3 * Copyright (C) 2011-2015 Bernd Porr, mail@berndporr.me.uk
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
18 * Description: University of Stirling USB DAQ & INCITE Technology Limited
19 * Devices: [ITL] USB-DUX-SIGMA (usbduxsigma)
20 * Author: Bernd Porr <mail@berndporr.me.uk>
21 * Updated: 20 July 2015
26 * I must give credit here to Chris Baugher who
27 * wrote the driver for AT-MIO-16d. I used some parts of this
28 * driver. I also must give credits to David Brownell
29 * who supported me with the USB development.
31 * Note: the raw data from the A/D converter is 24 bit big endian
32 * anything else is little endian to/from the dux board
36 * 0.1: initial version
37 * 0.2: all basic functions implemented, digital I/O only for one port
38 * 0.3: proper vendor ID and driver name
39 * 0.4: fixed D/A voltage range
40 * 0.5: various bug fixes, health check at startup
41 * 0.6: corrected wrong input range
42 * 0.7: rewrite code that urb->interval is always 1
45 #include <linux/kernel.h>
46 #include <linux/module.h>
47 #include <linux/slab.h>
48 #include <linux/input.h>
49 #include <linux/fcntl.h>
50 #include <linux/compiler.h>
51 #include <asm/unaligned.h>
53 #include "../comedi_usb.h"
55 /* timeout for the USB-transfer in ms*/
56 #define BULK_TIMEOUT 1000
58 /* constants for "firmware" upload and download */
59 #define FIRMWARE "usbduxsigma_firmware.bin"
60 #define FIRMWARE_MAX_LEN 0x4000
61 #define USBDUXSUB_FIRMWARE 0xa0
62 #define VENDOR_DIR_IN 0xc0
63 #define VENDOR_DIR_OUT 0x40
65 /* internal addresses of the 8051 processor */
66 #define USBDUXSUB_CPUCS 0xE600
68 /* 300Hz max frequ under PWM */
69 #define MIN_PWM_PERIOD ((long)(1E9/300))
71 /* Default PWM frequency */
72 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
74 /* Number of channels (16 AD and offset)*/
75 #define NUMCHANNELS 16
77 /* Size of one A/D value */
78 #define SIZEADIN ((sizeof(uint32_t)))
81 * Size of the async input-buffer IN BYTES, the DIO state is transmitted
84 #define SIZEINBUF (((NUMCHANNELS+1)*SIZEADIN))
87 #define SIZEINSNBUF 16
89 /* Number of DA channels */
90 #define NUMOUTCHANNELS 8
92 /* size of one value for the D/A converter: channel and value */
93 #define SIZEDAOUT ((sizeof(uint8_t)+sizeof(uint16_t)))
96 * Size of the output-buffer in bytes
97 * Actually only the first 4 triplets are used but for the
98 * high speed mode we need to pad it to 8 (microframes).
100 #define SIZEOUTBUF ((8*SIZEDAOUT))
103 * Size of the buffer for the dux commands: just now max size is determined
104 * by the analogue out + command byte + panic bytes...
106 #define SIZEOFDUXBUFFER ((8*SIZEDAOUT+2))
108 /* Number of in-URBs which receive the data: min=2 */
109 #define NUMOFINBUFFERSFULL 5
111 /* Number of out-URBs which send the data: min=2 */
112 #define NUMOFOUTBUFFERSFULL 5
114 /* Number of in-URBs which receive the data: min=5 */
115 /* must have more buffers due to buggy USB ctr */
116 #define NUMOFINBUFFERSHIGH 10
118 /* Number of out-URBs which send the data: min=5 */
119 /* must have more buffers due to buggy USB ctr */
120 #define NUMOFOUTBUFFERSHIGH 10
122 /* number of retries to get the right dux command */
125 /* bulk transfer commands to usbduxsigma */
126 #define USBBUXSIGMA_AD_CMD 9
127 #define USBDUXSIGMA_DA_CMD 1
128 #define USBDUXSIGMA_DIO_CFG_CMD 2
129 #define USBDUXSIGMA_DIO_BITS_CMD 3
130 #define USBDUXSIGMA_SINGLE_AD_CMD 4
131 #define USBDUXSIGMA_PWM_ON_CMD 7
132 #define USBDUXSIGMA_PWM_OFF_CMD 8
134 static const struct comedi_lrange usbduxsigma_ai_range = {
136 BIP_RANGE(2.5 * 0x800000 / 0x780000 / 2.0)
140 struct usbduxsigma_private {
141 /* actual number of in-buffers */
143 /* actual number of out-buffers */
145 /* ISO-transfer handling: buffers */
146 struct urb **ai_urbs;
147 struct urb **ao_urbs;
148 /* pwm-transfer handling */
151 unsigned int pwm_period;
152 /* PWM internal delay for the GPIF in the FX2 */
154 /* size of the PWM buffer which holds the bit pattern */
156 /* input buffer for the ISO-transfer */
158 /* input buffer for single insn */
161 unsigned high_speed:1;
162 unsigned ai_cmd_running:1;
163 unsigned ao_cmd_running:1;
164 unsigned pwm_cmd_running:1;
166 /* time between samples in units of the timer */
167 unsigned int ai_timer;
168 unsigned int ao_timer;
169 /* counter between acquisitions */
170 unsigned int ai_counter;
171 unsigned int ao_counter;
172 /* interval in frames/uframes */
173 unsigned int ai_interval;
175 uint8_t *dux_commands;
176 struct semaphore sem;
179 static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs)
183 for (i = 0; i < num_urbs; i++)
184 usb_kill_urb(urbs[i]);
187 static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink)
189 struct usbduxsigma_private *devpriv = dev->private;
191 if (do_unlink && devpriv->ai_urbs)
192 usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
194 devpriv->ai_cmd_running = 0;
197 static int usbduxsigma_ai_cancel(struct comedi_device *dev,
198 struct comedi_subdevice *s)
200 struct usbduxsigma_private *devpriv = dev->private;
203 /* unlink only if it is really running */
204 usbduxsigma_ai_stop(dev, devpriv->ai_cmd_running);
210 static void usbduxsigma_ai_handle_urb(struct comedi_device *dev,
211 struct comedi_subdevice *s,
214 struct usbduxsigma_private *devpriv = dev->private;
215 struct comedi_async *async = s->async;
216 struct comedi_cmd *cmd = &async->cmd;
221 if ((urb->actual_length > 0) && (urb->status != -EXDEV)) {
222 devpriv->ai_counter--;
223 if (devpriv->ai_counter == 0) {
224 devpriv->ai_counter = devpriv->ai_timer;
226 /* get the data from the USB bus
227 and hand it over to comedi */
228 for (i = 0; i < cmd->chanlist_len; i++) {
230 note first byte is the DIO state */
231 val = be32_to_cpu(devpriv->in_buf[i+1]);
232 val &= 0x00ffffff; /* strip status byte */
233 val ^= 0x00800000; /* convert to unsigned */
235 if (!comedi_buf_write_samples(s, &val, 1))
239 if (cmd->stop_src == TRIG_COUNT &&
240 async->scans_done >= cmd->stop_arg)
241 async->events |= COMEDI_CB_EOA;
245 /* if command is still running, resubmit urb */
246 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
247 urb->dev = comedi_to_usb_dev(dev);
248 ret = usb_submit_urb(urb, GFP_ATOMIC);
250 dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
252 if (ret == -EL2NSYNC)
253 dev_err(dev->class_dev,
254 "buggy USB host controller or bug in IRQ handler\n");
255 async->events |= COMEDI_CB_ERROR;
260 static void usbduxsigma_ai_urb_complete(struct urb *urb)
262 struct comedi_device *dev = urb->context;
263 struct usbduxsigma_private *devpriv = dev->private;
264 struct comedi_subdevice *s = dev->read_subdev;
265 struct comedi_async *async = s->async;
267 /* exit if not running a command, do not resubmit urb */
268 if (!devpriv->ai_cmd_running)
271 switch (urb->status) {
273 /* copy the result in the transfer buffer */
274 memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF);
275 usbduxsigma_ai_handle_urb(dev, s, urb);
280 * error in the ISOchronous data
281 * we don't copy the data into the transfer buffer
282 * and recycle the last data byte
284 dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
285 usbduxsigma_ai_handle_urb(dev, s, urb);
292 /* happens after an unlink command */
293 async->events |= COMEDI_CB_ERROR;
298 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
300 async->events |= COMEDI_CB_ERROR;
305 * comedi_handle_events() cannot be used in this driver. The (*cancel)
306 * operation would unlink the urb.
308 if (async->events & COMEDI_CB_CANCEL_MASK)
309 usbduxsigma_ai_stop(dev, 0);
311 comedi_event(dev, s);
314 static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink)
316 struct usbduxsigma_private *devpriv = dev->private;
318 if (do_unlink && devpriv->ao_urbs)
319 usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
321 devpriv->ao_cmd_running = 0;
324 static int usbduxsigma_ao_cancel(struct comedi_device *dev,
325 struct comedi_subdevice *s)
327 struct usbduxsigma_private *devpriv = dev->private;
330 /* unlink only if it is really running */
331 usbduxsigma_ao_stop(dev, devpriv->ao_cmd_running);
337 static void usbduxsigma_ao_handle_urb(struct comedi_device *dev,
338 struct comedi_subdevice *s,
341 struct usbduxsigma_private *devpriv = dev->private;
342 struct comedi_async *async = s->async;
343 struct comedi_cmd *cmd = &async->cmd;
348 devpriv->ao_counter--;
349 if (devpriv->ao_counter == 0) {
350 devpriv->ao_counter = devpriv->ao_timer;
352 if (cmd->stop_src == TRIG_COUNT &&
353 async->scans_done >= cmd->stop_arg) {
354 async->events |= COMEDI_CB_EOA;
358 /* transmit data to the USB bus */
359 datap = urb->transfer_buffer;
360 *datap++ = cmd->chanlist_len;
361 for (i = 0; i < cmd->chanlist_len; i++) {
362 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
365 if (!comedi_buf_read_samples(s, &val, 1)) {
366 dev_err(dev->class_dev, "buffer underflow\n");
367 async->events |= COMEDI_CB_OVERFLOW;
373 s->readback[chan] = val;
377 /* if command is still running, resubmit urb */
378 if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
379 urb->transfer_buffer_length = SIZEOUTBUF;
380 urb->dev = comedi_to_usb_dev(dev);
382 urb->interval = 1; /* (u)frames */
383 urb->number_of_packets = 1;
384 urb->iso_frame_desc[0].offset = 0;
385 urb->iso_frame_desc[0].length = SIZEOUTBUF;
386 urb->iso_frame_desc[0].status = 0;
387 ret = usb_submit_urb(urb, GFP_ATOMIC);
389 dev_err(dev->class_dev, "urb resubmit failed (%d)\n",
391 if (ret == -EL2NSYNC)
392 dev_err(dev->class_dev,
393 "buggy USB host controller or bug in IRQ handler\n");
394 async->events |= COMEDI_CB_ERROR;
399 static void usbduxsigma_ao_urb_complete(struct urb *urb)
401 struct comedi_device *dev = urb->context;
402 struct usbduxsigma_private *devpriv = dev->private;
403 struct comedi_subdevice *s = dev->write_subdev;
404 struct comedi_async *async = s->async;
406 /* exit if not running a command, do not resubmit urb */
407 if (!devpriv->ao_cmd_running)
410 switch (urb->status) {
412 usbduxsigma_ao_handle_urb(dev, s, urb);
419 /* happens after an unlink command */
420 async->events |= COMEDI_CB_ERROR;
425 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
427 async->events |= COMEDI_CB_ERROR;
432 * comedi_handle_events() cannot be used in this driver. The (*cancel)
433 * operation would unlink the urb.
435 if (async->events & COMEDI_CB_CANCEL_MASK)
436 usbduxsigma_ao_stop(dev, 0);
438 comedi_event(dev, s);
441 static int usbduxsigma_submit_urbs(struct comedi_device *dev,
442 struct urb **urbs, int num_urbs,
445 struct usb_device *usb = comedi_to_usb_dev(dev);
450 /* Submit all URBs and start the transfer on the bus */
451 for (i = 0; i < num_urbs; i++) {
454 /* in case of a resubmission after an unlink... */
460 urb->transfer_flags = URB_ISO_ASAP;
462 ret = usb_submit_urb(urb, GFP_ATOMIC);
469 static int usbduxsigma_chans_to_interval(int num_chan)
478 static int usbduxsigma_ai_cmdtest(struct comedi_device *dev,
479 struct comedi_subdevice *s,
480 struct comedi_cmd *cmd)
482 struct usbduxsigma_private *devpriv = dev->private;
483 int high_speed = devpriv->high_speed;
484 int interval = usbduxsigma_chans_to_interval(cmd->chanlist_len);
488 /* Step 1 : check if triggers are trivially valid */
490 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
491 err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
492 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
493 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
494 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
499 /* Step 2a : make sure trigger sources are unique */
501 err |= comedi_check_trigger_is_unique(cmd->start_src);
502 err |= comedi_check_trigger_is_unique(cmd->stop_src);
504 /* Step 2b : and mutually compatible */
509 /* Step 3: check if arguments are trivially valid */
511 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
515 * In high speed mode microframes are possible.
516 * However, during one microframe we can roughly
517 * sample two channels. Thus, the more channels
518 * are in the channel list the more time we need.
520 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
521 (125000 * interval));
524 /* 1kHz scans every USB frame */
525 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
529 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
532 if (cmd->stop_src == TRIG_COUNT)
533 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
535 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
540 /* Step 4: fix up any arguments */
542 tmp = rounddown(cmd->scan_begin_arg, high_speed ? 125000 : 1000000);
543 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp);
552 * creates the ADC command for the MAX1271
553 * range is the range value from comedi
555 static void create_adc_command(unsigned int chan,
560 (*muxsg0) = (*muxsg0) | (1 << chan);
562 (*muxsg1) = (*muxsg1) | (1 << (chan-8));
565 static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type)
567 struct usb_device *usb = comedi_to_usb_dev(dev);
568 struct usbduxsigma_private *devpriv = dev->private;
571 devpriv->dux_commands[0] = cmd_type;
573 return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
574 devpriv->dux_commands, SIZEOFDUXBUFFER,
575 &nsent, BULK_TIMEOUT);
578 static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command)
580 struct usb_device *usb = comedi_to_usb_dev(dev);
581 struct usbduxsigma_private *devpriv = dev->private;
586 for (i = 0; i < RETRIES; i++) {
587 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
588 devpriv->insn_buf, SIZEINSNBUF,
589 &nrec, BULK_TIMEOUT);
593 if (devpriv->insn_buf[0] == command)
597 * This is only reached if the data has been requested a
598 * couple of times and the command was not received.
603 static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
604 struct comedi_subdevice *s,
605 unsigned int trig_num)
607 struct usbduxsigma_private *devpriv = dev->private;
608 struct comedi_cmd *cmd = &s->async->cmd;
611 if (trig_num != cmd->start_arg)
615 if (!devpriv->ai_cmd_running) {
616 devpriv->ai_cmd_running = 1;
617 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
618 devpriv->n_ai_urbs, 1);
620 devpriv->ai_cmd_running = 0;
624 s->async->inttrig = NULL;
631 static int usbduxsigma_ai_cmd(struct comedi_device *dev,
632 struct comedi_subdevice *s)
634 struct usbduxsigma_private *devpriv = dev->private;
635 struct comedi_cmd *cmd = &s->async->cmd;
636 unsigned int len = cmd->chanlist_len;
645 if (devpriv->high_speed) {
647 * every 2 channels get a time window of 125us. Thus, if we
648 * sample all 16 channels we need 1ms. If we sample only one
649 * channel we need only 125us
651 unsigned int interval = usbduxsigma_chans_to_interval(len);
653 devpriv->ai_interval = interval;
654 devpriv->ai_timer = cmd->scan_begin_arg / (125000 * interval);
656 /* interval always 1ms */
657 devpriv->ai_interval = 1;
658 devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
661 for (i = 0; i < len; i++) {
662 unsigned int chan = CR_CHAN(cmd->chanlist[i]);
664 create_adc_command(chan, &muxsg0, &muxsg1);
667 devpriv->dux_commands[1] = devpriv->ai_interval;
668 devpriv->dux_commands[2] = len; /* num channels per time step */
669 devpriv->dux_commands[3] = 0x12; /* CONFIG0 */
670 devpriv->dux_commands[4] = 0x03; /* CONFIG1: 23kHz sample, delay 0us */
671 devpriv->dux_commands[5] = 0x00; /* CONFIG3: diff. channels off */
672 devpriv->dux_commands[6] = muxsg0;
673 devpriv->dux_commands[7] = muxsg1;
674 devpriv->dux_commands[8] = sysred;
676 ret = usbbuxsigma_send_cmd(dev, USBBUXSIGMA_AD_CMD);
682 devpriv->ai_counter = devpriv->ai_timer;
684 if (cmd->start_src == TRIG_NOW) {
685 /* enable this acquisition operation */
686 devpriv->ai_cmd_running = 1;
687 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
688 devpriv->n_ai_urbs, 1);
690 devpriv->ai_cmd_running = 0;
694 s->async->inttrig = NULL;
695 } else { /* TRIG_INT */
696 s->async->inttrig = usbduxsigma_ai_inttrig;
704 static int usbduxsigma_ai_insn_read(struct comedi_device *dev,
705 struct comedi_subdevice *s,
706 struct comedi_insn *insn,
709 struct usbduxsigma_private *devpriv = dev->private;
710 unsigned int chan = CR_CHAN(insn->chanspec);
718 if (devpriv->ai_cmd_running) {
723 create_adc_command(chan, &muxsg0, &muxsg1);
725 /* Mode 0 is used to get a single conversion on demand */
726 devpriv->dux_commands[1] = 0x16; /* CONFIG0: chopper on */
727 devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
728 devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
729 devpriv->dux_commands[4] = muxsg0;
730 devpriv->dux_commands[5] = muxsg1;
731 devpriv->dux_commands[6] = sysred;
734 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
740 for (i = 0; i < insn->n; i++) {
743 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
749 /* 32 bits big endian from the A/D converter */
750 val = be32_to_cpu(get_unaligned((__be32
751 *)(devpriv->insn_buf + 1)));
752 val &= 0x00ffffff; /* strip status byte */
753 val ^= 0x00800000; /* convert to unsigned */
762 static int usbduxsigma_ao_insn_read(struct comedi_device *dev,
763 struct comedi_subdevice *s,
764 struct comedi_insn *insn,
767 struct usbduxsigma_private *devpriv = dev->private;
771 ret = comedi_readback_insn_read(dev, s, insn, data);
777 static int usbduxsigma_ao_insn_write(struct comedi_device *dev,
778 struct comedi_subdevice *s,
779 struct comedi_insn *insn,
782 struct usbduxsigma_private *devpriv = dev->private;
783 unsigned int chan = CR_CHAN(insn->chanspec);
788 if (devpriv->ao_cmd_running) {
793 for (i = 0; i < insn->n; i++) {
794 devpriv->dux_commands[1] = 1; /* num channels */
795 devpriv->dux_commands[2] = data[i]; /* value */
796 devpriv->dux_commands[3] = chan; /* channel number */
797 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DA_CMD);
802 s->readback[chan] = data[i];
809 static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
810 struct comedi_subdevice *s,
811 unsigned int trig_num)
813 struct usbduxsigma_private *devpriv = dev->private;
814 struct comedi_cmd *cmd = &s->async->cmd;
817 if (trig_num != cmd->start_arg)
821 if (!devpriv->ao_cmd_running) {
822 devpriv->ao_cmd_running = 1;
823 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
824 devpriv->n_ao_urbs, 0);
826 devpriv->ao_cmd_running = 0;
830 s->async->inttrig = NULL;
837 static int usbduxsigma_ao_cmdtest(struct comedi_device *dev,
838 struct comedi_subdevice *s,
839 struct comedi_cmd *cmd)
841 struct usbduxsigma_private *devpriv = dev->private;
845 /* Step 1 : check if triggers are trivially valid */
847 err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
850 * For now, always use "scan" timing with all channels updated at once
851 * (cmd->scan_begin_src == TRIG_TIMER, cmd->convert_src == TRIG_NOW).
853 * In a future version, "convert" timing with channels updated
854 * indivually may be supported in high speed mode
855 * (cmd->scan_begin_src == TRIG_FOLLOW, cmd->convert_src == TRIG_TIMER).
857 err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
858 err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
859 err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
860 err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
867 /* Step 2a : make sure trigger sources are unique */
869 err |= comedi_check_trigger_is_unique(cmd->start_src);
870 err |= comedi_check_trigger_is_unique(cmd->stop_src);
872 /* Step 2b : and mutually compatible */
877 /* Step 3: check if arguments are trivially valid */
879 err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
881 err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg, 1000000);
883 err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
886 if (cmd->stop_src == TRIG_COUNT)
887 err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
889 err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
894 /* Step 4: fix up any arguments */
896 tmp = rounddown(cmd->scan_begin_arg, 1000000);
897 err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, tmp);
905 static int usbduxsigma_ao_cmd(struct comedi_device *dev,
906 struct comedi_subdevice *s)
908 struct usbduxsigma_private *devpriv = dev->private;
909 struct comedi_cmd *cmd = &s->async->cmd;
915 * For now, only "scan" timing is supported. A future version may
916 * support "convert" timing in high speed mode.
918 * Timing of the scan: every 1ms all channels updated at once.
920 devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
922 devpriv->ao_counter = devpriv->ao_timer;
924 if (cmd->start_src == TRIG_NOW) {
925 /* enable this acquisition operation */
926 devpriv->ao_cmd_running = 1;
927 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
928 devpriv->n_ao_urbs, 0);
930 devpriv->ao_cmd_running = 0;
934 s->async->inttrig = NULL;
935 } else { /* TRIG_INT */
936 s->async->inttrig = usbduxsigma_ao_inttrig;
944 static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
945 struct comedi_subdevice *s,
946 struct comedi_insn *insn,
951 ret = comedi_dio_insn_config(dev, s, insn, data, 0);
956 * We don't tell the firmware here as it would take 8 frames
957 * to submit the information. We do it in the (*insn_bits).
962 static int usbduxsigma_dio_insn_bits(struct comedi_device *dev,
963 struct comedi_subdevice *s,
964 struct comedi_insn *insn,
967 struct usbduxsigma_private *devpriv = dev->private;
972 comedi_dio_update_state(s, data);
974 /* Always update the hardware. See the (*insn_config). */
975 devpriv->dux_commands[1] = s->io_bits & 0xff;
976 devpriv->dux_commands[4] = s->state & 0xff;
977 devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff;
978 devpriv->dux_commands[5] = (s->state >> 8) & 0xff;
979 devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff;
980 devpriv->dux_commands[6] = (s->state >> 16) & 0xff;
982 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
985 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
989 s->state = devpriv->insn_buf[1] |
990 (devpriv->insn_buf[2] << 8) |
991 (devpriv->insn_buf[3] << 16);
1002 static void usbduxsigma_pwm_stop(struct comedi_device *dev, int do_unlink)
1004 struct usbduxsigma_private *devpriv = dev->private;
1007 if (devpriv->pwm_urb)
1008 usb_kill_urb(devpriv->pwm_urb);
1011 devpriv->pwm_cmd_running = 0;
1014 static int usbduxsigma_pwm_cancel(struct comedi_device *dev,
1015 struct comedi_subdevice *s)
1017 struct usbduxsigma_private *devpriv = dev->private;
1019 /* unlink only if it is really running */
1020 usbduxsigma_pwm_stop(dev, devpriv->pwm_cmd_running);
1022 return usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_OFF_CMD);
1025 static void usbduxsigma_pwm_urb_complete(struct urb *urb)
1027 struct comedi_device *dev = urb->context;
1028 struct usbduxsigma_private *devpriv = dev->private;
1031 switch (urb->status) {
1040 /* happens after an unlink command */
1041 if (devpriv->pwm_cmd_running)
1042 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1047 if (devpriv->pwm_cmd_running) {
1048 dev_err(dev->class_dev, "non-zero urb status (%d)\n",
1050 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1055 if (!devpriv->pwm_cmd_running)
1058 urb->transfer_buffer_length = devpriv->pwm_buf_sz;
1059 urb->dev = comedi_to_usb_dev(dev);
1061 ret = usb_submit_urb(urb, GFP_ATOMIC);
1063 dev_err(dev->class_dev, "urb resubmit failed (%d)\n", ret);
1064 if (ret == -EL2NSYNC)
1065 dev_err(dev->class_dev,
1066 "buggy USB host controller or bug in IRQ handler\n");
1067 usbduxsigma_pwm_stop(dev, 0); /* w/o unlink */
1071 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1073 struct usb_device *usb = comedi_to_usb_dev(dev);
1074 struct usbduxsigma_private *devpriv = dev->private;
1075 struct urb *urb = devpriv->pwm_urb;
1077 /* in case of a resubmission after an unlink... */
1078 usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
1079 urb->transfer_buffer, devpriv->pwm_buf_sz,
1080 usbduxsigma_pwm_urb_complete, dev);
1082 return usb_submit_urb(urb, GFP_ATOMIC);
1085 static int usbduxsigma_pwm_period(struct comedi_device *dev,
1086 struct comedi_subdevice *s,
1087 unsigned int period)
1089 struct usbduxsigma_private *devpriv = dev->private;
1092 if (period < MIN_PWM_PERIOD)
1095 fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1099 devpriv->pwm_delay = fx2delay;
1100 devpriv->pwm_period = period;
1104 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1105 struct comedi_subdevice *s)
1107 struct usbduxsigma_private *devpriv = dev->private;
1110 if (devpriv->pwm_cmd_running)
1113 devpriv->dux_commands[1] = devpriv->pwm_delay;
1114 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_ON_CMD);
1118 memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
1120 devpriv->pwm_cmd_running = 1;
1121 ret = usbduxsigma_submit_pwm_urb(dev);
1123 devpriv->pwm_cmd_running = 0;
1130 static void usbduxsigma_pwm_pattern(struct comedi_device *dev,
1131 struct comedi_subdevice *s,
1136 struct usbduxsigma_private *devpriv = dev->private;
1137 char pwm_mask = (1 << chan); /* DIO bit for the PWM data */
1138 char sgn_mask = (16 << chan); /* DIO bit for the sign */
1139 char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
1140 int szbuf = devpriv->pwm_buf_sz;
1143 for (i = 0; i < szbuf; i++) {
1157 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1158 struct comedi_subdevice *s,
1159 struct comedi_insn *insn,
1162 unsigned int chan = CR_CHAN(insn->chanspec);
1165 * It doesn't make sense to support more than one value here
1166 * because it would just overwrite the PWM buffer.
1172 * The sign is set via a special INSN only, this gives us 8 bits
1173 * for normal operation, sign is 0 by default.
1175 usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1180 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1181 struct comedi_subdevice *s,
1182 struct comedi_insn *insn,
1185 struct usbduxsigma_private *devpriv = dev->private;
1186 unsigned int chan = CR_CHAN(insn->chanspec);
1189 case INSN_CONFIG_ARM:
1191 * if not zero the PWM is limited to a certain time which is
1192 * not supported here
1196 return usbduxsigma_pwm_start(dev, s);
1197 case INSN_CONFIG_DISARM:
1198 return usbduxsigma_pwm_cancel(dev, s);
1199 case INSN_CONFIG_GET_PWM_STATUS:
1200 data[1] = devpriv->pwm_cmd_running;
1202 case INSN_CONFIG_PWM_SET_PERIOD:
1203 return usbduxsigma_pwm_period(dev, s, data[1]);
1204 case INSN_CONFIG_PWM_GET_PERIOD:
1205 data[1] = devpriv->pwm_period;
1207 case INSN_CONFIG_PWM_SET_H_BRIDGE:
1210 * data[2] = sign (for a relay)
1212 usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
1214 case INSN_CONFIG_PWM_GET_H_BRIDGE:
1215 /* values are not kept in this driver, nothing to return */
1221 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1223 struct usbduxsigma_private *devpriv = dev->private;
1231 sysred = 0; /* ADC zero */
1234 sysred = 1; /* ADC offset */
1237 sysred = 4; /* VCC */
1240 sysred = 8; /* temperature */
1243 sysred = 16; /* gain */
1246 sysred = 32; /* ref */
1250 devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1251 devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1252 devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1253 devpriv->dux_commands[4] = 0;
1254 devpriv->dux_commands[5] = 0;
1255 devpriv->dux_commands[6] = sysred;
1256 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1260 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1264 /* 32 bits big endian from the A/D converter */
1265 val = be32_to_cpu(get_unaligned((__be32 *)(devpriv->insn_buf + 1)));
1266 val &= 0x00ffffff; /* strip status byte */
1267 val ^= 0x00800000; /* convert to unsigned */
1272 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1273 const u8 *data, size_t size,
1274 unsigned long context)
1276 struct usb_device *usb = comedi_to_usb_dev(dev);
1284 if (size > FIRMWARE_MAX_LEN) {
1285 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1289 /* we generate a local buffer for the firmware */
1290 buf = kmemdup(data, size, GFP_KERNEL);
1294 /* we need a malloc'ed buffer for usb_control_msg() */
1295 tmp = kmalloc(1, GFP_KERNEL);
1301 /* stop the current firmware on the device */
1302 *tmp = 1; /* 7f92 to one */
1303 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1306 USBDUXSUB_CPUCS, 0x0000,
1310 dev_err(dev->class_dev, "can not stop firmware\n");
1314 /* upload the new firmware to the device */
1315 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1322 dev_err(dev->class_dev, "firmware upload failed\n");
1326 /* start the new firmware on the device */
1327 *tmp = 0; /* 7f92 to zero */
1328 ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1331 USBDUXSUB_CPUCS, 0x0000,
1335 dev_err(dev->class_dev, "can not start firmware\n");
1343 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1345 struct usb_device *usb = comedi_to_usb_dev(dev);
1346 struct usbduxsigma_private *devpriv = dev->private;
1350 devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1351 devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
1352 devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1353 devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(urb), GFP_KERNEL);
1354 devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(urb), GFP_KERNEL);
1355 if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
1356 !devpriv->ai_urbs || !devpriv->ao_urbs)
1359 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1360 /* one frame: 1ms */
1361 urb = usb_alloc_urb(1, GFP_KERNEL);
1364 devpriv->ai_urbs[i] = urb;
1366 /* will be filled later with a pointer to the comedi-device */
1367 /* and ONLY then the urb should be submitted */
1368 urb->context = NULL;
1369 urb->pipe = usb_rcvisocpipe(usb, 6);
1370 urb->transfer_flags = URB_ISO_ASAP;
1371 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1372 if (!urb->transfer_buffer)
1374 urb->complete = usbduxsigma_ai_urb_complete;
1375 urb->number_of_packets = 1;
1376 urb->transfer_buffer_length = SIZEINBUF;
1377 urb->iso_frame_desc[0].offset = 0;
1378 urb->iso_frame_desc[0].length = SIZEINBUF;
1381 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1382 /* one frame: 1ms */
1383 urb = usb_alloc_urb(1, GFP_KERNEL);
1386 devpriv->ao_urbs[i] = urb;
1388 /* will be filled later with a pointer to the comedi-device */
1389 /* and ONLY then the urb should be submitted */
1390 urb->context = NULL;
1391 urb->pipe = usb_sndisocpipe(usb, 2);
1392 urb->transfer_flags = URB_ISO_ASAP;
1393 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1394 if (!urb->transfer_buffer)
1396 urb->complete = usbduxsigma_ao_urb_complete;
1397 urb->number_of_packets = 1;
1398 urb->transfer_buffer_length = SIZEOUTBUF;
1399 urb->iso_frame_desc[0].offset = 0;
1400 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1401 urb->interval = 1; /* (u)frames */
1404 if (devpriv->pwm_buf_sz) {
1405 urb = usb_alloc_urb(0, GFP_KERNEL);
1408 devpriv->pwm_urb = urb;
1410 urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
1412 if (!urb->transfer_buffer)
1419 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1421 struct usbduxsigma_private *devpriv = dev->private;
1425 urb = devpriv->pwm_urb;
1427 kfree(urb->transfer_buffer);
1430 if (devpriv->ao_urbs) {
1431 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1432 urb = devpriv->ao_urbs[i];
1434 kfree(urb->transfer_buffer);
1438 kfree(devpriv->ao_urbs);
1440 if (devpriv->ai_urbs) {
1441 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1442 urb = devpriv->ai_urbs[i];
1444 kfree(urb->transfer_buffer);
1448 kfree(devpriv->ai_urbs);
1450 kfree(devpriv->insn_buf);
1451 kfree(devpriv->in_buf);
1452 kfree(devpriv->dux_commands);
1455 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1456 unsigned long context_unused)
1458 struct usb_interface *intf = comedi_to_usb_interface(dev);
1459 struct usb_device *usb = comedi_to_usb_dev(dev);
1460 struct usbduxsigma_private *devpriv;
1461 struct comedi_subdevice *s;
1465 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
1469 sema_init(&devpriv->sem, 1);
1471 usb_set_intfdata(intf, devpriv);
1473 devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1474 if (devpriv->high_speed) {
1475 devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
1476 devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
1477 devpriv->pwm_buf_sz = 512;
1479 devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
1480 devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
1483 ret = usbduxsigma_alloc_usb_buffers(dev);
1487 /* setting to alternate setting 3: enabling iso ep and bulk ep. */
1488 ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
1491 dev_err(dev->class_dev,
1492 "could not set alternate setting 3 in high speed\n");
1496 ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1497 usbduxsigma_firmware_upload, 0);
1501 ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3);
1505 /* Analog Input subdevice */
1506 s = &dev->subdevices[0];
1507 dev->read_subdev = s;
1508 s->type = COMEDI_SUBD_AI;
1509 s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1510 s->n_chan = NUMCHANNELS;
1511 s->len_chanlist = NUMCHANNELS;
1512 s->maxdata = 0x00ffffff;
1513 s->range_table = &usbduxsigma_ai_range;
1514 s->insn_read = usbduxsigma_ai_insn_read;
1515 s->do_cmdtest = usbduxsigma_ai_cmdtest;
1516 s->do_cmd = usbduxsigma_ai_cmd;
1517 s->cancel = usbduxsigma_ai_cancel;
1519 /* Analog Output subdevice */
1520 s = &dev->subdevices[1];
1521 dev->write_subdev = s;
1522 s->type = COMEDI_SUBD_AO;
1523 s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1525 s->len_chanlist = s->n_chan;
1526 s->maxdata = 0x00ff;
1527 s->range_table = &range_unipolar2_5;
1528 s->insn_write = usbduxsigma_ao_insn_write;
1529 s->insn_read = usbduxsigma_ao_insn_read;
1530 s->do_cmdtest = usbduxsigma_ao_cmdtest;
1531 s->do_cmd = usbduxsigma_ao_cmd;
1532 s->cancel = usbduxsigma_ao_cancel;
1534 ret = comedi_alloc_subdev_readback(s);
1538 /* Digital I/O subdevice */
1539 s = &dev->subdevices[2];
1540 s->type = COMEDI_SUBD_DIO;
1541 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1544 s->range_table = &range_digital;
1545 s->insn_bits = usbduxsigma_dio_insn_bits;
1546 s->insn_config = usbduxsigma_dio_insn_config;
1548 if (devpriv->high_speed) {
1549 /* Timer / pwm subdevice */
1550 s = &dev->subdevices[3];
1551 s->type = COMEDI_SUBD_PWM;
1552 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1554 s->maxdata = devpriv->pwm_buf_sz;
1555 s->insn_write = usbduxsigma_pwm_write;
1556 s->insn_config = usbduxsigma_pwm_config;
1558 usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1561 offset = usbduxsigma_getstatusinfo(dev, 0);
1563 dev_err(dev->class_dev,
1564 "Communication to USBDUXSIGMA failed! Check firmware and cabling.\n");
1568 dev_info(dev->class_dev, "ADC_zero = %x\n", offset);
1573 static void usbduxsigma_detach(struct comedi_device *dev)
1575 struct usb_interface *intf = comedi_to_usb_interface(dev);
1576 struct usbduxsigma_private *devpriv = dev->private;
1578 usb_set_intfdata(intf, NULL);
1583 down(&devpriv->sem);
1585 /* force unlink all urbs */
1586 usbduxsigma_ai_stop(dev, 1);
1587 usbduxsigma_ao_stop(dev, 1);
1588 usbduxsigma_pwm_stop(dev, 1);
1590 usbduxsigma_free_usb_buffers(dev);
1595 static struct comedi_driver usbduxsigma_driver = {
1596 .driver_name = "usbduxsigma",
1597 .module = THIS_MODULE,
1598 .auto_attach = usbduxsigma_auto_attach,
1599 .detach = usbduxsigma_detach,
1602 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1603 const struct usb_device_id *id)
1605 return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1608 static const struct usb_device_id usbduxsigma_usb_table[] = {
1609 { USB_DEVICE(0x13d8, 0x0020) },
1610 { USB_DEVICE(0x13d8, 0x0021) },
1611 { USB_DEVICE(0x13d8, 0x0022) },
1614 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1616 static struct usb_driver usbduxsigma_usb_driver = {
1617 .name = "usbduxsigma",
1618 .probe = usbduxsigma_usb_probe,
1619 .disconnect = comedi_usb_auto_unconfig,
1620 .id_table = usbduxsigma_usb_table,
1622 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1624 MODULE_AUTHOR("Bernd Porr, mail@berndporr.me.uk");
1625 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- mail@berndporr.me.uk");
1626 MODULE_LICENSE("GPL");
1627 MODULE_FIRMWARE(FIRMWARE);