kernel/drivers/staging/comedi/drivers/usbduxsigma.c

   1 /*
   2  * usbduxsigma.c
   3  * Copyright (C) 2011-2014 Bernd Porr, mail@berndporr.me.uk
   4  *
   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.
   9  *
  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.
  14  */
  15
  16 /*
  17  * Driver: usbduxsigma
  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
  22  * Status: stable
  23  */
  24
  25 /*
  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.
  30  *
  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
  33  *
  34  *
  35  * Revision history:
  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
  42  */
  43
  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>
  51
  52 #include "../comedi_usb.h"
  53
  54 /* timeout for the USB-transfer in ms*/
  55 #define BULK_TIMEOUT 1000
  56
  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
  63
  64 /* internal addresses of the 8051 processor */
  65 #define USBDUXSUB_CPUCS 0xE600
  66
  67 /* 300Hz max frequ under PWM */
  68 #define MIN_PWM_PERIOD  ((long)(1E9/300))
  69
  70 /* Default PWM frequency */
  71 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
  72
  73 /* Number of channels (16 AD and offset)*/
  74 #define NUMCHANNELS 16
  75
  76 /* Size of one A/D value */
  77 #define SIZEADIN          ((sizeof(uint32_t)))
  78
  79 /*
  80  * Size of the async input-buffer IN BYTES, the DIO state is transmitted
  81  * as the first byte.
  82  */
  83 #define SIZEINBUF         (((NUMCHANNELS+1)*SIZEADIN))
  84
  85 /* 16 bytes. */
  86 #define SIZEINSNBUF       16
  87
  88 /* Number of DA channels */
  89 #define NUMOUTCHANNELS    8
  90
  91 /* size of one value for the D/A converter: channel and value */
  92 #define SIZEDAOUT          ((sizeof(uint8_t)+sizeof(uint16_t)))
  93
  94 /*
  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).
  98  */
  99 #define SIZEOUTBUF         ((8*SIZEDAOUT))
 100
 101 /*
 102  * Size of the buffer for the dux commands: just now max size is determined
 103  * by the analogue out + command byte + panic bytes...
 104  */
 105 #define SIZEOFDUXBUFFER    ((8*SIZEDAOUT+2))
 106
 107 /* Number of in-URBs which receive the data: min=2 */
 108 #define NUMOFINBUFFERSFULL     5
 109
 110 /* Number of out-URBs which send the data: min=2 */
 111 #define NUMOFOUTBUFFERSFULL    5
 112
 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
 116
 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
 120
 121 /* number of retries to get the right dux command */
 122 #define RETRIES 10
 123
 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
 132
 133 static const struct comedi_lrange usbduxsigma_ai_range = {
 134         1, {
 135                 BIP_RANGE(2.5 * 0x800000 / 0x780000 / 2.0)
 136         }
 137 };
 138
 139 struct usbduxsigma_private {
 140         /* actual number of in-buffers */
 141         int n_ai_urbs;
 142         /* actual number of out-buffers */
 143         int n_ao_urbs;
 144         /* ISO-transfer handling: buffers */
 145         struct urb **ai_urbs;
 146         struct urb **ao_urbs;
 147         /* pwm-transfer handling */
 148         struct urb *pwm_urb;
 149         /* PWM period */
 150         unsigned int pwm_period;
 151         /* PWM internal delay for the GPIF in the FX2 */
 152         uint8_t pwm_delay;
 153         /* size of the PWM buffer which holds the bit pattern */
 154         int pwm_buf_sz;
 155         /* input buffer for the ISO-transfer */
 156         __be32 *in_buf;
 157         /* input buffer for single insn */
 158         uint8_t *insn_buf;
 159
 160         unsigned high_speed:1;
 161         unsigned ai_cmd_running:1;
 162         unsigned ao_cmd_running:1;
 163         unsigned pwm_cmd_running:1;
 164
 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;
 173         /* commands */
 174         uint8_t *dux_commands;
 175         struct semaphore sem;
 176 };
 177
 178 static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs)
 179 {
 180         int i;
 181
 182         for (i = 0; i < num_urbs; i++)
 183                 usb_kill_urb(urbs[i]);
 184 }
 185
 186 static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink)
 187 {
 188         struct usbduxsigma_private *devpriv = dev->private;
 189
 190         if (do_unlink && devpriv->ai_urbs)
 191                 usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
 192
 193         devpriv->ai_cmd_running = 0;
 194 }
 195
 196 static int usbduxsigma_ai_cancel(struct comedi_device *dev,
 197                                  struct comedi_subdevice *s)
 198 {
 199         struct usbduxsigma_private *devpriv = dev->private;
 200
 201         down(&devpriv->sem);
 202         /* unlink only if it is really running */
 203         usbduxsigma_ai_stop(dev, devpriv->ai_cmd_running);
 204         up(&devpriv->sem);
 205
 206         return 0;
 207 }
 208
 209 static void usbduxsigma_ai_handle_urb(struct comedi_device *dev,
 210                                       struct comedi_subdevice *s,
 211                                       struct urb *urb)
 212 {
 213         struct usbduxsigma_private *devpriv = dev->private;
 214         struct comedi_async *async = s->async;
 215         struct comedi_cmd *cmd = &async->cmd;
 216         uint32_t val;
 217         int ret;
 218         int i;
 219
 220         devpriv->ai_counter--;
 221         if (devpriv->ai_counter == 0) {
 222                 devpriv->ai_counter = devpriv->ai_timer;
 223
 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 */
 230
 231                         if (!comedi_buf_write_samples(s, &val, 1))
 232                                 return;
 233                 }
 234
 235                 if (cmd->stop_src == TRIG_COUNT &&
 236                     async->scans_done >= cmd->stop_arg)
 237                         async->events |= COMEDI_CB_EOA;
 238         }
 239
 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);
 244                 if (ret < 0) {
 245                         dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
 246                                 ret);
 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;
 251                 }
 252         }
 253 }
 254
 255 static void usbduxsigma_ai_urb_complete(struct urb *urb)
 256 {
 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;
 261
 262         /* exit if not running a command, do not resubmit urb */
 263         if (!devpriv->ai_cmd_running)
 264                 return;
 265
 266         switch (urb->status) {
 267         case 0:
 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);
 271                 break;
 272
 273         case -EILSEQ:
 274                 /*
 275                  * error in the ISOchronous data
 276                  * we don't copy the data into the transfer buffer
 277                  * and recycle the last data byte
 278                  */
 279                 dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
 280                 usbduxsigma_ai_handle_urb(dev, s, urb);
 281                 break;
 282
 283         case -ECONNRESET:
 284         case -ENOENT:
 285         case -ESHUTDOWN:
 286         case -ECONNABORTED:
 287                 /* happens after an unlink command */
 288                 async->events |= COMEDI_CB_ERROR;
 289                 break;
 290
 291         default:
 292                 /* a real error */
 293                 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
 294                         urb->status);
 295                 async->events |= COMEDI_CB_ERROR;
 296                 break;
 297         }
 298
 299         /*
 300          * comedi_handle_events() cannot be used in this driver. The (*cancel)
 301          * operation would unlink the urb.
 302          */
 303         if (async->events & COMEDI_CB_CANCEL_MASK)
 304                 usbduxsigma_ai_stop(dev, 0);
 305
 306         comedi_event(dev, s);
 307 }
 308
 309 static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink)
 310 {
 311         struct usbduxsigma_private *devpriv = dev->private;
 312
 313         if (do_unlink && devpriv->ao_urbs)
 314                 usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
 315
 316         devpriv->ao_cmd_running = 0;
 317 }
 318
 319 static int usbduxsigma_ao_cancel(struct comedi_device *dev,
 320                                  struct comedi_subdevice *s)
 321 {
 322         struct usbduxsigma_private *devpriv = dev->private;
 323
 324         down(&devpriv->sem);
 325         /* unlink only if it is really running */
 326         usbduxsigma_ao_stop(dev, devpriv->ao_cmd_running);
 327         up(&devpriv->sem);
 328
 329         return 0;
 330 }
 331
 332 static void usbduxsigma_ao_handle_urb(struct comedi_device *dev,
 333                                       struct comedi_subdevice *s,
 334                                       struct urb *urb)
 335 {
 336         struct usbduxsigma_private *devpriv = dev->private;
 337         struct comedi_async *async = s->async;
 338         struct comedi_cmd *cmd = &async->cmd;
 339         uint8_t *datap;
 340         int ret;
 341         int i;
 342
 343         devpriv->ao_counter--;
 344         if (devpriv->ao_counter == 0) {
 345                 devpriv->ao_counter = devpriv->ao_timer;
 346
 347                 if (cmd->stop_src == TRIG_COUNT &&
 348                     async->scans_done >= cmd->stop_arg) {
 349                         async->events |= COMEDI_CB_EOA;
 350                         return;
 351                 }
 352
 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]);
 358                         unsigned short val;
 359
 360                         if (!comedi_buf_read_samples(s, &val, 1)) {
 361                                 dev_err(dev->class_dev, "buffer underflow\n");
 362                                 async->events |= COMEDI_CB_OVERFLOW;
 363                                 return;
 364                         }
 365
 366                         *datap++ = val;
 367                         *datap++ = chan;
 368                         s->readback[chan] = val;
 369                 }
 370         }
 371
 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);
 376                 urb->status = 0;
 377                 if (devpriv->high_speed)
 378                         urb->interval = 8;      /* uframes */
 379                 else
 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);
 386                 if (ret < 0) {
 387                         dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
 388                                 ret);
 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;
 393                 }
 394         }
 395 }
 396
 397 static void usbduxsigma_ao_urb_complete(struct urb *urb)
 398 {
 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;
 403
 404         /* exit if not running a command, do not resubmit urb */
 405         if (!devpriv->ao_cmd_running)
 406                 return;
 407
 408         switch (urb->status) {
 409         case 0:
 410                 usbduxsigma_ao_handle_urb(dev, s, urb);
 411                 break;
 412
 413         case -ECONNRESET:
 414         case -ENOENT:
 415         case -ESHUTDOWN:
 416         case -ECONNABORTED:
 417                 /* happens after an unlink command */
 418                 async->events |= COMEDI_CB_ERROR;
 419                 break;
 420
 421         default:
 422                 /* a real error */
 423                 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
 424                         urb->status);
 425                 async->events |= COMEDI_CB_ERROR;
 426                 break;
 427         }
 428
 429         /*
 430          * comedi_handle_events() cannot be used in this driver. The (*cancel)
 431          * operation would unlink the urb.
 432          */
 433         if (async->events & COMEDI_CB_CANCEL_MASK)
 434                 usbduxsigma_ao_stop(dev, 0);
 435
 436         comedi_event(dev, s);
 437 }
 438
 439 static int usbduxsigma_submit_urbs(struct comedi_device *dev,
 440                                    struct urb **urbs, int num_urbs,
 441                                    int input_urb)
 442 {
 443         struct usb_device *usb = comedi_to_usb_dev(dev);
 444         struct usbduxsigma_private *devpriv = dev->private;
 445         struct urb *urb;
 446         int ret;
 447         int i;
 448
 449         /* Submit all URBs and start the transfer on the bus */
 450         for (i = 0; i < num_urbs; i++) {
 451                 urb = urbs[i];
 452
 453                 /* in case of a resubmission after an unlink... */
 454                 if (input_urb)
 455                         urb->interval = devpriv->ai_interval;
 456                 urb->context = dev;
 457                 urb->dev = usb;
 458                 urb->status = 0;
 459                 urb->transfer_flags = URB_ISO_ASAP;
 460
 461                 ret = usb_submit_urb(urb, GFP_ATOMIC);
 462                 if (ret)
 463                         return ret;
 464         }
 465         return 0;
 466 }
 467
 468 static int usbduxsigma_chans_to_interval(int num_chan)
 469 {
 470         if (num_chan <= 2)
 471                 return 2;       /* 4kHz */
 472         if (num_chan <= 8)
 473                 return 4;       /* 2kHz */
 474         return 8;               /* 1kHz */
 475 }
 476
 477 static int usbduxsigma_ai_cmdtest(struct comedi_device *dev,
 478                                   struct comedi_subdevice *s,
 479                                   struct comedi_cmd *cmd)
 480 {
 481         struct usbduxsigma_private *devpriv = dev->private;
 482         int high_speed = devpriv->high_speed;
 483         int interval = usbduxsigma_chans_to_interval(cmd->chanlist_len);
 484         int err = 0;
 485
 486         /* Step 1 : check if triggers are trivially valid */
 487
 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);
 493
 494         if (err)
 495                 return 1;
 496
 497         /* Step 2a : make sure trigger sources are unique */
 498
 499         err |= comedi_check_trigger_is_unique(cmd->start_src);
 500         err |= comedi_check_trigger_is_unique(cmd->stop_src);
 501
 502         /* Step 2b : and mutually compatible */
 503
 504         if (err)
 505                 return 2;
 506
 507         /* Step 3: check if arguments are trivially valid */
 508
 509         err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
 510
 511         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 512                 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
 513
 514         if (cmd->scan_begin_src == TRIG_TIMER) {
 515                 unsigned int tmp;
 516
 517                 if (high_speed) {
 518                         /*
 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.
 523                          */
 524                         err |= comedi_check_trigger_arg_min(&cmd->
 525                                                             scan_begin_arg,
 526                                                             (1000000 / 8 *
 527                                                              interval));
 528
 529                         tmp = (cmd->scan_begin_arg / 125000) * 125000;
 530                 } else {
 531                         /* full speed */
 532                         /* 1kHz scans every USB frame */
 533                         err |= comedi_check_trigger_arg_min(&cmd->
 534                                                             scan_begin_arg,
 535                                                             1000000);
 536
 537                         tmp = (cmd->scan_begin_arg / 1000000) * 1000000;
 538                 }
 539                 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp);
 540         }
 541
 542         err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
 543                                            cmd->chanlist_len);
 544
 545         if (cmd->stop_src == TRIG_COUNT)
 546                 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
 547         else    /* TRIG_NONE */
 548                 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
 549
 550         if (err)
 551                 return 3;
 552
 553         /* Step 4: fix up any arguments */
 554
 555         if (high_speed) {
 556                 /*
 557                  * every 2 channels get a time window of 125us. Thus, if we
 558                  * sample all 16 channels we need 1ms. If we sample only one
 559                  * channel we need only 125us
 560                  */
 561                 devpriv->ai_interval = interval;
 562                 devpriv->ai_timer = cmd->scan_begin_arg / (125000 * interval);
 563         } else {
 564                 /* interval always 1ms */
 565                 devpriv->ai_interval = 1;
 566                 devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
 567         }
 568         if (devpriv->ai_timer < 1)
 569                 err |= -EINVAL;
 570
 571         if (err)
 572                 return 4;
 573
 574         return 0;
 575 }
 576
 577 /*
 578  * creates the ADC command for the MAX1271
 579  * range is the range value from comedi
 580  */
 581 static void create_adc_command(unsigned int chan,
 582                                uint8_t *muxsg0,
 583                                uint8_t *muxsg1)
 584 {
 585         if (chan < 8)
 586                 (*muxsg0) = (*muxsg0) | (1 << chan);
 587         else if (chan < 16)
 588                 (*muxsg1) = (*muxsg1) | (1 << (chan-8));
 589 }
 590
 591 static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type)
 592 {
 593         struct usb_device *usb = comedi_to_usb_dev(dev);
 594         struct usbduxsigma_private *devpriv = dev->private;
 595         int nsent;
 596
 597         devpriv->dux_commands[0] = cmd_type;
 598
 599         return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
 600                             devpriv->dux_commands, SIZEOFDUXBUFFER,
 601                             &nsent, BULK_TIMEOUT);
 602 }
 603
 604 static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command)
 605 {
 606         struct usb_device *usb = comedi_to_usb_dev(dev);
 607         struct usbduxsigma_private *devpriv = dev->private;
 608         int nrec;
 609         int ret;
 610         int i;
 611
 612         for (i = 0; i < RETRIES; i++) {
 613                 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
 614                                    devpriv->insn_buf, SIZEINSNBUF,
 615                                    &nrec, BULK_TIMEOUT);
 616                 if (ret < 0)
 617                         return ret;
 618
 619                 if (devpriv->insn_buf[0] == command)
 620                         return 0;
 621         }
 622         /*
 623          * This is only reached if the data has been requested a
 624          * couple of times and the command was not received.
 625          */
 626         return -EFAULT;
 627 }
 628
 629 static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
 630                                   struct comedi_subdevice *s,
 631                                   unsigned int trig_num)
 632 {
 633         struct usbduxsigma_private *devpriv = dev->private;
 634         struct comedi_cmd *cmd = &s->async->cmd;
 635         int ret;
 636
 637         if (trig_num != cmd->start_arg)
 638                 return -EINVAL;
 639
 640         down(&devpriv->sem);
 641         if (!devpriv->ai_cmd_running) {
 642                 devpriv->ai_cmd_running = 1;
 643                 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
 644                                               devpriv->n_ai_urbs, 1);
 645                 if (ret < 0) {
 646                         devpriv->ai_cmd_running = 0;
 647                         up(&devpriv->sem);
 648                         return ret;
 649                 }
 650                 s->async->inttrig = NULL;
 651         }
 652         up(&devpriv->sem);
 653
 654         return 1;
 655 }
 656
 657 static int usbduxsigma_ai_cmd(struct comedi_device *dev,
 658                               struct comedi_subdevice *s)
 659 {
 660         struct usbduxsigma_private *devpriv = dev->private;
 661         struct comedi_cmd *cmd = &s->async->cmd;
 662         unsigned int len = cmd->chanlist_len;
 663         uint8_t muxsg0 = 0;
 664         uint8_t muxsg1 = 0;
 665         uint8_t sysred = 0;
 666         int ret;
 667         int i;
 668
 669         down(&devpriv->sem);
 670
 671         for (i = 0; i < len; i++) {
 672                 unsigned int chan  = CR_CHAN(cmd->chanlist[i]);
 673
 674                 create_adc_command(chan, &muxsg0, &muxsg1);
 675         }
 676
 677         devpriv->dux_commands[1] = len;  /* num channels per time step */
 678         devpriv->dux_commands[2] = 0x12; /* CONFIG0 */
 679         devpriv->dux_commands[3] = 0x03; /* CONFIG1: 23kHz sample, delay 0us */
 680         devpriv->dux_commands[4] = 0x00; /* CONFIG3: diff. channels off */
 681         devpriv->dux_commands[5] = muxsg0;
 682         devpriv->dux_commands[6] = muxsg1;
 683         devpriv->dux_commands[7] = sysred;
 684
 685         ret = usbbuxsigma_send_cmd(dev, USBBUXSIGMA_AD_CMD);
 686         if (ret < 0) {
 687                 up(&devpriv->sem);
 688                 return ret;
 689         }
 690
 691         devpriv->ai_counter = devpriv->ai_timer;
 692
 693         if (cmd->start_src == TRIG_NOW) {
 694                 /* enable this acquisition operation */
 695                 devpriv->ai_cmd_running = 1;
 696                 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
 697                                               devpriv->n_ai_urbs, 1);
 698                 if (ret < 0) {
 699                         devpriv->ai_cmd_running = 0;
 700                         up(&devpriv->sem);
 701                         return ret;
 702                 }
 703                 s->async->inttrig = NULL;
 704         } else {        /* TRIG_INT */
 705                 s->async->inttrig = usbduxsigma_ai_inttrig;
 706         }
 707
 708         up(&devpriv->sem);
 709
 710         return 0;
 711 }
 712
 713 static int usbduxsigma_ai_insn_read(struct comedi_device *dev,
 714                                     struct comedi_subdevice *s,
 715                                     struct comedi_insn *insn,
 716                                     unsigned int *data)
 717 {
 718         struct usbduxsigma_private *devpriv = dev->private;
 719         unsigned int chan = CR_CHAN(insn->chanspec);
 720         uint8_t muxsg0 = 0;
 721         uint8_t muxsg1 = 0;
 722         uint8_t sysred = 0;
 723         int ret;
 724         int i;
 725
 726         down(&devpriv->sem);
 727         if (devpriv->ai_cmd_running) {
 728                 up(&devpriv->sem);
 729                 return -EBUSY;
 730         }
 731
 732         create_adc_command(chan, &muxsg0, &muxsg1);
 733
 734         /* Mode 0 is used to get a single conversion on demand */
 735         devpriv->dux_commands[1] = 0x16; /* CONFIG0: chopper on */
 736         devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
 737         devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
 738         devpriv->dux_commands[4] = muxsg0;
 739         devpriv->dux_commands[5] = muxsg1;
 740         devpriv->dux_commands[6] = sysred;
 741
 742         /* adc commands */
 743         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
 744         if (ret < 0) {
 745                 up(&devpriv->sem);
 746                 return ret;
 747         }
 748
 749         for (i = 0; i < insn->n; i++) {
 750                 uint32_t val;
 751
 752                 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
 753                 if (ret < 0) {
 754                         up(&devpriv->sem);
 755                         return ret;
 756                 }
 757
 758                 /* 32 bits big endian from the A/D converter */
 759                 val = be32_to_cpu(get_unaligned((__be32
 760                                                  *)(devpriv->insn_buf + 1)));
 761                 val &= 0x00ffffff;      /* strip status byte */
 762                 val ^= 0x00800000;      /* convert to unsigned */
 763
 764                 data[i] = val;
 765         }
 766         up(&devpriv->sem);
 767
 768         return insn->n;
 769 }
 770
 771 static int usbduxsigma_ao_insn_read(struct comedi_device *dev,
 772                                     struct comedi_subdevice *s,
 773                                     struct comedi_insn *insn,
 774                                     unsigned int *data)
 775 {
 776         struct usbduxsigma_private *devpriv = dev->private;
 777         int ret;
 778
 779         down(&devpriv->sem);
 780         ret = comedi_readback_insn_read(dev, s, insn, data);
 781         up(&devpriv->sem);
 782
 783         return ret;
 784 }
 785
 786 static int usbduxsigma_ao_insn_write(struct comedi_device *dev,
 787                                      struct comedi_subdevice *s,
 788                                      struct comedi_insn *insn,
 789                                      unsigned int *data)
 790 {
 791         struct usbduxsigma_private *devpriv = dev->private;
 792         unsigned int chan = CR_CHAN(insn->chanspec);
 793         int ret;
 794         int i;
 795
 796         down(&devpriv->sem);
 797         if (devpriv->ao_cmd_running) {
 798                 up(&devpriv->sem);
 799                 return -EBUSY;
 800         }
 801
 802         for (i = 0; i < insn->n; i++) {
 803                 devpriv->dux_commands[1] = 1;           /* num channels */
 804                 devpriv->dux_commands[2] = data[i];     /* value */
 805                 devpriv->dux_commands[3] = chan;        /* channel number */
 806                 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DA_CMD);
 807                 if (ret < 0) {
 808                         up(&devpriv->sem);
 809                         return ret;
 810                 }
 811                 s->readback[chan] = data[i];
 812         }
 813         up(&devpriv->sem);
 814
 815         return insn->n;
 816 }
 817
 818 static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
 819                                   struct comedi_subdevice *s,
 820                                   unsigned int trig_num)
 821 {
 822         struct usbduxsigma_private *devpriv = dev->private;
 823         struct comedi_cmd *cmd = &s->async->cmd;
 824         int ret;
 825
 826         if (trig_num != cmd->start_arg)
 827                 return -EINVAL;
 828
 829         down(&devpriv->sem);
 830         if (!devpriv->ao_cmd_running) {
 831                 devpriv->ao_cmd_running = 1;
 832                 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
 833                                               devpriv->n_ao_urbs, 0);
 834                 if (ret < 0) {
 835                         devpriv->ao_cmd_running = 0;
 836                         up(&devpriv->sem);
 837                         return ret;
 838                 }
 839                 s->async->inttrig = NULL;
 840         }
 841         up(&devpriv->sem);
 842
 843         return 1;
 844 }
 845
 846 static int usbduxsigma_ao_cmdtest(struct comedi_device *dev,
 847                                   struct comedi_subdevice *s,
 848                                   struct comedi_cmd *cmd)
 849 {
 850         struct usbduxsigma_private *devpriv = dev->private;
 851         int err = 0;
 852         int high_speed;
 853         unsigned int flags;
 854
 855         /* high speed conversions are not used yet */
 856         high_speed = 0;         /* (devpriv->high_speed) */
 857
 858         /* Step 1 : check if triggers are trivially valid */
 859
 860         err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
 861
 862         if (high_speed) {
 863                 /*
 864                  * start immediately a new scan
 865                  * the sampling rate is set by the coversion rate
 866                  */
 867                 flags = TRIG_FOLLOW;
 868         } else {
 869                 /* start a new scan (output at once) with a timer */
 870                 flags = TRIG_TIMER;
 871         }
 872         err |= comedi_check_trigger_src(&cmd->scan_begin_src, flags);
 873
 874         err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
 875         err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
 876         err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
 877
 878         if (err) {
 879                 up(&devpriv->sem);
 880                 return 1;
 881         }
 882
 883         /* Step 2a : make sure trigger sources are unique */
 884
 885         err |= comedi_check_trigger_is_unique(cmd->start_src);
 886         err |= comedi_check_trigger_is_unique(cmd->stop_src);
 887
 888         /* Step 2b : and mutually compatible */
 889
 890         if (err)
 891                 return 2;
 892
 893         /* Step 3: check if arguments are trivially valid */
 894
 895         err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
 896
 897         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 898                 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
 899
 900         if (cmd->scan_begin_src == TRIG_TIMER) {
 901                 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
 902                                                     1000000);
 903         }
 904
 905         /* not used now, is for later use */
 906         if (cmd->convert_src == TRIG_TIMER)
 907                 err |= comedi_check_trigger_arg_min(&cmd->convert_arg, 125000);
 908
 909         err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
 910                                            cmd->chanlist_len);
 911
 912         if (cmd->stop_src == TRIG_COUNT)
 913                 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
 914         else    /* TRIG_NONE */
 915                 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
 916
 917         if (err)
 918                 return 3;
 919
 920         /* Step 4: fix up any arguments */
 921
 922         /* we count in timer steps */
 923         if (high_speed) {
 924                 /* timing of the conversion itself: every 125 us */
 925                 devpriv->ao_timer = cmd->convert_arg / 125000;
 926         } else {
 927                 /*
 928                  * timing of the scan: every 1ms
 929                  * we get all channels at once
 930                  */
 931                 devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
 932         }
 933         if (devpriv->ao_timer < 1)
 934                 err |= -EINVAL;
 935
 936         if (err)
 937                 return 4;
 938
 939         return 0;
 940 }
 941
 942 static int usbduxsigma_ao_cmd(struct comedi_device *dev,
 943                               struct comedi_subdevice *s)
 944 {
 945         struct usbduxsigma_private *devpriv = dev->private;
 946         struct comedi_cmd *cmd = &s->async->cmd;
 947         int ret;
 948
 949         down(&devpriv->sem);
 950
 951         devpriv->ao_counter = devpriv->ao_timer;
 952
 953         if (cmd->start_src == TRIG_NOW) {
 954                 /* enable this acquisition operation */
 955                 devpriv->ao_cmd_running = 1;
 956                 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
 957                                               devpriv->n_ao_urbs, 0);
 958                 if (ret < 0) {
 959                         devpriv->ao_cmd_running = 0;
 960                         up(&devpriv->sem);
 961                         return ret;
 962                 }
 963                 s->async->inttrig = NULL;
 964         } else {        /* TRIG_INT */
 965                 s->async->inttrig = usbduxsigma_ao_inttrig;
 966         }
 967
 968         up(&devpriv->sem);
 969
 970         return 0;
 971 }
 972
 973 static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
 974                                        struct comedi_subdevice *s,
 975                                        struct comedi_insn *insn,
 976                                        unsigned int *data)
 977 {
 978         int ret;
 979
 980         ret = comedi_dio_insn_config(dev, s, insn, data, 0);
 981         if (ret)
 982                 return ret;
 983
 984         /*
 985          * We don't tell the firmware here as it would take 8 frames
 986          * to submit the information. We do it in the (*insn_bits).
 987          */
 988         return insn->n;
 989 }
 990
 991 static int usbduxsigma_dio_insn_bits(struct comedi_device *dev,
 992                                      struct comedi_subdevice *s,
 993                                      struct comedi_insn *insn,
 994                                      unsigned int *data)
 995 {
 996         struct usbduxsigma_private *devpriv = dev->private;
 997         int ret;
 998
 999         down(&devpriv->sem);
1000
1001         comedi_dio_update_state(s, data);
1002
1003         /* Always update the hardware. See the (*insn_config). */
1004         devpriv->dux_commands[1] = s->io_bits & 0xff;
1005         devpriv->dux_commands[4] = s->state & 0xff;
1006         devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff;
1007         devpriv->dux_commands[5] = (s->state >> 8) & 0xff;
1008         devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff;
1009         devpriv->dux_commands[6] = (s->state >> 16) & 0xff;
1010
1011         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1012         if (ret < 0)
1013                 goto done;
1014         ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1015         if (ret < 0)
1016                 goto done;
1017
1018         s->state = devpriv->insn_buf[1] |
1019                    (devpriv->insn_buf[2] << 8) |
1020                    (devpriv->insn_buf[3] << 16);
1021
1022         data[1] = s->state;
1023         ret = insn->n;
1024
1025 done:
1026         up(&devpriv->sem);
1027
1028         return ret;
1029 }
1030
1031 static void usbduxsigma_pwm_stop(struct comedi_device *dev, int do_unlink)
1032 {
1033         struct usbduxsigma_private *devpriv = dev->private;
1034
1035         if (do_unlink) {
1036                 if (devpriv->pwm_urb)
1037                         usb_kill_urb(devpriv->pwm_urb);
1038         }
1039
1040         devpriv->pwm_cmd_running = 0;
1041 }
1042
1043 static int usbduxsigma_pwm_cancel(struct comedi_device *dev,
1044                                   struct comedi_subdevice *s)
1045 {
1046         struct usbduxsigma_private *devpriv = dev->private;
1047
1048         /* unlink only if it is really running */
1049         usbduxsigma_pwm_stop(dev, devpriv->pwm_cmd_running);
1050
1051         return usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_OFF_CMD);
1052 }
1053
1054 static void usbduxsigma_pwm_urb_complete(struct urb *urb)
1055 {
1056         struct comedi_device *dev = urb->context;
1057         struct usbduxsigma_private *devpriv = dev->private;
1058         int ret;
1059
1060         switch (urb->status) {
1061         case 0:
1062                 /* success */
1063                 break;
1064
1065         case -ECONNRESET:
1066         case -ENOENT:
1067         case -ESHUTDOWN:
1068         case -ECONNABORTED:
1069                 /* happens after an unlink command */
1070                 if (devpriv->pwm_cmd_running)
1071                         usbduxsigma_pwm_stop(dev, 0);   /* w/o unlink */
1072                 return;
1073
1074         default:
1075                 /* a real error */
1076                 if (devpriv->pwm_cmd_running) {
1077                         dev_err(dev->class_dev, "non-zero urb status (%d)\n",
1078                                 urb->status);
1079                         usbduxsigma_pwm_stop(dev, 0);   /* w/o unlink */
1080                 }
1081                 return;
1082         }
1083
1084         if (!devpriv->pwm_cmd_running)
1085                 return;
1086
1087         urb->transfer_buffer_length = devpriv->pwm_buf_sz;
1088         urb->dev = comedi_to_usb_dev(dev);
1089         urb->status = 0;
1090         ret = usb_submit_urb(urb, GFP_ATOMIC);
1091         if (ret < 0) {
1092                 dev_err(dev->class_dev, "urb resubmit failed (%d)\n", ret);
1093                 if (ret == -EL2NSYNC)
1094                         dev_err(dev->class_dev,
1095                                 "buggy USB host controller or bug in IRQ handler\n");
1096                 usbduxsigma_pwm_stop(dev, 0);   /* w/o unlink */
1097         }
1098 }
1099
1100 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1101 {
1102         struct usb_device *usb = comedi_to_usb_dev(dev);
1103         struct usbduxsigma_private *devpriv = dev->private;
1104         struct urb *urb = devpriv->pwm_urb;
1105
1106         /* in case of a resubmission after an unlink... */
1107         usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
1108                           urb->transfer_buffer, devpriv->pwm_buf_sz,
1109                           usbduxsigma_pwm_urb_complete, dev);
1110
1111         return usb_submit_urb(urb, GFP_ATOMIC);
1112 }
1113
1114 static int usbduxsigma_pwm_period(struct comedi_device *dev,
1115                                   struct comedi_subdevice *s,
1116                                   unsigned int period)
1117 {
1118         struct usbduxsigma_private *devpriv = dev->private;
1119         int fx2delay = 255;
1120
1121         if (period < MIN_PWM_PERIOD)
1122                 return -EAGAIN;
1123
1124         fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1125         if (fx2delay > 255)
1126                 return -EAGAIN;
1127
1128         devpriv->pwm_delay = fx2delay;
1129         devpriv->pwm_period = period;
1130         return 0;
1131 }
1132
1133 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1134                                  struct comedi_subdevice *s)
1135 {
1136         struct usbduxsigma_private *devpriv = dev->private;
1137         int ret;
1138
1139         if (devpriv->pwm_cmd_running)
1140                 return 0;
1141
1142         devpriv->dux_commands[1] = devpriv->pwm_delay;
1143         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_ON_CMD);
1144         if (ret < 0)
1145                 return ret;
1146
1147         memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
1148
1149         devpriv->pwm_cmd_running = 1;
1150         ret = usbduxsigma_submit_pwm_urb(dev);
1151         if (ret < 0) {
1152                 devpriv->pwm_cmd_running = 0;
1153                 return ret;
1154         }
1155
1156         return 0;
1157 }
1158
1159 static void usbduxsigma_pwm_pattern(struct comedi_device *dev,
1160                                     struct comedi_subdevice *s,
1161                                     unsigned int chan,
1162                                     unsigned int value,
1163                                     unsigned int sign)
1164 {
1165         struct usbduxsigma_private *devpriv = dev->private;
1166         char pwm_mask = (1 << chan);    /* DIO bit for the PWM data */
1167         char sgn_mask = (16 << chan);   /* DIO bit for the sign */
1168         char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
1169         int szbuf = devpriv->pwm_buf_sz;
1170         int i;
1171
1172         for (i = 0; i < szbuf; i++) {
1173                 char c = *buf;
1174
1175                 c &= ~pwm_mask;
1176                 if (i < value)
1177                         c |= pwm_mask;
1178                 if (!sign)
1179                         c &= ~sgn_mask;
1180                 else
1181                         c |= sgn_mask;
1182                 *buf++ = c;
1183         }
1184 }
1185
1186 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1187                                  struct comedi_subdevice *s,
1188                                  struct comedi_insn *insn,
1189                                  unsigned int *data)
1190 {
1191         unsigned int chan = CR_CHAN(insn->chanspec);
1192
1193         /*
1194          * It doesn't make sense to support more than one value here
1195          * because it would just overwrite the PWM buffer.
1196          */
1197         if (insn->n != 1)
1198                 return -EINVAL;
1199
1200         /*
1201          * The sign is set via a special INSN only, this gives us 8 bits
1202          * for normal operation, sign is 0 by default.
1203          */
1204         usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1205
1206         return insn->n;
1207 }
1208
1209 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1210                                   struct comedi_subdevice *s,
1211                                   struct comedi_insn *insn,
1212                                   unsigned int *data)
1213 {
1214         struct usbduxsigma_private *devpriv = dev->private;
1215         unsigned int chan = CR_CHAN(insn->chanspec);
1216
1217         switch (data[0]) {
1218         case INSN_CONFIG_ARM:
1219                 /*
1220                  * if not zero the PWM is limited to a certain time which is
1221                  * not supported here
1222                  */
1223                 if (data[1] != 0)
1224                         return -EINVAL;
1225                 return usbduxsigma_pwm_start(dev, s);
1226         case INSN_CONFIG_DISARM:
1227                 return usbduxsigma_pwm_cancel(dev, s);
1228         case INSN_CONFIG_GET_PWM_STATUS:
1229                 data[1] = devpriv->pwm_cmd_running;
1230                 return 0;
1231         case INSN_CONFIG_PWM_SET_PERIOD:
1232                 return usbduxsigma_pwm_period(dev, s, data[1]);
1233         case INSN_CONFIG_PWM_GET_PERIOD:
1234                 data[1] = devpriv->pwm_period;
1235                 return 0;
1236         case INSN_CONFIG_PWM_SET_H_BRIDGE:
1237                 /*
1238                  * data[1] = value
1239                  * data[2] = sign (for a relay)
1240                  */
1241                 usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
1242                 return 0;
1243         case INSN_CONFIG_PWM_GET_H_BRIDGE:
1244                 /* values are not kept in this driver, nothing to return */
1245                 return -EINVAL;
1246         }
1247         return -EINVAL;
1248 }
1249
1250 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1251 {
1252         struct usbduxsigma_private *devpriv = dev->private;
1253         uint8_t sysred;
1254         uint32_t val;
1255         int ret;
1256
1257         switch (chan) {
1258         default:
1259         case 0:
1260                 sysred = 0;             /* ADC zero */
1261                 break;
1262         case 1:
1263                 sysred = 1;             /* ADC offset */
1264                 break;
1265         case 2:
1266                 sysred = 4;             /* VCC */
1267                 break;
1268         case 3:
1269                 sysred = 8;             /* temperature */
1270                 break;
1271         case 4:
1272                 sysred = 16;            /* gain */
1273                 break;
1274         case 5:
1275                 sysred =  32;           /* ref */
1276                 break;
1277         }
1278
1279         devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1280         devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1281         devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1282         devpriv->dux_commands[4] = 0;
1283         devpriv->dux_commands[5] = 0;
1284         devpriv->dux_commands[6] = sysred;
1285         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1286         if (ret < 0)
1287                 return ret;
1288
1289         ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1290         if (ret < 0)
1291                 return ret;
1292
1293         /* 32 bits big endian from the A/D converter */
1294         val = be32_to_cpu(get_unaligned((__be32 *)(devpriv->insn_buf + 1)));
1295         val &= 0x00ffffff;      /* strip status byte */
1296         val ^= 0x00800000;      /* convert to unsigned */
1297
1298         return (int)val;
1299 }
1300
1301 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1302                                        const u8 *data, size_t size,
1303                                        unsigned long context)
1304 {
1305         struct usb_device *usb = comedi_to_usb_dev(dev);
1306         uint8_t *buf;
1307         uint8_t *tmp;
1308         int ret;
1309
1310         if (!data)
1311                 return 0;
1312
1313         if (size > FIRMWARE_MAX_LEN) {
1314                 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1315                 return -ENOMEM;
1316         }
1317
1318         /* we generate a local buffer for the firmware */
1319         buf = kmemdup(data, size, GFP_KERNEL);
1320         if (!buf)
1321                 return -ENOMEM;
1322
1323         /* we need a malloc'ed buffer for usb_control_msg() */
1324         tmp = kmalloc(1, GFP_KERNEL);
1325         if (!tmp) {
1326                 kfree(buf);
1327                 return -ENOMEM;
1328         }
1329
1330         /* stop the current firmware on the device */
1331         *tmp = 1;       /* 7f92 to one */
1332         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1333                               USBDUXSUB_FIRMWARE,
1334                               VENDOR_DIR_OUT,
1335                               USBDUXSUB_CPUCS, 0x0000,
1336                               tmp, 1,
1337                               BULK_TIMEOUT);
1338         if (ret < 0) {
1339                 dev_err(dev->class_dev, "can not stop firmware\n");
1340                 goto done;
1341         }
1342
1343         /* upload the new firmware to the device */
1344         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1345                               USBDUXSUB_FIRMWARE,
1346                               VENDOR_DIR_OUT,
1347                               0, 0x0000,
1348                               buf, size,
1349                               BULK_TIMEOUT);
1350         if (ret < 0) {
1351                 dev_err(dev->class_dev, "firmware upload failed\n");
1352                 goto done;
1353         }
1354
1355         /* start the new firmware on the device */
1356         *tmp = 0;       /* 7f92 to zero */
1357         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1358                               USBDUXSUB_FIRMWARE,
1359                               VENDOR_DIR_OUT,
1360                               USBDUXSUB_CPUCS, 0x0000,
1361                               tmp, 1,
1362                               BULK_TIMEOUT);
1363         if (ret < 0)
1364                 dev_err(dev->class_dev, "can not start firmware\n");
1365
1366 done:
1367         kfree(tmp);
1368         kfree(buf);
1369         return ret;
1370 }
1371
1372 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1373 {
1374         struct usb_device *usb = comedi_to_usb_dev(dev);
1375         struct usbduxsigma_private *devpriv = dev->private;
1376         struct urb *urb;
1377         int i;
1378
1379         devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1380         devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
1381         devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1382         devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(urb), GFP_KERNEL);
1383         devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(urb), GFP_KERNEL);
1384         if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
1385             !devpriv->ai_urbs || !devpriv->ao_urbs)
1386                 return -ENOMEM;
1387
1388         for (i = 0; i < devpriv->n_ai_urbs; i++) {
1389                 /* one frame: 1ms */
1390                 urb = usb_alloc_urb(1, GFP_KERNEL);
1391                 if (!urb)
1392                         return -ENOMEM;
1393                 devpriv->ai_urbs[i] = urb;
1394                 urb->dev = usb;
1395                 /* will be filled later with a pointer to the comedi-device */
1396                 /* and ONLY then the urb should be submitted */
1397                 urb->context = NULL;
1398                 urb->pipe = usb_rcvisocpipe(usb, 6);
1399                 urb->transfer_flags = URB_ISO_ASAP;
1400                 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1401                 if (!urb->transfer_buffer)
1402                         return -ENOMEM;
1403                 urb->complete = usbduxsigma_ai_urb_complete;
1404                 urb->number_of_packets = 1;
1405                 urb->transfer_buffer_length = SIZEINBUF;
1406                 urb->iso_frame_desc[0].offset = 0;
1407                 urb->iso_frame_desc[0].length = SIZEINBUF;
1408         }
1409
1410         for (i = 0; i < devpriv->n_ao_urbs; i++) {
1411                 /* one frame: 1ms */
1412                 urb = usb_alloc_urb(1, GFP_KERNEL);
1413                 if (!urb)
1414                         return -ENOMEM;
1415                 devpriv->ao_urbs[i] = urb;
1416                 urb->dev = usb;
1417                 /* will be filled later with a pointer to the comedi-device */
1418                 /* and ONLY then the urb should be submitted */
1419                 urb->context = NULL;
1420                 urb->pipe = usb_sndisocpipe(usb, 2);
1421                 urb->transfer_flags = URB_ISO_ASAP;
1422                 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1423                 if (!urb->transfer_buffer)
1424                         return -ENOMEM;
1425                 urb->complete = usbduxsigma_ao_urb_complete;
1426                 urb->number_of_packets = 1;
1427                 urb->transfer_buffer_length = SIZEOUTBUF;
1428                 urb->iso_frame_desc[0].offset = 0;
1429                 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1430                 if (devpriv->high_speed)
1431                         urb->interval = 8;      /* uframes */
1432                 else
1433                         urb->interval = 1;      /* frames */
1434         }
1435
1436         if (devpriv->pwm_buf_sz) {
1437                 urb = usb_alloc_urb(0, GFP_KERNEL);
1438                 if (!urb)
1439                         return -ENOMEM;
1440                 devpriv->pwm_urb = urb;
1441
1442                 urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
1443                                                GFP_KERNEL);
1444                 if (!urb->transfer_buffer)
1445                         return -ENOMEM;
1446         }
1447
1448         return 0;
1449 }
1450
1451 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1452 {
1453         struct usbduxsigma_private *devpriv = dev->private;
1454         struct urb *urb;
1455         int i;
1456
1457         urb = devpriv->pwm_urb;
1458         if (urb) {
1459                 kfree(urb->transfer_buffer);
1460                 usb_free_urb(urb);
1461         }
1462         if (devpriv->ao_urbs) {
1463                 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1464                         urb = devpriv->ao_urbs[i];
1465                         if (urb) {
1466                                 kfree(urb->transfer_buffer);
1467                                 usb_free_urb(urb);
1468                         }
1469                 }
1470                 kfree(devpriv->ao_urbs);
1471         }
1472         if (devpriv->ai_urbs) {
1473                 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1474                         urb = devpriv->ai_urbs[i];
1475                         if (urb) {
1476                                 kfree(urb->transfer_buffer);
1477                                 usb_free_urb(urb);
1478                         }
1479                 }
1480                 kfree(devpriv->ai_urbs);
1481         }
1482         kfree(devpriv->insn_buf);
1483         kfree(devpriv->in_buf);
1484         kfree(devpriv->dux_commands);
1485 }
1486
1487 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1488                                    unsigned long context_unused)
1489 {
1490         struct usb_interface *intf = comedi_to_usb_interface(dev);
1491         struct usb_device *usb = comedi_to_usb_dev(dev);
1492         struct usbduxsigma_private *devpriv;
1493         struct comedi_subdevice *s;
1494         int offset;
1495         int ret;
1496
1497         devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
1498         if (!devpriv)
1499                 return -ENOMEM;
1500
1501         sema_init(&devpriv->sem, 1);
1502
1503         usb_set_intfdata(intf, devpriv);
1504
1505         devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1506         if (devpriv->high_speed) {
1507                 devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
1508                 devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
1509                 devpriv->pwm_buf_sz = 512;
1510         } else {
1511                 devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
1512                 devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
1513         }
1514
1515         ret = usbduxsigma_alloc_usb_buffers(dev);
1516         if (ret)
1517                 return ret;
1518
1519         /* setting to alternate setting 3: enabling iso ep and bulk ep. */
1520         ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
1521                                 3);
1522         if (ret < 0) {
1523                 dev_err(dev->class_dev,
1524                         "could not set alternate setting 3 in high speed\n");
1525                 return ret;
1526         }
1527
1528         ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1529                                    usbduxsigma_firmware_upload, 0);
1530         if (ret)
1531                 return ret;
1532
1533         ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3);
1534         if (ret)
1535                 return ret;
1536
1537         /* Analog Input subdevice */
1538         s = &dev->subdevices[0];
1539         dev->read_subdev = s;
1540         s->type         = COMEDI_SUBD_AI;
1541         s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1542         s->n_chan       = NUMCHANNELS;
1543         s->len_chanlist = NUMCHANNELS;
1544         s->maxdata      = 0x00ffffff;
1545         s->range_table  = &usbduxsigma_ai_range;
1546         s->insn_read    = usbduxsigma_ai_insn_read;
1547         s->do_cmdtest   = usbduxsigma_ai_cmdtest;
1548         s->do_cmd       = usbduxsigma_ai_cmd;
1549         s->cancel       = usbduxsigma_ai_cancel;
1550
1551         /* Analog Output subdevice */
1552         s = &dev->subdevices[1];
1553         dev->write_subdev = s;
1554         s->type         = COMEDI_SUBD_AO;
1555         s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1556         s->n_chan       = 4;
1557         s->len_chanlist = s->n_chan;
1558         s->maxdata      = 0x00ff;
1559         s->range_table  = &range_unipolar2_5;
1560         s->insn_write   = usbduxsigma_ao_insn_write;
1561         s->insn_read    = usbduxsigma_ao_insn_read;
1562         s->do_cmdtest   = usbduxsigma_ao_cmdtest;
1563         s->do_cmd       = usbduxsigma_ao_cmd;
1564         s->cancel       = usbduxsigma_ao_cancel;
1565
1566         ret = comedi_alloc_subdev_readback(s);
1567         if (ret)
1568                 return ret;
1569
1570         /* Digital I/O subdevice */
1571         s = &dev->subdevices[2];
1572         s->type         = COMEDI_SUBD_DIO;
1573         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1574         s->n_chan       = 24;
1575         s->maxdata      = 1;
1576         s->range_table  = &range_digital;
1577         s->insn_bits    = usbduxsigma_dio_insn_bits;
1578         s->insn_config  = usbduxsigma_dio_insn_config;
1579
1580         if (devpriv->high_speed) {
1581                 /* Timer / pwm subdevice */
1582                 s = &dev->subdevices[3];
1583                 s->type         = COMEDI_SUBD_PWM;
1584                 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1585                 s->n_chan       = 8;
1586                 s->maxdata      = devpriv->pwm_buf_sz;
1587                 s->insn_write   = usbduxsigma_pwm_write;
1588                 s->insn_config  = usbduxsigma_pwm_config;
1589
1590                 usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1591         }
1592
1593         offset = usbduxsigma_getstatusinfo(dev, 0);
1594         if (offset < 0) {
1595                 dev_err(dev->class_dev,
1596                         "Communication to USBDUXSIGMA failed! Check firmware and cabling.\n");
1597                 return offset;
1598         }
1599
1600         dev_info(dev->class_dev, "ADC_zero = %x\n", offset);
1601
1602         return 0;
1603 }
1604
1605 static void usbduxsigma_detach(struct comedi_device *dev)
1606 {
1607         struct usb_interface *intf = comedi_to_usb_interface(dev);
1608         struct usbduxsigma_private *devpriv = dev->private;
1609
1610         usb_set_intfdata(intf, NULL);
1611
1612         if (!devpriv)
1613                 return;
1614
1615         down(&devpriv->sem);
1616
1617         /* force unlink all urbs */
1618         usbduxsigma_ai_stop(dev, 1);
1619         usbduxsigma_ao_stop(dev, 1);
1620         usbduxsigma_pwm_stop(dev, 1);
1621
1622         usbduxsigma_free_usb_buffers(dev);
1623
1624         up(&devpriv->sem);
1625 }
1626
1627 static struct comedi_driver usbduxsigma_driver = {
1628         .driver_name    = "usbduxsigma",
1629         .module         = THIS_MODULE,
1630         .auto_attach    = usbduxsigma_auto_attach,
1631         .detach         = usbduxsigma_detach,
1632 };
1633
1634 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1635                                  const struct usb_device_id *id)
1636 {
1637         return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1638 }
1639
1640 static const struct usb_device_id usbduxsigma_usb_table[] = {
1641         { USB_DEVICE(0x13d8, 0x0020) },
1642         { USB_DEVICE(0x13d8, 0x0021) },
1643         { USB_DEVICE(0x13d8, 0x0022) },
1644         { }
1645 };
1646 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1647
1648 static struct usb_driver usbduxsigma_usb_driver = {
1649         .name           = "usbduxsigma",
1650         .probe          = usbduxsigma_usb_probe,
1651         .disconnect     = comedi_usb_auto_unconfig,
1652         .id_table       = usbduxsigma_usb_table,
1653 };
1654 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1655
1656 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1657 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com");
1658 MODULE_LICENSE("GPL");
1659 MODULE_FIRMWARE(FIRMWARE);