diff options
Diffstat (limited to 'drivers/staging/comedi/drivers/usbduxsigma.c')
| -rw-r--r-- | drivers/staging/comedi/drivers/usbduxsigma.c | 2880 |
1 files changed, 2880 insertions, 0 deletions
diff --git a/drivers/staging/comedi/drivers/usbduxsigma.c b/drivers/staging/comedi/drivers/usbduxsigma.c new file mode 100644 index 000000000000..a8fea9a91733 --- /dev/null +++ b/drivers/staging/comedi/drivers/usbduxsigma.c @@ -0,0 +1,2880 @@ +#define DRIVER_VERSION "v0.5" +#define DRIVER_AUTHOR "Bernd Porr, BerndPorr@f2s.com" +#define DRIVER_DESC "Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com" +/* + comedi/drivers/usbdux.c + Copyright (C) 2011 Bernd Porr, Bernd.Porr@f2s.com + + 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. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + */ +/* +Driver: usbduxsigma +Description: University of Stirling USB DAQ & INCITE Technology Limited +Devices: [ITL] USB-DUX (usbduxsigma.o) +Author: Bernd Porr <BerndPorr@f2s.com> +Updated: 21 Jul 2011 +Status: testing +*/ +/* + * 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: inital 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 + */ + +/* generates loads of debug info */ +/* #define NOISY_DUX_DEBUGBUG */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/input.h> +#include <linux/usb.h> +#include <linux/fcntl.h> +#include <linux/compiler.h> +#include <linux/firmware.h> +#include "comedi_fc.h" +#include "../comedidev.h" + +#define BOARDNAME "usbduxsigma" + +/* timeout for the USB-transfer in ms*/ +#define BULK_TIMEOUT 1000 + +/* constants for "firmware" upload and download */ +#define USBDUXSUB_FIRMWARE 0xA0 +#define VENDOR_DIR_IN 0xC0 +#define VENDOR_DIR_OUT 0x40 + +/* internal addresses of the 8051 processor */ +#define USBDUXSUB_CPUCS 0xE600 + +/* + * the minor device number, major is 180 only for debugging purposes and to + * upload special firmware (programming the eeprom etc) which is not + * compatible with the comedi framwork + */ +#define USBDUXSUB_MINOR 32 + +/* max lenghth of the transfer-buffer for software upload */ +#define TB_LEN 0x2000 + +/* Input endpoint number: ISO/IRQ */ +#define ISOINEP 6 + +/* Output endpoint number: ISO/IRQ */ +#define ISOOUTEP 2 + +/* This EP sends DUX commands to USBDUX */ +#define COMMAND_OUT_EP 1 + +/* This EP receives the DUX commands from USBDUX */ +#define COMMAND_IN_EP 8 + +/* Output endpoint for PWM */ +#define PWM_EP 4 + +/* 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(int32_t))) + +/* + * 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(uint8_t)+sizeof(int16_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 + +/* Total number of usbdux devices */ +#define NUMUSBDUX 16 + +/* Analogue in subdevice */ +#define SUBDEV_AD 0 + +/* Analogue out subdevice */ +#define SUBDEV_DA 1 + +/* Digital I/O */ +#define SUBDEV_DIO 2 + +/* timer aka pwm output */ +#define SUBDEV_PWM 3 + +/* number of retries to get the right dux command */ +#define RETRIES 10 + +/**************************************************/ +/* comedi constants */ +static const struct comedi_lrange range_usbdux_ai_range = { 1, { + BIP_RANGE + (2.65) + } +}; + +static const struct comedi_lrange range_usbdux_ao_range = { 1, { + UNI_RANGE + (2.5), + } +}; + +/* + * private structure of one subdevice + */ + +/* + * This is the structure which holds all the data of + * this driver one sub device just now: A/D + */ +struct usbduxsub { + /* attached? */ + int attached; + /* is it associated with a subdevice? */ + int probed; + /* pointer to the usb-device */ + struct usb_device *usbdev; + /* actual number of in-buffers */ + int numOfInBuffers; + /* actual number of out-buffers */ + int numOfOutBuffers; + /* ISO-transfer handling: buffers */ + struct urb **urbIn; + struct urb **urbOut; + /* pwm-transfer handling */ + struct urb *urbPwm; + /* PWM period */ + unsigned int pwmPeriod; + /* PWM internal delay for the GPIF in the FX2 */ + uint8_t pwmDelay; + /* size of the PWM buffer which holds the bit pattern */ + int sizePwmBuf; + /* input buffer for the ISO-transfer */ + int32_t *inBuffer; + /* input buffer for single insn */ + int8_t *insnBuffer; + /* output buffer for single DA outputs */ + int16_t *outBuffer; + /* interface number */ + int ifnum; + /* interface structure in 2.6 */ + struct usb_interface *interface; + /* comedi device for the interrupt context */ + struct comedi_device *comedidev; + /* is it USB_SPEED_HIGH or not? */ + short int high_speed; + /* asynchronous command is running */ + short int ai_cmd_running; + short int ao_cmd_running; + /* pwm is running */ + short int pwm_cmd_running; + /* continous aquisition */ + short int ai_continous; + short int ao_continous; + /* number of samples to acquire */ + int ai_sample_count; + int ao_sample_count; + /* time between samples in units of the timer */ + unsigned int ai_timer; + unsigned int ao_timer; + /* counter between aquisitions */ + unsigned int ai_counter; + unsigned int ao_counter; + /* interval in frames/uframes */ + unsigned int ai_interval; + /* D/A commands */ + uint8_t *dac_commands; + /* commands */ + uint8_t *dux_commands; + struct semaphore sem; +}; + +/* + * The pointer to the private usb-data of the driver is also the private data + * for the comedi-device. This has to be global as the usb subsystem needs + * global variables. The other reason is that this structure must be there + * _before_ any comedi command is issued. The usb subsystem must be initialised + * before comedi can access it. + */ +static struct usbduxsub usbduxsub[NUMUSBDUX]; + +static DEFINE_SEMAPHORE(start_stop_sem); + +/* + * Stops the data acquision + * It should be safe to call this function from any context + */ +static int usbduxsub_unlink_InURBs(struct usbduxsub *usbduxsub_tmp) +{ + int i = 0; + int err = 0; + + if (usbduxsub_tmp && usbduxsub_tmp->urbIn) { + for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) { + if (usbduxsub_tmp->urbIn[i]) { + /* We wait here until all transfers have been + * cancelled. */ + usb_kill_urb(usbduxsub_tmp->urbIn[i]); + } + dev_dbg(&usbduxsub_tmp->interface->dev, + "comedi: usbdux: unlinked InURB %d, err=%d\n", + i, err); + } + } + return err; +} + +/* + * This will stop a running acquisition operation + * Is called from within this driver from both the + * interrupt context and from comedi + */ +static int usbdux_ai_stop(struct usbduxsub *this_usbduxsub, int do_unlink) +{ + int ret = 0; + + if (!this_usbduxsub) { + pr_err("comedi?: usbdux_ai_stop: this_usbduxsub=NULL!\n"); + return -EFAULT; + } + dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ai_stop\n"); + + if (do_unlink) { + /* stop aquistion */ + ret = usbduxsub_unlink_InURBs(this_usbduxsub); + } + + this_usbduxsub->ai_cmd_running = 0; + + return ret; +} + +/* + * This will cancel a running acquisition operation. + * This is called by comedi but never from inside the driver. + */ +static int usbdux_ai_cancel(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsub *this_usbduxsub; + int res = 0; + + /* force unlink of all urbs */ + this_usbduxsub = dev->private; + if (!this_usbduxsub) + return -EFAULT; + + dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ai_cancel\n"); + + /* prevent other CPUs from submitting new commands just now */ + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + /* unlink only if the urb really has been submitted */ + res = usbdux_ai_stop(this_usbduxsub, this_usbduxsub->ai_cmd_running); + up(&this_usbduxsub->sem); + return res; +} + +/* analogue IN - interrupt service routine */ +static void usbduxsub_ai_IsocIrq(struct urb *urb) +{ + int i, err, n; + struct usbduxsub *this_usbduxsub; + struct comedi_device *this_comedidev; + struct comedi_subdevice *s; + int32_t v; + unsigned int dio_state; + + /* the context variable points to the comedi device */ + this_comedidev = urb->context; + /* the private structure of the subdevice is struct usbduxsub */ + this_usbduxsub = this_comedidev->private; + /* subdevice which is the AD converter */ + s = this_comedidev->subdevices + SUBDEV_AD; + + /* first we test if something unusual has just happened */ + switch (urb->status) { + case 0: + /* copy the result in the transfer buffer */ + memcpy(this_usbduxsub->inBuffer, + urb->transfer_buffer, SIZEINBUF); + 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(&urb->dev->dev, + "comedi%d: usbdux: CRC error in ISO IN stream.\n", + this_usbduxsub->comedidev->minor); + + break; + + case -ECONNRESET: + case -ENOENT: + case -ESHUTDOWN: + case -ECONNABORTED: + /* happens after an unlink command */ + if (this_usbduxsub->ai_cmd_running) { + /* we are still running a command */ + /* tell this comedi */ + s->async->events |= COMEDI_CB_EOA; + s->async->events |= COMEDI_CB_ERROR; + comedi_event(this_usbduxsub->comedidev, s); + /* stop the transfer w/o unlink */ + usbdux_ai_stop(this_usbduxsub, 0); + } + return; + + default: + /* a real error on the bus */ + /* pass error to comedi if we are really running a command */ + if (this_usbduxsub->ai_cmd_running) { + dev_err(&urb->dev->dev, + "Non-zero urb status received in ai intr " + "context: %d\n", urb->status); + s->async->events |= COMEDI_CB_EOA; + s->async->events |= COMEDI_CB_ERROR; + comedi_event(this_usbduxsub->comedidev, s); + /* don't do an unlink here */ + usbdux_ai_stop(this_usbduxsub, 0); + } + return; + } + + /* + * at this point we are reasonably sure that nothing dodgy has happened + * are we running a command? + */ + if (unlikely((!(this_usbduxsub->ai_cmd_running)))) { + /* + * not running a command, do not continue execution if no + * asynchronous command is running in particular not resubmit + */ + return; + } + + urb->dev = this_usbduxsub->usbdev; + + /* resubmit the urb */ + err = usb_submit_urb(urb, GFP_ATOMIC); + if (unlikely(err < 0)) { + dev_err(&urb->dev->dev, + "comedi_: urb resubmit failed in int-context!" + "err=%d\n", + err); + if (err == -EL2NSYNC) + dev_err(&urb->dev->dev, + "buggy USB host controller or bug in IRQ " + "handler!\n"); + s->async->events |= COMEDI_CB_EOA; + s->async->events |= COMEDI_CB_ERROR; + comedi_event(this_usbduxsub->comedidev, s); + /* don't do an unlink here */ + usbdux_ai_stop(this_usbduxsub, 0); + return; + } + + /* get the state of the dio pins to allow external trigger */ + dio_state = be32_to_cpu(this_usbduxsub->inBuffer[0]); + + this_usbduxsub->ai_counter--; + if (likely(this_usbduxsub->ai_counter > 0)) + return; + + /* timer zero, transfer measurements to comedi */ + this_usbduxsub->ai_counter = this_usbduxsub->ai_timer; + + /* test, if we transmit only a fixed number of samples */ + if (!(this_usbduxsub->ai_continous)) { + /* not continous, fixed number of samples */ + this_usbduxsub->ai_sample_count--; + /* all samples received? */ + if (this_usbduxsub->ai_sample_count < 0) { + /* prevent a resubmit next time */ + usbdux_ai_stop(this_usbduxsub, 0); + /* say comedi that the acquistion is over */ + s->async->events |= COMEDI_CB_EOA; + comedi_event(this_usbduxsub->comedidev, s); + return; + } + } + /* get the data from the USB bus and hand it over to comedi */ + n = s->async->cmd.chanlist_len; + for (i = 0; i < n; i++) { + /* transfer data, note first byte is the DIO state */ + v = be32_to_cpu(this_usbduxsub->inBuffer[i+1]); + /* strip status byte */ + v = v & 0x00ffffff; + /* convert to unsigned */ + v = v ^ 0x00800000; + /* write the byte to the buffer */ + err = cfc_write_array_to_buffer(s, &v, sizeof(uint32_t)); + if (unlikely(err == 0)) { + /* buffer overflow */ + usbdux_ai_stop(this_usbduxsub, 0); + return; + } + } + /* tell comedi that data is there */ + s->async->events |= COMEDI_CB_BLOCK | COMEDI_CB_EOS; + comedi_event(this_usbduxsub->comedidev, s); +} + +static int usbduxsub_unlink_OutURBs(struct usbduxsub *usbduxsub_tmp) +{ + int i = 0; + int err = 0; + + if (usbduxsub_tmp && usbduxsub_tmp->urbOut) { + for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) { + if (usbduxsub_tmp->urbOut[i]) + usb_kill_urb(usbduxsub_tmp->urbOut[i]); + + dev_dbg(&usbduxsub_tmp->interface->dev, + "comedi: usbdux: unlinked OutURB %d: res=%d\n", + i, err); + } + } + return err; +} + +/* This will cancel a running acquisition operation + * in any context. + */ +static int usbdux_ao_stop(struct usbduxsub *this_usbduxsub, int do_unlink) +{ + int ret = 0; + + if (!this_usbduxsub) + return -EFAULT; + dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ao_cancel\n"); + + if (do_unlink) + ret = usbduxsub_unlink_OutURBs(this_usbduxsub); + + this_usbduxsub->ao_cmd_running = 0; + + return ret; +} + +/* force unlink, is called by comedi */ +static int usbdux_ao_cancel(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsub *this_usbduxsub = dev->private; + int res = 0; + + if (!this_usbduxsub) + return -EFAULT; + + /* prevent other CPUs from submitting a command just now */ + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + /* unlink only if it is really running */ + res = usbdux_ao_stop(this_usbduxsub, this_usbduxsub->ao_cmd_running); + up(&this_usbduxsub->sem); + return res; +} + +static void usbduxsub_ao_IsocIrq(struct urb *urb) +{ + int i, ret; + uint8_t *datap; + struct usbduxsub *this_usbduxsub; + struct comedi_device *this_comedidev; + struct comedi_subdevice *s; + + /* the context variable points to the subdevice */ + this_comedidev = urb->context; + /* the private structure of the subdevice is struct usbduxsub */ + this_usbduxsub = this_comedidev->private; + + s = this_comedidev->subdevices + SUBDEV_DA; + + switch (urb->status) { + case 0: + /* success */ + break; + + case -ECONNRESET: + case -ENOENT: + case -ESHUTDOWN: + case -ECONNABORTED: + /* after an unlink command, unplug, ... etc */ + /* no unlink needed here. Already shutting down. */ + if (this_usbduxsub->ao_cmd_running) { + s->async->events |= COMEDI_CB_EOA; + comedi_event(this_usbduxsub->comedidev, s); + usbdux_ao_stop(this_usbduxsub, 0); + } + return; + + default: + /* a real error */ + if (this_usbduxsub->ao_cmd_running) { + dev_err(&urb->dev->dev, + "comedi_: Non-zero urb status received in ao " + "intr context: %d\n", urb->status); + s->async->events |= COMEDI_CB_ERROR; + s->async->events |= COMEDI_CB_EOA; + comedi_event(this_usbduxsub->comedidev, s); + /* we do an unlink if we are in the high speed mode */ + usbdux_ao_stop(this_usbduxsub, 0); + } + return; + } + + /* are we actually running? */ + if (!(this_usbduxsub->ao_cmd_running)) + return; + + /* normal operation: executing a command in this subdevice */ + this_usbduxsub->ao_counter--; + if ((int)this_usbduxsub->ao_counter <= 0) { + /* timer zero */ + this_usbduxsub->ao_counter = this_usbduxsub->ao_timer; + + /* handle non continous aquisition */ + if (!(this_usbduxsub->ao_continous)) { + /* fixed number of samples */ + this_usbduxsub->ao_sample_count--; + if (this_usbduxsub->ao_sample_count < 0) { + /* all samples transmitted */ + usbdux_ao_stop(this_usbduxsub, 0); + s->async->events |= COMEDI_CB_EOA; + comedi_event(this_usbduxsub->comedidev, s); + /* no resubmit of the urb */ + return; + } + } + /* transmit data to the USB bus */ + ((uint8_t *) (urb->transfer_buffer))[0] = + s->async->cmd.chanlist_len; + for (i = 0; i < s->async->cmd.chanlist_len; i++) { + short temp; + if (i >= NUMOUTCHANNELS) + break; + + /* pointer to the DA */ + datap = + (&(((uint8_t *) urb->transfer_buffer)[i * 2 + 1])); + /* get the data from comedi */ + ret = comedi_buf_get(s->async, &temp); + datap[0] = temp; + datap[1] = this_usbduxsub->dac_commands[i]; + /* printk("data[0]=%x, data[1]=%x, data[2]=%x\n", */ + /* datap[0],datap[1],datap[2]); */ + if (ret < 0) { + dev_err(&urb->dev->dev, + "comedi: buffer underflow\n"); + s->async->events |= COMEDI_CB_EOA; + s->async->events |= COMEDI_CB_OVERFLOW; + } + /* transmit data to comedi */ + s->async->events |= COMEDI_CB_BLOCK; + comedi_event(this_usbduxsub->comedidev, s); + } + } + urb->transfer_buffer_length = SIZEOUTBUF; + urb->dev = this_usbduxsub->usbdev; + urb->status = 0; + if (this_usbduxsub->ao_cmd_running) { + if (this_usbduxsub->high_speed) { + /* uframes */ + urb->interval = 8; + } else { + /* frames */ + urb->interval = 1; + } + 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(&urb->dev->dev, + "comedi_: ao urb resubm failed in int-cont. " + "ret=%d", ret); + if (ret == EL2NSYNC) + dev_err(&urb->dev->dev, + "buggy USB host controller or bug in " + "IRQ handling!\n"); + + s->async->events |= COMEDI_CB_EOA; + s->async->events |= COMEDI_CB_ERROR; + comedi_event(this_usbduxsub->comedidev, s); + /* don't do an unlink here */ + usbdux_ao_stop(this_usbduxsub, 0); + } + } +} + +static int usbduxsub_start(struct usbduxsub *usbduxsub) +{ + int errcode = 0; + uint8_t local_transfer_buffer[16]; + + /* 7f92 to zero */ + local_transfer_buffer[0] = 0; + errcode = usb_control_msg(usbduxsub->usbdev, + /* create a pipe for a control transfer */ + usb_sndctrlpipe(usbduxsub->usbdev, 0), + /* bRequest, "Firmware" */ + USBDUXSUB_FIRMWARE, + /* bmRequestType */ + VENDOR_DIR_OUT, + /* Value */ + USBDUXSUB_CPUCS, + /* Index */ + 0x0000, + /* address of the transfer buffer */ + local_transfer_buffer, + /* Length */ + 1, + /* Timeout */ + BULK_TIMEOUT); + if (errcode < 0) { + dev_err(&usbduxsub->interface->dev, + "comedi_: control msg failed (start)\n"); + return errcode; + } + return 0; +} + +static int usbduxsub_stop(struct usbduxsub *usbduxsub) +{ + int errcode = 0; + + uint8_t local_transfer_buffer[16]; + + /* 7f92 to one */ + local_transfer_buffer[0] = 1; + errcode = usb_control_msg(usbduxsub->usbdev, + usb_sndctrlpipe(usbduxsub->usbdev, 0), + /* bRequest, "Firmware" */ + USBDUXSUB_FIRMWARE, + /* bmRequestType */ + VENDOR_DIR_OUT, + /* Value */ + USBDUXSUB_CPUCS, + /* Index */ + 0x0000, local_transfer_buffer, + /* Length */ + 1, + /* Timeout */ + BULK_TIMEOUT); + if (errcode < 0) { + dev_err(&usbduxsub->interface->dev, + "comedi_: control msg failed (stop)\n"); + return errcode; + } + return 0; +} + +static int usbduxsub_upload(struct usbduxsub *usbduxsub, + uint8_t *local_transfer_buffer, + unsigned int startAddr, unsigned int len) +{ + int errcode; + + errcode = usb_control_msg(usbduxsub->usbdev, + usb_sndctrlpipe(usbduxsub->usbdev, 0), + /* brequest, firmware */ + USBDUXSUB_FIRMWARE, + /* bmRequestType */ + VENDOR_DIR_OUT, + /* value */ + startAddr, + /* index */ + 0x0000, + /* our local safe buffer */ + local_transfer_buffer, + /* length */ + len, + /* timeout */ + BULK_TIMEOUT); + dev_dbg(&usbduxsub->interface->dev, "comedi_: result=%d\n", errcode); + if (errcode < 0) { + dev_err(&usbduxsub->interface->dev, + "comedi_: upload failed\n"); + return errcode; + } + return 0; +} + +/* the FX2LP has twice as much as the standard FX2 */ +#define FIRMWARE_MAX_LEN 0x4000 + +static int firmwareUpload(struct usbduxsub *usbduxsub, + const u8 *firmwareBinary, int sizeFirmware) +{ + int ret; + uint8_t *fwBuf; + + if (!firmwareBinary) + return 0; + + if (sizeFirmware > FIRMWARE_MAX_LEN) { + dev_err(&usbduxsub->interface->dev, + "usbduxsigma firmware binary it too large for FX2.\n"); + return -ENOMEM; + } + + /* we generate a local buffer for the firmware */ + fwBuf = kmemdup(firmwareBinary, sizeFirmware, GFP_KERNEL); + if (!fwBuf) { + dev_err(&usbduxsub->interface->dev, + "comedi_: mem alloc for firmware failed\n"); + return -ENOMEM; + } + + ret = usbduxsub_stop(usbduxsub); + if (ret < 0) { + dev_err(&usbduxsub->interface->dev, + "comedi_: can not stop firmware\n"); + kfree(fwBuf); + return ret; + } + + ret = usbduxsub_upload(usbduxsub, fwBuf, 0, sizeFirmware); + if (ret < 0) { + dev_err(&usbduxsub->interface->dev, + "comedi_: firmware upload failed\n"); + kfree(fwBuf); + return ret; + } + ret = usbduxsub_start(usbduxsub); + if (ret < 0) { + dev_err(&usbduxsub->interface->dev, + "comedi_: can not start firmware\n"); + kfree(fwBuf); + return ret; + } + kfree(fwBuf); + return 0; +} + +static int usbduxsub_submit_InURBs(struct usbduxsub *usbduxsub) +{ + int i, errFlag; + + if (!usbduxsub) + return -EFAULT; + + /* Submit all URBs and start the transfer on the bus */ + for (i = 0; i < usbduxsub->numOfInBuffers; i++) { + /* in case of a resubmission after an unlink... */ + usbduxsub->urbIn[i]->interval = usbduxsub->ai_interval; + usbduxsub->urbIn[i]->context = usbduxsub->comedidev; + usbduxsub->urbIn[i]->dev = usbduxsub->usbdev; + usbduxsub->urbIn[i]->status = 0; + usbduxsub->urbIn[i]->transfer_flags = URB_ISO_ASAP; + dev_dbg(&usbduxsub->interface->dev, + "comedi%d: submitting in-urb[%d]: %p,%p intv=%d\n", + usbduxsub->comedidev->minor, i, + (usbduxsub->urbIn[i]->context), + (usbduxsub->urbIn[i]->dev), + (usbduxsub->urbIn[i]->interval)); + errFlag = usb_submit_urb(usbduxsub->urbIn[i], GFP_ATOMIC); + if (errFlag) { + dev_err(&usbduxsub->interface->dev, + "comedi_: ai: usb_submit_urb(%d) error %d\n", + i, errFlag); + return errFlag; + } + } + return 0; +} + +static int usbduxsub_submit_OutURBs(struct usbduxsub *usbduxsub) +{ + int i, errFlag; + + if (!usbduxsub) + return -EFAULT; + + for (i = 0; i < usbduxsub->numOfOutBuffers; i++) { + dev_dbg(&usbduxsub->interface->dev, + "comedi_: submitting out-urb[%d]\n", i); + /* in case of a resubmission after an unlink... */ + usbduxsub->urbOut[i]->context = usbduxsub->comedidev; + usbduxsub->urbOut[i]->dev = usbduxsub->usbdev; + usbduxsub->urbOut[i]->status = 0; + usbduxsub->urbOut[i]->transfer_flags = URB_ISO_ASAP; + errFlag = usb_submit_urb(usbduxsub->urbOut[i], GFP_ATOMIC); + if (errFlag) { + dev_err(&usbduxsub->interface->dev, + "comedi_: ao: usb_submit_urb(%d) error %d\n", + i, errFlag); + return errFlag; + } + } + return 0; +} + +static int chanToInterval(int nChannels) +{ + if (nChannels <= 2) + /* 4kHz */ + return 2; + if (nChannels <= 8) + /* 2kHz */ + return 4; + /* 1kHz */ + return 8; +} + +static int usbdux_ai_cmdtest(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_cmd *cmd) +{ + int err = 0, tmp, i; + unsigned int tmpTimer; + struct usbduxsub *this_usbduxsub = dev->private; + + if (!(this_usbduxsub->probed)) + return -ENODEV; + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ai_cmdtest\n", dev->minor); + + /* make sure triggers are valid */ + /* Only immediate triggers are allowed */ + tmp = cmd->start_src; + cmd->start_src &= TRIG_NOW | TRIG_INT; + if (!cmd->start_src || tmp != cmd->start_src) + err++; + + /* trigger should happen timed */ + tmp = cmd->scan_begin_src; + /* start a new _scan_ with a timer */ + cmd->scan_begin_src &= TRIG_TIMER; + if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src) + err++; + + /* scanning is continous */ + tmp = cmd->convert_src; + cmd->convert_src &= TRIG_NOW; + if (!cmd->convert_src || tmp != cmd->convert_src) + err++; + + /* issue a trigger when scan is finished and start a new scan */ + tmp = cmd->scan_end_src; + cmd->scan_end_src &= TRIG_COUNT; + if (!cmd->scan_end_src || tmp != cmd->scan_end_src) + err++; + + /* trigger at the end of count events or not, stop condition or not */ + tmp = cmd->stop_src; + cmd->stop_src &= TRIG_COUNT | TRIG_NONE; + if (!cmd->stop_src || tmp != cmd->stop_src) + err++; + + if (err) + return 1; + + /* + * step 2: make sure trigger sources are unique and mutually compatible + * note that mutual compatibility is not an issue here + */ + if (cmd->scan_begin_src != TRIG_FOLLOW && + cmd->scan_begin_src != TRIG_EXT && + cmd->scan_begin_src != TRIG_TIMER) + err++; + if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE) + err++; + + if (err) + return 2; + + /* step 3: make sure arguments are trivially compatible */ + if (cmd->start_arg != 0) { + cmd->start_arg = 0; + err++; + } + + if (cmd->scan_begin_src == TRIG_FOLLOW) { + /* internal trigger */ + if (cmd->scan_begin_arg != 0) { + cmd->scan_begin_arg = 0; + err++; + } + } + + if (cmd->scan_begin_src == TRIG_TIMER) { + if (this_usbduxsub->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. + */ + i = chanToInterval(cmd->chanlist_len); + if (cmd->scan_begin_arg < (1000000 / 8 * i)) { + cmd->scan_begin_arg = 1000000 / 8 * i; + err++; + } + /* now calc the real sampling rate with all the + * rounding errors */ + tmpTimer = + ((unsigned int)(cmd->scan_begin_arg / 125000)) * + 125000; + if (cmd->scan_begin_arg != tmpTimer) { + cmd->scan_begin_arg = tmpTimer; + err++; + } + } else { + /* full speed */ + /* 1kHz scans every USB frame */ + if (cmd->scan_begin_arg < 1000000) { + cmd->scan_begin_arg = 1000000; + err++; + } + /* + * calc the real sampling rate with the rounding errors + */ + tmpTimer = ((unsigned int)(cmd->scan_begin_arg / + 1000000)) * 1000000; + if (cmd->scan_begin_arg != tmpTimer) { + cmd->scan_begin_arg = tmpTimer; + err++; + } + } + } + /* the same argument */ + if (cmd->scan_end_arg != cmd->chanlist_len) { + cmd->scan_end_arg = cmd->chanlist_len; + err++; + } + + if (cmd->stop_src == TRIG_COUNT) { + /* any count is allowed */ + } else { + /* TRIG_NONE */ + if (cmd->stop_arg != 0) { + cmd->stop_arg = 0; + err++; + } + } + + if (err) + return 3; + + return 0; +} + +/* + * creates the ADC command for the MAX1271 + * range is the range value from comedi + */ +static void create_adc_command(unsigned int chan, + uint8_t *muxsg0, + uint8_t *muxsg1) +{ + if (chan < 8) + (*muxsg0) = (*muxsg0) | (1 << chan); + else if (chan < 16) + (*muxsg1) = (*muxsg1) | (1 << (chan-8)); +} + + +/* bulk transfers to usbdux */ + +#define SENDADCOMMANDS 0 +#define SENDDACOMMANDS 1 +#define SENDDIOCONFIGCOMMAND 2 +#define SENDDIOBITSCOMMAND 3 +#define SENDSINGLEAD 4 +#define SENDPWMON 7 +#define SENDPWMOFF 8 + +static int send_dux_commands(struct usbduxsub *this_usbduxsub, int cmd_type) +{ + int result, nsent; + + this_usbduxsub->dux_commands[0] = cmd_type; +#ifdef NOISY_DUX_DEBUGBUG + printk(KERN_DEBUG "comedi%d: usbdux: dux_commands: ", + this_usbduxsub->comedidev->minor); + for (result = 0; result < SIZEOFDUXBUFFER; result++) + printk(" %02x", this_usbduxsub->dux_commands[result]); + printk("\n"); +#endif + result = usb_bulk_msg(this_usbduxsub->usbdev, + usb_sndbulkpipe(this_usbduxsub->usbdev, + COMMAND_OUT_EP), + this_usbduxsub->dux_commands, SIZEOFDUXBUFFER, + &nsent, BULK_TIMEOUT); + if (result < 0) + dev_err(&this_usbduxsub->interface->dev, "comedi%d: " + "could not transmit dux_command to the usb-device, " + "err=%d\n", this_usbduxsub->comedidev->minor, result); + + return result; +} + +static int receive_dux_commands(struct usbduxsub *this_usbduxsub, int command) +{ + int result = (-EFAULT); + int nrec; + int i; + + for (i = 0; i < RETRIES; i++) { + result = usb_bulk_msg(this_usbduxsub->usbdev, + usb_rcvbulkpipe(this_usbduxsub->usbdev, + COMMAND_IN_EP), + this_usbduxsub->insnBuffer, SIZEINSNBUF, + &nrec, BULK_TIMEOUT); + if (result < 0) { + dev_err(&this_usbduxsub->interface->dev, "comedi%d: " + "insn: USB error %d " + "while receiving DUX command" + "\n", this_usbduxsub->comedidev->minor, + result); + return result; + } + if (this_usbduxsub->insnBuffer[0] == command) + return result; + } + /* this is only reached if the data has been requested a couple of + * times */ + dev_err(&this_usbduxsub->interface->dev, "comedi%d: insn: " + "wrong data returned from firmware: want %d, got %d.\n", + this_usbduxsub->comedidev->minor, command, + this_usbduxsub->insnBuffer[0]); + return -EFAULT; +} + +static int usbdux_ai_inttrig(struct comedi_device *dev, + struct comedi_subdevice *s, unsigned int trignum) +{ + int ret; + struct usbduxsub *this_usbduxsub = dev->private; + if (!this_usbduxsub) + return -EFAULT; + + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ai_inttrig\n", dev->minor); + + if (trignum != 0) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ai_inttrig: invalid trignum\n", + dev->minor); + up(&this_usbduxsub->sem); + return -EINVAL; + } + if (!(this_usbduxsub->ai_cmd_running)) { + this_usbduxsub->ai_cmd_running = 1; + ret = usbduxsub_submit_InURBs(this_usbduxsub); + if (ret < 0) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ai_inttrig: " + "urbSubmit: err=%d\n", dev->minor, ret); + this_usbduxsub->ai_cmd_running = 0; + up(&this_usbduxsub->sem); + return ret; + } + s->async->inttrig = NULL; + } else { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: ai_inttrig but acqu is already running\n", + dev->minor); + } + up(&this_usbduxsub->sem); + return 1; +} + +static int usbdux_ai_cmd(struct comedi_device *dev, struct comedi_subdevice *s) +{ + struct comedi_cmd *cmd = &s->async->cmd; + unsigned int chan; + int i, ret; + struct usbduxsub *this_usbduxsub = dev->private; + int result; + uint8_t muxsg0 = 0; + uint8_t muxsg1 = 0; + uint8_t sysred = 0; + + if (!this_usbduxsub) + return -EFAULT; + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ai_cmd\n", dev->minor); + + /* block other CPUs from starting an ai_cmd */ + down(&this_usbduxsub->sem); + + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + if (this_usbduxsub->ai_cmd_running) { + dev_err(&this_usbduxsub->interface->dev, "comedi%d: " + "ai_cmd not possible. Another ai_cmd is running.\n", + dev->minor); + up(&this_usbduxsub->sem); + return -EBUSY; + } + /* set current channel of the running aquisition to zero */ + s->async->cur_chan = 0; + + /* first the number of channels per time step */ + this_usbduxsub->dux_commands[1] = cmd->chanlist_len; + + /* CONFIG0 */ + this_usbduxsub->dux_commands[2] = 0x12; + + /* CONFIG1: 23kHz sampling rate, delay = 0us, */ + this_usbduxsub->dux_commands[3] = 0x03; + + /* CONFIG3: differential channels off */ + this_usbduxsub->dux_commands[4] = 0x00; + + for (i = 0; i < cmd->chanlist_len; i++) { + chan = CR_CHAN(cmd->chanlist[i]); + create_adc_command(chan, &muxsg0, &muxsg1); + if (i >= NUMCHANNELS) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: channel list too long\n", + dev->minor); + break; + } + } + this_usbduxsub->dux_commands[5] = muxsg0; + this_usbduxsub->dux_commands[6] = muxsg1; + this_usbduxsub->dux_commands[7] = sysred; + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi %d: sending commands to the usb device: size=%u\n", + dev->minor, NUMCHANNELS); + + result = send_dux_commands(this_usbduxsub, SENDADCOMMANDS); + if (result < 0) { + up(&this_usbduxsub->sem); + return result; + } + + if (this_usbduxsub->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 + */ + this_usbduxsub->ai_interval = + chanToInterval(cmd->chanlist_len); + this_usbduxsub->ai_timer = cmd->scan_begin_arg / (125000 * + (this_usbduxsub-> + ai_interval)); + } else { + /* interval always 1ms */ + this_usbduxsub->ai_interval = 1; + this_usbduxsub->ai_timer = cmd->scan_begin_arg / 1000000; + } + if (this_usbduxsub->ai_timer < 1) { + dev_err(&this_usbduxsub->interface->dev, "comedi%d: ai_cmd: " + "timer=%d, scan_begin_arg=%d. " + "Not properly tested by cmdtest?\n", dev->minor, + this_usbduxsub->ai_timer, cmd->scan_begin_arg); + up(&this_usbduxsub->sem); + return -EINVAL; + } + this_usbduxsub->ai_counter = this_usbduxsub->ai_timer; + + if (cmd->stop_src == TRIG_COUNT) { + /* data arrives as one packet */ + this_usbduxsub->ai_sample_count = cmd->stop_arg; + this_usbduxsub->ai_continous = 0; + } else { + /* continous aquisition */ + this_usbduxsub->ai_continous = 1; + this_usbduxsub->ai_sample_count = 0; + } + + if (cmd->start_src == TRIG_NOW) { + /* enable this acquisition operation */ + this_usbduxsub->ai_cmd_running = 1; + ret = usbduxsub_submit_InURBs(this_usbduxsub); + if (ret < 0) { + this_usbduxsub->ai_cmd_running = 0; + /* fixme: unlink here?? */ + up(&this_usbduxsub->sem); + return ret; + } + s->async->inttrig = NULL; + } else { + /* TRIG_INT */ + /* don't enable the acquision operation */ + /* wait for an internal signal */ + s->async->inttrig = usbdux_ai_inttrig; + } + up(&this_usbduxsub->sem); + return 0; +} + +/* Mode 0 is used to get a single conversion on demand */ +static int usbdux_ai_insn_read(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) +{ + int i; + int32_t one = 0; + int chan; + int err; + struct usbduxsub *this_usbduxsub = dev->private; + uint8_t muxsg0 = 0; + uint8_t muxsg1 = 0; + uint8_t sysred = 0; + + if (!this_usbduxsub) + return 0; + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: ai_insn_read, insn->n=%d, insn->subdev=%d\n", + dev->minor, insn->n, insn->subdev); + + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + if (this_usbduxsub->ai_cmd_running) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: ai_insn_read not possible. " + "Async Command is running.\n", dev->minor); + up(&this_usbduxsub->sem); + return 0; + } + + /* sample one channel */ + /* CONFIG0: chopper on */ + this_usbduxsub->dux_commands[1] = 0x16; + + /* CONFIG1: 2kHz sampling rate */ + this_usbduxsub->dux_commands[2] = 0x80; + + /* CONFIG3: differential channels off */ + this_usbduxsub->dux_commands[3] = 0x00; + + chan = CR_CHAN(insn->chanspec); + create_adc_command(chan, &muxsg0, &muxsg1); + + this_usbduxsub->dux_commands[4] = muxsg0; + this_usbduxsub->dux_commands[5] = muxsg1; + this_usbduxsub->dux_commands[6] = sysred; + + /* adc commands */ + err = send_dux_commands(this_usbduxsub, SENDSINGLEAD); + if (err < 0) { + up(&this_usbduxsub->sem); + return err; + } + + for (i = 0; i < insn->n; i++) { + err = receive_dux_commands(this_usbduxsub, SENDSINGLEAD); + if (err < 0) { + up(&this_usbduxsub->sem); + return 0; + } + /* 32 bits big endian from the A/D converter */ + one = be32_to_cpu(*((int32_t *) + ((this_usbduxsub->insnBuffer)+1))); + /* mask out the staus byte */ + one = one & 0x00ffffff; + /* turn it into an unsigned integer */ + one = one ^ 0x00800000; + data[i] = one; + } + up(&this_usbduxsub->sem); + return i; +} + + + + +static int usbdux_getstatusinfo(struct comedi_device *dev, int chan) +{ + struct usbduxsub *this_usbduxsub = dev->private; + uint8_t sysred = 0; + uint32_t one; + int err; + + if (!this_usbduxsub) + return 0; + + if (this_usbduxsub->ai_cmd_running) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: status read not possible. " + "Async Command is running.\n", dev->minor); + return 0; + } + + /* CONFIG0 */ + this_usbduxsub->dux_commands[1] = 0x12; + + /* CONFIG1: 2kHz sampling rate */ + this_usbduxsub->dux_commands[2] = 0x80; + + /* CONFIG3: differential channels off */ + this_usbduxsub->dux_commands[3] = 0x00; + + if (chan == 1) { + /* ADC offset */ + sysred = sysred | 1; + } else if (chan == 2) { + /* VCC */ + sysred = sysred | 4; + } else if (chan == 3) { + /* temperature */ + sysred = sysred | 8; + } else if (chan == 4) { + /* gain */ + sysred = sysred | 16; + } else if (chan == 5) { + /* ref */ + sysred = sysred | 32; + } + + this_usbduxsub->dux_commands[4] = 0; + this_usbduxsub->dux_commands[5] = 0; + this_usbduxsub->dux_commands[6] = sysred; + + /* adc commands */ + err = send_dux_commands(this_usbduxsub, SENDSINGLEAD); + if (err < 0) + return err; + + err = receive_dux_commands(this_usbduxsub, SENDSINGLEAD); + if (err < 0) + return err; + + /* 32 bits big endian from the A/D converter */ + one = be32_to_cpu(*((int32_t *)((this_usbduxsub->insnBuffer)+1))); + /* mask out the staus byte */ + one = one & 0x00ffffff; + one = one ^ 0x00800000; + + return (int)one; +} + + + + + + +/************************************/ +/* analog out */ + +static int usbdux_ao_insn_read(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) +{ + int i; + int chan = CR_CHAN(insn->chanspec); + struct usbduxsub *this_usbduxsub = dev->private; + + if (!this_usbduxsub) + return -EFAULT; + + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + for (i = 0; i < insn->n; i++) + data[i] = this_usbduxsub->outBuffer[chan]; + + up(&this_usbduxsub->sem); + return i; +} + +static int usbdux_ao_insn_write(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) +{ + int i, err; + int chan = CR_CHAN(insn->chanspec); + struct usbduxsub *this_usbduxsub = dev->private; + + if (!this_usbduxsub) + return -EFAULT; + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: ao_insn_write\n", dev->minor); + + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + if (this_usbduxsub->ao_cmd_running) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: ao_insn_write: " + "ERROR: asynchronous ao_cmd is running\n", dev->minor); + up(&this_usbduxsub->sem); + return 0; + } + + for (i = 0; i < insn->n; i++) { + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: ao_insn_write: data[chan=%d,i=%d]=%d\n", + dev->minor, chan, i, data[i]); + + /* number of channels: 1 */ + this_usbduxsub->dux_commands[1] = 1; + /* channel number */ + this_usbduxsub->dux_commands[2] = data[i]; + this_usbduxsub->outBuffer[chan] = data[i]; + this_usbduxsub->dux_commands[3] = chan; + err = send_dux_commands(this_usbduxsub, SENDDACOMMANDS); + if (err < 0) { + up(&this_usbduxsub->sem); + return err; + } + } + up(&this_usbduxsub->sem); + + return i; +} + +static int usbdux_ao_inttrig(struct comedi_device *dev, + struct comedi_subdevice *s, unsigned int trignum) +{ + int ret; + struct usbduxsub *this_usbduxsub = dev->private; + + if (!this_usbduxsub) + return -EFAULT; + + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + if (trignum != 0) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ao_inttrig: invalid trignum\n", + dev->minor); + return -EINVAL; + } + if (!(this_usbduxsub->ao_cmd_running)) { + this_usbduxsub->ao_cmd_running = 1; + ret = usbduxsub_submit_OutURBs(this_usbduxsub); + if (ret < 0) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ao_inttrig: submitURB: " + "err=%d\n", dev->minor, ret); + this_usbduxsub->ao_cmd_running = 0; + up(&this_usbduxsub->sem); + return ret; + } + s->async->inttrig = NULL; + } else { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: ao_inttrig but acqu is already running.\n", + dev->minor); + } + up(&this_usbduxsub->sem); + return 1; +} + +static int usbdux_ao_cmdtest(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_cmd *cmd) +{ + int err = 0, tmp; + struct usbduxsub *this_usbduxsub = dev->private; + + if (!this_usbduxsub) + return -EFAULT; + + if (!(this_usbduxsub->probed)) + return -ENODEV; + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: usbdux_ao_cmdtest\n", dev->minor); + + /* make sure triggers are valid */ + /* Only immediate triggers are allowed */ + tmp = cmd->start_src; + cmd->start_src &= TRIG_NOW | TRIG_INT; + if (!cmd->start_src || tmp != cmd->start_src) + err++; + + /* trigger should happen timed */ + tmp = cmd->scan_begin_src; + /* just now we scan also in the high speed mode every frame */ + /* this is due to ehci driver limitations */ + if (0) { /* (this_usbduxsub->high_speed) */ + /* start immidiately a new scan */ + /* the sampling rate is set by the coversion rate */ + cmd->scan_begin_src &= TRIG_FOLLOW; + } else { + /* start a new scan (output at once) with a timer */ + cmd->scan_begin_src &= TRIG_TIMER; + } + if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src) + err++; + + /* scanning is continous */ + tmp = cmd->convert_src; + + /* all conversion events happen simultaneously */ + cmd->convert_src &= TRIG_NOW; + + if (!cmd->convert_src || tmp != cmd->convert_src) + err++; + + /* issue a trigger when scan is finished and start a new scan */ + tmp = cmd->scan_end_src; + cmd->scan_end_src &= TRIG_COUNT; + if (!cmd->scan_end_src || tmp != cmd->scan_end_src) + err++; + + /* trigger at the end of count events or not, stop condition or not */ + tmp = cmd->stop_src; + cmd->stop_src &= TRIG_COUNT | TRIG_NONE; + if (!cmd->stop_src || tmp != cmd->stop_src) + err++; + + if (err) + return 1; + + /* + * step 2: make sure trigger sources + * are unique and mutually compatible + * note that mutual compatibility is not an issue here + */ + if (cmd->scan_begin_src != TRIG_FOLLOW && + cmd->scan_begin_src != TRIG_EXT && + cmd->scan_begin_src != TRIG_TIMER) + err++; + if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE) + err++; + + if (err) + return 2; + + /* step 3: make sure arguments are trivially compatible */ + + if (cmd->start_arg != 0) { + cmd->start_arg = 0; + err++; + } + + if (cmd->scan_begin_src == TRIG_FOLLOW) { + /* internal trigger */ + if (cmd->scan_begin_arg != 0) { + cmd->scan_begin_arg = 0; + err++; + } + } + + if (cmd->scan_begin_src == TRIG_TIMER) { + /* timer */ + if (cmd->scan_begin_arg < 1000000) { + cmd->scan_begin_arg = 1000000; + err++; + } + } + /* not used now, is for later use */ + if (cmd->convert_src == TRIG_TIMER) { + if (cmd->convert_arg < 125000) { + cmd->convert_arg = 125000; + err++; + } + } + + /* the same argument */ + if (cmd->scan_end_arg != cmd->chanlist_len) { + cmd->scan_end_arg = cmd->chanlist_len; + err++; + } + + if (cmd->stop_src == TRIG_COUNT) { + /* any count is allowed */ + } else { + /* TRIG_NONE */ + if (cmd->stop_arg != 0) { + cmd->stop_arg = 0; + err++; + } + } + + dev_dbg(&this_usbduxsub->interface->dev, "comedi%d: err=%d, " + "scan_begin_src=%d, scan_begin_arg=%d, convert_src=%d, " + "convert_arg=%d\n", dev->minor, err, cmd->scan_begin_src, + cmd->scan_begin_arg, cmd->convert_src, cmd->convert_arg); + + if (err) + return 3; + + return 0; +} + +static int usbdux_ao_cmd(struct comedi_device *dev, struct comedi_subdevice *s) +{ + struct comedi_cmd *cmd = &s->async->cmd; + unsigned int chan, gain; + int i, ret; + struct usbduxsub *this_usbduxsub = dev->private; + + if (!this_usbduxsub) + return -EFAULT; + + down(&this_usbduxsub->sem); + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: %s\n", dev->minor, __func__); + + /* set current channel of the running aquisition to zero */ + s->async->cur_chan = 0; + for (i = 0; i < cmd->chanlist_len; ++i) { + chan = CR_CHAN(cmd->chanlist[i]); + gain = CR_RANGE(cmd->chanlist[i]); + if (i >= NUMOUTCHANNELS) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: %s: channel list too long\n", + dev->minor, __func__); + break; + } + this_usbduxsub->dac_commands[i] = chan; + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: dac command for ch %d is %x\n", + dev->minor, i, this_usbduxsub->dac_commands[i]); + } + + /* we count in steps of 1ms (125us) */ + /* 125us mode not used yet */ + if (0) { /* (this_usbduxsub->high_speed) */ + /* 125us */ + /* timing of the conversion itself: every 125 us */ + this_usbduxsub->ao_timer = cmd->convert_arg / 125000; + } else { + /* 1ms */ + /* timing of the scan: we get all channels at once */ + this_usbduxsub->ao_timer = cmd->scan_begin_arg / 1000000; + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: scan_begin_src=%d, scan_begin_arg=%d, " + "convert_src=%d, convert_arg=%d\n", dev->minor, + cmd->scan_begin_src, cmd->scan_begin_arg, + cmd->convert_src, cmd->convert_arg); + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: ao_timer=%d (ms)\n", + dev->minor, this_usbduxsub->ao_timer); + if (this_usbduxsub->ao_timer < 1) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: usbdux: ao_timer=%d, " + "scan_begin_arg=%d. " + "Not properly tested by cmdtest?\n", + dev->minor, this_usbduxsub->ao_timer, + cmd->scan_begin_arg); + up(&this_usbduxsub->sem); + return -EINVAL; + } + } + this_usbduxsub->ao_counter = this_usbduxsub->ao_timer; + + if (cmd->stop_src == TRIG_COUNT) { + /* not continous */ + /* counter */ + /* high speed also scans everything at once */ + if (0) { /* (this_usbduxsub->high_speed) */ + this_usbduxsub->ao_sample_count = + (cmd->stop_arg) * (cmd->scan_end_arg); + } else { + /* there's no scan as the scan has been */ + /* perf inside the FX2 */ + /* data arrives as one packet */ + this_usbduxsub->ao_sample_count = cmd->stop_arg; + } + this_usbduxsub->ao_continous = 0; + } else { + /* continous aquisition */ + this_usbduxsub->ao_continous = 1; + this_usbduxsub->ao_sample_count = 0; + } + + if (cmd->start_src == TRIG_NOW) { + /* enable this acquisition operation */ + this_usbduxsub->ao_cmd_running = 1; + ret = usbduxsub_submit_OutURBs(this_usbduxsub); + if (ret < 0) { + this_usbduxsub->ao_cmd_running = 0; + /* fixme: unlink here?? */ + up(&this_usbduxsub->sem); + return ret; + } + s->async->inttrig = NULL; + } else { + /* TRIG_INT */ + /* submit the urbs later */ + /* wait for an internal signal */ + s->async->inttrig = usbdux_ao_inttrig; + } + + up(&this_usbduxsub->sem); + return 0; +} + +static int usbdux_dio_insn_config(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) +{ + int chan = CR_CHAN(insn->chanspec); + + /* The input or output configuration of each digital line is + * configured by a special insn_config instruction. chanspec + * contains the channel to be changed, and data[0] contains the + * value COMEDI_INPUT or COMEDI_OUTPUT. */ + + switch (data[0]) { + case INSN_CONFIG_DIO_OUTPUT: + s->io_bits |= 1 << chan; /* 1 means Out */ + break; + case INSN_CONFIG_DIO_INPUT: + s->io_bits &= ~(1 << chan); + break; + case INSN_CONFIG_DIO_QUERY: + data[1] = + (s->io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT; + break; + default: + return -EINVAL; + break; + } + /* 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 usbdux_dio_insn_bits(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + + struct usbduxsub *this_usbduxsub = dev->private; + int err; + + if (!this_usbduxsub) + return -EFAULT; + + if (insn->n != 2) + return -EINVAL; + + down(&this_usbduxsub->sem); + + if (!(this_usbduxsub->probed)) { + up(&this_usbduxsub->sem); + return -ENODEV; + } + + /* The insn data is a mask in data[0] and the new data + * in data[1], each channel cooresponding to a bit. */ + s->state &= ~data[0]; + s->state |= data[0] & data[1]; + /* The commands are 8 bits wide */ + this_usbduxsub->dux_commands[1] = (s->io_bits) & 0x000000FF; + this_usbduxsub->dux_commands[4] = (s->state) & 0x000000FF; + this_usbduxsub->dux_commands[2] = ((s->io_bits) & 0x0000FF00) >> 8; + this_usbduxsub->dux_commands[5] = ((s->state) & 0x0000FF00) >> 8; + this_usbduxsub->dux_commands[3] = ((s->io_bits) & 0x00FF0000) >> 16; + this_usbduxsub->dux_commands[6] = ((s->state) & 0x00FF0000) >> 16; + + /* This command also tells the firmware to return */ + /* the digital input lines */ + err = send_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND); + if (err < 0) { + up(&this_usbduxsub->sem); + return err; + } + err = receive_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND); + if (err < 0) { + up(&this_usbduxsub->sem); + return err; + } + + data[1] = (((unsigned int)(this_usbduxsub->insnBuffer[1]))&0xff) | + ((((unsigned int)(this_usbduxsub->insnBuffer[2]))&0xff) << 8) | + ((((unsigned int)(this_usbduxsub->insnBuffer[3]))&0xff) << 16); + + s->state = data[1]; + + up(&this_usbduxsub->sem); + return 2; +} + +/***********************************/ +/* PWM */ + +static int usbduxsub_unlink_PwmURBs(struct usbduxsub *usbduxsub_tmp) +{ + int err = 0; + + if (usbduxsub_tmp && usbduxsub_tmp->urbPwm) { + if (usbduxsub_tmp->urbPwm) + usb_kill_urb(usbduxsub_tmp->urbPwm); + dev_dbg(&usbduxsub_tmp->interface->dev, + "comedi: unlinked PwmURB: res=%d\n", err); + } + return err; +} + +/* This cancels a running acquisition operation + * in any context. + */ +static int usbdux_pwm_stop(struct usbduxsub *this_usbduxsub, int do_unlink) +{ + int ret = 0; + + if (!this_usbduxsub) + return -EFAULT; + + dev_dbg(&this_usbduxsub->interface->dev, "comedi: %s\n", __func__); + if (do_unlink) + ret = usbduxsub_unlink_PwmURBs(this_usbduxsub); + + this_usbduxsub->pwm_cmd_running = 0; + + return ret; +} + +/* force unlink - is called by comedi */ +static int usbdux_pwm_cancel(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + struct usbduxsub *this_usbduxsub = dev->private; + int res = 0; + + /* unlink only if it is really running */ + res = usbdux_pwm_stop(this_usbduxsub, this_usbduxsub->pwm_cmd_running); + + dev_dbg(&this_usbduxsub->interface->dev, + "comedi %d: sending pwm off command to the usb device.\n", + dev->minor); + res = send_dux_commands(this_usbduxsub, SENDPWMOFF); + if (res < 0) + return res; + + return res; +} + +static void usbduxsub_pwm_irq(struct urb *urb) +{ + int ret; + struct usbduxsub *this_usbduxsub; + struct comedi_device *this_comedidev; + struct comedi_subdevice *s; + + /* printk(KERN_DEBUG "PWM: IRQ\n"); */ + + /* the context variable points to the subdevice */ + this_comedidev = urb->context; + /* the private structure of the subdevice is struct usbduxsub */ + this_usbduxsub = this_comedidev->private; + + s = this_comedidev->subdevices + SUBDEV_DA; + + switch (urb->status) { + case 0: + /* success */ + break; + + case -ECONNRESET: + case -ENOENT: + case -ESHUTDOWN: + case -ECONNABORTED: + /* + * after an unlink command, unplug, ... etc + * no unlink needed here. Already shutting down. + */ + if (this_usbduxsub->pwm_cmd_running) + usbdux_pwm_stop(this_usbduxsub, 0); + + return; + + default: + /* a real error */ + if (this_usbduxsub->pwm_cmd_running) { + dev_err(&this_usbduxsub->interface->dev, + "comedi_: Non-zero urb status received in " + "pwm intr context: %d\n", urb->status); + usbdux_pwm_stop(this_usbduxsub, 0); + } + return; + } + + /* are we actually running? */ + if (!(this_usbduxsub->pwm_cmd_running)) + return; + + urb->transfer_buffer_length = this_usbduxsub->sizePwmBuf; + urb->dev = this_usbduxsub->usbdev; + urb->status = 0; + if (this_usbduxsub->pwm_cmd_running) { + ret = usb_submit_urb(urb, GFP_ATOMIC); + if (ret < 0) { + dev_err(&this_usbduxsub->interface->dev, + "comedi_: pwm urb resubm failed in int-cont. " + "ret=%d", ret); + if (ret == EL2NSYNC) + dev_err(&this_usbduxsub->interface->dev, + "buggy USB host controller or bug in " + "IRQ handling!\n"); + + /* don't do an unlink here */ + usbdux_pwm_stop(this_usbduxsub, 0); + } + } +} + +static int usbduxsub_submit_PwmURBs(struct usbduxsub *usbduxsub) +{ + int errFlag; + + if (!usbduxsub) + return -EFAULT; + + dev_dbg(&usbduxsub->interface->dev, "comedi_: submitting pwm-urb\n"); + + /* in case of a resubmission after an unlink... */ + usb_fill_bulk_urb(usbduxsub->urbPwm, + usbduxsub->usbdev, + usb_sndbulkpipe(usbduxsub->usbdev, PWM_EP), + usbduxsub->urbPwm->transfer_buffer, + usbduxsub->sizePwmBuf, usbduxsub_pwm_irq, + usbduxsub->comedidev); + + errFlag = usb_submit_urb(usbduxsub->urbPwm, GFP_ATOMIC); + if (errFlag) { + dev_err(&usbduxsub->interface->dev, + "comedi_: usbduxsigma: pwm: usb_submit_urb error %d\n", + errFlag); + return errFlag; + } + return 0; +} + +static int usbdux_pwm_period(struct comedi_device *dev, + struct comedi_subdevice *s, unsigned int period) +{ + struct usbduxsub *this_usbduxsub = dev->private; + int fx2delay = 255; + + if (period < MIN_PWM_PERIOD) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: illegal period setting for pwm.\n", + dev->minor); + return -EAGAIN; + } else { + fx2delay = period / ((int)(6 * 512 * (1.0 / 0.033))) - 6; + if (fx2delay > 255) { + dev_err(&this_usbduxsub->interface->dev, + "comedi%d: period %d for pwm is too low.\n", + dev->minor, period); + return -EAGAIN; + } + } + this_usbduxsub->pwmDelay = fx2delay; + this_usbduxsub->pwmPeriod = period; + dev_dbg(&this_usbduxsub->interface->dev, "%s: frequ=%d, period=%d\n", + __func__, period, fx2delay); + return 0; +} + +/* is called from insn so there's no need to do all the sanity checks */ +static int usbdux_pwm_start(struct comedi_device *dev, + struct comedi_subdevice *s) +{ + int ret, i; + struct usbduxsub *this_usbduxsub = dev->private; + + dev_dbg(&this_usbduxsub->interface->dev, "comedi%d: %s\n", + dev->minor, __func__); + + if (this_usbduxsub->pwm_cmd_running) { + /* already running */ + return 0; + } + + this_usbduxsub->dux_commands[1] = ((uint8_t) this_usbduxsub->pwmDelay); + ret = send_dux_commands(this_usbduxsub, SENDPWMON); + if (ret < 0) + return ret; + + /* initialise the buffer */ + for (i = 0; i < this_usbduxsub->sizePwmBuf; i++) + ((char *)(this_usbduxsub->urbPwm->transfer_buffer))[i] = 0; + + this_usbduxsub->pwm_cmd_running = 1; + ret = usbduxsub_submit_PwmURBs(this_usbduxsub); + if (ret < 0) { + this_usbduxsub->pwm_cmd_running = 0; + return ret; + } + return 0; +} + +/* generates the bit pattern for PWM with the optional sign bit */ +static int usbdux_pwm_pattern(struct comedi_device *dev, + struct comedi_subdevice *s, int channel, + unsigned int value, unsigned int sign) +{ + struct usbduxsub *this_usbduxsub = dev->private; + int i, szbuf; + char *pBuf; + char pwm_mask; + char sgn_mask; + char c; + + if (!this_usbduxsub) + return -EFAULT; + + /* this is the DIO bit which carries the PWM data */ + pwm_mask = (1 << channel); + /* this is the DIO bit which carries the optional direction bit */ + sgn_mask = (16 << channel); + /* this is the buffer which will be filled with the with bit */ + /* pattern for one period */ + szbuf = this_usbduxsub->sizePwmBuf; + pBuf = (char *)(this_usbduxsub->urbPwm->transfer_buffer); + for (i = 0; i < szbuf; i++) { + c = *pBuf; + /* reset bits */ + c = c & (~pwm_mask); + /* set the bit as long as the index is lower than the value */ + if (i < value) + c = c | pwm_mask; + /* set the optional sign bit for a relay */ + if (!sign) { + /* positive value */ + c = c & (~sgn_mask); + } else { + /* negative value */ + c = c | sgn_mask; + } + *(pBuf++) = c; + } + return 1; +} + +static int usbdux_pwm_write(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) +{ + struct usbduxsub *this_usbduxsub = dev->private; + + if (!this_usbduxsub) + return -EFAULT; + + if ((insn->n) != 1) { + /* + * doesn't make sense to have more than one value here because + * it would just overwrite the PWM buffer a couple of times + */ + return -EINVAL; + } + + /* + * the sign is set via a special INSN only, this gives us 8 bits for + * normal operation + * relay sign 0 by default + */ + return usbdux_pwm_pattern(dev, s, CR_CHAN(insn->chanspec), data[0], 0); +} + +static int usbdux_pwm_read(struct comedi_device *x1, + struct comedi_subdevice *x2, struct comedi_insn *x3, + unsigned int *x4) +{ + /* not needed */ + return -EINVAL; +}; + +/* switches on/off PWM */ +static int usbdux_pwm_config(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, unsigned int *data) +{ + struct usbduxsub *this_usbduxsub = dev->private; + switch (data[0]) { + case INSN_CONFIG_ARM: + /* switch it on */ + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: %s: pwm on\n", dev->minor, __func__); + /* + * if not zero the PWM is limited to a certain time which is + * not supported here + */ + if (data[1] != 0) + return -EINVAL; + return usbdux_pwm_start(dev, s); + case INSN_CONFIG_DISARM: + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: %s: pwm off\n", dev->minor, __func__); + return usbdux_pwm_cancel(dev, s); + case INSN_CONFIG_GET_PWM_STATUS: + /* + * to check if the USB transmission has failed or in case PWM + * was limited to n cycles to check if it has terminated + */ + data[1] = this_usbduxsub->pwm_cmd_running; + return 0; + case INSN_CONFIG_PWM_SET_PERIOD: + dev_dbg(&this_usbduxsub->interface->dev, + "comedi%d: %s: setting period\n", dev->minor, + __func__); + return usbdux_pwm_period(dev, s, data[1]); + case INSN_CONFIG_PWM_GET_PERIOD: + data[1] = this_usbduxsub->pwmPeriod; + return 0; + case INSN_CONFIG_PWM_SET_H_BRIDGE: + /* value in the first byte and the sign in the second for a + relay */ + return usbdux_pwm_pattern(dev, s, + /* the channel number */ + CR_CHAN(insn->chanspec), + /* actual PWM data */ + data[1], + /* just a sign */ + (data[2] != 0)); + case INSN_CONFIG_PWM_GET_H_BRIDGE: + /* values are not kept in this driver, nothing to return */ + return -EINVAL; + } + return -EINVAL; +} + +/* end of PWM */ +/*****************************************************************/ + +static void tidy_up(struct usbduxsub *usbduxsub_tmp) +{ + int i; + + if (!usbduxsub_tmp) + return; + dev_dbg(&usbduxsub_tmp->interface->dev, "comedi_: tiding up\n"); + + /* shows the usb subsystem that the driver is down */ + if (usbduxsub_tmp->interface) + usb_set_intfdata(usbduxsub_tmp->interface, NULL); + + usbduxsub_tmp->probed = 0; + + if (usbduxsub_tmp->urbIn) { + if (usbduxsub_tmp->ai_cmd_running) { + usbduxsub_tmp->ai_cmd_running = 0; + usbduxsub_unlink_InURBs(usbduxsub_tmp); + } + for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) { + kfree(usbduxsub_tmp->urbIn[i]->transfer_buffer); + usbduxsub_tmp->urbIn[i]->transfer_buffer = NULL; + usb_kill_urb(usbduxsub_tmp->urbIn[i]); + usb_free_urb(usbduxsub_tmp->urbIn[i]); + usbduxsub_tmp->urbIn[i] = NULL; + } + kfree(usbduxsub_tmp->urbIn); + usbduxsub_tmp->urbIn = NULL; + } + if (usbduxsub_tmp->urbOut) { + if (usbduxsub_tmp->ao_cmd_running) { + usbduxsub_tmp->ao_cmd_running = 0; + usbduxsub_unlink_OutURBs(usbduxsub_tmp); + } + for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) { + if (usbduxsub_tmp->urbOut[i]->transfer_buffer) { + kfree(usbduxsub_tmp-> + urbOut[i]->transfer_buffer); + usbduxsub_tmp->urbOut[i]->transfer_buffer = + NULL; + } + if (usbduxsub_tmp->urbOut[i]) { + usb_kill_urb(usbduxsub_tmp->urbOut[i]); + usb_free_urb(usbduxsub_tmp->urbOut[i]); + usbduxsub_tmp->urbOut[i] = NULL; + } + } + kfree(usbduxsub_tmp->urbOut); + usbduxsub_tmp->urbOut = NULL; + } + if (usbduxsub_tmp->urbPwm) { + if (usbduxsub_tmp->pwm_cmd_running) { + usbduxsub_tmp->pwm_cmd_running = 0; + usbduxsub_unlink_PwmURBs(usbduxsub_tmp); + } + kfree(usbduxsub_tmp->urbPwm->transfer_buffer); + usbduxsub_tmp->urbPwm->transfer_buffer = NULL; + usb_kill_urb(usbduxsub_tmp->urbPwm); + usb_free_urb(usbduxsub_tmp->urbPwm); + usbduxsub_tmp->urbPwm = NULL; + } + kfree(usbduxsub_tmp->inBuffer); + usbduxsub_tmp->inBuffer = NULL; + kfree(usbduxsub_tmp->insnBuffer); + usbduxsub_tmp->insnBuffer = NULL; + kfree(usbduxsub_tmp->outBuffer); + usbduxsub_tmp->outBuffer = NULL; + kfree(usbduxsub_tmp->dac_commands); + usbduxsub_tmp->dac_commands = NULL; + kfree(usbduxsub_tmp->dux_commands); + usbduxsub_tmp->dux_commands = NULL; + usbduxsub_tmp->ai_cmd_running = 0; + usbduxsub_tmp->ao_cmd_running = 0; + usbduxsub_tmp->pwm_cmd_running = 0; +} + +static void usbdux_firmware_request_complete_handler(const struct firmware *fw, + void *context) +{ + struct usbduxsub *usbduxsub_tmp = context; + struct usb_device *usbdev = usbduxsub_tmp->usbdev; + int ret; + + if (fw == NULL) { + dev_err(&usbdev->dev, + "Firmware complete handler without firmware!\n"); + return; + } + + /* + * we need to upload the firmware here because fw will be + * freed once we've left this function + */ + ret = firmwareUpload(usbduxsub_tmp, fw->data, fw->size); + + if (ret) { + dev_err(&usbdev->dev, + "Could not upload firmware (err=%d)\n", ret); + goto out; + } + comedi_usb_auto_config(usbdev, BOARDNAME); +out: + release_firmware(fw); +} + +/* allocate memory for the urbs and initialise them */ +static int usbduxsigma_probe(struct usb_interface *uinterf, + const struct usb_device_id *id) +{ + struct usb_device *udev = interface_to_usbdev(uinterf); + struct device *dev = &uinterf->dev; + int i; + int index; + int ret; + + dev_dbg(dev, "comedi_: usbdux_: " + "finding a free structure for the usb-device\n"); + + down(&start_stop_sem); + /* look for a free place in the usbdux array */ + index = -1; + for (i = 0; i < NUMUSBDUX; i++) { + if (!(usbduxsub[i].probed)) { + index = i; + break; + } + } + + /* no more space */ + if (index == -1) { + dev_err(dev, "Too many usbduxsigma-devices connected.\n"); + up(&start_stop_sem); + return -EMFILE; + } + dev_dbg(dev, "comedi_: usbdux: " + "usbduxsub[%d] is ready to connect to comedi.\n", index); + + sema_init(&(usbduxsub[index].sem), 1); + /* save a pointer to the usb device */ + usbduxsub[index].usbdev = udev; + + /* save the interface itself */ + usbduxsub[index].interface = uinterf; + /* get the interface number from the interface */ + usbduxsub[index].ifnum = uinterf->altsetting->desc.bInterfaceNumber; + /* hand the private data over to the usb subsystem */ + /* will be needed for disconnect */ + usb_set_intfdata(uinterf, &(usbduxsub[index])); + + dev_dbg(dev, "comedi_: usbdux: ifnum=%d\n", usbduxsub[index].ifnum); + + /* test if it is high speed (USB 2.0) */ + usbduxsub[index].high_speed = + (usbduxsub[index].usbdev->speed == USB_SPEED_HIGH); + + /* create space for the commands of the DA converter */ + usbduxsub[index].dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL); + if (!usbduxsub[index].dac_commands) { + dev_err(dev, "comedi_: usbduxsigma: " + "error alloc space for dac commands\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + /* create space for the commands going to the usb device */ + usbduxsub[index].dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL); + if (!usbduxsub[index].dux_commands) { + dev_err(dev, "comedi_: usbduxsigma: " + "error alloc space for dux commands\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + /* create space for the in buffer and set it to zero */ + usbduxsub[index].inBuffer = kzalloc(SIZEINBUF, GFP_KERNEL); + if (!(usbduxsub[index].inBuffer)) { + dev_err(dev, "comedi_: usbduxsigma: " + "could not alloc space for inBuffer\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + /* create space of the instruction buffer */ + usbduxsub[index].insnBuffer = kzalloc(SIZEINSNBUF, GFP_KERNEL); + if (!(usbduxsub[index].insnBuffer)) { + dev_err(dev, "comedi_: usbduxsigma: " + "could not alloc space for insnBuffer\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + /* create space for the outbuffer */ + usbduxsub[index].outBuffer = kzalloc(SIZEOUTBUF, GFP_KERNEL); + if (!(usbduxsub[index].outBuffer)) { + dev_err(dev, "comedi_: usbduxsigma: " + "could not alloc space for outBuffer\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + /* setting to alternate setting 3: enabling iso ep and bulk ep. */ + i = usb_set_interface(usbduxsub[index].usbdev, + usbduxsub[index].ifnum, 3); + if (i < 0) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "could not set alternate setting 3 in high speed.\n", + index); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENODEV; + } + if (usbduxsub[index].high_speed) + usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSHIGH; + else + usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSFULL; + + usbduxsub[index].urbIn = + kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfInBuffers, + GFP_KERNEL); + if (!(usbduxsub[index].urbIn)) { + dev_err(dev, "comedi_: usbduxsigma: " + "Could not alloc. urbIn array\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + for (i = 0; i < usbduxsub[index].numOfInBuffers; i++) { + /* one frame: 1ms */ + usbduxsub[index].urbIn[i] = usb_alloc_urb(1, GFP_KERNEL); + if (usbduxsub[index].urbIn[i] == NULL) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "Could not alloc. urb(%d)\n", index, i); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + usbduxsub[index].urbIn[i]->dev = usbduxsub[index].usbdev; + /* will be filled later with a pointer to the comedi-device */ + /* and ONLY then the urb should be submitted */ + usbduxsub[index].urbIn[i]->context = NULL; + usbduxsub[index].urbIn[i]->pipe = + usb_rcvisocpipe(usbduxsub[index].usbdev, ISOINEP); + usbduxsub[index].urbIn[i]->transfer_flags = URB_ISO_ASAP; + usbduxsub[index].urbIn[i]->transfer_buffer = + kzalloc(SIZEINBUF, GFP_KERNEL); + if (!(usbduxsub[index].urbIn[i]->transfer_buffer)) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "could not alloc. transb.\n", index); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + usbduxsub[index].urbIn[i]->complete = usbduxsub_ai_IsocIrq; + usbduxsub[index].urbIn[i]->number_of_packets = 1; + usbduxsub[index].urbIn[i]->transfer_buffer_length = SIZEINBUF; + usbduxsub[index].urbIn[i]->iso_frame_desc[0].offset = 0; + usbduxsub[index].urbIn[i]->iso_frame_desc[0].length = + SIZEINBUF; + } + + /* out */ + if (usbduxsub[index].high_speed) + usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSHIGH; + else + usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSFULL; + + usbduxsub[index].urbOut = + kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfOutBuffers, + GFP_KERNEL); + if (!(usbduxsub[index].urbOut)) { + dev_err(dev, "comedi_: usbduxsigma: " + "Could not alloc. urbOut array\n"); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + for (i = 0; i < usbduxsub[index].numOfOutBuffers; i++) { + /* one frame: 1ms */ + usbduxsub[index].urbOut[i] = usb_alloc_urb(1, GFP_KERNEL); + if (usbduxsub[index].urbOut[i] == NULL) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "Could not alloc. urb(%d)\n", index, i); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + usbduxsub[index].urbOut[i]->dev = usbduxsub[index].usbdev; + /* will be filled later with a pointer to the comedi-device */ + /* and ONLY then the urb should be submitted */ + usbduxsub[index].urbOut[i]->context = NULL; + usbduxsub[index].urbOut[i]->pipe = + usb_sndisocpipe(usbduxsub[index].usbdev, ISOOUTEP); + usbduxsub[index].urbOut[i]->transfer_flags = URB_ISO_ASAP; + usbduxsub[index].urbOut[i]->transfer_buffer = + kzalloc(SIZEOUTBUF, GFP_KERNEL); + if (!(usbduxsub[index].urbOut[i]->transfer_buffer)) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "could not alloc. transb.\n", index); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + usbduxsub[index].urbOut[i]->complete = usbduxsub_ao_IsocIrq; + usbduxsub[index].urbOut[i]->number_of_packets = 1; + usbduxsub[index].urbOut[i]->transfer_buffer_length = + SIZEOUTBUF; + usbduxsub[index].urbOut[i]->iso_frame_desc[0].offset = 0; + usbduxsub[index].urbOut[i]->iso_frame_desc[0].length = + SIZEOUTBUF; + if (usbduxsub[index].high_speed) { + /* uframes */ + usbduxsub[index].urbOut[i]->interval = 8; + } else { + /* frames */ + usbduxsub[index].urbOut[i]->interval = 1; + } + } + + /* pwm */ + if (usbduxsub[index].high_speed) { + /* max bulk ep size in high speed */ + usbduxsub[index].sizePwmBuf = 512; + usbduxsub[index].urbPwm = usb_alloc_urb(0, GFP_KERNEL); + if (usbduxsub[index].urbPwm == NULL) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "Could not alloc. pwm urb\n", index); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + usbduxsub[index].urbPwm->transfer_buffer = + kzalloc(usbduxsub[index].sizePwmBuf, GFP_KERNEL); + if (!(usbduxsub[index].urbPwm->transfer_buffer)) { + dev_err(dev, "comedi_: usbduxsigma%d: " + "could not alloc. transb. for pwm\n", index); + tidy_up(&(usbduxsub[index])); + up(&start_stop_sem); + return -ENOMEM; + } + } else { + usbduxsub[index].urbPwm = NULL; + usbduxsub[index].sizePwmBuf = 0; + } + + usbduxsub[index].ai_cmd_running = 0; + usbduxsub[index].ao_cmd_running = 0; + usbduxsub[index].pwm_cmd_running = 0; + + /* we've reached the bottom of the function */ + usbduxsub[index].probed = 1; + up(&start_stop_sem); + + ret = request_firmware_nowait(THIS_MODULE, + FW_ACTION_HOTPLUG, + "usbduxsigma_firmware.bin", + &udev->dev, + GFP_KERNEL, + usbduxsub + index, + usbdux_firmware_request_complete_handler + ); + + if (ret) { + dev_err(dev, "Could not load firmware (err=%d)\n", ret); + return ret; + } + + dev_info(dev, "comedi_: successfully initialised.\n"); + /* success */ + return 0; +} + +static void usbduxsigma_disconnect(struct usb_interface *intf) +{ + struct usbduxsub *usbduxsub_tmp = usb_get_intfdata(intf); + struct usb_device *udev = interface_to_usbdev(intf); + + if (!usbduxsub_tmp) { + dev_err(&intf->dev, + "comedi_: disconnect called with null pointer.\n"); + return; + } + if (usbduxsub_tmp->usbdev != udev) { + dev_err(&intf->dev, "comedi_: BUG! wrong ptr!\n"); + return; + } + if (usbduxsub_tmp->ai_cmd_running) + /* we are still running a command */ + usbdux_ai_stop(usbduxsub_tmp, 1); + if (usbduxsub_tmp->ao_cmd_running) + /* we are still running a command */ + usbdux_ao_stop(usbduxsub_tmp, 1); + comedi_usb_auto_unconfig(udev); + down(&start_stop_sem); + down(&usbduxsub_tmp->sem); + tidy_up(usbduxsub_tmp); + up(&usbduxsub_tmp->sem); + up(&start_stop_sem); + dev_info(&intf->dev, "comedi_: disconnected from the usb\n"); +} + +/* is called when comedi-config is called */ +static int usbduxsigma_attach(struct comedi_device *dev, + struct comedi_devconfig *it) +{ + int ret; + int index; + int i; + struct usbduxsub *udev; + + int offset; + + struct comedi_subdevice *s = NULL; + dev->private = NULL; + + down(&start_stop_sem); + /* find a valid device which has been detected by the probe function of + * the usb */ + index = -1; + for (i = 0; i < NUMUSBDUX; i++) { + if ((usbduxsub[i].probed) && (!usbduxsub[i].attached)) { + index = i; + break; + } + } + + if (index < 0) { + printk(KERN_ERR "comedi%d: usbduxsigma: error: attach failed," + "dev not connected to the usb bus.\n", dev->minor); + up(&start_stop_sem); + return -ENODEV; + } + + udev = &usbduxsub[index]; + down(&udev->sem); + /* pointer back to the corresponding comedi device */ + udev->comedidev = dev; + + /* trying to upload the firmware into the FX2 */ + if (comedi_aux_data(it->options, 0) && + it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]) { + firmwareUpload(udev, comedi_aux_data(it->options, 0), + it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]); + } + + dev->board_name = BOARDNAME; + + /* set number of subdevices */ + if (udev->high_speed) { + /* with pwm */ + dev->n_subdevices = 4; + } else { + /* without pwm */ + dev->n_subdevices = 3; + } + + /* allocate space for the subdevices */ + ret = alloc_subdevices(dev, dev->n_subdevices); + if (ret < 0) { + dev_err(&udev->interface->dev, + "comedi%d: no space for subdev\n", dev->minor); + up(&start_stop_sem); + return ret; + } + + /* private structure is also simply the usb-structure */ + dev->private = udev; + + /* the first subdevice is the A/D converter */ + s = dev->subdevices + SUBDEV_AD; + /* the URBs get the comedi subdevice */ + /* which is responsible for reading */ + /* this is the subdevice which reads data */ + dev->read_subdev = s; + /* the subdevice receives as private structure the */ + /* usb-structure */ + s->private = NULL; + /* analog input */ + s->type = COMEDI_SUBD_AI; + /* readable and ref is to ground, 32 bit wide data! */ + s->subdev_flags = SDF_READABLE | SDF_GROUND | + SDF_CMD_READ | SDF_LSAMPL; + /* 16 A/D channels */ + s->n_chan = NUMCHANNELS; + /* length of the channellist */ + s->len_chanlist = NUMCHANNELS; + /* callback functions */ + s->insn_read = usbdux_ai_insn_read; + s->do_cmdtest = usbdux_ai_cmdtest; + s->do_cmd = usbdux_ai_cmd; + s->cancel = usbdux_ai_cancel; + /* max value from the A/D converter (24bit) */ + s->maxdata = 0x00FFFFFF; + /* range table to convert to physical units */ + s->range_table = (&range_usbdux_ai_range); + + /* analog out */ + s = dev->subdevices + SUBDEV_DA; + /* analog out */ + s->type = COMEDI_SUBD_AO; + /* backward pointer */ + dev->write_subdev = s; + /* the subdevice receives as private structure the */ + /* usb-structure */ + s->private = NULL; + /* are writable */ + s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE; + /* 4 channels */ + s->n_chan = 4; + /* length of the channellist */ + s->len_chanlist = 4; + /* 8 bit resolution */ + s->maxdata = 0x00ff; + /* unipolar range */ + s->range_table = (&range_usbdux_ao_range); + /* callback */ + s->do_cmdtest = usbdux_ao_cmdtest; + s->do_cmd = usbdux_ao_cmd; + s->cancel = usbdux_ao_cancel; + s->insn_read = usbdux_ao_insn_read; + s->insn_write = usbdux_ao_insn_write; + + /* digital I/O */ + s = dev->subdevices + SUBDEV_DIO; + s->type = COMEDI_SUBD_DIO; + s->subdev_flags = SDF_READABLE | SDF_WRITABLE; + /* 8 external and 16 internal channels */ + s->n_chan = 24; + s->maxdata = 1; + s->range_table = (&range_digital); + s->insn_bits = usbdux_dio_insn_bits; + s->insn_config = usbdux_dio_insn_config; + /* we don't use it */ + s->private = NULL; + + if (udev->high_speed) { + /* timer / pwm */ + s = dev->subdevices + SUBDEV_PWM; + s->type = COMEDI_SUBD_PWM; + s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE; + s->n_chan = 8; + /* this defines the max duty cycle resolution */ + s->maxdata = udev->sizePwmBuf; + s->insn_write = usbdux_pwm_write; + s->insn_read = usbdux_pwm_read; + s->insn_config = usbdux_pwm_config; + usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD); + } + /* finally decide that it's attached */ + udev->attached = 1; + + up(&udev->sem); + + up(&start_stop_sem); + + offset = usbdux_getstatusinfo(dev, 0); + if (offset < 0) + dev_err(&udev->interface->dev, + "Communication to USBDUXSIGMA failed!" + "Check firmware and cabling."); + + dev_info(&udev->interface->dev, + "comedi%d: attached, ADC_zero = %x", dev->minor, offset); + + return 0; +} + +static int usbduxsigma_detach(struct comedi_device *dev) +{ + struct usbduxsub *usbduxsub_tmp; + + if (!dev) { + printk(KERN_ERR + "comedi? usbduxsigma detach: dev=NULL\n"); + return -EFAULT; + } + + usbduxsub_tmp = dev->private; + if (!usbduxsub_tmp) { + printk(KERN_ERR + "comedi?: usbduxsigma detach: private=NULL\n"); + return -EFAULT; + } + + dev_dbg(&usbduxsub_tmp->interface->dev, + "comedi%d: detach usb device\n", + dev->minor); + + down(&usbduxsub_tmp->sem); + /* Don't allow detach to free the private structure */ + /* It's one entry of of usbduxsub[] */ + dev->private = NULL; + usbduxsub_tmp->attached = 0; + usbduxsub_tmp->comedidev = NULL; + dev_info(&usbduxsub_tmp->interface->dev, + "comedi%d: successfully detached.\n", dev->minor); + up(&usbduxsub_tmp->sem); + return 0; +} + +/* main driver struct */ +static struct comedi_driver driver_usbduxsigma = { + .driver_name = "usbduxsigma", + .module = THIS_MODULE, + .attach = usbduxsigma_attach, + .detach = usbduxsigma_detach, +}; + +/* Table with the USB-devices */ +static const struct usb_device_id usbduxsigma_table[] = { + {USB_DEVICE(0x13d8, 0x0020)}, + {USB_DEVICE(0x13d8, 0x0021)}, + {USB_DEVICE(0x13d8, 0x0022)}, + {} /* Terminating entry */ +}; + +MODULE_DEVICE_TABLE(usb, usbduxsigma_table); + +/* The usbduxsub-driver */ +static struct usb_driver usbduxsigma_driver = { + .name = BOARDNAME, + .probe = usbduxsigma_probe, + .disconnect = usbduxsigma_disconnect, + .id_table = usbduxsigma_table, +}; + +/* Can't use the nice macro as I have also to initialise the USB */ +/* subsystem: */ +/* registering the usb-system _and_ the comedi-driver */ +static int __init init_usbduxsigma(void) +{ + printk(KERN_INFO KBUILD_MODNAME ": " + DRIVER_VERSION ":" DRIVER_DESC "\n"); + usb_register(&usbduxsigma_driver); + comedi_driver_register(&driver_usbduxsigma); + return 0; +} + +/* deregistering the comedi driver and the usb-subsystem */ +static void __exit exit_usbduxsigma(void) +{ + comedi_driver_unregister(&driver_usbduxsigma); + usb_deregister(&usbduxsigma_driver); +} + +module_init(init_usbduxsigma); +module_exit(exit_usbduxsigma); + +MODULE_AUTHOR(DRIVER_AUTHOR); +MODULE_DESCRIPTION(DRIVER_DESC); +MODULE_LICENSE("GPL"); |