2 * comedi/drivers/ii_pci20kc.c
3 * Driver for Intelligent Instruments PCI-20001C carrier board
6 * Copyright (C) 2000 Markus Kempf <kempf@matsci.uni-sb.de>
7 * with suggestions from David Schleef
10 * Linux device driver for COMEDI
11 * Intelligent Instrumentation
12 * PCI-20001 C-2A Carrier Board
13 * PCI-20341 M-1A 16-Bit analog input module
17 * PCI-20006 M-2 16-Bit analog output module
18 * - ranges (-10V - +10V) (0V - +10V) (-5V - +5V)
21 * only ONE PCI-20341 module possible
22 * only ONE PCI-20006 module possible
23 * no extern trigger implemented
25 * NOT WORKING (but soon) only 4 on-board differential channels supported
26 * NOT WORKING (but soon) only ONE di-port and ONE do-port supported instead of 4 digital ports
30 * The state of this driver is only a starting point for a complete
31 * COMEDI-driver. The final driver should support all features of the
32 * carrier board and modules.
34 * The test configuration:
36 * kernel 2.2.14 with RTAI v1.2 and patch-2.2.14rthal2
43 Description: Intelligent Instruments PCI-20001C carrier board
44 Author: Markus Kempf <kempf@matsci.uni-sb.de>
45 Devices: [Intelligent Instrumentation] PCI-20001C (ii_pci20kc)
48 Supports the PCI-20001 C-2a Carrier board, and could probably support
49 the other carrier boards with small modifications. Modules supported
51 PCI-20006 M-2 16-bit analog output module
52 PCI-20341 M-1A 16-bit analog input module
57 2 first option for module 1
58 3 second option for module 1
59 4 first option for module 2
60 5 second option for module 2
61 6 first option for module 3
62 7 second option for module 3
64 options for PCI-20006M:
65 first: Analog output channel 0 range configuration
66 0 bipolar 10 (-10V -- +10V)
67 1 unipolar 10 (0V -- +10V)
68 2 bipolar 5 (-5V -- 5V)
69 second: Analog output channel 1 range configuration
71 options for PCI-20341M:
72 first: Analog input gain configuration
79 /* XXX needs to use ioremap() for compatibility with 2.4 kernels. Should also
80 * check_mem_region() etc. - fmhess */
82 #include "../comedidev.h"
84 #define PCI20000_ID 0x1d
85 #define PCI20341_ID 0x77
86 #define PCI20006_ID 0xe3
87 #define PCI20xxx_EMPTY_ID 0xff
89 #define PCI20000_OFFSET 0x100
90 #define PCI20000_MODULES 3
92 #define PCI20000_DIO_0 0x80
93 #define PCI20000_DIO_1 0x81
94 #define PCI20000_DIO_2 0xc0
95 #define PCI20000_DIO_3 0xc1
96 #define PCI20000_DIO_CONTROL_01 0x83 /* port 0, 1 control */
97 #define PCI20000_DIO_CONTROL_23 0xc3 /* port 2, 3 control */
98 #define PCI20000_DIO_BUFFER 0x82 /* buffer direction and enable */
99 #define PCI20000_DIO_EOC 0xef /* even port, control output */
100 #define PCI20000_DIO_OOC 0xfd /* odd port, control output */
101 #define PCI20000_DIO_EIC 0x90 /* even port, control input */
102 #define PCI20000_DIO_OIC 0x82 /* odd port, control input */
103 #define DIO_CAND 0x12 /* and bit 1, bit 4 of control */
104 #define DIO_BE 0x01 /* buffer: port enable */
105 #define DIO_BO 0x04 /* buffer: output */
106 #define DIO_BI 0x05 /* buffer: input */
107 #define DIO_PS_0 0x00 /* buffer: port shift 0 */
108 #define DIO_PS_1 0x01 /* buffer: port shift 1 */
109 #define DIO_PS_2 0x04 /* buffer: port shift 2 */
110 #define DIO_PS_3 0x05 /* buffer: port shift 3 */
112 #define PCI20006_LCHAN0 0x0d
113 #define PCI20006_STROBE0 0x0b
114 #define PCI20006_LCHAN1 0x15
115 #define PCI20006_STROBE1 0x13
117 #define PCI20341_INIT 0x04
118 #define PCI20341_REPMODE 0x00 /* single shot mode */
119 #define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
120 #define PCI20341_CHAN_NR 0x04 /* number of input channels */
121 #define PCI20341_CONFIG_REG 0x10
122 #define PCI20341_MOD_STATUS 0x01
123 #define PCI20341_OPT_REG 0x11
124 #define PCI20341_SET_TIME_REG 0x15
125 #define PCI20341_LCHAN_ADDR_REG 0x13
126 #define PCI20341_CHAN_LIST 0x80
127 #define PCI20341_CC_RESET 0x1b
128 #define PCI20341_CHAN_RESET 0x19
129 #define PCI20341_SOFT_PACER 0x04
130 #define PCI20341_STATUS_REG 0x12
131 #define PCI20341_LDATA 0x02
132 #define PCI20341_DAISY_CHAIN 0x20 /* On-board inputs only */
133 #define PCI20341_MUX 0x04 /* Enable on-board MUX */
134 #define PCI20341_SCANLIST 0x80 /* Channel/Gain Scan List */
140 const comedi_lrange
*ao_range_list
[2]; /* range of channels of ao module */
141 unsigned int last_data
[2];
149 } pci20xxx_subdev_private
;
153 pci20xxx_subdev_private subdev_private
[PCI20000_MODULES
];
156 #define devpriv ((pci20xxx_private *)dev->private)
157 #define CHAN (CR_CHAN(it->chanlist[0]))
159 static int pci20xxx_attach(struct comedi_device
* dev
, comedi_devconfig
* it
);
160 static int pci20xxx_detach(struct comedi_device
* dev
);
162 static comedi_driver driver_pci20xxx
= {
163 driver_name
:"ii_pci20kc",
165 attach
:pci20xxx_attach
,
166 detach
:pci20xxx_detach
,
169 static int pci20006_init(struct comedi_device
* dev
, comedi_subdevice
* s
,
171 static int pci20341_init(struct comedi_device
* dev
, comedi_subdevice
* s
,
173 static int pci20xxx_dio_init(struct comedi_device
* dev
, comedi_subdevice
* s
);
176 options[0] Board base address
178 options[2] first option for module 1
179 options[3] second option for module 1
180 options[4] first option for module 2
181 options[5] second option for module 2
182 options[6] first option for module 3
183 options[7] second option for module 3
185 options for PCI-20341M:
186 first Analog input gain configuration
192 options for PCI-20006M:
193 first Analog output channel 0 range configuration
194 0 == bipolar 10 (-10V -- +10V)
195 1 == unipolar 10V (0V -- +10V)
196 2 == bipolar 5V (-5V -- +5V)
197 second Analog output channel 1 range configuration
198 0 == bipolar 10 (-10V -- +10V)
199 1 == unipolar 10V (0V -- +10V)
200 2 == bipolar 5V (-5V -- +5V)
202 static int pci20xxx_attach(struct comedi_device
* dev
, comedi_devconfig
* it
)
208 pci20xxx_subdev_private
*sdp
;
210 if ((ret
= alloc_subdevices(dev
, 1 + PCI20000_MODULES
)) < 0)
212 if ((ret
= alloc_private(dev
, sizeof(pci20xxx_private
))) < 0)
215 devpriv
->ioaddr
= (void *)(unsigned long)it
->options
[0];
216 dev
->board_name
= "pci20kc";
218 /* Check PCI-20001 C-2A Carrier Board ID */
219 if ((readb(devpriv
->ioaddr
) & PCI20000_ID
) != PCI20000_ID
) {
220 printk("comedi%d: ii_pci20kc", dev
->minor
);
221 printk(" PCI-20001 C-2A Carrier Board at base=0x%p not found !\n", devpriv
->ioaddr
);
224 printk("comedi%d:\n", dev
->minor
);
225 printk("ii_pci20kc: PCI-20001 C-2A at base=0x%p\n", devpriv
->ioaddr
);
227 for (i
= 0; i
< PCI20000_MODULES
; i
++) {
228 s
= dev
->subdevices
+ i
;
229 id
= readb(devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
);
230 s
->private = devpriv
->subdev_private
+ i
;
234 sdp
->pci20006
.iobase
=
235 devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
;
236 pci20006_init(dev
, s
, it
->options
[2 * i
+ 2],
237 it
->options
[2 * i
+ 3]);
238 printk("comedi%d: ii_pci20kc", dev
->minor
);
239 printk(" PCI-20006 module in slot %d \n", i
+ 1);
242 sdp
->pci20341
.iobase
=
243 devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
;
244 pci20341_init(dev
, s
, it
->options
[2 * i
+ 2],
245 it
->options
[2 * i
+ 3]);
246 printk("comedi%d: ii_pci20kc", dev
->minor
);
247 printk(" PCI-20341 module in slot %d \n", i
+ 1);
250 printk("ii_pci20kc: unknown module code 0x%02x in slot %d: module disabled\n", id
, i
);
252 case PCI20xxx_EMPTY_ID
:
253 s
->type
= COMEDI_SUBD_UNUSED
;
258 /* initialize pci20xxx_private */
259 pci20xxx_dio_init(dev
, dev
->subdevices
+ PCI20000_MODULES
);
264 static int pci20xxx_detach(struct comedi_device
* dev
)
266 printk("comedi%d: pci20xxx: remove\n", dev
->minor
);
273 static int pci20006_insn_read(struct comedi_device
* dev
, comedi_subdevice
* s
,
274 comedi_insn
* insn
, unsigned int * data
);
275 static int pci20006_insn_write(struct comedi_device
* dev
, comedi_subdevice
* s
,
276 comedi_insn
* insn
, unsigned int * data
);
278 static const comedi_lrange
*pci20006_range_list
[] = {
284 static int pci20006_init(struct comedi_device
* dev
, comedi_subdevice
* s
,
287 pci20xxx_subdev_private
*sdp
= s
->private;
289 if (opt0
< 0 || opt0
> 2)
291 if (opt1
< 0 || opt1
> 2)
294 sdp
->pci20006
.ao_range_list
[0] = pci20006_range_list
[opt0
];
295 sdp
->pci20006
.ao_range_list
[1] = pci20006_range_list
[opt1
];
298 s
->type
= COMEDI_SUBD_AO
;
299 s
->subdev_flags
= SDF_WRITABLE
;
302 s
->insn_read
= pci20006_insn_read
;
303 s
->insn_write
= pci20006_insn_write
;
305 s
->range_table_list
= sdp
->pci20006
.ao_range_list
;
309 static int pci20006_insn_read(struct comedi_device
* dev
, comedi_subdevice
* s
,
310 comedi_insn
* insn
, unsigned int * data
)
312 pci20xxx_subdev_private
*sdp
= s
->private;
314 data
[0] = sdp
->pci20006
.last_data
[CR_CHAN(insn
->chanspec
)];
319 static int pci20006_insn_write(struct comedi_device
* dev
, comedi_subdevice
* s
,
320 comedi_insn
* insn
, unsigned int * data
)
322 pci20xxx_subdev_private
*sdp
= s
->private;
324 unsigned int boarddata
;
326 sdp
->pci20006
.last_data
[CR_CHAN(insn
->chanspec
)] = data
[0];
327 boarddata
= (((unsigned int)data
[0] + 0x8000) & 0xffff); /* comedi-data -> board-data */
328 lo
= (boarddata
& 0xff);
329 hi
= ((boarddata
>> 8) & 0xff);
331 switch (CR_CHAN(insn
->chanspec
)) {
333 writeb(lo
, sdp
->iobase
+ PCI20006_LCHAN0
);
334 writeb(hi
, sdp
->iobase
+ PCI20006_LCHAN0
+ 1);
335 writeb(0x00, sdp
->iobase
+ PCI20006_STROBE0
);
338 writeb(lo
, sdp
->iobase
+ PCI20006_LCHAN1
);
339 writeb(hi
, sdp
->iobase
+ PCI20006_LCHAN1
+ 1);
340 writeb(0x00, sdp
->iobase
+ PCI20006_STROBE1
);
343 printk(" comedi%d: pci20xxx: ao channel Error!\n", dev
->minor
);
352 static int pci20341_insn_read(struct comedi_device
* dev
, comedi_subdevice
* s
,
353 comedi_insn
* insn
, unsigned int * data
);
355 static const int pci20341_timebase
[] = { 0x00, 0x00, 0x00, 0x04 };
356 static const int pci20341_settling_time
[] = { 0x58, 0x58, 0x93, 0x99 };
358 static const comedi_lrange range_bipolar0_5
= { 1, {BIP_RANGE(0.5)} };
359 static const comedi_lrange range_bipolar0_05
= { 1, {BIP_RANGE(0.05)} };
360 static const comedi_lrange range_bipolar0_025
= { 1, {BIP_RANGE(0.025)} };
362 static const comedi_lrange
*const pci20341_ranges
[] = {
369 static int pci20341_init(struct comedi_device
* dev
, comedi_subdevice
* s
,
372 pci20xxx_subdev_private
*sdp
= s
->private;
375 /* options handling */
376 if (opt0
< 0 || opt0
> 3)
378 sdp
->pci20341
.timebase
= pci20341_timebase
[opt0
];
379 sdp
->pci20341
.settling_time
= pci20341_settling_time
[opt0
];
382 s
->type
= COMEDI_SUBD_AI
;
383 s
->subdev_flags
= SDF_READABLE
;
384 s
->n_chan
= PCI20341_CHAN_NR
;
385 s
->len_chanlist
= PCI20341_SCANLIST
;
386 s
->insn_read
= pci20341_insn_read
;
388 s
->range_table
= pci20341_ranges
[opt0
];
390 option
= sdp
->pci20341
.timebase
| PCI20341_REPMODE
; /* depends on gain, trigger, repetition mode */
392 writeb(PCI20341_INIT
, sdp
->iobase
+ PCI20341_CONFIG_REG
); /* initialize Module */
393 writeb(PCI20341_PACER
, sdp
->iobase
+ PCI20341_MOD_STATUS
); /* set Pacer */
394 writeb(option
, sdp
->iobase
+ PCI20341_OPT_REG
); /* option register */
395 writeb(sdp
->pci20341
.settling_time
, sdp
->iobase
+ PCI20341_SET_TIME_REG
); /* settling time counter */
396 /* trigger not implemented */
400 static int pci20341_insn_read(struct comedi_device
* dev
, comedi_subdevice
* s
,
401 comedi_insn
* insn
, unsigned int * data
)
403 pci20xxx_subdev_private
*sdp
= s
->private;
404 unsigned int i
= 0, j
= 0;
406 unsigned char eoc
; /* end of conversion */
407 unsigned int clb
; /* channel list byte */
408 unsigned int boarddata
;
410 writeb(1, sdp
->iobase
+ PCI20341_LCHAN_ADDR_REG
); /* write number of input channels */
411 clb
= PCI20341_DAISY_CHAIN
| PCI20341_MUX
| (sdp
->pci20341
.ai_gain
<< 3)
412 | CR_CHAN(insn
->chanspec
);
413 writeb(clb
, sdp
->iobase
+ PCI20341_CHAN_LIST
);
414 writeb(0x00, sdp
->iobase
+ PCI20341_CC_RESET
); /* reset settling time counter and trigger delay counter */
415 writeb(0x00, sdp
->iobase
+ PCI20341_CHAN_RESET
);
419 for (i
= 0; i
< insn
->n
; i
++) {
420 /* data polling isn't the niciest way to get the data, I know,
421 * but there are only 6 cycles (mean) and it is easier than
422 * the whole interrupt stuff
425 readb(sdp
->iobase
+ PCI20341_SOFT_PACER
); /* generate Pacer */
426 eoc
= readb(sdp
->iobase
+ PCI20341_STATUS_REG
);
427 while ((eoc
< 0x80) && j
< 100) { /* poll Interrupt Flag */
429 eoc
= readb(sdp
->iobase
+ PCI20341_STATUS_REG
);
432 printk("comedi%d: pci20xxx: AI interrupt channel %i polling exit !\n", dev
->minor
, i
);
435 lo
= readb(sdp
->iobase
+ PCI20341_LDATA
);
436 hi
= readb(sdp
->iobase
+ PCI20341_LDATA
+ 1);
437 boarddata
= lo
+ 0x100 * hi
;
438 data
[i
] = (short) ((boarddata
+ 0x8000) & 0xffff); /* board-data -> comedi-data */
446 static void pci20xxx_dio_config(struct comedi_device
* dev
, comedi_subdevice
* s
);
447 static int pci20xxx_dio_insn_bits(struct comedi_device
* dev
, comedi_subdevice
* s
,
448 comedi_insn
* insn
, unsigned int * data
);
449 static int pci20xxx_dio_insn_config(struct comedi_device
* dev
, comedi_subdevice
* s
,
450 comedi_insn
* insn
, unsigned int * data
);
452 /* initialize pci20xxx_private */
453 static int pci20xxx_dio_init(struct comedi_device
* dev
, comedi_subdevice
* s
)
456 s
->type
= COMEDI_SUBD_DIO
;
457 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
459 s
->insn_bits
= pci20xxx_dio_insn_bits
;
460 s
->insn_config
= pci20xxx_dio_insn_config
;
462 s
->len_chanlist
= 32;
463 s
->range_table
= &range_digital
;
466 /* digital I/O lines default to input on board reset. */
467 pci20xxx_dio_config(dev
, s
);
472 static int pci20xxx_dio_insn_config(struct comedi_device
* dev
, comedi_subdevice
* s
,
473 comedi_insn
* insn
, unsigned int * data
)
477 mask
= 1 << CR_CHAN(insn
->chanspec
);
478 if (mask
& 0x000000ff) {
480 } else if (mask
& 0x0000ff00) {
482 } else if (mask
& 0x00ff0000) {
492 pci20xxx_dio_config(dev
, s
);
497 static int pci20xxx_dio_insn_bits(struct comedi_device
* dev
, comedi_subdevice
* s
,
498 comedi_insn
* insn
, unsigned int * data
)
500 unsigned int mask
= data
[0];
503 s
->state
|= (mask
& data
[1]);
506 if (mask
& 0x000000ff)
507 writeb((s
->state
>> 0) & 0xff,
508 devpriv
->ioaddr
+ PCI20000_DIO_0
);
509 if (mask
& 0x0000ff00)
510 writeb((s
->state
>> 8) & 0xff,
511 devpriv
->ioaddr
+ PCI20000_DIO_1
);
512 if (mask
& 0x00ff0000)
513 writeb((s
->state
>> 16) & 0xff,
514 devpriv
->ioaddr
+ PCI20000_DIO_2
);
515 if (mask
& 0xff000000)
516 writeb((s
->state
>> 24) & 0xff,
517 devpriv
->ioaddr
+ PCI20000_DIO_3
);
519 data
[1] = readb(devpriv
->ioaddr
+ PCI20000_DIO_0
);
520 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_1
) << 8;
521 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_2
) << 16;
522 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_3
) << 24;
527 static void pci20xxx_dio_config(struct comedi_device
* dev
, comedi_subdevice
* s
)
529 unsigned char control_01
;
530 unsigned char control_23
;
531 unsigned char buffer
;
533 control_01
= readb(devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_01
);
534 control_23
= readb(devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_23
);
535 buffer
= readb(devpriv
->ioaddr
+ PCI20000_DIO_BUFFER
);
537 if (s
->io_bits
& 0x000000ff) {
539 control_01
&= PCI20000_DIO_EOC
;
540 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_0
))) | (DIO_BO
<<
544 control_01
= (control_01
& DIO_CAND
) | PCI20000_DIO_EIC
;
545 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_0
)));
547 if (s
->io_bits
& 0x0000ff00) {
549 control_01
&= PCI20000_DIO_OOC
;
550 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_1
))) | (DIO_BO
<<
554 control_01
= (control_01
& DIO_CAND
) | PCI20000_DIO_OIC
;
555 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_1
)));
557 if (s
->io_bits
& 0x00ff0000) {
559 control_23
&= PCI20000_DIO_EOC
;
560 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_2
))) | (DIO_BO
<<
564 control_23
= (control_23
& DIO_CAND
) | PCI20000_DIO_EIC
;
565 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_2
)));
567 if (s
->io_bits
& 0xff000000) {
569 control_23
&= PCI20000_DIO_OOC
;
570 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_3
))) | (DIO_BO
<<
574 control_23
= (control_23
& DIO_CAND
) | PCI20000_DIO_OIC
;
575 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_3
)));
577 writeb(control_01
, devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_01
);
578 writeb(control_23
, devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_23
);
579 writeb(buffer
, devpriv
->ioaddr
+ PCI20000_DIO_BUFFER
);
583 static void pci20xxx_do(struct comedi_device
* dev
, comedi_subdevice
* s
)
585 /* XXX if the channel is configured for input, does this
587 /* XXX it would be a good idea to only update the registers
588 that _need_ to be updated. This requires changes to
590 writeb((s
->state
>> 0) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_0
);
591 writeb((s
->state
>> 8) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_1
);
592 writeb((s
->state
>> 16) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_2
);
593 writeb((s
->state
>> 24) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_3
);
596 static unsigned int pci20xxx_di(struct comedi_device
* dev
, comedi_subdevice
* s
)
598 /* XXX same note as above */
601 bits
= readb(devpriv
->ioaddr
+ PCI20000_DIO_0
);
602 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_1
) << 8;
603 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_2
) << 16;
604 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_3
) << 24;
610 COMEDI_INITCLEANUP(driver_pci20xxx
);