* driver for Intelligent Instruments PCI-20001C carrier board
* and modules
*
- * COMEDI - Linux Control and Measurement Device Interface
* Copyright (C) 2000 Markus Kempf <kempf@matsci.uni-sb.de>
- * 25.2.2000
+ * with suggestions from David Schleef
+ * 16.06.2000
*
* Linux device driver for COMEDI
* Intelligent Instrumentation
* 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
+ *
+ * NOT WORKING (but soon) only 4 on-board differential channels supported
+ * NOT WORKING (but soon) 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
*
* The test configuration:
*
- * kernel 2.2.13 with RTAI v1.1 (realtime not yet tested)
- * COMEDI 0.7.39
- * COMEDILIB 0.7.8
+ * kernel 2.2.14 with RTAI v1.2 and patch-2.2.14rthal2
+ * COMEDI 0.7.45
+ * COMEDILIB 0.7.9
*
*/
#include <linux/module.h> /* modularer Kernel */
#include <linux/kernel.h> /* printk() */
#include <linux/errno.h> /* error codes */
+#include <linux/delay.h> /* udelay() */
#include <asm/io.h> /* readb() ... */
-#define PCI20000_ID 0x1d
+#define PCI20000_ID 0x1d
#define PCI20341_ID 0x77
#define PCI20006_ID 0xe3
-#define PCI20xxx_EMPTY_ID 0
+#define PCI20xxx_EMPTY_ID 0xff
#define PCI20000_OFFSET 0x100
#define PCI20000_MODULES 3
-#define PCI20000_DI_PORT 0 /* only ONE di-port is supported */
-#define PCI20000_DO_PORT 1 /* only ONE do-port is supported */
#define PCI20000_DIO_0 0x80
#define PCI20000_DIO_1 0x81
#define PCI20000_DIO_2 0xc0
#define PCI20000_DIO_3 0xc1
-
-#define PCI20341_OPTION 0x00
+#define PCI20000_DIO_CONTROL_01 0x83 /* port 0, 1 control */
+#define PCI20000_DIO_CONTROL_23 0xc3 /* port 2, 3 control */
+#define PCI20000_DIO_BUFFER 0x82 /* buffer direction and enable */
+#define PCI20000_DIO_EOC 0xef /* even port, control output */
+#define PCI20000_DIO_OOC 0xfd /* odd port, control output */
+#define PCI20000_DIO_EIC 0x90 /* even port, control input */
+#define PCI20000_DIO_OIC 0x82 /* odd port, control input */
+#define DIO_CAND 0x12 /* and bit 1, bit 4 of control */
+#define DIO_BE 0x01 /* buffer: port enable */
+#define DIO_BO 0x04 /* buffer: output */
+#define DIO_BI 0x05 /* buffer: input */
+#define DIO_PS_0 0x00 /* buffer: port shift 0 */
+#define DIO_PS_1 0x01 /* buffer: port shift 1 */
+#define DIO_PS_2 0x04 /* buffer: port shift 2 */
+#define DIO_PS_3 0x05 /* buffer: port shift 3 */
+
+#define PCI20006_LCHAN0 0x0d
+#define PCI20006_STROBE0 0x0b
+#define PCI20006_LCHAN1 0x15
+#define PCI20006_STROBE1 0x13
+
+#define PCI20341_INIT 0x04
#define PCI20341_REPMODE 0x00 /* single shot mode */
#define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
-#define PCI20341_CHAN_NR 2 /* number of input channels */
+#define PCI20341_CHAN_NR 0x04 /* number of input channels */
+#define PCI20341_CONFIG_REG 0x10
+#define PCI20341_MOD_STATUS 0x01
+#define PCI20341_OPT_REG 0x11
+#define PCI20341_SET_TIME_REG 0x15
+#define PCI20341_LCHAN_ADDR_REG 0x13
+#define PCI20341_CHAN_LIST 0x80
+#define PCI20341_CC_RESET 0x1b
+#define PCI20341_CHAN_RESET 0x19
+#define PCI20341_SOFT_PACER 0x04
+#define PCI20341_STATUS_REG 0x12
+#define PCI20341_LDATA 0x02
+#define PCI20341_DAISY_CHAIN 0x20 /* On-board inputs only */
+#define PCI20341_MUX 0x04 /* Enable on-board MUX */
+#define PCI20341_SCANLIST 0x80 /* Channel/Gain Scan List */
static int pci20xxx_detach(comedi_device * dev);
comedi_driver driver_pci20xxx = {
- driver_name:"pci20xxx",
- module:THIS_MODULE,
- attach:pci20xxx_attach,
- detach:pci20xxx_detach,
+ driver_name: "ii_pci20kc",
+ module: &__this_module,
+ attach: pci20xxx_attach,
+ detach: pci20xxx_detach,
};
static int pci20006_init(comedi_device * dev,comedi_subdevice *s,
static int pci20xxx_dio_init(comedi_device * dev,comedi_subdevice *s);
/*
- options[0] Board base address
- options[1] IRQ
- options[2] first option for module 1
- options[3] second option for module 1
- options[4] first option for module 2
- options[5] second option for module 2
- options[6] first option for module 3
- options[7] second option for module 3
+ options[0] Board base address
+ options[1] IRQ
+ options[2] first option for module 1
+ options[3] second option for module 1
+ options[4] first option for module 2
+ options[5] second option for module 2
+ options[6] first option for module 3
+ options[7] second option for module 3
options for PCI-20341M:
- first Analog input gain configuration
- 1
- 10
- 100
- 200
+ first Analog input gain configuration
+ 0 == 1
+ 1 == 10
+ 2 == 100
+ 3 == 200
options for PCI-20006M:
- first Analog output channel 0 range configuration
- 0 == bipolar 10 (-10V -- +10V)
- 1 == unipolar 10V (0V -- +10V)
- 2 == bipolar 5V (-5V -- +5V)
- second Analog output channel 1 range configuration
- 0 == bipolar 10 (-10V -- +10V)
- 1 == unipolar 10V (0V -- +10V)
- 2 == bipolar 5V (-5V -- +5V)
+ first Analog output channel 0 range configuration
+ 0 == bipolar 10 (-10V -- +10V)
+ 1 == unipolar 10V (0V -- +10V)
+ 2 == bipolar 5V (-5V -- +5V)
+ second 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)
{
int ret;
int id;
comedi_subdevice *s;
+ pci20xxx_subdev_private *sdp;
- dev->n_subdevices = 4;
+ dev->n_subdevices = PCI20000_MODULES+1;
if ((ret = alloc_subdevices(dev)) < 0)
return ret;
if ((ret = alloc_private(dev, sizeof(pci20xxx_private))) < 0)
printk(" PCI-20001 C-2A Carrier Board at base=0x%05x not found !\n", dev->iobase);
return -EINVAL;
}
- printk("comedi%d: pci20xxx: base=0x%05x\n", dev->minor, dev->iobase);
+ printk("comedi%d:\n", dev->minor);
+ printk("ii_pci20kc: PCI-20001 C-2A at base=0x%05x\n", dev->iobase);
for (i = 0; i < PCI20000_MODULES; i++) {
s = dev->subdevices + i;
id = readb(dev->iobase + (i+1) * PCI20000_OFFSET);
- s->private = devpriv->subdev_private + i;
+ s->private = devpriv->subdev_private +i;
+ sdp = s->private;
switch(id){
case PCI20006_ID:
+ sdp->pci20006.iobase = dev->iobase + (i+1) * PCI20000_OFFSET;
pci20006_init(dev,s,it->options[2*i+2],it->options[2*i+3]);
+ printk("comedi%d: ii_pci20kc", dev->minor);
+ printk(" PCI-20006 module in slot %d \n", i+1);
break;
case PCI20341_ID:
+ sdp->pci20341.iobase = dev->iobase + (i+1) * PCI20000_OFFSET;
pci20341_init(dev,s,it->options[2*i+2],it->options[2*i+3]);
+ printk("comedi%d: ii_pci20kc", dev->minor);
+ printk(" PCI-20341 module in slot %d \n", i+1);
break;
default:
printk("ii_pci20kc: unknown module code 0x%02x in slot %d: module disabled\n",
break;
}
}
-//devpriv->ai_mod_pos = dev->iobase + i * PCI20000_OFFSET;
/* initialize pci20xxx_private */
pci20xxx_dio_init(dev,dev->subdevices + PCI20000_MODULES);
static int pci20006_ao(comedi_device * dev, comedi_subdevice * s, comedi_trig * it);
-comedi_lrange *pci20006_range_list[] = {
+static comedi_lrange *pci20006_range_list[] = {
&range_bipolar10,
&range_unipolar10,
&range_bipolar5,
- &range_unipolar5
-};
+ };
static int pci20006_init(comedi_device * dev,comedi_subdevice *s,
int opt0,int opt1)
{
pci20xxx_subdev_private *sdp = s->private;
- if(opt0<0 || opt0>=3)opt0=0;
- if(opt1<0 || opt1>=3)opt1=0;
+ if(opt0<0 || opt0>2) opt0=0;
+ if(opt1<0 || opt1>2) opt1=0;
sdp->pci20006.ao_range_list[0] = pci20006_range_list[opt0];
sdp->pci20006.ao_range_list[1] = pci20006_range_list[opt1];
/* ao subdevice */
s->type = COMEDI_SUBD_AO;
- s->subdev_flags = SDF_WRITEABLE;
+ s->subdev_flags = SDF_WRITEABLE|SDF_RT;
s->n_chan = 2;
s->trig[0] = pci20006_ao;
s->maxdata = 0xffff;
s->range_table_list = sdp->pci20006.ao_range_list;
-
return 0;
}
{
pci20xxx_subdev_private *sdp = s->private;
int hi, lo;
+ unsigned int boarddata;
+ int i;
- lo = (it->data[0] & 0xff);
- hi = ((it->data[0] >> 8) & 0xff);
-
- switch (CHAN) {
- case 0:
- writeb(lo, sdp->iobase + 0x0d);
- writeb(hi, sdp->iobase + 0x0d + 1);
- writeb(0x00, sdp->iobase + 0x0b);
- break;
- case 1:
- writeb(lo, sdp->iobase + 0x15);
- writeb(hi, sdp->iobase + 0x15 + 1);
- writeb(0x00, sdp->iobase + 0x13);
- break;
- default:
- printk(" comedi%d: pci20xxx: ao channel Error!\n", dev->minor);
- return -EINVAL;
- }
+ for (i=0; i < it->n_chan; i++) {
+ boarddata = (((unsigned int)it->data[i]+0x8000) & 0xffff); /* comedi-data -> board-data */
+ lo = (boarddata & 0xff);
+ hi = ((boarddata >> 8) & 0xff);
+
+ switch ( CR_CHAN(it->chanlist[i])) {
+ case 0:
+ writeb(lo, sdp->iobase + PCI20006_LCHAN0);
+ writeb(hi, sdp->iobase + PCI20006_LCHAN0 + 1);
+ writeb(0x00, sdp->iobase + PCI20006_STROBE0);
+ break;
+ case 1:
+ writeb(lo, sdp->iobase + PCI20006_LCHAN1);
+ writeb(hi, sdp->iobase + PCI20006_LCHAN1 + 1);
+ writeb(0x00, sdp->iobase + PCI20006_STROBE1);
+ break;
+ default:
+ printk(" comedi%d: pci20xxx: ao channel Error!\n", dev->minor);
+ return -EINVAL;
+ }
+ }
return 1;
}
static int pci20341_timebase[] = { 0x00, 0x00, 0x00, 0x04 };
static int pci20341_settling_time[] = { 0x58, 0x58, 0x93, 0x99 };
-#ifdef SOFTWARE_SELECT_GAIN
-/* use this if you want to set the AI gain in the mode0 function */
-static comedi_lrange pci20341_range = { 4, {
- BIP_RANGE(5),
- BIP_RANGE(0.5),
- BIP_RANGE(0.05),
- BIP_RANGE(0.025),
-}};
-#else
static comedi_lrange range_bipolar0_5 = { 1, { BIP_RANGE(0.5) }};
static comedi_lrange range_bipolar0_05 = { 1, { BIP_RANGE(0.05) }};
static comedi_lrange range_bipolar0_025 = { 1, { BIP_RANGE(0.025) }};
&range_bipolar0_5,
&range_bipolar0_05,
&range_bipolar0_025,
-};
-#endif
+ };
static int pci20341_init(comedi_device * dev,comedi_subdevice *s,
int opt0,int opt1)
{
pci20xxx_subdev_private *sdp = s->private;
- int option = PCI20341_OPTION; /* depends on gain, trigger, repetition mode */
+ int option;
/* options handling */
if(opt0<0 || opt0>3)opt0=0;
/* ai subdevice */
s->type = COMEDI_SUBD_AI;
- s->subdev_flags = SDF_READABLE;
- s->n_chan = 4;
+ s->subdev_flags = SDF_READABLE|SDF_RT;
+ s->n_chan = PCI20341_CHAN_NR;
+ s->len_chanlist = PCI20341_SCANLIST;
s->trig[0] = pci20341_mode0;
s->maxdata = 0xffff;
s->range_table = pci20341_ranges[opt0];
- option = sdp->pci20341.timebase | PCI20341_REPMODE;
+ option = sdp->pci20341.timebase | PCI20341_REPMODE; /* depends on gain, trigger, repetition mode */
- writeb(0x04, sdp->iobase + 0x10); /* initialize Module */
- writeb(PCI20341_PACER, sdp->iobase + 0x01); /* set Pacer */
- writeb(option, sdp->iobase + 0x11); /* option register */
- writeb(sdp->pci20341.settling_time, sdp->iobase + 0x15); /* settling time counter */
+ writeb(PCI20341_INIT, sdp->iobase + PCI20341_CONFIG_REG); /* initialize Module */
+ writeb(PCI20341_PACER, sdp->iobase + PCI20341_MOD_STATUS); /* set Pacer */
+ writeb(option, sdp->iobase + PCI20341_OPT_REG); /* option register */
+ writeb(sdp->pci20341.settling_time, sdp->iobase + PCI20341_SET_TIME_REG); /* settling time counter */
/* trigger not implemented */
- /* Burst mode disabled, only one channel is read */
- writeb(1, sdp->iobase + 0x13); /* write number of input channels */
-
return 0;
}
static int pci20341_mode0(comedi_device * dev, comedi_subdevice * s, comedi_trig * it)
{
pci20xxx_subdev_private *sdp = s->private;
- int i = 0, j = 0;
+ unsigned int i = 0, j = 0;
int lo, hi;
-
- writeb((0x24 | (sdp->pci20341.ai_gain << 3) | CHAN), sdp->iobase + 0x80);
- writeb(0x00, sdp->iobase + 0x1b); /* reset settling time counter and trigger delay counter */
- writeb(0x00, sdp->iobase + 0x19);
-
- i = readb(sdp->iobase + 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(sdp->iobase + 0x12);
- }
- if (j >= 100) {
- printk("comedi%d: pci20xxx: AI interrupt polling exit !\n", dev->minor);
- return -EINVAL;
- }
- lo = readb(sdp->iobase + 0x02);
- hi = readb(sdp->iobase + 0x03);
-
- it->data[0] = lo + 0x100 * hi;
-
+ unsigned char eoc; /* end of conversion */
+ unsigned int clb; /* channel list byte */
+ unsigned int boarddata;
+
+ writeb(it->n_chan, sdp->iobase + PCI20341_LCHAN_ADDR_REG); /* write number of input channels */
+ for (i=0; i < it->n_chan; i++) {
+ clb = PCI20341_DAISY_CHAIN
+ | PCI20341_MUX
+ | (sdp->pci20341.ai_gain << 3)
+ | CR_CHAN(it->chanlist[i]);
+ writeb(clb, sdp->iobase + PCI20341_CHAN_LIST+i);
+ }
+ writeb(0x00, sdp->iobase + PCI20341_CC_RESET); /* reset settling time counter and trigger delay counter */
+ writeb(0x00, sdp->iobase + PCI20341_CHAN_RESET);
+
+ /* generate Pacer */
+
+ for (i=0; i < it->n_chan; i++) {
+ /* 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
+ */
+ j=0;
+ readb(sdp->iobase + PCI20341_SOFT_PACER); /* generate Pacer */
+ eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
+ while ((eoc < 0x80) && j < 100) { /* poll Interrupt Flag */
+ j++;
+ eoc = readb(sdp->iobase + PCI20341_STATUS_REG);
+ }
+ if (j >= 100) {
+ printk("comedi%d: pci20xxx: AI interrupt channel %i polling exit !\n", dev->minor, i);
+ return -EINVAL;
+ }
+ lo = readb(sdp->iobase + PCI20341_LDATA);
+ hi = readb(sdp->iobase + PCI20341_LDATA + 1);
+ boarddata = lo + 0x100 * hi;
+ it->data[i] = (sampl_t)((boarddata + 0x8000) & 0xffff); /* board-data -> comedi-data */
+ }
return 1;
}
static void pci20xxx_dio_config(comedi_device * dev,comedi_subdevice *s)
{
- /* XXX it is not clear from the d[oi]_init functions how to
- configure a group of bits for input or output */
+ unsigned char control_01;
+ unsigned char control_23;
+ unsigned char buffer;
+
+ control_01 = readb(dev->iobase + PCI20000_DIO_CONTROL_01);
+ control_23 = readb(dev->iobase + PCI20000_DIO_CONTROL_23);
+ buffer = readb(dev->iobase + PCI20000_DIO_BUFFER);
if(s->io_bits & 0x000000ff ){
- /* output */
+ /* output port 0 */
+ control_01 &= PCI20000_DIO_EOC;
+ buffer = (buffer &(~(DIO_BE<<DIO_PS_0)))|(DIO_BO<<DIO_PS_0);
}else{
- /* input */
+ /* input port 0 */
+ control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_EIC;
+ buffer = (buffer &(~(DIO_BI<<DIO_PS_0)));
}
if(s->io_bits & 0x0000ff00 ){
-
+ /* output port 1 */
+ control_01 &= PCI20000_DIO_OOC;
+ buffer = (buffer &(~(DIO_BE<<DIO_PS_1)))|(DIO_BO<<DIO_PS_1);
}else{
-
+ /* input port 1 */
+ control_01 = (control_01 & DIO_CAND) | PCI20000_DIO_OIC;
+ buffer = (buffer &(~(DIO_BI<<DIO_PS_1)));
}
if(s->io_bits & 0x00ff0000 ){
-
+ /* output port 2 */
+ control_23 &= PCI20000_DIO_EOC;
+ buffer = (buffer &(~(DIO_BE<<DIO_PS_2)))|(DIO_BO<<DIO_PS_2);
}else{
-
+ /* input port 2 */
+ control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_EIC;
+ buffer = (buffer &(~(DIO_BI<<DIO_PS_2)));
}
if(s->io_bits & 0xff000000 ){
-
+ /* output port 3 */
+ control_23 &= PCI20000_DIO_OOC;
+ buffer = (buffer &(~(DIO_BE<<DIO_PS_3)))|(DIO_BO<<DIO_PS_3);
}else{
-
- }
-}
-
-#if 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;
+ /* input port 3 */
+ control_23 = (control_23 & DIO_CAND) | PCI20000_DIO_OIC;
+ buffer = (buffer &(~(DIO_BI<<DIO_PS_3)));
}
-
- return 0;
+ writeb(control_01, dev->iobase + PCI20000_DIO_CONTROL_01);
+ writeb(control_23, dev->iobase + PCI20000_DIO_CONTROL_23);
+ writeb(buffer, dev->iobase + PCI20000_DIO_BUFFER);
}
-#endif
static void pci20xxx_do(comedi_device * dev, comedi_subdevice * s)
{
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