/* * comedi/drivers/daqboard2000.c * hardware driver for IOtech DAQboard/2000 * * COMEDI - Linux Control and Measurement Device Interface * Copyright (C) 1999 Anders Blomdell * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. */ /* * Driver: daqboard2000 * Description: IOTech DAQBoard/2000 * Author: Anders Blomdell * Status: works * Updated: Mon, 14 Apr 2008 15:28:52 +0100 * Devices: [IOTech] DAQBoard/2000 (daqboard2000) * * Much of the functionality of this driver was determined from reading * the source code for the Windows driver. * * The FPGA on the board requires fimware, which is available from * http://www.comedi.org in the comedi_nonfree_firmware tarball. * * Configuration options: not applicable, uses PCI auto config */ /* * This card was obviously never intended to leave the Windows world, * since it lacked all kind of hardware documentation (except for cable * pinouts, plug and pray has something to catch up with yet). * * With some help from our swedish distributor, we got the Windows sourcecode * for the card, and here are the findings so far. * * 1. A good document that describes the PCI interface chip is 9080db-106.pdf * available from http://www.plxtech.com/products/io/pci9080 * * 2. The initialization done so far is: * a. program the FPGA (windows code sans a lot of error messages) * b. * * 3. Analog out seems to work OK with DAC's disabled, if DAC's are enabled, * you have to output values to all enabled DAC's until result appears, I * guess that it has something to do with pacer clocks, but the source * gives me no clues. I'll keep it simple so far. * * 4. Analog in. * Each channel in the scanlist seems to be controlled by four * control words: * * Word0: * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * ! | | | ! | | | ! | | | ! | | | ! * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * * Word1: * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * ! | | | ! | | | ! | | | ! | | | ! * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * | | | | | | | * +------+------+ | | | | +-- Digital input (??) * | | | | +---- 10 us settling time * | | | +------ Suspend acquisition (last to scan) * | | +-------- Simultaneous sample and hold * | +---------- Signed data format * +------------------------- Correction offset low * * Word2: * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * ! | | | ! | | | ! | | | ! | | | ! * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * | | | | | | | | | | * +-----+ +--+--+ +++ +++ +--+--+ * | | | | +----- Expansion channel * | | | +----------- Expansion gain * | | +--------------- Channel (low) * | +--------------------- Correction offset high * +----------------------------- Correction gain low * Word3: * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * ! | | | ! | | | ! | | | ! | | | ! * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ * | | | | | | | | | * +------+------+ | | +-+-+ | | +-- Low bank enable * | | | | | +---- High bank enable * | | | | +------ Hi/low select * | | | +---------- Gain (1,?,2,4,8,16,32,64) * | | +-------------- differential/single ended * | +---------------- Unipolar * +------------------------- Correction gain high * * 999. The card seems to have an incredible amount of capabilities, but * trying to reverse engineer them from the Windows source is beyond my * patience. * */ #include #include #include #include "../comedi_pci.h" #include "8255.h" #define DAQBOARD2000_FIRMWARE "daqboard2000_firmware.bin" #define DAQBOARD2000_SUBSYSTEM_IDS2 0x0002 /* Daqboard/2000 - 2 Dacs */ #define DAQBOARD2000_SUBSYSTEM_IDS4 0x0004 /* Daqboard/2000 - 4 Dacs */ /* Initialization bits for the Serial EEPROM Control Register */ #define DAQBOARD2000_SECRProgPinHi 0x8001767e #define DAQBOARD2000_SECRProgPinLo 0x8000767e #define DAQBOARD2000_SECRLocalBusHi 0xc000767e #define DAQBOARD2000_SECRLocalBusLo 0x8000767e #define DAQBOARD2000_SECRReloadHi 0xa000767e #define DAQBOARD2000_SECRReloadLo 0x8000767e /* SECR status bits */ #define DAQBOARD2000_EEPROM_PRESENT 0x10000000 /* CPLD status bits */ #define DAQBOARD2000_CPLD_INIT 0x0002 #define DAQBOARD2000_CPLD_DONE 0x0004 static const struct comedi_lrange range_daqboard2000_ai = { 13, { BIP_RANGE(10), BIP_RANGE(5), BIP_RANGE(2.5), BIP_RANGE(1.25), BIP_RANGE(0.625), BIP_RANGE(0.3125), BIP_RANGE(0.156), UNI_RANGE(10), UNI_RANGE(5), UNI_RANGE(2.5), UNI_RANGE(1.25), UNI_RANGE(0.625), UNI_RANGE(0.3125) } }; /* * Register Memory Map */ #define acqControl 0x00 /* u16 */ #define acqScanListFIFO 0x02 /* u16 */ #define acqPacerClockDivLow 0x04 /* u32 */ #define acqScanCounter 0x08 /* u16 */ #define acqPacerClockDivHigh 0x0a /* u16 */ #define acqTriggerCount 0x0c /* u16 */ #define acqResultsFIFO 0x10 /* u16 */ #define acqResultsShadow 0x14 /* u16 */ #define acqAdcResult 0x18 /* u16 */ #define dacScanCounter 0x1c /* u16 */ #define dacControl 0x20 /* u16 */ #define dacFIFO 0x24 /* s16 */ #define dacPacerClockDiv 0x2a /* u16 */ #define refDacs 0x2c /* u16 */ #define dioControl 0x30 /* u16 */ #define dioP3hsioData 0x32 /* s16 */ #define dioP3Control 0x34 /* u16 */ #define calEepromControl 0x36 /* u16 */ #define dacSetting(x) (0x38 + (x)*2) /* s16 */ #define dioP2ExpansionIO8Bit 0x40 /* s16 */ #define ctrTmrControl 0x80 /* u16 */ #define ctrInput(x) (0x88 + (x)*2) /* s16 */ #define timerDivisor(x) (0xa0 + (x)*2) /* u16 */ #define dmaControl 0xb0 /* u16 */ #define trigControl 0xb2 /* u16 */ #define calEeprom 0xb8 /* u16 */ #define acqDigitalMark 0xba /* u16 */ #define trigDacs 0xbc /* u16 */ #define dioP2ExpansionIO16Bit(x) (0xc0 + (x)*2) /* s16 */ /* Scan Sequencer programming */ #define DAQBOARD2000_SeqStartScanList 0x0011 #define DAQBOARD2000_SeqStopScanList 0x0010 /* Prepare for acquisition */ #define DAQBOARD2000_AcqResetScanListFifo 0x0004 #define DAQBOARD2000_AcqResetResultsFifo 0x0002 #define DAQBOARD2000_AcqResetConfigPipe 0x0001 /* Acqusition status bits */ #define DAQBOARD2000_AcqResultsFIFOMore1Sample 0x0001 #define DAQBOARD2000_AcqResultsFIFOHasValidData 0x0002 #define DAQBOARD2000_AcqResultsFIFOOverrun 0x0004 #define DAQBOARD2000_AcqLogicScanning 0x0008 #define DAQBOARD2000_AcqConfigPipeFull 0x0010 #define DAQBOARD2000_AcqScanListFIFOEmpty 0x0020 #define DAQBOARD2000_AcqAdcNotReady 0x0040 #define DAQBOARD2000_ArbitrationFailure 0x0080 #define DAQBOARD2000_AcqPacerOverrun 0x0100 #define DAQBOARD2000_DacPacerOverrun 0x0200 #define DAQBOARD2000_AcqHardwareError 0x01c0 /* Scan Sequencer programming */ #define DAQBOARD2000_SeqStartScanList 0x0011 #define DAQBOARD2000_SeqStopScanList 0x0010 /* Pacer Clock Control */ #define DAQBOARD2000_AdcPacerInternal 0x0030 #define DAQBOARD2000_AdcPacerExternal 0x0032 #define DAQBOARD2000_AdcPacerEnable 0x0031 #define DAQBOARD2000_AdcPacerEnableDacPacer 0x0034 #define DAQBOARD2000_AdcPacerDisable 0x0030 #define DAQBOARD2000_AdcPacerNormalMode 0x0060 #define DAQBOARD2000_AdcPacerCompatibilityMode 0x0061 #define DAQBOARD2000_AdcPacerInternalOutEnable 0x0008 #define DAQBOARD2000_AdcPacerExternalRising 0x0100 /* DAC status */ #define DAQBOARD2000_DacFull 0x0001 #define DAQBOARD2000_RefBusy 0x0002 #define DAQBOARD2000_TrgBusy 0x0004 #define DAQBOARD2000_CalBusy 0x0008 #define DAQBOARD2000_Dac0Busy 0x0010 #define DAQBOARD2000_Dac1Busy 0x0020 #define DAQBOARD2000_Dac2Busy 0x0040 #define DAQBOARD2000_Dac3Busy 0x0080 /* DAC control */ #define DAQBOARD2000_Dac0Enable 0x0021 #define DAQBOARD2000_Dac1Enable 0x0031 #define DAQBOARD2000_Dac2Enable 0x0041 #define DAQBOARD2000_Dac3Enable 0x0051 #define DAQBOARD2000_DacEnableBit 0x0001 #define DAQBOARD2000_Dac0Disable 0x0020 #define DAQBOARD2000_Dac1Disable 0x0030 #define DAQBOARD2000_Dac2Disable 0x0040 #define DAQBOARD2000_Dac3Disable 0x0050 #define DAQBOARD2000_DacResetFifo 0x0004 #define DAQBOARD2000_DacPatternDisable 0x0060 #define DAQBOARD2000_DacPatternEnable 0x0061 #define DAQBOARD2000_DacSelectSignedData 0x0002 #define DAQBOARD2000_DacSelectUnsignedData 0x0000 /* Trigger Control */ #define DAQBOARD2000_TrigAnalog 0x0000 #define DAQBOARD2000_TrigTTL 0x0010 #define DAQBOARD2000_TrigTransHiLo 0x0004 #define DAQBOARD2000_TrigTransLoHi 0x0000 #define DAQBOARD2000_TrigAbove 0x0000 #define DAQBOARD2000_TrigBelow 0x0004 #define DAQBOARD2000_TrigLevelSense 0x0002 #define DAQBOARD2000_TrigEdgeSense 0x0000 #define DAQBOARD2000_TrigEnable 0x0001 #define DAQBOARD2000_TrigDisable 0x0000 /* Reference Dac Selection */ #define DAQBOARD2000_PosRefDacSelect 0x0100 #define DAQBOARD2000_NegRefDacSelect 0x0000 struct daq200_boardtype { const char *name; int id; }; static const struct daq200_boardtype boardtypes[] = { {"ids2", DAQBOARD2000_SUBSYSTEM_IDS2}, {"ids4", DAQBOARD2000_SUBSYSTEM_IDS4}, }; struct daqboard2000_private { enum { card_daqboard_2000 } card; void __iomem *plx; }; static void writeAcqScanListEntry(struct comedi_device *dev, u16 entry) { /* udelay(4); */ writew(entry & 0x00ff, dev->mmio + acqScanListFIFO); /* udelay(4); */ writew((entry >> 8) & 0x00ff, dev->mmio + acqScanListFIFO); } static void setup_sampling(struct comedi_device *dev, int chan, int gain) { u16 word0, word1, word2, word3; /* Channel 0-7 diff, channel 8-23 single ended */ word0 = 0; word1 = 0x0004; /* Last scan */ word2 = (chan << 6) & 0x00c0; switch (chan / 4) { case 0: word3 = 0x0001; break; case 1: word3 = 0x0002; break; case 2: word3 = 0x0005; break; case 3: word3 = 0x0006; break; case 4: word3 = 0x0041; break; case 5: word3 = 0x0042; break; default: word3 = 0; break; } /* dev->eeprom.correctionDACSE[i][j][k].offset = 0x800; dev->eeprom.correctionDACSE[i][j][k].gain = 0xc00; */ /* These should be read from EEPROM */ word2 |= 0x0800; word3 |= 0xc000; writeAcqScanListEntry(dev, word0); writeAcqScanListEntry(dev, word1); writeAcqScanListEntry(dev, word2); writeAcqScanListEntry(dev, word3); } static int daqboard2000_ai_status(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned long context) { unsigned int status; status = readw(dev->mmio + acqControl); if (status & context) return 0; return -EBUSY; } static int daqboard2000_ai_insn_read(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { int gain, chan; int ret; int i; writew(DAQBOARD2000_AcqResetScanListFifo | DAQBOARD2000_AcqResetResultsFifo | DAQBOARD2000_AcqResetConfigPipe, dev->mmio + acqControl); /* * If pacer clock is not set to some high value (> 10 us), we * risk multiple samples to be put into the result FIFO. */ /* 1 second, should be long enough */ writel(1000000, dev->mmio + acqPacerClockDivLow); writew(0, dev->mmio + acqPacerClockDivHigh); gain = CR_RANGE(insn->chanspec); chan = CR_CHAN(insn->chanspec); /* This doesn't look efficient. I decided to take the conservative * approach when I did the insn conversion. Perhaps it would be * better to have broken it completely, then someone would have been * forced to fix it. --ds */ for (i = 0; i < insn->n; i++) { setup_sampling(dev, chan, gain); /* Enable reading from the scanlist FIFO */ writew(DAQBOARD2000_SeqStartScanList, dev->mmio + acqControl); ret = comedi_timeout(dev, s, insn, daqboard2000_ai_status, DAQBOARD2000_AcqConfigPipeFull); if (ret) return ret; writew(DAQBOARD2000_AdcPacerEnable, dev->mmio + acqControl); ret = comedi_timeout(dev, s, insn, daqboard2000_ai_status, DAQBOARD2000_AcqLogicScanning); if (ret) return ret; ret = comedi_timeout(dev, s, insn, daqboard2000_ai_status, DAQBOARD2000_AcqResultsFIFOHasValidData); if (ret) return ret; data[i] = readw(dev->mmio + acqResultsFIFO); writew(DAQBOARD2000_AdcPacerDisable, dev->mmio + acqControl); writew(DAQBOARD2000_SeqStopScanList, dev->mmio + acqControl); } return i; } static int daqboard2000_ao_eoc(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned long context) { unsigned int chan = CR_CHAN(insn->chanspec); unsigned int status; status = readw(dev->mmio + dacControl); if ((status & ((chan + 1) * 0x0010)) == 0) return 0; return -EBUSY; } static int daqboard2000_ao_insn_write(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { unsigned int chan = CR_CHAN(insn->chanspec); int i; for (i = 0; i < insn->n; i++) { unsigned int val = data[i]; int ret; writew(val, dev->mmio + dacSetting(chan)); ret = comedi_timeout(dev, s, insn, daqboard2000_ao_eoc, 0); if (ret) return ret; s->readback[chan] = val; } return insn->n; } static void daqboard2000_resetLocalBus(struct comedi_device *dev) { struct daqboard2000_private *devpriv = dev->private; writel(DAQBOARD2000_SECRLocalBusHi, devpriv->plx + 0x6c); mdelay(10); writel(DAQBOARD2000_SECRLocalBusLo, devpriv->plx + 0x6c); mdelay(10); } static void daqboard2000_reloadPLX(struct comedi_device *dev) { struct daqboard2000_private *devpriv = dev->private; writel(DAQBOARD2000_SECRReloadLo, devpriv->plx + 0x6c); mdelay(10); writel(DAQBOARD2000_SECRReloadHi, devpriv->plx + 0x6c); mdelay(10); writel(DAQBOARD2000_SECRReloadLo, devpriv->plx + 0x6c); mdelay(10); } static void daqboard2000_pulseProgPin(struct comedi_device *dev) { struct daqboard2000_private *devpriv = dev->private; writel(DAQBOARD2000_SECRProgPinHi, devpriv->plx + 0x6c); mdelay(10); writel(DAQBOARD2000_SECRProgPinLo, devpriv->plx + 0x6c); mdelay(10); /* Not in the original code, but I like symmetry... */ } static int daqboard2000_pollCPLD(struct comedi_device *dev, int mask) { int result = 0; int i; int cpld; /* timeout after 50 tries -> 5ms */ for (i = 0; i < 50; i++) { cpld = readw(dev->mmio + 0x1000); if ((cpld & mask) == mask) { result = 1; break; } udelay(100); } udelay(5); return result; } static int daqboard2000_writeCPLD(struct comedi_device *dev, int data) { int result = 0; udelay(10); writew(data, dev->mmio + 0x1000); if ((readw(dev->mmio + 0x1000) & DAQBOARD2000_CPLD_INIT) == DAQBOARD2000_CPLD_INIT) { result = 1; } return result; } static int initialize_daqboard2000(struct comedi_device *dev, const u8 *cpld_array, size_t len, unsigned long context) { struct daqboard2000_private *devpriv = dev->private; int result = -EIO; /* Read the serial EEPROM control register */ int secr; int retry; size_t i; /* Check to make sure the serial eeprom is present on the board */ secr = readl(devpriv->plx + 0x6c); if (!(secr & DAQBOARD2000_EEPROM_PRESENT)) return -EIO; for (retry = 0; retry < 3; retry++) { daqboard2000_resetLocalBus(dev); daqboard2000_reloadPLX(dev); daqboard2000_pulseProgPin(dev); if (daqboard2000_pollCPLD(dev, DAQBOARD2000_CPLD_INIT)) { for (i = 0; i < len; i++) { if (cpld_array[i] == 0xff && cpld_array[i + 1] == 0x20) break; } for (; i < len; i += 2) { int data = (cpld_array[i] << 8) + cpld_array[i + 1]; if (!daqboard2000_writeCPLD(dev, data)) break; } if (i >= len) { daqboard2000_resetLocalBus(dev); daqboard2000_reloadPLX(dev); result = 0; break; } } } return result; } static void daqboard2000_adcStopDmaTransfer(struct comedi_device *dev) { } static void daqboard2000_adcDisarm(struct comedi_device *dev) { /* Disable hardware triggers */ udelay(2); writew(DAQBOARD2000_TrigAnalog | DAQBOARD2000_TrigDisable, dev->mmio + trigControl); udelay(2); writew(DAQBOARD2000_TrigTTL | DAQBOARD2000_TrigDisable, dev->mmio + trigControl); /* Stop the scan list FIFO from loading the configuration pipe */ udelay(2); writew(DAQBOARD2000_SeqStopScanList, dev->mmio + acqControl); /* Stop the pacer clock */ udelay(2); writew(DAQBOARD2000_AdcPacerDisable, dev->mmio + acqControl); /* Stop the input dma (abort channel 1) */ daqboard2000_adcStopDmaTransfer(dev); } static void daqboard2000_activateReferenceDacs(struct comedi_device *dev) { unsigned int val; int timeout; /* Set the + reference dac value in the FPGA */ writew(0x80 | DAQBOARD2000_PosRefDacSelect, dev->mmio + refDacs); for (timeout = 0; timeout < 20; timeout++) { val = readw(dev->mmio + dacControl); if ((val & DAQBOARD2000_RefBusy) == 0) break; udelay(2); } /* Set the - reference dac value in the FPGA */ writew(0x80 | DAQBOARD2000_NegRefDacSelect, dev->mmio + refDacs); for (timeout = 0; timeout < 20; timeout++) { val = readw(dev->mmio + dacControl); if ((val & DAQBOARD2000_RefBusy) == 0) break; udelay(2); } } static void daqboard2000_initializeCtrs(struct comedi_device *dev) { } static void daqboard2000_initializeTmrs(struct comedi_device *dev) { } static void daqboard2000_dacDisarm(struct comedi_device *dev) { } static void daqboard2000_initializeAdc(struct comedi_device *dev) { daqboard2000_adcDisarm(dev); daqboard2000_activateReferenceDacs(dev); daqboard2000_initializeCtrs(dev); daqboard2000_initializeTmrs(dev); } static void daqboard2000_initializeDac(struct comedi_device *dev) { daqboard2000_dacDisarm(dev); } static int daqboard2000_8255_cb(struct comedi_device *dev, int dir, int port, int data, unsigned long iobase) { if (dir) { writew(data, dev->mmio + iobase + port * 2); return 0; } return readw(dev->mmio + iobase + port * 2); } static const void *daqboard2000_find_boardinfo(struct comedi_device *dev, struct pci_dev *pcidev) { const struct daq200_boardtype *board; int i; if (pcidev->subsystem_device != PCI_VENDOR_ID_IOTECH) return NULL; for (i = 0; i < ARRAY_SIZE(boardtypes); i++) { board = &boardtypes[i]; if (pcidev->subsystem_device == board->id) return board; } return NULL; } static int daqboard2000_auto_attach(struct comedi_device *dev, unsigned long context_unused) { struct pci_dev *pcidev = comedi_to_pci_dev(dev); const struct daq200_boardtype *board; struct daqboard2000_private *devpriv; struct comedi_subdevice *s; int result; board = daqboard2000_find_boardinfo(dev, pcidev); if (!board) return -ENODEV; dev->board_ptr = board; dev->board_name = board->name; devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv)); if (!devpriv) return -ENOMEM; result = comedi_pci_enable(dev); if (result) return result; devpriv->plx = pci_ioremap_bar(pcidev, 0); dev->mmio = pci_ioremap_bar(pcidev, 2); if (!devpriv->plx || !dev->mmio) return -ENOMEM; result = comedi_alloc_subdevices(dev, 3); if (result) return result; readl(devpriv->plx + 0x6c); result = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev, DAQBOARD2000_FIRMWARE, initialize_daqboard2000, 0); if (result < 0) return result; daqboard2000_initializeAdc(dev); daqboard2000_initializeDac(dev); s = &dev->subdevices[0]; /* ai subdevice */ s->type = COMEDI_SUBD_AI; s->subdev_flags = SDF_READABLE | SDF_GROUND; s->n_chan = 24; s->maxdata = 0xffff; s->insn_read = daqboard2000_ai_insn_read; s->range_table = &range_daqboard2000_ai; s = &dev->subdevices[1]; /* ao subdevice */ s->type = COMEDI_SUBD_AO; s->subdev_flags = SDF_WRITABLE; s->n_chan = 2; s->maxdata = 0xffff; s->insn_write = daqboard2000_ao_insn_write; s->range_table = &range_bipolar10; result = comedi_alloc_subdev_readback(s); if (result) return result; s = &dev->subdevices[2]; return subdev_8255_init(dev, s, daqboard2000_8255_cb, dioP2ExpansionIO8Bit); } static void daqboard2000_detach(struct comedi_device *dev) { struct daqboard2000_private *devpriv = dev->private; if (devpriv && devpriv->plx) iounmap(devpriv->plx); comedi_pci_detach(dev); } static struct comedi_driver daqboard2000_driver = { .driver_name = "daqboard2000", .module = THIS_MODULE, .auto_attach = daqboard2000_auto_attach, .detach = daqboard2000_detach, }; static int daqboard2000_pci_probe(struct pci_dev *dev, const struct pci_device_id *id) { return comedi_pci_auto_config(dev, &daqboard2000_driver, id->driver_data); } static const struct pci_device_id daqboard2000_pci_table[] = { { PCI_DEVICE(PCI_VENDOR_ID_IOTECH, 0x0409) }, { 0 } }; MODULE_DEVICE_TABLE(pci, daqboard2000_pci_table); static struct pci_driver daqboard2000_pci_driver = { .name = "daqboard2000", .id_table = daqboard2000_pci_table, .probe = daqboard2000_pci_probe, .remove = comedi_pci_auto_unconfig, }; module_comedi_pci_driver(daqboard2000_driver, daqboard2000_pci_driver); MODULE_AUTHOR("Comedi http://www.comedi.org"); MODULE_DESCRIPTION("Comedi low-level driver"); MODULE_LICENSE("GPL"); MODULE_FIRMWARE(DAQBOARD2000_FIRMWARE);