ni_at_ao.c revision 7114a28011f9d5f3d981731ad341177c21f9d948
1/* 2 comedi/drivers/ni_at_ao.c 3 Driver for NI AT-AO-6/10 boards 4 5 COMEDI - Linux Control and Measurement Device Interface 6 Copyright (C) 2000,2002 David A. Schleef <ds@schleef.org> 7 8 This program is free software; you can redistribute it and/or modify 9 it under the terms of the GNU General Public License as published by 10 the Free Software Foundation; either version 2 of the License, or 11 (at your option) any later version. 12 13 This program is distributed in the hope that it will be useful, 14 but WITHOUT ANY WARRANTY; without even the implied warranty of 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 16 GNU General Public License for more details. 17 18 You should have received a copy of the GNU General Public License 19 along with this program; if not, write to the Free Software 20 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 21 22*/ 23/* 24Driver: ni_at_ao 25Description: National Instruments AT-AO-6/10 26Devices: [National Instruments] AT-AO-6 (at-ao-6), AT-AO-10 (at-ao-10) 27Status: should work 28Author: ds 29Updated: Sun Dec 26 12:26:28 EST 2004 30 31Configuration options: 32 [0] - I/O port base address 33 [1] - IRQ (unused) 34 [2] - DMA (unused) 35 [3] - analog output range, set by jumpers on hardware (0 for -10 to 10V 36 bipolar, 1 for 0V to 10V unipolar) 37 38*/ 39/* 40 * Register-level programming information can be found in NI 41 * document 320379.pdf. 42 */ 43 44#include "../comedidev.h" 45 46#include <linux/ioport.h> 47 48/* board egisters */ 49/* registers with _2_ are accessed when GRP2WR is set in CFG1 */ 50 51#define ATAO_SIZE 0x20 52 53#define ATAO_2_DMATCCLR 0x00 /* W 16 */ 54#define ATAO_DIN 0x00 /* R 16 */ 55#define ATAO_DOUT 0x00 /* W 16 */ 56 57#define ATAO_CFG2 0x02 /* W 16 */ 58#define CALLD1 0x8000 59#define CALLD0 0x4000 60#define FFRTEN 0x2000 61#define DAC2S8 0x1000 62#define DAC2S6 0x0800 63#define DAC2S4 0x0400 64#define DAC2S2 0x0200 65#define DAC2S0 0x0100 66#define LDAC8 0x0080 67#define LDAC6 0x0040 68#define LDAC4 0x0020 69#define LDAC2 0x0010 70#define LDAC0 0x0008 71#define PROMEN 0x0004 72#define SCLK 0x0002 73#define SDATA 0x0001 74 75#define ATAO_2_INT1CLR 0x02 /* W 16 */ 76 77#define ATAO_CFG3 0x04 /* W 16 */ 78#define DMAMODE 0x0040 79#define CLKOUT 0x0020 80#define RCLKEN 0x0010 81#define DOUTEN2 0x0008 82#define DOUTEN1 0x0004 83#define EN2_5V 0x0002 84#define SCANEN 0x0001 85 86#define ATAO_2_INT2CLR 0x04 /* W 16 */ 87 88#define ATAO_82C53_BASE 0x06 /* RW 8 */ 89 90#define ATAO_82C53_CNTR1 0x06 /* RW 8 */ 91#define ATAO_82C53_CNTR2 0x07 /* RW 8 */ 92#define ATAO_82C53_CNTR3 0x08 /* RW 8 */ 93#define ATAO_82C53_CNTRCMD 0x09 /* W 8 */ 94#define CNTRSEL1 0x80 95#define CNTRSEL0 0x40 96#define RWSEL1 0x20 97#define RWSEL0 0x10 98#define MODESEL2 0x08 99#define MODESEL1 0x04 100#define MODESEL0 0x02 101#define BCDSEL 0x01 102 /* read-back command */ 103#define COUNT 0x20 104#define STATUS 0x10 105#define CNTR3 0x08 106#define CNTR2 0x04 107#define CNTR1 0x02 108 /* status */ 109#define OUT 0x80 110#define _NULL 0x40 111#define RW1 0x20 112#define RW0 0x10 113#define MODE2 0x08 114#define MODE1 0x04 115#define MODE0 0x02 116#define BCD 0x01 117 118#define ATAO_2_RTSISHFT 0x06 /* W 8 */ 119#define RSI 0x01 120 121#define ATAO_2_RTSISTRB 0x07 /* W 8 */ 122 123#define ATAO_CFG1 0x0a /* W 16 */ 124#define EXTINT2EN 0x8000 125#define EXTINT1EN 0x4000 126#define CNTINT2EN 0x2000 127#define CNTINT1EN 0x1000 128#define TCINTEN 0x0800 129#define CNT1SRC 0x0400 130#define CNT2SRC 0x0200 131#define FIFOEN 0x0100 132#define GRP2WR 0x0080 133#define EXTUPDEN 0x0040 134#define DMARQ 0x0020 135#define DMAEN 0x0010 136#define CH_mask 0x000f 137#define ATAO_STATUS 0x0a /* R 16 */ 138#define FH 0x0040 139#define FE 0x0020 140#define FF 0x0010 141#define INT2 0x0008 142#define INT1 0x0004 143#define TCINT 0x0002 144#define PROMOUT 0x0001 145 146#define ATAO_FIFO_WRITE 0x0c /* W 16 */ 147#define ATAO_FIFO_CLEAR 0x0c /* R 16 */ 148#define ATAO_DACn(x) (0x0c + 2*(x)) /* W */ 149 150/* 151 * Board descriptions for two imaginary boards. Describing the 152 * boards in this way is optional, and completely driver-dependent. 153 * Some drivers use arrays such as this, other do not. 154 */ 155struct atao_board { 156 const char *name; 157 int n_ao_chans; 158}; 159 160static const struct atao_board atao_boards[] = { 161 { 162 .name = "ai-ao-6", 163 .n_ao_chans = 6, 164 }, 165 { 166 .name = "ai-ao-10", 167 .n_ao_chans = 10, 168 }, 169}; 170 171#define thisboard ((struct atao_board *)dev->board_ptr) 172 173struct atao_private { 174 175 unsigned short cfg1; 176 unsigned short cfg2; 177 unsigned short cfg3; 178 179 /* Used for AO readback */ 180 unsigned int ao_readback[10]; 181}; 182 183#define devpriv ((struct atao_private *)dev->private) 184 185static int atao_attach(struct comedi_device *dev, struct comedi_devconfig *it); 186static int atao_detach(struct comedi_device *dev); 187static struct comedi_driver driver_atao = { 188 .driver_name = "ni_at_ao", 189 .module = THIS_MODULE, 190 .attach = atao_attach, 191 .detach = atao_detach, 192 .board_name = &atao_boards[0].name, 193 .offset = sizeof(struct atao_board), 194 .num_names = ARRAY_SIZE(atao_boards), 195}; 196 197static int __init driver_atao_init_module(void) 198{ 199 return comedi_driver_register(&driver_atao); 200} 201 202static void __exit driver_atao_cleanup_module(void) 203{ 204 comedi_driver_unregister(&driver_atao); 205} 206 207module_init(driver_atao_init_module); 208module_exit(driver_atao_cleanup_module); 209 210static void atao_reset(struct comedi_device *dev); 211 212static int atao_ao_winsn(struct comedi_device *dev, struct comedi_subdevice *s, 213 struct comedi_insn *insn, unsigned int *data); 214static int atao_ao_rinsn(struct comedi_device *dev, struct comedi_subdevice *s, 215 struct comedi_insn *insn, unsigned int *data); 216static int atao_dio_insn_bits(struct comedi_device *dev, 217 struct comedi_subdevice *s, 218 struct comedi_insn *insn, unsigned int *data); 219static int atao_dio_insn_config(struct comedi_device *dev, 220 struct comedi_subdevice *s, 221 struct comedi_insn *insn, unsigned int *data); 222static int atao_calib_insn_read(struct comedi_device *dev, 223 struct comedi_subdevice *s, 224 struct comedi_insn *insn, unsigned int *data); 225static int atao_calib_insn_write(struct comedi_device *dev, 226 struct comedi_subdevice *s, 227 struct comedi_insn *insn, unsigned int *data); 228 229static int atao_attach(struct comedi_device *dev, struct comedi_devconfig *it) 230{ 231 struct comedi_subdevice *s; 232 unsigned long iobase; 233 int ao_unipolar; 234 235 iobase = it->options[0]; 236 if (iobase == 0) 237 iobase = 0x1c0; 238 ao_unipolar = it->options[3]; 239 240 printk(KERN_INFO "comedi%d: ni_at_ao: 0x%04lx", dev->minor, iobase); 241 242 if (!request_region(iobase, ATAO_SIZE, "ni_at_ao")) { 243 printk(" I/O port conflict\n"); 244 return -EIO; 245 } 246 dev->iobase = iobase; 247 248 /* dev->board_ptr = atao_probe(dev); */ 249 250 dev->board_name = thisboard->name; 251 252 if (alloc_private(dev, sizeof(struct atao_private)) < 0) 253 return -ENOMEM; 254 255 if (alloc_subdevices(dev, 4) < 0) 256 return -ENOMEM; 257 258 s = dev->subdevices + 0; 259 /* analog output subdevice */ 260 s->type = COMEDI_SUBD_AO; 261 s->subdev_flags = SDF_WRITABLE; 262 s->n_chan = thisboard->n_ao_chans; 263 s->maxdata = (1 << 12) - 1; 264 if (ao_unipolar) 265 s->range_table = &range_unipolar10; 266 else 267 s->range_table = &range_bipolar10; 268 s->insn_write = &atao_ao_winsn; 269 s->insn_read = &atao_ao_rinsn; 270 271 s = dev->subdevices + 1; 272 /* digital i/o subdevice */ 273 s->type = COMEDI_SUBD_DIO; 274 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 275 s->n_chan = 8; 276 s->maxdata = 1; 277 s->range_table = &range_digital; 278 s->insn_bits = atao_dio_insn_bits; 279 s->insn_config = atao_dio_insn_config; 280 281 s = dev->subdevices + 2; 282 /* caldac subdevice */ 283 s->type = COMEDI_SUBD_CALIB; 284 s->subdev_flags = SDF_WRITABLE | SDF_INTERNAL; 285 s->n_chan = 21; 286 s->maxdata = 0xff; 287 s->insn_read = atao_calib_insn_read; 288 s->insn_write = atao_calib_insn_write; 289 290 s = dev->subdevices + 3; 291 /* eeprom subdevice */ 292 /* s->type=COMEDI_SUBD_EEPROM; */ 293 s->type = COMEDI_SUBD_UNUSED; 294 295 atao_reset(dev); 296 297 printk(KERN_INFO "\n"); 298 299 return 0; 300} 301 302static int atao_detach(struct comedi_device *dev) 303{ 304 printk(KERN_INFO "comedi%d: atao: remove\n", dev->minor); 305 306 if (dev->iobase) 307 release_region(dev->iobase, ATAO_SIZE); 308 309 return 0; 310} 311 312static void atao_reset(struct comedi_device *dev) 313{ 314 /* This is the reset sequence described in the manual */ 315 316 devpriv->cfg1 = 0; 317 outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); 318 319 outb(RWSEL0 | MODESEL2, dev->iobase + ATAO_82C53_CNTRCMD); 320 outb(0x03, dev->iobase + ATAO_82C53_CNTR1); 321 outb(CNTRSEL0 | RWSEL0 | MODESEL2, dev->iobase + ATAO_82C53_CNTRCMD); 322 323 devpriv->cfg2 = 0; 324 outw(devpriv->cfg2, dev->iobase + ATAO_CFG2); 325 326 devpriv->cfg3 = 0; 327 outw(devpriv->cfg3, dev->iobase + ATAO_CFG3); 328 329 inw(dev->iobase + ATAO_FIFO_CLEAR); 330 331 devpriv->cfg1 |= GRP2WR; 332 outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); 333 334 outw(0, dev->iobase + ATAO_2_INT1CLR); 335 outw(0, dev->iobase + ATAO_2_INT2CLR); 336 outw(0, dev->iobase + ATAO_2_DMATCCLR); 337 338 devpriv->cfg1 &= ~GRP2WR; 339 outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); 340} 341 342static int atao_ao_winsn(struct comedi_device *dev, struct comedi_subdevice *s, 343 struct comedi_insn *insn, unsigned int *data) 344{ 345 int i; 346 int chan = CR_CHAN(insn->chanspec); 347 short bits; 348 349 for (i = 0; i < insn->n; i++) { 350 bits = data[i] - 0x800; 351 if (chan == 0) { 352 devpriv->cfg1 |= GRP2WR; 353 outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); 354 } 355 outw(bits, dev->iobase + ATAO_DACn(chan)); 356 if (chan == 0) { 357 devpriv->cfg1 &= ~GRP2WR; 358 outw(devpriv->cfg1, dev->iobase + ATAO_CFG1); 359 } 360 devpriv->ao_readback[chan] = data[i]; 361 } 362 363 return i; 364} 365 366static int atao_ao_rinsn(struct comedi_device *dev, struct comedi_subdevice *s, 367 struct comedi_insn *insn, unsigned int *data) 368{ 369 int i; 370 int chan = CR_CHAN(insn->chanspec); 371 372 for (i = 0; i < insn->n; i++) 373 data[i] = devpriv->ao_readback[chan]; 374 375 return i; 376} 377 378static int atao_dio_insn_bits(struct comedi_device *dev, 379 struct comedi_subdevice *s, 380 struct comedi_insn *insn, unsigned int *data) 381{ 382 if (insn->n != 2) 383 return -EINVAL; 384 385 if (data[0]) { 386 s->state &= ~data[0]; 387 s->state |= data[0] & data[1]; 388 outw(s->state, dev->iobase + ATAO_DOUT); 389 } 390 391 data[1] = inw(dev->iobase + ATAO_DIN); 392 393 return 2; 394} 395 396static int atao_dio_insn_config(struct comedi_device *dev, 397 struct comedi_subdevice *s, 398 struct comedi_insn *insn, unsigned int *data) 399{ 400 int chan = CR_CHAN(insn->chanspec); 401 unsigned int mask, bit; 402 403 /* The input or output configuration of each digital line is 404 * configured by a special insn_config instruction. chanspec 405 * contains the channel to be changed, and data[0] contains the 406 * value COMEDI_INPUT or COMEDI_OUTPUT. */ 407 408 mask = (chan < 4) ? 0x0f : 0xf0; 409 bit = (chan < 4) ? DOUTEN1 : DOUTEN2; 410 411 switch (data[0]) { 412 case INSN_CONFIG_DIO_OUTPUT: 413 s->io_bits |= mask; 414 devpriv->cfg3 |= bit; 415 break; 416 case INSN_CONFIG_DIO_INPUT: 417 s->io_bits &= ~mask; 418 devpriv->cfg3 &= ~bit; 419 break; 420 case INSN_CONFIG_DIO_QUERY: 421 data[1] = 422 (s->io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT; 423 return insn->n; 424 break; 425 default: 426 return -EINVAL; 427 break; 428 } 429 430 outw(devpriv->cfg3, dev->iobase + ATAO_CFG3); 431 432 return 1; 433} 434 435/* 436 * Figure 2-1 in the manual shows 3 chips labeled DAC8800, which 437 * are 8-channel 8-bit DACs. These are most likely the calibration 438 * DACs. It is not explicitly stated in the manual how to access 439 * the caldacs, but we can guess. 440 */ 441static int atao_calib_insn_read(struct comedi_device *dev, 442 struct comedi_subdevice *s, 443 struct comedi_insn *insn, unsigned int *data) 444{ 445 int i; 446 for (i = 0; i < insn->n; i++) 447 data[i] = 0; /* XXX */ 448 return insn->n; 449} 450 451static int atao_calib_insn_write(struct comedi_device *dev, 452 struct comedi_subdevice *s, 453 struct comedi_insn *insn, unsigned int *data) 454{ 455 unsigned int bitstring, bit; 456 unsigned int chan = CR_CHAN(insn->chanspec); 457 458 bitstring = ((chan & 0x7) << 8) | (data[insn->n - 1] & 0xff); 459 460 for (bit = 1 << (11 - 1); bit; bit >>= 1) { 461 outw(devpriv->cfg2 | ((bit & bitstring) ? SDATA : 0), 462 dev->iobase + ATAO_CFG2); 463 outw(devpriv->cfg2 | SCLK | ((bit & bitstring) ? SDATA : 0), 464 dev->iobase + ATAO_CFG2); 465 } 466 /* strobe the appropriate caldac */ 467 outw(devpriv->cfg2 | (((chan >> 3) + 1) << 14), 468 dev->iobase + ATAO_CFG2); 469 outw(devpriv->cfg2, dev->iobase + ATAO_CFG2); 470 471 return insn->n; 472} 473 474MODULE_AUTHOR("Comedi http://www.comedi.org"); 475MODULE_DESCRIPTION("Comedi low-level driver"); 476MODULE_LICENSE("GPL"); 477