byte
279 dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
280 usbduxsigma_ai_handle_urb(dev, s, urb);
287 /* happens after an unlink command */
288 async->events |= COMEDI_CB_ERROR;
293 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
295 async->events |= COMEDI_CB_ERROR;
300 * comedi_handle_events() cannot be used in this driver. The (*cancel)
301 * operation would unlink the urb.
303 if (async->events & COMEDI_CB_CANCEL_MASK)
304 usbduxsigma_ai_stop(dev, 0);
306 comedi_event(dev, s);
309 static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink)
311 struct usbduxsigma_private *devpriv = dev->private;
313 if (do_unlink && devpriv->ao_urbs)
314 usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
316 devpriv->ao_cmd_running = 0;
319 static int usbduxsigma_ao_cancel(struct comedi_device *dev,
320 struct comedi_subdevice *s)
322 struct usbduxsigma_private *devpriv = dev->private;
325 /* unlink only if it is really running */
326 usbduxsigma_ao_stop(dev, devpriv->ao_cmd_running);
332 static void usbduxsigma_ao_handle_urb(struct comedi_device *dev,
333 struct comedi_subdevice *s,
336 struct usbduxsigma_private *devpriv = dev->private;
337 struct comedi_async *async = s->async;
338 struct comedi_cmd *cmd = &async->cmd;
343 devpriv->ao_counter--;
344 if (devpriv->ao_counter == 0) {
345 devpriv->ao_counter = devpriv->ao_timer;
347 if (cmd->stop_src == TRIG_COUNT &&
348 async->scans_done >= cmd->stop_arg) {
349 async->events |= COMEDI_CB_EOA;
353 /* transmit data to the USB bus */
354 datap = urb->transfer_buffer;
355 *datap++ = cmd->chanlist_len;
356 for (i = 0; i < cmd->chanlist_len; i++) {
357 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
360 if (!comedi_buf_read_samples(s, &val, 1)) {
361 dev_err(dev->class_dev, "buffer underflow\n");
362 async->events |= COMEDI_CB_OVERFLOW;
368 s->readback[chan] = val;
372 /* if command is still running, resubmit urb */
373 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
374 urb->transfer_buffer_length = SIZEOUTBUF;
375 urb->dev = comedi_to_usb_dev(dev);
377 if (devpriv->high_speed)
378 urb->interval = 8; /* uframes */
380 urb->interval = 1; /* frames */
381 urb->number_of_packets = 1;
382 urb->iso_frame_desc[0].offset = 0;
383 urb->iso_frame_desc[0].length = SIZEOUTBUF;
384 urb->iso_frame_desc[0].status = 0;
385 ret = usb_submit_urb(urb, GFP_ATOMIC);
387 dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
389 if (ret == -EL2NSYNC)
390 dev_err(dev->class_dev,
391 "buggy USB host controller or bug in IRQ handler\n");
392 async->events |= COMEDI_CB_ERROR;
397 static void usbduxsigma_ao_urb_complete(struct urb *urb)
399 struct comedi_device *dev = urb->context;
400 struct usbduxsigma_private *devpriv = dev->private;
401 struct comedi_subdevice *s = dev->write_subdev;
402 struct comedi_async *async = s->async;
404 /* exit if not running a command, do not resubmit urb */
405 if (!devpriv->ao_cmd_running)
408 switch (urb->status) {
410 usbduxsigma_ao_handle_urb(dev, s, urb);
417 /* happens after an unlink command */
418 async->events |= COMEDI_CB_ERROR;
423 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
425 async->events |= COMEDI_CB_ERROR;
430 * comedi_handle_events() cannot be used in this driver. The (*cancel)
431 * operation would unlink the urb.
433 if (async->events & COMEDI_CB_CANCEL_MASK)
434 usbduxsigma_ao_stop(dev, 0);
436 comedi_event(dev, s);
439 static int usbduxsigma_submit_urbs(struct comedi_device *dev,
440 struct urb **urbs, int num_urbs,
443 struct usb_device *usb = comedi_to_usb_dev(dev);
444 struct usbduxsigma_private *devpriv = dev->private;
449 /* Submit all URBs and start the transfer on the bus */
450 for (i = 0; i < num_urbs; i++) {
453 /* in case of a resubmission after an unlink... */
455 urb->interval = devpriv->ai_interval;
459 urb->transfer_flags = URB_ISO_ASAP;
461 ret = usb_submit_urb(urb, GFP_ATOMIC);
468 static int usbduxsigma_chans_to_interval(int num_chan)
477 static int usbduxsigma_ai_cmdtest(struct comedi_device *dev,
478 struct comedi_subdevice *s,
479 struct comedi_cmd *cmd)
481 struct usbduxsigma_private *devpriv = dev->private;
482 int high_speed = devpriv->high_speed;
483 int interval = usbduxsigma_chans_to_interval(cmd->chanlist_len);
486 /* Step 1 : check if triggers are trivially valid */
488 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
489 err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
490 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
491 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
492 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
497 /* Step 2a : make sure trigger sources are unique */
499 err |= comedi_check_trigger_is_unique(cmd->start_src);
500 err |= comedi_check_trigger_is_unique(cmd->stop_src);
502 /* Step 2b : and mutually compatible */
507 /* Step 3: check if arguments are trivially valid */
509 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
511 if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
512 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
514 if (cmd->scan_begin_src == TRIG_TIMER) {
519 * In high speed mode microframes are possible.
520 * However, during one microframe we can roughly
521 * sample two channels. Thus, the more channels
522 * are in the channel list the more time we need.
524 err |= comedi_check_trigger_arg_min(&cmd->
529 tmp = (cmd->scan_begin_arg / 125000) * 125000;
532 /* 1kHz scans every USB frame */
533 err |= comedi_check_trigger_arg_min(&cmd->
537 tmp = (cmd->scan_begin_arg / 1000000) * 1000000;
539 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp);
542 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
545 if (cmd->stop_src == TRIG_COUNT)
546 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
548 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
557 * creates the ADC command for the MAX1271
558 * range is the range value from comedi
560 static void create_adc_command(unsigned int chan,
565 (*muxsg0) = (*muxsg0) | (1 << chan);
567 (*muxsg1) = (*muxsg1) | (1 << (chan-8));
570 static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type)
572 struct usb_device *usb = comedi_to_usb_dev(dev);
573 struct usbduxsigma_private *devpriv = dev->private;
576 devpriv->dux_commands[0] = cmd_type;
578 return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
579 devpriv->dux_commands, SIZEOFDUXBUFFER,
580 &nsent, BULK_TIMEOUT);
583 static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command)
585 struct usb_device *usb = comedi_to_usb_dev(dev);
586 struct usbduxsigma_private *devpriv = dev->private;
591 for (i = 0; i < RETRIES; i++) {
592 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
593 devpriv->insn_buf, SIZEINSNBUF,
594 &nrec, BULK_TIMEOUT);
598 if (devpriv->insn_buf[0] == command)
602 * This is only reached if the data has been requested a
603 * couple of times and the command was not received.
608 static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
609 struct comedi_subdevice *s,
610 unsigned int trig_num)
612 struct usbduxsigma_private *devpriv = dev->private;
613 struct comedi_cmd *cmd = &s->async->cmd;
616 if (trig_num != cmd->start_arg)
620 if (!devpriv->ai_cmd_running) {
621 devpriv->ai_cmd_running = 1;
622 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
623 devpriv->n_ai_urbs, 1);
625 devpriv->ai_cmd_running = 0;
629 s->async->inttrig = NULL;
636 static int usbduxsigma_ai_cmd(struct comedi_device *dev,
637 struct comedi_subdevice *s)
639 struct usbduxsigma_private *devpriv = dev->private;
640 struct comedi_cmd *cmd = &s->async->cmd;
641 unsigned int len = cmd->chanlist_len;
650 if (devpriv->high_speed) {
652 * every 2 channels get a time window of 125us. Thus, if we
653 * sample all 16 channels we need 1ms. If we sample only one
654 * channel we need only 125us
656 unsigned int interval = usbduxsigma_chans_to_interval(len);
658 devpriv->ai_interval = interval;
659 devpriv->ai_timer = cmd->scan_begin_arg / (125000 * interval);
661 /* interval always 1ms */
662 devpriv->ai_interval = 1;
663 devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
666 for (i = 0; i < len; i++) {
667 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
669 create_adc_command(chan, &muxsg0, &muxsg1);
672 devpriv->dux_commands[1] = len; /* num channels per time step */
673 devpriv->dux_commands[2] = 0x12; /* CONFIG0 */
674 devpriv->dux_commands[3] = 0x03; /* CONFIG1: 23kHz sample, delay 0us */
675 devpriv->dux_commands[4] = 0x00; /* CONFIG3: diff. channels off */
676 devpriv->dux_commands[5] = muxsg0;
677 devpriv->dux_commands[6] = muxsg1;
678 devpriv->dux_commands[7] = sysred;
680 ret = usbbuxsigma_send_cmd(dev, USBBUXSIGMA_AD_CMD);
686 devpriv->ai_counter = devpriv->ai_timer;
688 if (cmd->start_src == TRIG_NOW) {
689 /* enable this acquisition operation */
690 devpriv->ai_cmd_running = 1;
691 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
692 devpriv->n_ai_urbs, 1);
694 devpriv->ai_cmd_running = 0;
698 s->async->inttrig = NULL;
699 } else { /* TRIG_INT */
700 s->async->inttrig = usbduxsigma_ai_inttrig;
708 static int usbduxsigma_ai_insn_read(struct comedi_device *dev,
709 struct comedi_subdevice *s,
710 struct comedi_insn *insn,
713 struct usbduxsigma_private *devpriv = dev->private;
714 unsigned int chan = CR_CHAN(insn->chanspec);
722 if (devpriv->ai_cmd_running) {
727 create_adc_command(chan, &muxsg0, &muxsg1);
729 /* Mode 0 is used to get a single conversion on demand */
730 devpriv->dux_commands[1] = 0x16; /* CONFIG0: chopper on */
731 devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
732 devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
733 devpriv->dux_commands[4] = muxsg0;
734 devpriv->dux_commands[5] = muxsg1;
735 devpriv->dux_commands[6] = sysred;
738 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
744 for (i = 0; i < insn->n; i++) {
747 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
753 /* 32 bits big endian from the A/D converter */
754 val = be32_to_cpu(get_unaligned((__be32
755 *)(devpriv->insn_buf + 1)));
756 val &= 0x00ffffff; /* strip status byte */
757 val ^= 0x00800000; /* convert to unsigned */
766 static int usbduxsigma_ao_insn_read(struct comedi_device *dev,
767 struct comedi_subdevice *s,
768 struct comedi_insn *insn,
771 struct usbduxsigma_private *devpriv = dev->private;
775 ret = comedi_readback_insn_read(dev, s, insn, data);
781 static int usbduxsigma_ao_insn_write(struct comedi_device *dev,
782 struct comedi_subdevice *s,
783 struct comedi_insn *insn,
786 struct usbduxsigma_private *devpriv = dev->private;
787 unsigned int chan = CR_CHAN(insn->chanspec);
792 if (devpriv->ao_cmd_running) {
797 for (i = 0; i < insn->n; i++) {
798 devpriv->dux_commands[1] = 1; /* num channels */
799 devpriv->dux_commands[2] = data[i]; /* value */
800 devpriv->dux_commands[3] = chan; /* channel number */
801 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DA_CMD);
806 s->readback[chan] = data[i];
813 static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
814 struct comedi_subdevice *s,
815 unsigned int trig_num)
817 struct usbduxsigma_private *devpriv = dev->private;
818 struct comedi_cmd *cmd = &s->async->cmd;
821 if (trig_num != cmd->start_arg)
825 if (!devpriv->ao_cmd_running) {
826 devpriv->ao_cmd_running = 1;
827 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
828 devpriv->n_ao_urbs, 0);
830 devpriv->ao_cmd_running = 0;
834 s->async->inttrig = NULL;
841 static int usbduxsigma_ao_cmdtest(struct comedi_device *dev,
842 struct comedi_subdevice *s,
843 struct comedi_cmd *cmd)
845 struct usbduxsigma_private *devpriv = dev->private;
850 /* high speed conversions are not used yet */
851 high_speed = 0; /* (devpriv->high_speed) */
853 /* Step 1 : check if triggers are trivially valid */
855 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
859 * start immediately a new scan
860 * the sampling rate is set by the coversion rate
864 /* start a new scan (output at once) with a timer */
867 err |= comedi_check_trigger_src(&cmd->scan_begin_src, flags);
869 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
870 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
871 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
878 /* Step 2a : make sure trigger sources are unique */
880 err |= comedi_check_trigger_is_unique(cmd->start_src);
881 err |= comedi_check_trigger_is_unique(cmd->stop_src);
883 /* Step 2b : and mutually compatible */
888 /* Step 3: check if arguments are trivially valid */
890 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
892 if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
893 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
895 if (cmd->scan_begin_src == TRIG_TIMER) {
896 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
900 /* not used now, is for later use */
901 if (cmd->convert_src == TRIG_TIMER)
902 err |= comedi_check_trigger_arg_min(&cmd->convert_arg, 125000);
904 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
907 if (cmd->stop_src == TRIG_COUNT)
908 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
910 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
918 static int usbduxsigma_ao_cmd(struct comedi_device *dev,
919 struct comedi_subdevice *s)
921 struct usbduxsigma_private *devpriv = dev->private;
922 struct comedi_cmd *cmd = &s->async->cmd;
927 if (cmd->convert_src == TRIG_TIMER) {
929 * timing of the conversion itself: every 125 us
930 * at high speed (not used yet)
932 devpriv->ao_timer = cmd->convert_arg / 125000;
935 * timing of the scan: every 1ms
936 * we get all channels at once
938 devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
941 devpriv->ao_counter = devpriv->ao_timer;
943 if (cmd->start_src == TRIG_NOW) {
944 /* enable this acquisition operation */
945 devpriv->ao_cmd_running = 1;
946 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
947 devpriv->n_ao_urbs, 0);
949 devpriv->ao_cmd_running = 0;
953 s->async->inttrig = NULL;
954 } else { /* TRIG_INT */
955 s->async->inttrig = usbduxsigma_ao_inttrig;
963 static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
964 struct comedi_subdevice *s,
965 struct comedi_insn *insn,
970 ret = comedi_dio_insn_config(dev, s, insn, data, 0);
975 * We don't tell the firmware here as it would take 8 frames
976 * to submit the information. We do it in the (*insn_bits).
981 static int usbduxsigma_dio_insn_bits(struct comedi_device *dev,
982 struct comedi_subdevice *s,
983 struct comedi_insn *insn,
986 struct usbduxsigma_private *devpriv = dev->private;
991 comedi_dio_update_state(s, data);
993 /* Always update the hardware. See the (*insn_config). */
994 devpriv->dux_commands[1] = s->io_bits & 0xff;
995 devpriv->dux_commands[4] = s->state & 0xff;
996 devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff;
997 devpriv->dux_commands[5] = (s->state >> 8) & 0xff;
998 devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff;
999 devpriv->dux_commands[6] = (s->state >> 16) & 0xff;
1001 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1004 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1008 s->state = devpriv->insn_buf[1] |
1009 (devpriv->insn_buf[2] << 8) |
1010 (devpriv->insn_buf[3] << 16);
1021 static void usbduxsigma_pwm_stop(struct comedi_device *dev, int do_unlink)
1023 struct usbduxsigma_private *devpriv = dev->private;
1026 if (devpriv->pwm_urb)
1027 usb_kill_urb(devpriv->pwm_urb);
1030 devpriv->pwm_cmd_running = 0;
1033 static int usbduxsigma_pwm_cancel(struct comedi_device *dev,
1034 struct comedi_subdevice *s)
1036 struct usbduxsigma_private *devpriv = dev->private;
1038 /* unlink only if it is really running */
1039 usbduxsigma_pwm_stop(dev, devpriv->pwm_cmd_running);
1041 return usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_OFF_CMD);
1044 static void usbduxsigma_pwm_urb_complete(struct urb *urb)
1046 struct comedi_device *dev = urb->context;
1047 struct usbduxsigma_private *devpriv = dev->private;
1050 switch (urb->status) {
1059 /* happens after an unlink command */
1060 if (devpriv->pwm_cmd_running)
1061 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1066 if (devpriv->pwm_cmd_running) {
1067 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
1069 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1074 if (!devpriv->pwm_cmd_running)
1077 urb->transfer_buffer_length = devpriv->pwm_buf_sz;
1078 urb->dev = comedi_to_usb_dev(dev);
1080 ret = usb_submit_urb(urb, GFP_ATOMIC);
1082 dev_err(dev->class_dev, "urb resubmit failed (%d)\n", ret);
1083 if (ret == -EL2NSYNC)
1084 dev_err(dev->class_dev,
1085 "buggy USB host controller or bug in IRQ handler\n");
1086 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1090 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1092 struct usb_device *usb = comedi_to_usb_dev(dev);
1093 struct usbduxsigma_private *devpriv = dev->private;
1094 struct urb *urb = devpriv->pwm_urb;
1096 /* in case of a resubmission after an unlink... */
1097 usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
1098 urb->transfer_buffer, devpriv->pwm_buf_sz,
1099 usbduxsigma_pwm_urb_complete, dev);
1101 return usb_submit_urb(urb, GFP_ATOMIC);
1104 static int usbduxsigma_pwm_period(struct comedi_device *dev,
1105 struct comedi_subdevice *s,
1106 unsigned int period)
1108 struct usbduxsigma_private *devpriv = dev->private;
1111 if (period < MIN_PWM_PERIOD)
1114 fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1118 devpriv->pwm_delay = fx2delay;
1119 devpriv->pwm_period = period;
1123 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1124 struct comedi_subdevice *s)
1126 struct usbduxsigma_private *devpriv = dev->private;
1129 if (devpriv->pwm_cmd_running)
1132 devpriv->dux_commands[1] = devpriv->pwm_delay;
1133 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_ON_CMD);
1137 memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
1139 devpriv->pwm_cmd_running = 1;
1140 ret = usbduxsigma_submit_pwm_urb(dev);
1142 devpriv->pwm_cmd_running = 0;
1149 static void usbduxsigma_pwm_pattern(struct comedi_device *dev,
1150 struct comedi_subdevice *s,
1155 struct usbduxsigma_private *devpriv = dev->private;
1156 char pwm_mask = (1 << chan); /* DIO bit for the PWM data */
1157 char sgn_mask = (16 << chan); /* DIO bit for the sign */
1158 char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
1159 int szbuf = devpriv->pwm_buf_sz;
1162 for (i = 0; i < szbuf; i++) {
1176 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1177 struct comedi_subdevice *s,
1178 struct comedi_insn *insn,
1181 unsigned int chan = CR_CHAN(insn->chanspec);
1184 * It doesn't make sense to support more than one value here
1185 * because it would just overwrite the PWM buffer.
1191 * The sign is set via a special INSN only, this gives us 8 bits
1192 * for normal operation, sign is 0 by default.
1194 usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1199 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1200 struct comedi_subdevice *s,
1201 struct comedi_insn *insn,
1204 struct usbduxsigma_private *devpriv = dev->private;
1205 unsigned int chan = CR_CHAN(insn->chanspec);
1208 case INSN_CONFIG_ARM:
1210 * if not zero the PWM is limited to a certain time which is
1211 * not supported here
1215 return usbduxsigma_pwm_start(dev, s);
1216 case INSN_CONFIG_DISARM:
1217 return usbduxsigma_pwm_cancel(dev, s);
1218 case INSN_CONFIG_GET_PWM_STATUS:
1219 data[1] = devpriv->pwm_cmd_running;
1221 case INSN_CONFIG_PWM_SET_PERIOD:
1222 return usbduxsigma_pwm_period(dev, s, data[1]);
1223 case INSN_CONFIG_PWM_GET_PERIOD:
1224 data[1] = devpriv->pwm_period;
1226 case INSN_CONFIG_PWM_SET_H_BRIDGE:
1229 * data[2] = sign (for a relay)
1231 usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
1233 case INSN_CONFIG_PWM_GET_H_BRIDGE:
1234 /* values are not kept in this driver, nothing to return */
1240 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1242 struct usbduxsigma_private *devpriv = dev->private;
1250 sysred = 0; /* ADC zero */
1253 sysred = 1; /* ADC offset */
1256 sysred = 4; /* VCC */
1259 sysred = 8; /* temperature */
1262 sysred = 16; /* gain */
1265 sysred = 32; /* ref */
1269 devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1270 devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1271 devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1272 devpriv->dux_commands[4] = 0;
1273 devpriv->dux_commands[5] = 0;
1274 devpriv->dux_commands[6] = sysred;
1275 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1279 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1283 /* 32 bits big endian from the A/D converter */
1284 val = be32_to_cpu(get_unaligned((__be32 *)(devpriv->insn_buf + 1)));
1285 val &= 0x00ffffff; /* strip status byte */
1286 val ^= 0x00800000; /* convert to unsigned */
1291 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1292 const u8 *data, size_t size,
1293 unsigned long context)
1295 struct usb_device *usb = comedi_to_usb_dev(dev);
1303 if (size > FIRMWARE_MAX_LEN) {
1304 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1308 /* we generate a local buffer for the firmware */
1309 buf = kmemdup(data, size, GFP_KERNEL);
1313 /* we need a malloc'ed buffer for usb_control_msg() */
1314 tmp = kmalloc(1, GFP_KERNEL);
1320 /* stop the current firmware on the device */
1321 *tmp = 1; /* 7f92 to one */
1322 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1325 USBDUXSUB_CPUCS, 0x0000,
1329 dev_err(dev->class_dev, "can not stop firmware\n");
1333 /* upload the new firmware to the device */
1334 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1341 dev_err(dev->class_dev, "firmware upload failed\n");
1345 /* start the new firmware on the device */
1346 *tmp = 0; /* 7f92 to zero */
1347 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1350 USBDUXSUB_CPUCS, 0x0000,
1354 dev_err(dev->class_dev, "can not start firmware\n");
1362 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1364 struct usb_device *usb = comedi_to_usb_dev(dev);
1365 struct usbduxsigma_private *devpriv = dev->private;
1369 devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1370 devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
1371 devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1372 devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(urb), GFP_KERNEL);
1373 devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(urb), GFP_KERNEL);
1374 if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
1375 !devpriv->ai_urbs || !devpriv->ao_urbs)
1378 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1379 /* one frame: 1ms */
1380 urb = usb_alloc_urb(1, GFP_KERNEL);
1383 devpriv->ai_urbs[i] = urb;
1385 /* will be filled later with a pointer to the comedi-device */
1386 /* and ONLY then the urb should be submitted */
1387 urb->context = NULL;
1388 urb->pipe = usb_rcvisocpipe(usb, 6);
1389 urb->transfer_flags = URB_ISO_ASAP;
1390 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1391 if (!urb->transfer_buffer)
1393 urb->complete = usbduxsigma_ai_urb_complete;
1394 urb->number_of_packets = 1;
1395 urb->transfer_buffer_length = SIZEINBUF;
1396 urb->iso_frame_desc[0].offset = 0;
1397 urb->iso_frame_desc[0].length = SIZEINBUF;
1400 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1401 /* one frame: 1ms */
1402 urb = usb_alloc_urb(1, GFP_KERNEL);
1405 devpriv->ao_urbs[i] = urb;
1407 /* will be filled later with a pointer to the comedi-device */
1408 /* and ONLY then the urb should be submitted */
1409 urb->context = NULL;
1410 urb->pipe = usb_sndisocpipe(usb, 2);
1411 urb->transfer_flags = URB_ISO_ASAP;
1412 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1413 if (!urb->transfer_buffer)
1415 urb->complete = usbduxsigma_ao_urb_complete;
1416 urb->number_of_packets = 1;
1417 urb->transfer_buffer_length = SIZEOUTBUF;
1418 urb->iso_frame_desc[0].offset = 0;
1419 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1420 if (devpriv->high_speed)
1421 urb->interval = 8; /* uframes */
1423 urb->interval = 1; /* frames */
1426 if (devpriv->pwm_buf_sz) {
1427 urb = usb_alloc_urb(0, GFP_KERNEL);
1430 devpriv->pwm_urb = urb;
1432 urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
1434 if (!urb->transfer_buffer)
1441 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1443 struct usbduxsigma_private *devpriv = dev->private;
1447 urb = devpriv->pwm_urb;
1449 kfree(urb->transfer_buffer);
1452 if (devpriv->ao_urbs) {
1453 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1454 urb = devpriv->ao_urbs[i];
1456 kfree(urb->transfer_buffer);
1460 kfree(devpriv->ao_urbs);
1462 if (devpriv->ai_urbs) {
1463 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1464 urb = devpriv->ai_urbs[i];
1466 kfree(urb->transfer_buffer);
1470 kfree(devpriv->ai_urbs);
1472 kfree(devpriv->insn_buf);
1473 kfree(devpriv->in_buf);
1474 kfree(devpriv->dux_commands);
1477 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1478 unsigned long context_unused)
1480 struct usb_interface *intf = comedi_to_usb_interface(dev);
1481 struct usb_device *usb = comedi_to_usb_dev(dev);
1482 struct usbduxsigma_private *devpriv;
1483 struct comedi_subdevice *s;
1487 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
1491 sema_init(&devpriv->sem, 1);
1493 usb_set_intfdata(intf, devpriv);
1495 devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1496 if (devpriv->high_speed) {
1497 devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
1498 devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
1499 devpriv->pwm_buf_sz = 512;
1501 devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
1502 devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
1505 ret = usbduxsigma_alloc_usb_buffers(dev);
1509 /* setting to alternate setting 3: enabling iso ep and bulk ep. */
1510 ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
1513 dev_err(dev->class_dev,
1514 "could not set alternate setting 3 in high speed\n");
1518 ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1519 usbduxsigma_firmware_upload, 0);
1523 ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3);
1527 /* Analog Input subdevice */
1528 s = &dev->subdevices[0];
1529 dev->read_subdev = s;
1530 s->type = COMEDI_SUBD_AI;
1531 s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1532 s->n_chan = NUMCHANNELS;
1533 s->len_chanlist = NUMCHANNELS;
1534 s->maxdata = 0x00ffffff;
1535 s->range_table = &usbduxsigma_ai_range;
1536 s->insn_read = usbduxsigma_ai_insn_read;
1537 s->do_cmdtest = usbduxsigma_ai_cmdtest;
1538 s->do_cmd = usbduxsigma_ai_cmd;
1539 s->cancel = usbduxsigma_ai_cancel;
1541 /* Analog Output subdevice */
1542 s = &dev->subdevices[1];
1543 dev->write_subdev = s;
1544 s->type = COMEDI_SUBD_AO;
1545 s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1547 s->len_chanlist = s->n_chan;
1548 s->maxdata = 0x00ff;
1549 s->range_table = &range_unipolar2_5;
1550 s->insn_write = usbduxsigma_ao_insn_write;
1551 s->insn_read = usbduxsigma_ao_insn_read;
1552 s->do_cmdtest = usbduxsigma_ao_cmdtest;
1553 s->do_cmd = usbduxsigma_ao_cmd;
1554 s->cancel = usbduxsigma_ao_cancel;
1556 ret = comedi_alloc_subdev_readback(s);
1560 /* Digital I/O subdevice */
1561 s = &dev->subdevices[2];
1562 s->type = COMEDI_SUBD_DIO;
1563 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1566 s->range_table = &range_digital;
1567 s->insn_bits = usbduxsigma_dio_insn_bits;
1568 s->insn_config = usbduxsigma_dio_insn_config;
1570 if (devpriv->high_speed) {
1571 /* Timer / pwm subdevice */
1572 s = &dev->subdevices[3];
1573 s->type = COMEDI_SUBD_PWM;
1574 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1576 s->maxdata = devpriv->pwm_buf_sz;
1577 s->insn_write = usbduxsigma_pwm_write;
1578 s->insn_config = usbduxsigma_pwm_config;
1580 usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1583 offset = usbduxsigma_getstatusinfo(dev, 0);
1585 dev_err(dev->class_dev,
1586 "Communication to USBDUXSIGMA failed! Check firmware and cabling.\n");
1590 dev_info(dev->class_dev, "ADC_zero = %x\n", offset);
1595 static void usbduxsigma_detach(struct comedi_device *dev)
1597 struct usb_interface *intf = comedi_to_usb_interface(dev);
1598 struct usbduxsigma_private *devpriv = dev->private;
1600 usb_set_intfdata(intf, NULL);
1605 down(&devpriv->sem);
1607 /* force unlink all urbs */
1608 usbduxsigma_ai_stop(dev, 1);
1609 usbduxsigma_ao_stop(dev, 1);
1610 usbduxsigma_pwm_stop(dev, 1);
1612 usbduxsigma_free_usb_buffers(dev);
1617 static struct comedi_driver usbduxsigma_driver = {
1618 .driver_name = "usbduxsigma",
1619 .module = THIS_MODULE,
1620 .auto_attach = usbduxsigma_auto_attach,
1621 .detach = usbduxsigma_detach,
1624 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1625 const struct usb_device_id *id)
1627 return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1630 static const struct usb_device_id usbduxsigma_usb_table[] = {
1631 { USB_DEVICE(0x13d8, 0x0020) },
1632 { USB_DEVICE(0x13d8, 0x0021) },
1633 { USB_DEVICE(0x13d8, 0x0022) },
1636 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1638 static struct usb_driver usbduxsigma_usb_driver = {
1639 .name = "usbduxsigma",
1640 .probe = usbduxsigma_usb_probe,
1641 .disconnect = comedi_usb_auto_unconfig,
1642 .id_table = usbduxsigma_usb_table,
1644 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1646 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1647 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com");
1648 MODULE_LICENSE("GPL");
1649 MODULE_FIRMWARE(FIRMWARE);