add support for loading firmware into main fpga and scarabs on pci-6534

diff --git a/comedi/drivers/ni_pcidio.c b/comedi/drivers/ni_pcidio.c
index 297845b6a5df3b6daaebfa666b188bef58de9ac7..ca218a7c2f011a68a6f116df56016c15b183e195 100644 (file)
--- a/comedi/drivers/ni_pcidio.c
+++ b/comedi/drivers/ni_pcidio.c
@@ -45,8 +45,10 @@ DMA mostly works for the PCI-DIO32HS, but only in timed input mode.
 This driver could be easily modified to support AT-MIO32HS and
 AT-MIO96.
 
-The PCI-6534 requires a firmware upload after power-up to work, but support for this
-has not been added yet.
+The PCI-6534 requires a firmware upload after power-up to work, the
+firmware data and instructions for loading it with comedi_config
+it are contained in the
+comedi_firmware tarball available from http://www.comedi.org
 */
 
 /*
@@ -244,6 +246,35 @@ has not been added yet.
 #define Protocol_Register_8            88 /* 32 bit */
 #define StartDelay                     Protocol_Register_8
 
+enum pci_6534_firmware_registers       /* 16 bit */
+{
+       Firmware_Control_Register = 0x100,
+       Firmware_Status_Register = 0x104,
+       Firmware_Data_Register = 0x108,
+       Firmware_Mask_Register = 0x10c,
+       Firmware_Debug_Register = 0x110,
+};
+/* main fpga registers (32 bit)*/
+enum pci_6534_fpga_registers
+{
+       FPGA_Control1_Register = 0x200,
+       FPGA_Control2_Register = 0x204,
+       FPGA_Irq_Mask_Register = 0x208,
+       FPGA_Status_Register = 0x20c,
+       FPGA_Signature_Register = 0x210,
+       FPGA_SCALS_Counter_Register = 0x280,    /*write-clear*/
+       FPGA_SCAMS_Counter_Register = 0x284,    /*write-clear*/
+       FPGA_SCBLS_Counter_Register = 0x288,    /*write-clear*/
+       FPGA_SCBMS_Counter_Register = 0x28c,    /*write-clear*/
+       FPGA_Temp_Control_Register = 0x2a0,
+       FPGA_DAR_Register = 0x2a8,
+       FPGA_ELC_Read_Register = 0x2b8,
+       FPGA_ELC_Write_Register = 0x2bc,
+};
+enum FPGA_Control_Bits
+{
+       FPGA_Enable_Bit = 0x8000,
+};
 
 #define TIMER_BASE 50          /* nanoseconds */
 
@@ -273,6 +304,7 @@ typedef struct{
        char *name;
        int n_8255;
        unsigned int is_diodaq : 1;
+       unsigned int uses_firmware : 1;
 }nidio_board;
 static nidio_board nidio_boards[]={
        {
@@ -292,6 +324,7 @@ static nidio_board nidio_boards[]={
        name:           "pci-6534",
        n_8255:         0,
        is_diodaq:      1,
+       uses_firmware:  1,
        },
        {
        dev_id:         0x0160,
@@ -928,6 +961,103 @@ static int ni_pcidio_change(comedi_device *dev, comedi_subdevice *s,
        return 0;
 }
 
+static int pci_6534_load_fpga(comedi_device *dev, int fpga_index, u8 *data, int data_len)
+{
+       static const int timeout = 1000;
+       int i, j;
+       writew(0x80 | fpga_index, dev->iobase + Firmware_Control_Register);
+       writew(0xc0 | fpga_index, dev->iobase + Firmware_Control_Register);
+       for(i = 0; (readw(dev->iobase + Firmware_Status_Register) & 0x2) == 0 && i < timeout; ++i)
+       {
+               comedi_udelay(1);
+       }
+       if(i == timeout)
+       {
+               printk("ni_pcidio: failed to load fpga %i, waiting for status 0x2\n", fpga_index);
+               return -EIO;
+       }
+       writew(0x80 | fpga_index, dev->iobase + Firmware_Control_Register);
+       for(i = 0; readw(dev->iobase + Firmware_Status_Register) != 0x3 && i < timeout; ++i)
+       {
+               comedi_udelay(1);
+       }
+       if(i == timeout)
+       {
+               printk("ni_pcidio: failed to load fpga %i, waiting for status 0x3\n", fpga_index);
+               return -EIO;
+       }
+       for(j = 0; j + 1 < data_len;)
+       {
+               unsigned int value = data[j++];
+               value |= data[j++] << 8;
+               writew(value, dev->iobase + Firmware_Data_Register);
+               for(i = 0; (readw(dev->iobase + Firmware_Status_Register) & 0x2) == 0 && i < timeout; ++i)
+               {
+                       comedi_udelay(1);
+               }
+               if(i == timeout)
+               {
+                       printk("ni_pcidio: failed to load word into fpga %i\n", fpga_index);
+                       return -EIO;
+               }
+       }
+       writew(0x0, dev->iobase + Firmware_Control_Register);
+       return 0;
+}
+
+static int pci_6534_reset_fpga(comedi_device *dev, int fpga_index)
+{
+       return pci_6534_load_fpga(dev, fpga_index, NULL, 0);
+}
+
+static int pci_6534_reset_fpgas(comedi_device *dev)
+{
+       int ret;
+       int i;
+       writew(0x0, dev->iobase + Firmware_Control_Register);
+       for(i = 0; i < 3; ++i)
+       {
+               ret = pci_6534_reset_fpga(dev, i);
+               if(ret < 0) break;
+       }
+       writew(0x0, dev->iobase + Firmware_Mask_Register);
+       return ret;
+}
+
+static void pci_6534_init_main_fpga(comedi_device *dev)        
+{
+       writel(0, dev->iobase + FPGA_Control1_Register);
+       writel(0, dev->iobase + FPGA_Control2_Register);
+       writel(0, dev->iobase + FPGA_SCALS_Counter_Register);
+       writel(0, dev->iobase + FPGA_SCAMS_Counter_Register);
+       writel(0, dev->iobase + FPGA_SCBLS_Counter_Register);
+       writel(0, dev->iobase + FPGA_SCBMS_Counter_Register);
+}
+
+static int pci_6534_upload_firmware(comedi_device *dev, int options[])
+{
+       int ret;
+       void *main_fpga_data, *scarab_a_data, *scarab_b_data;
+       int main_fpga_data_len, scarab_a_data_len, scarab_b_data_len;
+       
+       if(options[COMEDI_DEVCONF_AUX_DATA_LENGTH] == 0) return 0;
+       ret = pci_6534_reset_fpgas(dev);
+       if(ret < 0) return ret;
+       main_fpga_data = comedi_aux_data(options, 0);
+       main_fpga_data_len = options[COMEDI_DEVCONF_AUX_DATA0_LENGTH];
+       ret = pci_6534_load_fpga(dev, 2, main_fpga_data, main_fpga_data_len);
+       if(ret < 0) return ret;
+       pci_6534_init_main_fpga(dev);
+       scarab_a_data = comedi_aux_data(options, 1);
+       scarab_a_data_len = options[COMEDI_DEVCONF_AUX_DATA1_LENGTH];   
+       ret = pci_6534_load_fpga(dev, 0, scarab_a_data, scarab_a_data_len);
+       if(ret < 0) return ret;
+       scarab_b_data = comedi_aux_data(options, 2);
+       scarab_b_data_len = options[COMEDI_DEVCONF_AUX_DATA2_LENGTH];   
+       ret = pci_6534_load_fpga(dev, 1, scarab_b_data, scarab_b_data_len);
+       if(ret < 0) return ret; 
+       return 0;
+}
 
 static int nidio_attach(comedi_device *dev,comedi_devconfig *it)
 {
@@ -955,7 +1085,12 @@ static int nidio_attach(comedi_device *dev,comedi_devconfig *it)
        dev->board_name=this_board->name;
        dev->irq=mite_irq(devpriv->mite);
        printk(" %s",dev->board_name);
-
+       if(this_board->uses_firmware)
+       {
+               ret = pci_6534_upload_firmware(dev, it->options);
+               if(ret < 0)
+                       return ret;
+       }
        if(!this_board->is_diodaq){
                n_subdevices=this_board->n_8255;
        }else{