diff options
Diffstat (limited to 'drivers/comedi/drivers/usbduxsigma.c')
| -rw-r--r-- | drivers/comedi/drivers/usbduxsigma.c | 1616 |
1 files changed, 1616 insertions, 0 deletions
diff --git a/drivers/comedi/drivers/usbduxsigma.c b/drivers/comedi/drivers/usbduxsigma.c new file mode 100644 index 000000000000..54d7605e909f --- /dev/null +++ b/drivers/comedi/drivers/usbduxsigma.c @@ -0,0 +1,1616 @@ +// SPDX-License-Identifier: GPL-2.0+ +/* + * usbduxsigma.c + * Copyright (C) 2011-2015 Bernd Porr, mail@berndporr.me.uk + */ + +/* + * Driver: usbduxsigma + * Description: University of Stirling USB DAQ & INCITE Technology Limited + * Devices: [ITL] USB-DUX-SIGMA (usbduxsigma) + * Author: Bernd Porr <mail@berndporr.me.uk> + * Updated: 20 July 2015 + * Status: stable + */ + +/* + * I must give credit here to Chris Baugher who + * wrote the driver for AT-MIO-16d. I used some parts of this + * driver. I also must give credits to David Brownell + * who supported me with the USB development. + * + * Note: the raw data from the A/D converter is 24 bit big endian + * anything else is little endian to/from the dux board + * + * + * Revision history: + * 0.1: initial version + * 0.2: all basic functions implemented, digital I/O only for one port + * 0.3: proper vendor ID and driver name + * 0.4: fixed D/A voltage range + * 0.5: various bug fixes, health check at startup + * 0.6: corrected wrong input range + * 0.7: rewrite code that urb->interval is always 1 + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/slab.h> +#include <linux/input.h> +#include <linux/fcntl.h> +#include <linux/compiler.h> +#include <asm/unaligned.h> + +#include "../comedi_usb.h" + +/* timeout for the USB-transfer in ms*/ +#define BULK_TIMEOUT 1000 + +/* constants for "firmware" upload and download */ +#define FIRMWARE "usbduxsigma_firmware.bin" +#define FIRMWARE_MAX_LEN 0x4000 +#define USBDUXSUB_FIRMWARE 0xa0 +#define VENDOR_DIR_IN 0xc0 +#define VENDOR_DIR_OUT 0x40 + +/* internal addresses of the 8051 processor */ +#define USBDUXSUB_CPUCS 0xE600 + +/* 300Hz max frequ under PWM */ +#define MIN_PWM_PERIOD ((long)(1E9 / 300)) + +/* Default PWM frequency */ +#define PWM_DEFAULT_PERIOD ((long)(1E9 / 100)) + +/* Number of channels (16 AD and offset)*/ +#define NUMCHANNELS 16 + +/* Size of one A/D value */ +#define SIZEADIN ((sizeof(u32))) + +/* + * Size of the async input-buffer IN BYTES, the DIO state is transmitted + * as the first byte. + */ +#define SIZEINBUF (((NUMCHANNELS + 1) * SIZEADIN)) + +/* 16 bytes. */ +#define SIZEINSNBUF 16 + +/* Number of DA channels */ +#define NUMOUTCHANNELS 8 + +/* size of one value for the D/A converter: channel and value */ +#define SIZEDAOUT ((sizeof(u8) + sizeof(uint16_t))) + +/* + * Size of the output-buffer in bytes + * Actually only the first 4 triplets are used but for the + * high speed mode we need to pad it to 8 (microframes). + */ +#define SIZEOUTBUF ((8 * SIZEDAOUT)) + +/* + * Size of the buffer for the dux commands: just now max size is determined + * by the analogue out + command byte + panic bytes... + */ +#define SIZEOFDUXBUFFER ((8 * SIZEDAOUT + 2)) + +/* Number of in-URBs which receive the data: min=2 */ +#define NUMOFINBUFFERSFULL 5 + +/* Number of out-URBs which send the data: min=2 */ +#define NUMOFOUTBUFFERSFULL 5 + +/* Number of in-URBs which receive the data: min=5 */ +/* must have more buffers due to buggy USB ctr */ +#define NUMOFINBUFFERSHIGH 10 + +/* Number of out-URBs which send the data: min=5 */ +/* must have more buffers due to buggy USB ctr */ +#define NUMOFOUTBUFFERSHIGH 10 + +/* number of retries to get the right dux command */ +#define RETRIES 10 + +/* bulk transfer commands to usbduxsigma */ +#define USBBUXSIGMA_AD_CMD 9 +#define USBDUXSIGMA_DA_CMD 1 +#define USBDUXSIGMA_DIO_CFG_CMD 2 +#define USBDUXSIGMA_DIO_BITS_CMD 3 +#define USBDUXSIGMA_SINGLE_AD_CMD 4 +#define USBDUXSIGMA_PWM_ON_CMD 7 +#define USBDUXSIGMA_PWM_OFF_CMD 8 + +static const struct comedi_lrange usbduxsigma_ai_range = { + 1, { + BIP_RANGE(2.5 * 0x800000 / 0x780000 / 2.0) + } +}; + +struct usbduxsigma_private { + /* actual number of in-buffers */ + int n_ai_urbs; + /* actual number of out-buffers */ + int n_ao_urbs; + /* ISO-transfer handling: buffers */ + struct urb **ai_urbs; + struct urb **ao_urbs; + /* pwm-transfer handling */ + struct urb *pwm_urb; + /* PWM period */ + unsigned int pwm_period; + /* PWM internal delay for the GPIF in the FX2 */ + u8 pwm_delay; + /* size of the PWM buffer which holds the bit pattern */ + int pwm_buf_sz; + /* input buffer for the ISO-transfer */ + __be32 *in_buf; + /* input buffer for single insn */ + u8 *insn_buf; + + unsigned high_speed:1; + unsigned ai_cmd_running:1; + unsigned ao_cmd_running:1; + unsigned pwm_cmd_running:1; + + /* time between samples in units of the timer */ + unsigned int ai_timer; + unsigned int ao_timer; + /* counter between acquisitions */ + unsigned int ai_counter; + unsigned int ao_counter; + /* interval in frames/uframes */ + unsigned int ai_interval; + /* commands */ + u8 *dux_commands; + struct mutex mut; +}; + +static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs) +{ + int i; + + for (i = 0; i < num_urbs; i++) + usb_kill_urb(urbs[i]); +} + +static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink) +{ + struct usbduxsigma_private *devpriv = dev->private; + + if (do_unlink && devpriv->ai_urbs) + usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs); + + devpriv->ai_cmd_running = 0; +} + +static int usbduxsigma_ai_cancel(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsigma_private *devpriv = dev->private; + + mutex_lock(&devpriv->mut); + /* unlink only if it is really running */ + usbduxsigma_ai_stop(dev, devpriv->ai_cmd_running); + mutex_unlock(&devpriv->mut); + + return 0; +} + +static void usbduxsigma_ai_handle_urb(struct comedi_device *dev, + struct comedi_subdevice *s, + struct urb *urb) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_async *async = s->async; + struct comedi_cmd *cmd = &async->cmd; + u32 val; + int ret; + int i; + + if ((urb->actual_length > 0) && (urb->status != -EXDEV)) { + devpriv->ai_counter--; + if (devpriv->ai_counter == 0) { + devpriv->ai_counter = devpriv->ai_timer; + + /* + * Get the data from the USB bus and hand it over + * to comedi. Note, first byte is the DIO state. + */ + for (i = 0; i < cmd->chanlist_len; i++) { + val = be32_to_cpu(devpriv->in_buf[i + 1]); + val &= 0x00ffffff; /* strip status byte */ + val = comedi_offset_munge(s, val); + if (!comedi_buf_write_samples(s, &val, 1)) + return; + } + + if (cmd->stop_src == TRIG_COUNT && + async->scans_done >= cmd->stop_arg) + async->events |= COMEDI_CB_EOA; + } + } + + /* if command is still running, resubmit urb */ + if (!(async->events & COMEDI_CB_CANCEL_MASK)) { + urb->dev = comedi_to_usb_dev(dev); + ret = usb_submit_urb(urb, GFP_ATOMIC); + if (ret < 0) { + dev_err(dev->class_dev, "urb resubmit failed (%d)\n", + ret); + if (ret == -EL2NSYNC) + dev_err(dev->class_dev, + "buggy USB host controller or bug in IRQ handler\n"); + async->events |= COMEDI_CB_ERROR; + } + } +} + +static void usbduxsigma_ai_urb_complete(struct urb *urb) +{ + struct comedi_device *dev = urb->context; + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_subdevice *s = dev->read_subdev; + struct comedi_async *async = s->async; + + /* exit if not running a command, do not resubmit urb */ + if (!devpriv->ai_cmd_running) + return; + + switch (urb->status) { + case 0: + /* copy the result in the transfer buffer */ + memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF); + usbduxsigma_ai_handle_urb(dev, s, urb); + break; + + case -EILSEQ: + /* + * error in the ISOchronous data + * we don't copy the data into the transfer buffer + * and recycle the last data byte + */ + dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n"); + usbduxsigma_ai_handle_urb(dev, s, urb); + break; + + case -ECONNRESET: + case -ENOENT: + case -ESHUTDOWN: + case -ECONNABORTED: + /* happens after an unlink command */ + async->events |= COMEDI_CB_ERROR; + break; + + default: + /* a real error */ + dev_err(dev->class_dev, "non-zero urb status (%d)\n", + urb->status); + async->events |= COMEDI_CB_ERROR; + break; + } + + /* + * comedi_handle_events() cannot be used in this driver. The (*cancel) + * operation would unlink the urb. + */ + if (async->events & COMEDI_CB_CANCEL_MASK) + usbduxsigma_ai_stop(dev, 0); + + comedi_event(dev, s); +} + +static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink) +{ + struct usbduxsigma_private *devpriv = dev->private; + + if (do_unlink && devpriv->ao_urbs) + usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs); + + devpriv->ao_cmd_running = 0; +} + +static int usbduxsigma_ao_cancel(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsigma_private *devpriv = dev->private; + + mutex_lock(&devpriv->mut); + /* unlink only if it is really running */ + usbduxsigma_ao_stop(dev, devpriv->ao_cmd_running); + mutex_unlock(&devpriv->mut); + + return 0; +} + +static void usbduxsigma_ao_handle_urb(struct comedi_device *dev, + struct comedi_subdevice *s, + struct urb *urb) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_async *async = s->async; + struct comedi_cmd *cmd = &async->cmd; + u8 *datap; + int ret; + int i; + + devpriv->ao_counter--; + if (devpriv->ao_counter == 0) { + devpriv->ao_counter = devpriv->ao_timer; + + if (cmd->stop_src == TRIG_COUNT && + async->scans_done >= cmd->stop_arg) { + async->events |= COMEDI_CB_EOA; + return; + } + + /* transmit data to the USB bus */ + datap = urb->transfer_buffer; + *datap++ = cmd->chanlist_len; + for (i = 0; i < cmd->chanlist_len; i++) { + unsigned int chan = CR_CHAN(cmd->chanlist[i]); + unsigned short val; + + if (!comedi_buf_read_samples(s, &val, 1)) { + dev_err(dev->class_dev, "buffer underflow\n"); + async->events |= COMEDI_CB_OVERFLOW; + return; + } + + *datap++ = val; + *datap++ = chan; + s->readback[chan] = val; + } + } + + /* if command is still running, resubmit urb */ + if (!(async->events & COMEDI_CB_CANCEL_MASK)) { + urb->transfer_buffer_length = SIZEOUTBUF; + urb->dev = comedi_to_usb_dev(dev); + urb->status = 0; + urb->interval = 1; /* (u)frames */ + urb->number_of_packets = 1; + urb->iso_frame_desc[0].offset = 0; + urb->iso_frame_desc[0].length = SIZEOUTBUF; + urb->iso_frame_desc[0].status = 0; + ret = usb_submit_urb(urb, GFP_ATOMIC); + if (ret < 0) { + dev_err(dev->class_dev, "urb resubmit failed (%d)\n", + ret); + if (ret == -EL2NSYNC) + dev_err(dev->class_dev, + "buggy USB host controller or bug in IRQ handler\n"); + async->events |= COMEDI_CB_ERROR; + } + } +} + +static void usbduxsigma_ao_urb_complete(struct urb *urb) +{ + struct comedi_device *dev = urb->context; + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_subdevice *s = dev->write_subdev; + struct comedi_async *async = s->async; + + /* exit if not running a command, do not resubmit urb */ + if (!devpriv->ao_cmd_running) + return; + + switch (urb->status) { + case 0: + usbduxsigma_ao_handle_urb(dev, s, urb); + break; + + case -ECONNRESET: + case -ENOENT: + case -ESHUTDOWN: + case -ECONNABORTED: + /* happens after an unlink command */ + async->events |= COMEDI_CB_ERROR; + break; + + default: + /* a real error */ + dev_err(dev->class_dev, "non-zero urb status (%d)\n", + urb->status); + async->events |= COMEDI_CB_ERROR; + break; + } + + /* + * comedi_handle_events() cannot be used in this driver. The (*cancel) + * operation would unlink the urb. + */ + if (async->events & COMEDI_CB_CANCEL_MASK) + usbduxsigma_ao_stop(dev, 0); + + comedi_event(dev, s); +} + +static int usbduxsigma_submit_urbs(struct comedi_device *dev, + struct urb **urbs, int num_urbs, + int input_urb) +{ + struct usb_device *usb = comedi_to_usb_dev(dev); + struct urb *urb; + int ret; + int i; + + /* Submit all URBs and start the transfer on the bus */ + for (i = 0; i < num_urbs; i++) { + urb = urbs[i]; + + /* in case of a resubmission after an unlink... */ + if (input_urb) + urb->interval = 1; + urb->context = dev; + urb->dev = usb; + urb->status = 0; + urb->transfer_flags = URB_ISO_ASAP; + + ret = usb_submit_urb(urb, GFP_ATOMIC); + if (ret) + return ret; + } + return 0; +} + +static int usbduxsigma_chans_to_interval(int num_chan) +{ + if (num_chan <= 2) + return 2; /* 4kHz */ + if (num_chan <= 8) + return 4; /* 2kHz */ + return 8; /* 1kHz */ +} + +static int usbduxsigma_ai_cmdtest(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_cmd *cmd) +{ + struct usbduxsigma_private *devpriv = dev->private; + int high_speed = devpriv->high_speed; + int interval = usbduxsigma_chans_to_interval(cmd->chanlist_len); + unsigned int tmp; + int err = 0; + + /* Step 1 : check if triggers are trivially valid */ + + err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT); + err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER); + err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW); + err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT); + err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE); + + if (err) + return 1; + + /* Step 2a : make sure trigger sources are unique */ + + err |= comedi_check_trigger_is_unique(cmd->start_src); + err |= comedi_check_trigger_is_unique(cmd->stop_src); + + /* Step 2b : and mutually compatible */ + + if (err) + return 2; + + /* Step 3: check if arguments are trivially valid */ + + err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0); + + if (high_speed) { + /* + * In high speed mode microframes are possible. + * However, during one microframe we can roughly + * sample two channels. Thus, the more channels + * are in the channel list the more time we need. + */ + err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg, + (125000 * interval)); + } else { + /* full speed */ + /* 1kHz scans every USB frame */ + err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg, + 1000000); + } + + err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg, + cmd->chanlist_len); + + if (cmd->stop_src == TRIG_COUNT) + err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1); + else /* TRIG_NONE */ + err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0); + + if (err) + return 3; + + /* Step 4: fix up any arguments */ + + tmp = rounddown(cmd->scan_begin_arg, high_speed ? 125000 : 1000000); + err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp); + + if (err) + return 4; + + return 0; +} + +/* + * creates the ADC command for the MAX1271 + * range is the range value from comedi + */ +static void create_adc_command(unsigned int chan, + u8 *muxsg0, u8 *muxsg1) +{ + if (chan < 8) + (*muxsg0) = (*muxsg0) | (1 << chan); + else if (chan < 16) + (*muxsg1) = (*muxsg1) | (1 << (chan - 8)); +} + +static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type) +{ + struct usb_device *usb = comedi_to_usb_dev(dev); + struct usbduxsigma_private *devpriv = dev->private; + int nsent; + + devpriv->dux_commands[0] = cmd_type; + + return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1), + devpriv->dux_commands, SIZEOFDUXBUFFER, + &nsent, BULK_TIMEOUT); +} + +static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command) +{ + struct usb_device *usb = comedi_to_usb_dev(dev); + struct usbduxsigma_private *devpriv = dev->private; + int nrec; + int ret; + int i; + + for (i = 0; i < RETRIES; i++) { + ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8), + devpriv->insn_buf, SIZEINSNBUF, + &nrec, BULK_TIMEOUT); + if (ret < 0) + return ret; + + if (devpriv->insn_buf[0] == command) + return 0; + } + /* + * This is only reached if the data has been requested a + * couple of times and the command was not received. + */ + return -EFAULT; +} + +static int usbduxsigma_ai_inttrig(struct comedi_device *dev, + struct comedi_subdevice *s, + unsigned int trig_num) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_cmd *cmd = &s->async->cmd; + int ret; + + if (trig_num != cmd->start_arg) + return -EINVAL; + + mutex_lock(&devpriv->mut); + if (!devpriv->ai_cmd_running) { + devpriv->ai_cmd_running = 1; + ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs, + devpriv->n_ai_urbs, 1); + if (ret < 0) { + devpriv->ai_cmd_running = 0; + mutex_unlock(&devpriv->mut); + return ret; + } + s->async->inttrig = NULL; + } + mutex_unlock(&devpriv->mut); + + return 1; +} + +static int usbduxsigma_ai_cmd(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_cmd *cmd = &s->async->cmd; + unsigned int len = cmd->chanlist_len; + u8 muxsg0 = 0; + u8 muxsg1 = 0; + u8 sysred = 0; + int ret; + int i; + + mutex_lock(&devpriv->mut); + + if (devpriv->high_speed) { + /* + * every 2 channels get a time window of 125us. Thus, if we + * sample all 16 channels we need 1ms. If we sample only one + * channel we need only 125us + */ + unsigned int interval = usbduxsigma_chans_to_interval(len); + + devpriv->ai_interval = interval; + devpriv->ai_timer = cmd->scan_begin_arg / (125000 * interval); + } else { + /* interval always 1ms */ + devpriv->ai_interval = 1; + devpriv->ai_timer = cmd->scan_begin_arg / 1000000; + } + + for (i = 0; i < len; i++) { + unsigned int chan = CR_CHAN(cmd->chanlist[i]); + + create_adc_command(chan, &muxsg0, &muxsg1); + } + + devpriv->dux_commands[1] = devpriv->ai_interval; + devpriv->dux_commands[2] = len; /* num channels per time step */ + devpriv->dux_commands[3] = 0x12; /* CONFIG0 */ + devpriv->dux_commands[4] = 0x03; /* CONFIG1: 23kHz sample, delay 0us */ + devpriv->dux_commands[5] = 0x00; /* CONFIG3: diff. channels off */ + devpriv->dux_commands[6] = muxsg0; + devpriv->dux_commands[7] = muxsg1; + devpriv->dux_commands[8] = sysred; + + ret = usbbuxsigma_send_cmd(dev, USBBUXSIGMA_AD_CMD); + if (ret < 0) { + mutex_unlock(&devpriv->mut); + return ret; + } + + devpriv->ai_counter = devpriv->ai_timer; + + if (cmd->start_src == TRIG_NOW) { + /* enable this acquisition operation */ + devpriv->ai_cmd_running = 1; + ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs, + devpriv->n_ai_urbs, 1); + if (ret < 0) { + devpriv->ai_cmd_running = 0; + mutex_unlock(&devpriv->mut); + return ret; + } + s->async->inttrig = NULL; + } else { /* TRIG_INT */ + s->async->inttrig = usbduxsigma_ai_inttrig; + } + + mutex_unlock(&devpriv->mut); + + return 0; +} + +static int usbduxsigma_ai_insn_read(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + struct usbduxsigma_private *devpriv = dev->private; + unsigned int chan = CR_CHAN(insn->chanspec); + u8 muxsg0 = 0; + u8 muxsg1 = 0; + u8 sysred = 0; + int ret; + int i; + + mutex_lock(&devpriv->mut); + if (devpriv->ai_cmd_running) { + mutex_unlock(&devpriv->mut); + return -EBUSY; + } + + create_adc_command(chan, &muxsg0, &muxsg1); + + /* Mode 0 is used to get a single conversion on demand */ + devpriv->dux_commands[1] = 0x16; /* CONFIG0: chopper on */ + devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */ + devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */ + devpriv->dux_commands[4] = muxsg0; + devpriv->dux_commands[5] = muxsg1; + devpriv->dux_commands[6] = sysred; + + /* adc commands */ + ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD); + if (ret < 0) { + mutex_unlock(&devpriv->mut); + return ret; + } + + for (i = 0; i < insn->n; i++) { + u32 val; + + ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD); + if (ret < 0) { + mutex_unlock(&devpriv->mut); + return ret; + } + + /* 32 bits big endian from the A/D converter */ + val = be32_to_cpu(get_unaligned((__be32 + *)(devpriv->insn_buf + 1))); + val &= 0x00ffffff; /* strip status byte */ + data[i] = comedi_offset_munge(s, val); + } + mutex_unlock(&devpriv->mut); + + return insn->n; +} + +static int usbduxsigma_ao_insn_read(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + struct usbduxsigma_private *devpriv = dev->private; + int ret; + + mutex_lock(&devpriv->mut); + ret = comedi_readback_insn_read(dev, s, insn, data); + mutex_unlock(&devpriv->mut); + + return ret; +} + +static int usbduxsigma_ao_insn_write(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + struct usbduxsigma_private *devpriv = dev->private; + unsigned int chan = CR_CHAN(insn->chanspec); + int ret; + int i; + + mutex_lock(&devpriv->mut); + if (devpriv->ao_cmd_running) { + mutex_unlock(&devpriv->mut); + return -EBUSY; + } + + for (i = 0; i < insn->n; i++) { + devpriv->dux_commands[1] = 1; /* num channels */ + devpriv->dux_commands[2] = data[i]; /* value */ + devpriv->dux_commands[3] = chan; /* channel number */ + ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DA_CMD); + if (ret < 0) { + mutex_unlock(&devpriv->mut); + return ret; + } + s->readback[chan] = data[i]; + } + mutex_unlock(&devpriv->mut); + + return insn->n; +} + +static int usbduxsigma_ao_inttrig(struct comedi_device *dev, + struct comedi_subdevice *s, + unsigned int trig_num) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_cmd *cmd = &s->async->cmd; + int ret; + + if (trig_num != cmd->start_arg) + return -EINVAL; + + mutex_lock(&devpriv->mut); + if (!devpriv->ao_cmd_running) { + devpriv->ao_cmd_running = 1; + ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs, + devpriv->n_ao_urbs, 0); + if (ret < 0) { + devpriv->ao_cmd_running = 0; + mutex_unlock(&devpriv->mut); + return ret; + } + s->async->inttrig = NULL; + } + mutex_unlock(&devpriv->mut); + + return 1; +} + +static int usbduxsigma_ao_cmdtest(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_cmd *cmd) +{ + struct usbduxsigma_private *devpriv = dev->private; + unsigned int tmp; + int err = 0; + + /* Step 1 : check if triggers are trivially valid */ + + err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT); + + /* + * For now, always use "scan" timing with all channels updated at once + * (cmd->scan_begin_src == TRIG_TIMER, cmd->convert_src == TRIG_NOW). + * + * In a future version, "convert" timing with channels updated + * indivually may be supported in high speed mode + * (cmd->scan_begin_src == TRIG_FOLLOW, cmd->convert_src == TRIG_TIMER). + */ + err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER); + err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW); + err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT); + err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE); + + if (err) { + mutex_unlock(&devpriv->mut); + return 1; + } + + /* Step 2a : make sure trigger sources are unique */ + + err |= comedi_check_trigger_is_unique(cmd->start_src); + err |= comedi_check_trigger_is_unique(cmd->stop_src); + + /* Step 2b : and mutually compatible */ + + if (err) + return 2; + + /* Step 3: check if arguments are trivially valid */ + + err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0); + + err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg, 1000000); + + err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg, + cmd->chanlist_len); + + if (cmd->stop_src == TRIG_COUNT) + err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1); + else /* TRIG_NONE */ + err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0); + + if (err) + return 3; + + /* Step 4: fix up any arguments */ + + tmp = rounddown(cmd->scan_begin_arg, 1000000); + err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp); + + if (err) + return 4; + + return 0; +} + +static int usbduxsigma_ao_cmd(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct comedi_cmd *cmd = &s->async->cmd; + int ret; + + mutex_lock(&devpriv->mut); + + /* + * For now, only "scan" timing is supported. A future version may + * support "convert" timing in high speed mode. + * + * Timing of the scan: every 1ms all channels updated at once. + */ + devpriv->ao_timer = cmd->scan_begin_arg / 1000000; + + devpriv->ao_counter = devpriv->ao_timer; + + if (cmd->start_src == TRIG_NOW) { + /* enable this acquisition operation */ + devpriv->ao_cmd_running = 1; + ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs, + devpriv->n_ao_urbs, 0); + if (ret < 0) { + devpriv->ao_cmd_running = 0; + mutex_unlock(&devpriv->mut); + return ret; + } + s->async->inttrig = NULL; + } else { /* TRIG_INT */ + s->async->inttrig = usbduxsigma_ao_inttrig; + } + + mutex_unlock(&devpriv->mut); + + return 0; +} + +static int usbduxsigma_dio_insn_config(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + int ret; + + ret = comedi_dio_insn_config(dev, s, insn, data, 0); + if (ret) + return ret; + + /* + * We don't tell the firmware here as it would take 8 frames + * to submit the information. We do it in the (*insn_bits). + */ + return insn->n; +} + +static int usbduxsigma_dio_insn_bits(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + struct usbduxsigma_private *devpriv = dev->private; + int ret; + + mutex_lock(&devpriv->mut); + + comedi_dio_update_state(s, data); + + /* Always update the hardware. See the (*insn_config). */ + devpriv->dux_commands[1] = s->io_bits & 0xff; + devpriv->dux_commands[4] = s->state & 0xff; + devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff; + devpriv->dux_commands[5] = (s->state >> 8) & 0xff; + devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff; + devpriv->dux_commands[6] = (s->state >> 16) & 0xff; + + ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD); + if (ret < 0) + goto done; + ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD); + if (ret < 0) + goto done; + + s->state = devpriv->insn_buf[1] | + (devpriv->insn_buf[2] << 8) | + (devpriv->insn_buf[3] << 16); + + data[1] = s->state; + ret = insn->n; + +done: + mutex_unlock(&devpriv->mut); + + return ret; +} + +static void usbduxsigma_pwm_stop(struct comedi_device *dev, int do_unlink) +{ + struct usbduxsigma_private *devpriv = dev->private; + + if (do_unlink) { + if (devpriv->pwm_urb) + usb_kill_urb(devpriv->pwm_urb); + } + + devpriv->pwm_cmd_running = 0; +} + +static int usbduxsigma_pwm_cancel(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsigma_private *devpriv = dev->private; + + /* unlink only if it is really running */ + usbduxsigma_pwm_stop(dev, devpriv->pwm_cmd_running); + + return usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_OFF_CMD); +} + +static void usbduxsigma_pwm_urb_complete(struct urb *urb) +{ + struct comedi_device *dev = urb->context; + struct usbduxsigma_private *devpriv = dev->private; + int ret; + + switch (urb->status) { + case 0: + /* success */ + break; + + case -ECONNRESET: + case -ENOENT: + case -ESHUTDOWN: + case -ECONNABORTED: + /* happens after an unlink command */ + if (devpriv->pwm_cmd_running) + usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */ + return; + + default: + /* a real error */ + if (devpriv->pwm_cmd_running) { + dev_err(dev->class_dev, "non-zero urb status (%d)\n", + urb->status); + usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */ + } + return; + } + + if (!devpriv->pwm_cmd_running) + return; + + urb->transfer_buffer_length = devpriv->pwm_buf_sz; + urb->dev = comedi_to_usb_dev(dev); + urb->status = 0; + ret = usb_submit_urb(urb, GFP_ATOMIC); + if (ret < 0) { + dev_err(dev->class_dev, "urb resubmit failed (%d)\n", ret); + if (ret == -EL2NSYNC) + dev_err(dev->class_dev, + "buggy USB host controller or bug in IRQ handler\n"); + usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */ + } +} + +static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev) +{ + struct usb_device *usb = comedi_to_usb_dev(dev); + struct usbduxsigma_private *devpriv = dev->private; + struct urb *urb = devpriv->pwm_urb; + + /* in case of a resubmission after an unlink... */ + usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4), + urb->transfer_buffer, devpriv->pwm_buf_sz, + usbduxsigma_pwm_urb_complete, dev); + + return usb_submit_urb(urb, GFP_ATOMIC); +} + +static int usbduxsigma_pwm_period(struct comedi_device *dev, + struct comedi_subdevice *s, + unsigned int period) +{ + struct usbduxsigma_private *devpriv = dev->private; + int fx2delay; + + if (period < MIN_PWM_PERIOD) + return -EAGAIN; + + fx2delay = (period / (6 * 512 * 1000 / 33)) - 6; + if (fx2delay > 255) + return -EAGAIN; + + devpriv->pwm_delay = fx2delay; + devpriv->pwm_period = period; + return 0; +} + +static int usbduxsigma_pwm_start(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsigma_private *devpriv = dev->private; + int ret; + + if (devpriv->pwm_cmd_running) + return 0; + + devpriv->dux_commands[1] = devpriv->pwm_delay; + ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_ON_CMD); + if (ret < 0) + return ret; + + memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz); + + devpriv->pwm_cmd_running = 1; + ret = usbduxsigma_submit_pwm_urb(dev); + if (ret < 0) { + devpriv->pwm_cmd_running = 0; + return ret; + } + + return 0; +} + +static void usbduxsigma_pwm_pattern(struct comedi_device *dev, + struct comedi_subdevice *s, + unsigned int chan, + unsigned int value, + unsigned int sign) +{ + struct usbduxsigma_private *devpriv = dev->private; + char pwm_mask = (1 << chan); /* DIO bit for the PWM data */ + char sgn_mask = (16 << chan); /* DIO bit for the sign */ + char *buf = (char *)(devpriv->pwm_urb->transfer_buffer); + int szbuf = devpriv->pwm_buf_sz; + int i; + + for (i = 0; i < szbuf; i++) { + char c = *buf; + + c &= ~pwm_mask; + if (i < value) + c |= pwm_mask; + if (!sign) + c &= ~sgn_mask; + else + c |= sgn_mask; + *buf++ = c; + } +} + +static int usbduxsigma_pwm_write(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + unsigned int chan = CR_CHAN(insn->chanspec); + + /* + * It doesn't make sense to support more than one value here + * because it would just overwrite the PWM buffer. + */ + if (insn->n != 1) + return -EINVAL; + + /* + * The sign is set via a special INSN only, this gives us 8 bits + * for normal operation, sign is 0 by default. + */ + usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0); + + return insn->n; +} + +static int usbduxsigma_pwm_config(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + struct usbduxsigma_private *devpriv = dev->private; + unsigned int chan = CR_CHAN(insn->chanspec); + + switch (data[0]) { + case INSN_CONFIG_ARM: + /* + * if not zero the PWM is limited to a certain time which is + * not supported here + */ + if (data[1] != 0) + return -EINVAL; + return usbduxsigma_pwm_start(dev, s); + case INSN_CONFIG_DISARM: + return usbduxsigma_pwm_cancel(dev, s); + case INSN_CONFIG_GET_PWM_STATUS: + data[1] = devpriv->pwm_cmd_running; + return 0; + case INSN_CONFIG_PWM_SET_PERIOD: + return usbduxsigma_pwm_period(dev, s, data[1]); + case INSN_CONFIG_PWM_GET_PERIOD: + data[1] = devpriv->pwm_period; + return 0; + case INSN_CONFIG_PWM_SET_H_BRIDGE: + /* + * data[1] = value + * data[2] = sign (for a relay) + */ + usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0)); + return 0; + case INSN_CONFIG_PWM_GET_H_BRIDGE: + /* values are not kept in this driver, nothing to return */ + return -EINVAL; + } + return -EINVAL; +} + +static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan) +{ + struct comedi_subdevice *s = dev->read_subdev; + struct usbduxsigma_private *devpriv = dev->private; + u8 sysred; + u32 val; + int ret; + + switch (chan) { + default: + case 0: + sysred = 0; /* ADC zero */ + break; + case 1: + sysred = 1; /* ADC offset */ + break; + case 2: + sysred = 4; /* VCC */ + break; + case 3: + sysred = 8; /* temperature */ + break; + case 4: + sysred = 16; /* gain */ + break; + case 5: + sysred = 32; /* ref */ + break; + } + + devpriv->dux_commands[1] = 0x12; /* CONFIG0 */ + devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */ + devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */ + devpriv->dux_commands[4] = 0; + devpriv->dux_commands[5] = 0; + devpriv->dux_commands[6] = sysred; + ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD); + if (ret < 0) + return ret; + + ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD); + if (ret < 0) + return ret; + + /* 32 bits big endian from the A/D converter */ + val = be32_to_cpu(get_unaligned((__be32 *)(devpriv->insn_buf + 1))); + val &= 0x00ffffff; /* strip status byte */ + + return (int)comedi_offset_munge(s, val); +} + +static int usbduxsigma_firmware_upload(struct comedi_device *dev, + const u8 *data, size_t size, + unsigned long context) +{ + struct usb_device *usb = comedi_to_usb_dev(dev); + u8 *buf; + u8 *tmp; + int ret; + + if (!data) + return 0; + + if (size > FIRMWARE_MAX_LEN) { + dev_err(dev->class_dev, "firmware binary too large for FX2\n"); + return -ENOMEM; + } + + /* we generate a local buffer for the firmware */ + buf = kmemdup(data, size, GFP_KERNEL); + if (!buf) + return -ENOMEM; + + /* we need a malloc'ed buffer for usb_control_msg() */ + tmp = kmalloc(1, GFP_KERNEL); + if (!tmp) { + kfree(buf); + return -ENOMEM; + } + + /* stop the current firmware on the device */ + *tmp = 1; /* 7f92 to one */ + ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0), + USBDUXSUB_FIRMWARE, + VENDOR_DIR_OUT, + USBDUXSUB_CPUCS, 0x0000, + tmp, 1, + BULK_TIMEOUT); + if (ret < 0) { + dev_err(dev->class_dev, "can not stop firmware\n"); + goto done; + } + + /* upload the new firmware to the device */ + ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0), + USBDUXSUB_FIRMWARE, + VENDOR_DIR_OUT, + 0, 0x0000, + buf, size, + BULK_TIMEOUT); + if (ret < 0) { + dev_err(dev->class_dev, "firmware upload failed\n"); + goto done; + } + + /* start the new firmware on the device */ + *tmp = 0; /* 7f92 to zero */ + ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0), + USBDUXSUB_FIRMWARE, + VENDOR_DIR_OUT, + USBDUXSUB_CPUCS, 0x0000, + tmp, 1, + BULK_TIMEOUT); + if (ret < 0) + dev_err(dev->class_dev, "can not start firmware\n"); + +done: + kfree(tmp); + kfree(buf); + return ret; +} + +static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev) +{ + struct usb_device *usb = comedi_to_usb_dev(dev); + struct usbduxsigma_private *devpriv = dev->private; + struct urb *urb; + int i; + + devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL); + devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL); + devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL); + devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(urb), GFP_KERNEL); + devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(urb), GFP_KERNEL); + if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf || + !devpriv->ai_urbs || !devpriv->ao_urbs) + return -ENOMEM; + + for (i = 0; i < devpriv->n_ai_urbs; i++) { + /* one frame: 1ms */ + urb = usb_alloc_urb(1, GFP_KERNEL); + if (!urb) + return -ENOMEM; + devpriv->ai_urbs[i] = urb; + urb->dev = usb; + /* will be filled later with a pointer to the comedi-device */ + /* and ONLY then the urb should be submitted */ + urb->context = NULL; + urb->pipe = usb_rcvisocpipe(usb, 6); + urb->transfer_flags = URB_ISO_ASAP; + urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL); + if (!urb->transfer_buffer) + return -ENOMEM; + urb->complete = usbduxsigma_ai_urb_complete; + urb->number_of_packets = 1; + urb->transfer_buffer_length = SIZEINBUF; + urb->iso_frame_desc[0].offset = 0; + urb->iso_frame_desc[0].length = SIZEINBUF; + } + + for (i = 0; i < devpriv->n_ao_urbs; i++) { + /* one frame: 1ms */ + urb = usb_alloc_urb(1, GFP_KERNEL); + if (!urb) + return -ENOMEM; + devpriv->ao_urbs[i] = urb; + urb->dev = usb; + /* will be filled later with a pointer to the comedi-device */ + /* and ONLY then the urb should be submitted */ + urb->context = NULL; + urb->pipe = usb_sndisocpipe(usb, 2); + urb->transfer_flags = URB_ISO_ASAP; + urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL); + if (!urb->transfer_buffer) + return -ENOMEM; + urb->complete = usbduxsigma_ao_urb_complete; + urb->number_of_packets = 1; + urb->transfer_buffer_length = SIZEOUTBUF; + urb->iso_frame_desc[0].offset = 0; + urb->iso_frame_desc[0].length = SIZEOUTBUF; + urb->interval = 1; /* (u)frames */ + } + + if (devpriv->pwm_buf_sz) { + urb = usb_alloc_urb(0, GFP_KERNEL); + if (!urb) + return -ENOMEM; + devpriv->pwm_urb = urb; + + urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz, + GFP_KERNEL); + if (!urb->transfer_buffer) + return -ENOMEM; + } + + return 0; +} + +static void usbduxsigma_free_usb_buffers(struct comedi_device *dev) +{ + struct usbduxsigma_private *devpriv = dev->private; + struct urb *urb; + int i; + + urb = devpriv->pwm_urb; + if (urb) { + kfree(urb->transfer_buffer); + usb_free_urb(urb); + } + if (devpriv->ao_urbs) { + for (i = 0; i < devpriv->n_ao_urbs; i++) { + urb = devpriv->ao_urbs[i]; + if (urb) { + kfree(urb->transfer_buffer); + usb_free_urb(urb); + } + } + kfree(devpriv->ao_urbs); + } + if (devpriv->ai_urbs) { + for (i = 0; i < devpriv->n_ai_urbs; i++) { + urb = devpriv->ai_urbs[i]; + if (urb) { + kfree(urb->transfer_buffer); + usb_free_urb(urb); + } + } + kfree(devpriv->ai_urbs); + } + kfree(devpriv->insn_buf); + kfree(devpriv->in_buf); + kfree(devpriv->dux_commands); +} + +static int usbduxsigma_auto_attach(struct comedi_device *dev, + unsigned long context_unused) +{ + struct usb_interface *intf = comedi_to_usb_interface(dev); + struct usb_device *usb = comedi_to_usb_dev(dev); + struct usbduxsigma_private *devpriv; + struct comedi_subdevice *s; + int offset; + int ret; + + devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv)); + if (!devpriv) + return -ENOMEM; + + mutex_init(&devpriv->mut); + + usb_set_intfdata(intf, devpriv); + + devpriv->high_speed = (usb->speed == USB_SPEED_HIGH); + if (devpriv->high_speed) { + devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH; + devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH; + devpriv->pwm_buf_sz = 512; + } else { + devpriv->n_ai_urbs = NUMOFINBUFFERSFULL; + devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL; + } + + ret = usbduxsigma_alloc_usb_buffers(dev); + if (ret) + return ret; + + /* setting to alternate setting 3: enabling iso ep and bulk ep. */ + ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber, + 3); + if (ret < 0) { + dev_err(dev->class_dev, + "could not set alternate setting 3 in high speed\n"); + return ret; + } + + ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE, + usbduxsigma_firmware_upload, 0); + if (ret) + return ret; + + ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3); + if (ret) + return ret; + + /* Analog Input subdevice */ + s = &dev->subdevices[0]; + dev->read_subdev = s; + s->type = COMEDI_SUBD_AI; + s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL; + s->n_chan = NUMCHANNELS; + s->len_chanlist = NUMCHANNELS; + s->maxdata = 0x00ffffff; + s->range_table = &usbduxsigma_ai_range; + s->insn_read = usbduxsigma_ai_insn_read; + s->do_cmdtest = usbduxsigma_ai_cmdtest; + s->do_cmd = usbduxsigma_ai_cmd; + s->cancel = usbduxsigma_ai_cancel; + + /* Analog Output subdevice */ + s = &dev->subdevices[1]; + dev->write_subdev = s; + s->type = COMEDI_SUBD_AO; + s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE; + s->n_chan = 4; + s->len_chanlist = s->n_chan; + s->maxdata = 0x00ff; + s->range_table = &range_unipolar2_5; + s->insn_write = usbduxsigma_ao_insn_write; + s->insn_read = usbduxsigma_ao_insn_read; + s->do_cmdtest = usbduxsigma_ao_cmdtest; + s->do_cmd = usbduxsigma_ao_cmd; + s->cancel = usbduxsigma_ao_cancel; + + ret = comedi_alloc_subdev_readback(s); + if (ret) + return ret; + + /* Digital I/O subdevice */ + s = &dev->subdevices[2]; + s->type = COMEDI_SUBD_DIO; + s->subdev_flags = SDF_READABLE | SDF_WRITABLE; + s->n_chan = 24; + s->maxdata = 1; + s->range_table = &range_digital; + s->insn_bits = usbduxsigma_dio_insn_bits; + s->insn_config = usbduxsigma_dio_insn_config; + + if (devpriv->high_speed) { + /* Timer / pwm subdevice */ + s = &dev->subdevices[3]; + s->type = COMEDI_SUBD_PWM; + s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE; + s->n_chan = 8; + s->maxdata = devpriv->pwm_buf_sz; + s->insn_write = usbduxsigma_pwm_write; + s->insn_config = usbduxsigma_pwm_config; + + usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD); + } + + offset = usbduxsigma_getstatusinfo(dev, 0); + if (offset < 0) { + dev_err(dev->class_dev, + "Communication to USBDUXSIGMA failed! Check firmware and cabling.\n"); + return offset; + } + + dev_info(dev->class_dev, "ADC_zero = %x\n", offset); + + return 0; +} + +static void usbduxsigma_detach(struct comedi_device *dev) +{ + struct usb_interface *intf = comedi_to_usb_interface(dev); + struct usbduxsigma_private *devpriv = dev->private; + + usb_set_intfdata(intf, NULL); + + if (!devpriv) + return; + + mutex_lock(&devpriv->mut); + + /* force unlink all urbs */ + usbduxsigma_ai_stop(dev, 1); + usbduxsigma_ao_stop(dev, 1); + usbduxsigma_pwm_stop(dev, 1); + + usbduxsigma_free_usb_buffers(dev); + + mutex_unlock(&devpriv->mut); + + mutex_destroy(&devpriv->mut); +} + +static struct comedi_driver usbduxsigma_driver = { + .driver_name = "usbduxsigma", + .module = THIS_MODULE, + .auto_attach = usbduxsigma_auto_attach, + .detach = usbduxsigma_detach, +}; + +static int usbduxsigma_usb_probe(struct usb_interface *intf, + const struct usb_device_id *id) +{ + return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0); +} + +static const struct usb_device_id usbduxsigma_usb_table[] = { + { USB_DEVICE(0x13d8, 0x0020) }, + { USB_DEVICE(0x13d8, 0x0021) }, + { USB_DEVICE(0x13d8, 0x0022) }, + { } +}; +MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table); + +static struct usb_driver usbduxsigma_usb_driver = { + .name = "usbduxsigma", + .probe = usbduxsigma_usb_probe, + .disconnect = comedi_usb_auto_unconfig, + .id_table = usbduxsigma_usb_table, +}; +module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver); + +MODULE_AUTHOR("Bernd Porr, mail@berndporr.me.uk"); +MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- mail@berndporr.me.uk"); +MODULE_LICENSE("GPL"); +MODULE_FIRMWARE(FIRMWARE); |