--- /dev/null
+/*
+ *
+ * PCI20xxx.c
+ *
+ * Linux device driver for COMEDI
+ * Intelligent Instrumentation
+ * PCI-20001 C-2A Carrier Board
+ * PCI-20341 M-1A 16-Bit analog input module
+ * - differential
+ * - range (-5V - +5V)
+ * - 16 bit
+ * PCI-20006 M-2 16-Bit analog output module
+ * - ranges (-10V - +10V) (0V - +10V) (-5V - +5V)
+ * - 16 bit
+ *
+ * only ONE PCI-20341 module possible
+ * only ONE PCI-20006 module possible
+ * no extern trigger implemented
+ * only 4 on-board differential channels supported
+ * only ONE di-port and ONE do-port supported instead of 4 digital ports
+ * di-port == Port 0
+ * do-port == Port 1
+ *
+ * The state of this driver is only a starting point for a complete
+ * COMEDI-driver. The final driver should support all features of the
+ * carrier board and modules.
+ *
+ * The test configuration:
+ *
+ * kernel 2.2.13 with RTAI v1.1 (realtime not yet tested)
+ * COMEDI 0.7.39
+ * COMEDILIB 0.7.8
+ *
+ * COMEDI - Linux Control and Measurement Device Interface
+ * Copyright (C) 1997-8 David A. Schleef <ds@stm.lbl.gov>
+ *
+ * pci20xxx by Markus Kempf <kempf@matsci.uni-sb.de>
+ * (GPL)
+ * 25.2.2000
+ */
+
+#include <linux/module.h> /* modularer Kernel */
+#include <linux/kernel.h> /* printk() */
+#include <linux/fs.h> /* character device definition */
+#include <linux/errno.h> /* error codes */
+
+#include <asm/io.h> /* readb() ... */
+#include <asm/uaccess.h> /* copy_to/from_user */
+
+#include "comedi_module.h"
+
+
+#define PCI20000_ID 0x1d
+#define PCI20341_ID 0x77
+#define PCI20006_ID 0xe3
+#define PCI20000_OFFSET 0x100
+#define PCI20000_MODULES 3
+#define PCI20341_OPTION 0x00
+#define PCI20000_DI_PORT 0 /* only ONE di-port is supported */
+#define PCI20000_DO_PORT 1 /* only ONE do-port is supported */
+#define PCI20341_REPMODE 0x00 /* single shot mode */
+#define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
+#define PCI20341_CHAN_NR 2 /* number of input channels */
+#define CHANNEL_READ 0x01
+#define CHANNEL_WRITE 0x01
+
+
+
+typedef struct {
+ unsigned int ai_mod_pos; /* block address of ai module */
+ unsigned int ao_mod_pos; /* block address of ao module */
+ unsigned int ao_range_list[2]; /* range of channels of ao module */
+ int dio_port[PCI20000_MODULES+1]; /* port address */
+ int timebase; /* timebase ai module */
+ int settling_time; /* settling time ai module */
+ int ai_gain; /* analog input gain */
+ }pci20xxx_private;
+
+#define devpriv ((pci20xxx_private *)dev->private)
+#define CHAN (CR_CHAN(it->chanlist[0]))
+
+static int pci20xxx_attach(comedi_device *dev, comedi_devconfig *it);
+static int pci20xxx_detach(comedi_device *dev);
+static int pci20xxx_recognize(char *name);
+
+comedi_driver driver_pci20xxx={
+ driver_name: "pci20xxx",
+ module: &__this_module,
+ attach: pci20xxx_attach,
+ detach: pci20xxx_detach,
+ recognize: pci20xxx_recognize,
+ };
+
+static int pci20xxx_ai_mode0(comedi_device *dev, comedi_subdevice *s, comedi_trig *it);
+static int pci20xxx_ao(comedi_device *dev, comedi_subdevice *s, comedi_trig *it);
+static int pci20xxx_di(comedi_device *dev, comedi_subdevice *s, comedi_trig *it);
+static int pci20xxx_do(comedi_device *dev, comedi_subdevice *s, comedi_trig *it);
+
+static int pci20xxx_init(comedi_device *dev);
+static int pci20xxx_ai_init(comedi_device *dev);
+static int pci20xxx_di_init(comedi_device *dev);
+static int pci20xxx_do_init(comedi_device *dev);
+
+static int pci20xxx_recognize(char *name)
+ {
+ if(!strcmp("pci20xxx",name))
+ return 0;
+ return -1;
+ }
+
+/*
+ options[0] Board base address
+ options[1] IRQ
+ options[2] Analog input gain configuration
+ 1
+ 10
+ 100
+ 200
+ options[3] Analog output channel 0 range configuration
+ 0 == bipolar 10 (-10V -- +10V)
+ 1 == unipolar 10V (0V -- +10V)
+ 2 == bipolar 5V (-5V -- +5V)
+ options[4] Analog output channel 1 range configuration
+ 0 == bipolar 10 (-10V -- +10V)
+ 1 == unipolar 10V (0V -- +10V)
+ 2 == bipolar 5V (-5V -- +5V)
+*/
+static int pci20xxx_attach(comedi_device * dev, comedi_devconfig * it)
+ {
+ unsigned char i;
+ int ret;
+ int isthere = 0;
+ comedi_subdevice *s;
+
+ dev->n_subdevices = 4;
+ if ((ret = alloc_subdevices(dev)) < 0)
+ return ret;
+ if ((ret = alloc_private(dev, sizeof(pci20xxx_private))) < 0)
+ return ret;
+
+ dev->iobase = it->options[0];
+
+ /* Check PCI-20001 C-2A Carrier Board ID */
+ if((readb(dev->iobase) & PCI20000_ID) != PCI20000_ID)
+ {
+ printk("comedi%d: \n", dev->minor);
+ printk("PCI-20001 C-2A Carrier Board at base=0x%05x not found !\n", dev->iobase);
+ return -EINVAL;
+ }
+
+ /* looking for input module PCI-20341 M-1A*/
+ for (i=1; i <= PCI20000_MODULES; i++)
+ {
+ if ( readb(dev->iobase+i*PCI20000_OFFSET) == PCI20341_ID)
+ {
+ devpriv->ai_mod_pos = dev->iobase + i*PCI20000_OFFSET;
+ printk("comedi%d: module PCI-20341 opened!\n", dev->minor);
+ isthere = 1;
+ }
+ }
+ if (!isthere)
+ {
+ printk("comedi%d: module PCI-20341 not found!\n", dev->minor);
+ return -EINVAL;
+ }
+
+ /* look for output module PCI-20006 M-2 */
+ for (i=1; i<= PCI20000_MODULES; i++)
+ {
+ if ( readb(dev->iobase+i*PCI20000_OFFSET) == PCI20006_ID)
+ {
+ devpriv->ao_mod_pos = dev->iobase + i*PCI20000_OFFSET;
+ printk("comedi%d: module PCI-20006 opened!\n", dev->minor);
+ isthere = 1;
+ }
+ }
+ if (!isthere)
+ {
+ printk("comedi%d: module PCI-20006 not found!\n", dev->minor);
+ return -EINVAL;
+ }
+
+
+ printk("comedi%d: pci20xxx: base=0x%05x\n", dev->minor, dev->iobase);
+
+ dev->board_name = "pci20xxx";
+
+ /* initialize pci20xxx_private */
+ pci20xxx_init(dev);
+
+ /* options handling */
+ switch (it->options[2]) /* gain */
+ {
+ case 1: devpriv->ai_gain = 0; /* gain 1 */
+ devpriv->timebase = 0x00; /* timebase ai-module */
+ devpriv->settling_time = 0x58; /* settling time ai-modlue */
+ break;
+ case 10: devpriv->ai_gain = 1; /* gain 10 */
+ devpriv->timebase = 0x00; /* timebase ai-module */
+ devpriv->settling_time = 0x58; /* settling time ai-modlue */
+ break;
+ case 100: devpriv->ai_gain = 2; /* gain 100 */
+ devpriv->timebase = 0x00; /* timebase ai-module */
+ devpriv->settling_time = 0x93; /* settling time ai-modlue */
+ break;
+ case 200: devpriv->ai_gain = 3; /* gain 200 */
+ devpriv->timebase = 0x04; /* timebase ai-module */
+ devpriv->settling_time = 0x99; /* settling time ai-modlue */
+ break;
+ default: devpriv->ai_gain = 0; /* gain 1 */
+ devpriv->timebase = 0x00; /* timebase ai-module */
+ devpriv->settling_time = 0x58; /* settling time ai-modlue */
+ printk("comedi%d: ai default gain = 1 !\n", dev->minor);
+ break;
+ }
+ switch (it->options[3])
+ {
+ case 0: devpriv->ao_range_list[0] = RANGE_bipolar10; break;
+ case 1: devpriv->ao_range_list[0] = RANGE_unipolar10; break;
+ case 2: devpriv->ao_range_list[0] = RANGE_bipolar5; break;
+ default: devpriv->ao_range_list[0] = RANGE_bipolar10; break;
+ }
+ switch (it->options[4])
+ {
+ case 0: devpriv->ao_range_list[1] = RANGE_bipolar10; break;
+ case 1: devpriv->ao_range_list[1] = RANGE_unipolar10; break;
+ case 2: devpriv->ao_range_list[1] = RANGE_bipolar5; break;
+ default: devpriv->ao_range_list[1] = RANGE_bipolar10; break;
+ }
+
+ /* initialize the analog subdevices */
+ /* ai subdevice */
+ s = dev->subdevices + 0;
+ s->type = COMEDI_SUBD_AI;
+ s->subdev_flags = SDF_READABLE;
+ s->n_chan = 4;
+ s->trig[0] = pci20xxx_ai_mode0;
+ s->maxdata = 0xffff;
+ s->range_type = RANGE_bipolar5;
+ pci20xxx_ai_init(dev);
+
+ /* ao subdevice */
+ s = dev->subdevices + 1;
+ s->type = COMEDI_SUBD_AO;
+ s->subdev_flags = SDF_WRITEABLE;
+ s->n_chan = 2;
+ s->trig[0] = pci20xxx_ao;
+ s->maxdata = 0xffff;
+ s->range_type_list = devpriv->ao_range_list;
+
+ /* di subdevice */
+ s = dev->subdevices + 2;
+ s->type = COMEDI_SUBD_DI;
+ s->subdev_flags = SDF_READABLE;
+ s->n_chan = 8; /* every bit of a port is one channel */
+ s->trig[0] = pci20xxx_di;
+ s->maxdata = 1;
+ s->range_type = RANGE_digital;
+ pci20xxx_di_init(dev);
+
+ /* do subdevice */
+ s = dev->subdevices + 3;
+ s->type = COMEDI_SUBD_DO;
+ s->subdev_flags = SDF_WRITEABLE;
+ s->n_chan = 8; /* every bit of a port is one channel */
+ s->trig[0] = pci20xxx_do;
+ s->maxdata = 1;
+ s->state = 0;
+ s->range_type = RANGE_digital;
+ pci20xxx_do_init(dev);
+
+ return 1;
+ }
+
+static int pci20xxx_detach(comedi_device * dev)
+ {
+ printk("comedi%d: pci20xxx: remove\n", dev->minor);
+
+ return 0;
+ }
+
+/* initialize pci20xxx_private */
+static int pci20xxx_init(comedi_device *dev)
+ {
+ devpriv->dio_port[0] = 0x80;
+ devpriv->dio_port[1] = 0x81;
+ devpriv->dio_port[2] = 0xc0;
+ devpriv->dio_port[3] = 0xc1;
+
+ return 0;
+ }
+
+
+/* initialize digital output */
+static int pci20xxx_do_init(comedi_device *dev)
+ {
+ unsigned char port;
+
+ /* only ONE do port supported: port1 ! */
+ switch (PCI20000_DO_PORT)
+ {
+ case 0: port = readb(dev->iobase + 0x83);
+ writeb( (port & 0x82)| 0x80, dev->iobase + 0x83); /* port direction */
+ writeb( 0xff, dev->iobase + devpriv->dio_port[PCI20000_DO_PORT]); /* write 0xff to port */
+ port = readb(dev->iobase + 0x82);
+ writeb( (port & 0xfe)| 0x04, dev->iobase + 0x82); /* enable port */
+ break;
+ case 1: port = readb(dev->iobase + 0x83);
+ writeb( (port & 0x90)| 0x80, dev->iobase + 0x83);
+ writeb( 0xff, dev->iobase + devpriv->dio_port[PCI20000_DO_PORT]);
+ port = readb(dev->iobase + 0x82);
+ writeb( (port & 0xfd)| 0x08, dev->iobase + 0x82);
+ break;
+ case 2: port = readb(dev->iobase + 0xc3);
+ writeb( (port & 0x82)| 0x80, dev->iobase + 0xc3);
+ writeb( 0xff, dev->iobase + devpriv->dio_port[PCI20000_DO_PORT]);
+ port = readb(dev->iobase + 0x82);
+ writeb( (port & 0xef)| 0x40, dev->iobase + 0x82);
+ break;
+ case 3: port = readb(dev->iobase + 0xc3);
+ writeb( (port & 0x90)| 0x80, dev->iobase + 0xc3);
+ writeb( 0xff, dev->iobase + devpriv->dio_port[PCI20000_DO_PORT]);
+ port = readb(dev->iobase + 0x82);
+ writeb( (port & 0xdf)| 0x80, dev->iobase + 0x82);
+ break;
+ default: printk("comedi%d: wrong DO-port in pci20xxx_do_init()", dev->minor);
+ return -EINVAL;
+ }
+ writeb( 0xff, dev->iobase + devpriv->dio_port[PCI20000_DO_PORT]);
+
+ return 0;
+ }
+
+/* initialize digital input */
+static int pci20xxx_di_init(comedi_device *dev)
+ {
+ unsigned char port;
+
+ /* only ONE di port supported: port0 ! */
+ switch (PCI20000_DI_PORT)
+ {
+ case 0: port = readb(dev->iobase + 0x83);
+ writeb( port|0x90, dev->iobase + 0x83);
+ port = readb(dev->iobase + 0x82);
+ writeb( port & 0xfa, dev->iobase + 0x82);
+ break;
+ case 1: port = readb(dev->iobase + 0x83);
+ writeb( port|0x82, dev->iobase + 0x83);
+ port = readb(dev->iobase + 0x82);
+ writeb( port & 0xf5, dev->iobase + 0x82);
+ break;
+ case 2: port = readb(dev->iobase + 0xc3);
+ writeb( port|0x90, dev->iobase + 0xc3);
+ port = readb(dev->iobase + 0x82);
+ writeb( port & 0xaf, dev->iobase + 0x82);
+ break;
+ case 3: port = readb(dev->iobase + 0xc3);
+ writeb( port|0x82, dev->iobase + 0xc3);
+ port = readb(dev->iobase + 0x82);
+ writeb( port & 0x5f, dev->iobase + 0x82);
+ break;
+ default: printk("comedi%d: wrong DI-port in pci20xxx_di_init()", dev->minor);
+ return -EINVAL;
+ }
+
+ return 0;
+ }
+
+/* initialize analog input */
+static int pci20xxx_ai_init(comedi_device *dev)
+ {
+ int option = PCI20341_OPTION; /* depends on gain, trigger, repetition mode */
+
+ option = devpriv->timebase | PCI20341_REPMODE;
+
+ writeb( 0x04, devpriv->ai_mod_pos + 0x10); /* initialize Module */
+ writeb( PCI20341_PACER, devpriv->ai_mod_pos + 0x01); /* set Pacer */
+ writeb( option, devpriv->ai_mod_pos + 0x11); /* option register */
+ writeb( devpriv->settling_time, devpriv->ai_mod_pos + 0x15); /* settling time counter */
+ /* trigger not implemented */
+ /* Burst mode disabled, only one channel is read */
+ writeb( CHANNEL_READ, devpriv->ai_mod_pos + 0x13); /* write number of input channels */
+
+ return 0;
+ }
+
+static int pci20xxx_ao(comedi_device *dev, comedi_subdevice *s, comedi_trig *it)
+ {
+ int hi, lo;
+
+ lo = (it->data[0] & 0xff);
+ hi = ((it->data[0] >>8) & 0xff);
+
+ switch (CHAN)
+ {
+ case 0: writeb( lo, devpriv->ao_mod_pos + 0x0d);
+ writeb( hi, devpriv->ao_mod_pos + 0x0d + 1);
+ writeb( 0x00, devpriv->ao_mod_pos + 0x0b);
+ break;
+ case 1: writeb( lo, devpriv->ao_mod_pos + 0x15);
+ writeb( hi, devpriv->ao_mod_pos + 0x15 + 1);
+ writeb( 0x00, devpriv->ao_mod_pos + 0x13);
+ break;
+ default: printk(" comedi%d: pci20xxx: ao channel Error!\n", dev->minor);
+ return -EINVAL;
+ }
+ return CHANNEL_WRITE; /* return value == number of written datas */
+ }
+
+static int pci20xxx_do(comedi_device *dev, comedi_subdevice *s, comedi_trig *it)
+ {
+ do_pack(&s->state, it);
+
+ writeb(s->state, dev->iobase + devpriv->dio_port[PCI20000_DO_PORT]);
+
+ return it->n_chan;
+ }
+
+static int pci20xxx_ai_mode0(comedi_device *dev, comedi_subdevice *s, comedi_trig *it)
+ {
+ int i=0,
+ j=0;
+ int lo, hi;
+ writeb( (0x24|(devpriv->ai_gain<<3)|CHAN), devpriv->ai_mod_pos + 0x80);
+ writeb( 0x00, devpriv->ai_mod_pos + 0x1b); /* reset settling time counter and trigger delay counter */
+ writeb( 0x00, devpriv->ai_mod_pos + 0x19);
+
+ i = readb( devpriv->ai_mod_pos + 0x04); /* generate Pacer */
+
+ /* data polling isn't the niciest way to get the data, I know,
+ * but there are only 6 cycles (mean) and it is easier than
+ * the whole interrupt stuff
+ */
+ while ( (i<0x80) && j<100) /* poll Interrupt Flag */
+ {
+ j++;
+ i = readb(devpriv->ai_mod_pos + 0x12);
+ }
+ if (j>=100)
+ {
+ printk("comedi%d: pci20xxx: AI interrupt polling exit !\n", dev->minor);
+ return -EINVAL;
+ }
+ lo = readb(devpriv->ai_mod_pos + 0x02);
+ hi = readb(devpriv->ai_mod_pos + 0x03);
+
+ it->data[0] = lo + 0x100 * hi;
+
+ return CHANNEL_READ; /* return value == number of read datas !!*/
+ }
+
+static int pci20xxx_di(comedi_device *dev, comedi_subdevice *s, comedi_trig *it)
+ {
+ unsigned int bits;
+
+ bits = readb(dev->iobase + devpriv->dio_port[PCI20000_DI_PORT]);
+
+ return di_unpack(bits, it);
+ }
+
+#ifdef MODULE
+int init_module(void)
+ {
+ comedi_driver_register(&driver_pci20xxx);
+
+ return 0;
+ }
+
+void cleanup_module(void)
+ {
+ comedi_driver_unregister(&driver_pci20xxx);
+ }
+#endif
+
+
+
projects / comedi.git / commitdiff