--- /dev/null
+#define DRIVER_VERSION "v2.1"
+#define DRIVER_AUTHOR "Bernd Porr, BerndPorr@f2s.com"
+#define DRIVER_DESC "Stirling/ITL USB-DUX -- Bernd.Porr@f2s.com"
+/*
+ comedi/drivers/usbdux.c
+ Copyright (C) 2003-2007 Bernd Porr, Bernd.Porr@f2s.com
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ */
+/*
+Driver: usbdux
+Description: University of Stirling USB DAQ & INCITE Technology Limited
+Devices: [ITL] USB-DUX (usbdux.o)
+Author: Bernd Porr <BerndPorr@f2s.com>
+Updated: 25 Nov 2007
+Status: Testing
+Configuration options:
+ You have to upload firmware with the -i option. The
+ firmware is usually installed under /usr/share/usb or
+ /usr/local/share/usb or /lib/firmware.
+
+Connection scheme for the counter at the digital port:
+ 0=/CLK0, 1=UP/DOWN0, 2=RESET0, 4=/CLK1, 5=UP/DOWN1, 6=RESET1.
+ The sampling rate of the counter is approximately 500Hz.
+
+Please note that under USB2.0 the length of the channel list determines
+the max sampling rate. If you sample only one channel you get 8kHz
+sampling rate. If you sample two channels you get 4kHz and so on.
+*/
+/*
+ * I must give credit here to Chris Baugher who
+ * wrote the driver for AT-MIO-16d. I used some parts of this
+ * driver. I also must give credits to David Brownell
+ * who supported me with the USB development.
+ *
+ * Bernd Porr
+ *
+ *
+ * Revision history:
+ * 0.94: D/A output should work now with any channel list combinations
+ * 0.95: .owner commented out for kernel vers below 2.4.19
+ * sanity checks in ai/ao_cmd
+ * 0.96: trying to get it working with 2.6, moved all memory alloc to comedi's attach final USB IDs
+ * moved memory allocation completely to the corresponding comedi functions
+ * firmware upload is by fxload and no longer by comedi (due to enumeration)
+ * 0.97: USB IDs received, adjusted table
+ * 0.98: SMP, locking, memroy alloc: moved all usb memory alloc
+ * to the usb subsystem and moved all comedi related memory
+ * alloc to comedi.
+ * | kernel | registration | usbdux-usb | usbdux-comedi | comedi |
+ * 0.99: USB 2.0: changed protocol to isochronous transfer
+ * IRQ transfer is too buggy and too risky in 2.0
+ * for the high speed ISO transfer is now a working version available
+ * 0.99b: Increased the iso transfer buffer for high sp.to 10 buffers. Some VIA
+ * chipsets miss out IRQs. Deeper buffering is needed.
+ * 1.00: full USB 2.0 support for the A/D converter. Now: max 8kHz sampling rate.
+ * Firmware vers 1.00 is needed for this.
+ * Two 16 bit up/down/reset counter with a sampling rate of 1kHz
+ * And loads of cleaning up, in particular streamlining the
+ * bulk transfers.
+ * 1.1: moved EP4 transfers to EP1 to make space for a PWM output on EP4
+ * 1.2: added PWM suport via EP4
+ * 2.0: PWM seems to be stable and is not interfering with the other functions
+ * 2.1: changed PWM API
+ *
+ */
+
+// generates loads of debug info
+// #define NOISY_DUX_DEBUGBUG
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/input.h>
+#include <linux/usb.h>
+#include <linux/smp_lock.h>
+#include <linux/fcntl.h>
+#include <linux/compiler.h>
+
+#include "../comedidev.h"
+#include "../usb.h"
+
+#define BOARDNAME "usbdux"
+
+// timeout for the USB-transfer
+#define EZTIMEOUT 30
+
+// constants for "firmware" upload and download
+#define USBDUXSUB_FIRMWARE 0xA0
+#define VENDOR_DIR_IN 0xC0
+#define VENDOR_DIR_OUT 0x40
+
+// internal adresses of the 8051 processor
+#define USBDUXSUB_CPUCS 0xE600
+
+// the minor device number, major is 180
+// only for debugging purposes and to
+// upload special firmware (programming the
+// eeprom etc) which is not compatible with
+// the comedi framwork
+#define USBDUXSUB_MINOR 32
+
+// max lenghth of the transfer-buffer for software upload
+#define TB_LEN 0x2000
+
+// Input endpoint number: ISO/IRQ
+#define ISOINEP 6
+
+// Output endpoint number: ISO/IRQ
+#define ISOOUTEP 2
+
+// This EP sends DUX commands to USBDUX
+#define COMMAND_OUT_EP 1
+
+// This EP receives the DUX commands from USBDUX
+#define COMMAND_IN_EP 8
+
+// Output endpoint for PWM
+#define PWM_EP 4
+
+// 300Hz max frequ under PWM
+#define MIN_PWM_PERIOD ((long)(1E9/300))
+
+// Default PWM frequency
+#define PWM_DEFAULT_PERIOD ((long)(1E9/100))
+
+// Number of channels
+#define NUMCHANNELS 8
+
+// Size of one A/D value
+#define SIZEADIN ((sizeof(int16_t)))
+
+// Size of the input-buffer IN BYTES
+// Always multiple of 8 for 8 microframes which is needed in the highspeed mode
+#define SIZEINBUF ((8*SIZEADIN))
+
+// 16 bytes.
+#define SIZEINSNBUF 16
+
+// Number of DA channels
+#define NUMOUTCHANNELS 8
+
+// size of one value for the D/A converter: channel and value
+#define SIZEDAOUT ((sizeof(int8_t)+sizeof(int16_t)))
+
+// Size of the output-buffer in bytes
+// Actually only the first 4 triplets are used but for the
+// high speed mode we need to pad it to 8 (microframes).
+#define SIZEOUTBUF ((8*SIZEDAOUT))
+
+// Size of the buffer for the dux commands: just now max size is determined
+// by the analogue out + command byte + panic bytes...
+#define SIZEOFDUXBUFFER ((8*SIZEDAOUT+2))
+
+// Number of in-URBs which receive the data: min=2
+#define NUMOFINBUFFERSFULL 5
+
+// Number of out-URBs which send the data: min=2
+#define NUMOFOUTBUFFERSFULL 5
+
+// Number of in-URBs which receive the data: min=5
+#define NUMOFINBUFFERSHIGH 10 // must have more buffers due to buggy USB ctr
+
+// Number of out-URBs which send the data: min=5
+#define NUMOFOUTBUFFERSHIGH 10 // must have more buffers due to buggy USB ctr
+
+// Total number of usbdux devices
+#define NUMUSBDUX 16
+
+// Analogue in subdevice
+#define SUBDEV_AD 0
+
+// Analogue out subdevice
+#define SUBDEV_DA 1
+
+// Digital I/O
+#define SUBDEV_DIO 2
+
+// counter
+#define SUBDEV_COUNTER 3
+
+// timer aka pwm output
+#define SUBDEV_PWM 4
+
+// number of retries to get the right dux command
+#define RETRIES 10
+
+/////////////////////////////////////////////
+// comedi constants
+static const comedi_lrange range_usbdux_ai_range = { 4, {
+ BIP_RANGE(4.096),
+ BIP_RANGE(4.096 / 2),
+ UNI_RANGE(4.096),
+ UNI_RANGE(4.096 / 2)
+ }
+};
+
+static const comedi_lrange range_usbdux_ao_range = { 2, {
+ BIP_RANGE(4.096),
+ UNI_RANGE(4.096),
+ }
+};
+
+/*
+ * private structure of one subdevice
+ */
+
+// This is the structure which holds all the data of this driver
+// one sub device just now: A/D
+typedef struct {
+ // attached?
+ int attached;
+ // is it associated with a subdevice?
+ int probed;
+ // pointer to the usb-device
+ struct usb_device *usbdev;
+ // actual number of in-buffers
+ int numOfInBuffers;
+ // actual number of out-buffers
+ int numOfOutBuffers;
+ // ISO-transfer handling: buffers
+ struct urb **urbIn;
+ struct urb **urbOut;
+ // pwm-transfer handling
+ struct urb *urbPwm;
+ // PWM period
+ lsampl_t pwmPeriod;
+ // PWM internal delay for the GPIF in the FX2
+ int8_t pwmDelay;
+ // size of the PWM buffer which holds the bit pattern
+ int sizePwmBuf;
+ // input buffer for the ISO-transfer
+ int16_t *inBuffer;
+ // input buffer for single insn
+ int16_t *insnBuffer;
+ // output buffer for single DA outputs
+ int16_t *outBuffer;
+ // interface number
+ int ifnum;
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
+ // interface structure in 2.6
+ struct usb_interface *interface;
+#endif
+ // comedi device for the interrupt context
+ comedi_device *comedidev;
+ // is it USB_SPEED_HIGH or not?
+ short int high_speed;
+ // asynchronous command is running
+ short int ai_cmd_running;
+ short int ao_cmd_running;
+ // pwm is running
+ short int pwm_cmd_running;
+ // continous aquisition
+ short int ai_continous;
+ short int ao_continous;
+ // number of samples to aquire
+ int ai_sample_count;
+ int ao_sample_count;
+ // time between samples in units of the timer
+ unsigned int ai_timer;
+ unsigned int ao_timer;
+ // counter between aquisitions
+ unsigned int ai_counter;
+ unsigned int ao_counter;
+ // interval in frames/uframes
+ unsigned int ai_interval;
+ // D/A commands
+ int8_t *dac_commands;
+ // commands
+ int8_t *dux_commands;
+ struct semaphore sem;
+} usbduxsub_t;
+
+// The pointer to the private usb-data of the driver
+// is also the private data for the comedi-device.
+// This has to be global as the usb subsystem needs
+// global variables. The other reason is that this
+// structure must be there _before_ any comedi
+// command is issued. The usb subsystem must be
+// initialised before comedi can access it.
+static usbduxsub_t usbduxsub[NUMUSBDUX];
+
+static DECLARE_MUTEX(start_stop_sem);
+
+// Stops the data acquision
+// It should be safe to call this function from any context
+static int usbduxsub_unlink_InURBs(usbduxsub_t * usbduxsub_tmp)
+{
+ int i = 0;
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8)
+ int j = 0;
+#endif
+ int err = 0;
+
+ if (usbduxsub_tmp && usbduxsub_tmp->urbIn) {
+ for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) {
+ if (usbduxsub_tmp->urbIn[i]) {
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8)
+ j = usb_unlink_urb(usbduxsub_tmp->urbIn[i]);
+ if (j < 0) {
+ err = j;
+ }
+#else
+ // We wait here until all transfers
+ // have been cancelled.
+ usb_kill_urb(usbduxsub_tmp->urbIn[i]);
+#endif
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux: unlinked InURB %d, err=%d\n",
+ i, err);
+#endif
+ }
+ }
+ return err;
+}
+
+/* This will stop a running acquisition operation */
+// Is called from within this driver from both the
+// interrupt context and from comedi
+static int usbdux_ai_stop(usbduxsub_t * this_usbduxsub, int do_unlink)
+{
+ int ret = 0;
+
+ if (!this_usbduxsub) {
+ printk("comedi?: usbdux_ai_stop: this_usbduxsub=NULL!\n");
+ return -EFAULT;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux_ai_stop\n");
+#endif
+
+ if (do_unlink) {
+ // stop aquistion
+ ret = usbduxsub_unlink_InURBs(this_usbduxsub);
+ }
+
+ this_usbduxsub->ai_cmd_running = 0;
+
+ return ret;
+}
+
+// This will cancel a running acquisition operation.
+// This is called by comedi but never from inside the
+// driver.
+static int usbdux_ai_cancel(comedi_device * dev, comedi_subdevice * s)
+{
+ usbduxsub_t *this_usbduxsub;
+ int res = 0;
+
+ // force unlink of all urbs
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux_ai_cancel\n");
+#endif
+ this_usbduxsub = dev->private;
+ if (!this_usbduxsub) {
+ printk("comedi: usbdux_ai_cancel: this_usbduxsub=NULL\n");
+ return -EFAULT;
+ }
+ // prevent other CPUs from submitting new commands just now
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ // unlink only if the urb really has been submitted
+ res = usbdux_ai_stop(this_usbduxsub, this_usbduxsub->ai_cmd_running);
+ up(&this_usbduxsub->sem);
+ return res;
+}
+
+// analogue IN
+// interrupt service routine
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
+static void usbduxsub_ai_IsocIrq(struct urb *urb)
+#else
+static void usbduxsub_ai_IsocIrq(struct urb *urb PT_REGS_ARG)
+#endif
+{
+ int i, err, n;
+ usbduxsub_t *this_usbduxsub;
+ comedi_device *this_comedidev;
+ comedi_subdevice *s;
+
+ // sanity checks
+ // is the urb there?
+ if (!urb) {
+ printk("comedi_: usbdux_: ao int-handler called with urb=NULL!\n");
+ return;
+ }
+ // the context variable points to the subdevice
+ this_comedidev = urb->context;
+ if (unlikely(!this_comedidev)) {
+ printk("comedi_: usbdux_: BUG! urb context is a NULL pointer!\n");
+ return;
+ }
+ // the private structure of the subdevice is usbduxsub_t
+ this_usbduxsub = this_comedidev->private;
+ if (unlikely(!this_usbduxsub)) {
+ printk("comedi_: usbdux_: BUG! private of comedi subdev is a NULL pointer!\n");
+ return;
+ }
+ // subdevice which is the AD converter
+ s = this_comedidev->subdevices + SUBDEV_AD;
+
+ // first we test if something unusual has just happened
+ switch (urb->status) {
+ case 0:
+ // copy the result in the transfer buffer
+ memcpy(this_usbduxsub->inBuffer,
+ urb->transfer_buffer, SIZEINBUF);
+ break;
+ case -EILSEQ:
+ // error in the ISOchronous data
+ // we don't copy the data into the transfer buffer
+ // and recycle the last data byte
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi%d: usbdux: CRC error in ISO IN stream.\n",
+ this_usbduxsub->comedidev->minor);
+#endif
+
+ break;
+
+ // happens after an unlink command
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ case -ECONNABORTED:
+ if (this_usbduxsub->ai_cmd_running) {
+ // we are still running a command
+ // tell this comedi
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ // stop the transfer w/o unlink
+ usbdux_ai_stop(this_usbduxsub, 0);
+ }
+ return;
+
+ // a real error on the bus
+ default:
+ // pass error to comedi if we are really running a command
+ if (this_usbduxsub->ai_cmd_running) {
+ printk("Non-zero urb status received in ai intr context: %d\n", urb->status);
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ // don't do an unlink here
+ usbdux_ai_stop(this_usbduxsub, 0);
+ }
+ return;
+ }
+
+ // at this point we are reasonably sure that nothing dodgy has happened
+ // are we running a command?
+ if (unlikely((!(this_usbduxsub->ai_cmd_running)))) {
+ // not running a command
+ // do not continue execution if no asynchronous command is running
+ // in particular not resubmit
+ return;
+ }
+
+ urb->dev = this_usbduxsub->usbdev;
+
+ // resubmit the urb
+ err = USB_SUBMIT_URB(urb);
+ if (unlikely(err < 0)) {
+ printk("comedi_: usbdux_: urb resubmit failed in int-context! err=%d ", err);
+ if (err == -EL2NSYNC) {
+ printk("--> buggy USB host controller or bug in IRQ handler!\n");
+ } else {
+ printk("\n");
+ }
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ // don't do an unlink here
+ usbdux_ai_stop(this_usbduxsub, 0);
+ return;
+ }
+
+ this_usbduxsub->ai_counter--;
+ if (likely(this_usbduxsub->ai_counter > 0)) {
+ return;
+ }
+ // timer zero, transfer measurements to comedi
+ this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;
+
+ // test, if we transmit only a fixed number of samples
+ if (!(this_usbduxsub->ai_continous)) {
+ // not continous, fixed number of samples
+ this_usbduxsub->ai_sample_count--;
+ // all samples received?
+ if (this_usbduxsub->ai_sample_count < 0) {
+ // prevent a resubmit next time
+ usbdux_ai_stop(this_usbduxsub, 0);
+ // say comedi that the acquistion is over
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ return;
+ }
+ }
+ // get the data from the USB bus and hand it over
+ // to comedi
+ n = s->async->cmd.chanlist_len;
+ for (i = 0; i < n; i++) {
+ // transfer data
+ if (CR_RANGE(s->async->cmd.chanlist[i]) <= 1) {
+ comedi_buf_put
+ (s->async,
+ le16_to_cpu(this_usbduxsub->
+ inBuffer[i]) ^ 0x800);
+ } else {
+ comedi_buf_put
+ (s->async,
+ le16_to_cpu(this_usbduxsub->inBuffer[i]));
+ }
+ }
+ // tell comedi that data is there
+ comedi_event(this_usbduxsub->comedidev, s);
+}
+
+static int usbduxsub_unlink_OutURBs(usbduxsub_t * usbduxsub_tmp)
+{
+ int i = 0;
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8)
+ int j = 0;
+#endif
+
+ int err = 0;
+
+ if (usbduxsub_tmp && usbduxsub_tmp->urbOut) {
+ for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) {
+ if (usbduxsub_tmp->urbOut[i]) {
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8)
+ j = usb_unlink_urb(usbduxsub_tmp->urbOut[i]);
+ if (j < err) {
+ err = j;
+ }
+#else
+ usb_kill_urb(usbduxsub_tmp->urbOut[i]);
+#endif
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux: unlinked OutURB %d: res=%d\n",
+ i, err);
+#endif
+ }
+ }
+ return err;
+}
+
+/* This will cancel a running acquisition operation
+ * in any context.
+ */
+static int usbdux_ao_stop(usbduxsub_t * this_usbduxsub, int do_unlink)
+{
+ int ret = 0;
+
+ if (!this_usbduxsub) {
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi?: usbdux_ao_stop: this_usbduxsub=NULL!\n");
+#endif
+ return -EFAULT;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux_ao_cancel\n");
+#endif
+ if (do_unlink) {
+ ret = usbduxsub_unlink_OutURBs(this_usbduxsub);
+ }
+
+ this_usbduxsub->ao_cmd_running = 0;
+
+ return ret;
+}
+
+// force unlink
+// is called by comedi
+static int usbdux_ao_cancel(comedi_device * dev, comedi_subdevice * s)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int res = 0;
+
+ if (!this_usbduxsub) {
+ printk("comedi: usbdux_ao_cancel: this_usbduxsub=NULL\n");
+ return -EFAULT;
+ }
+ // prevent other CPUs from submitting a command just now
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ // unlink only if it is really running
+ res = usbdux_ao_stop(this_usbduxsub, this_usbduxsub->ao_cmd_running);
+ up(&this_usbduxsub->sem);
+ return res;
+}
+
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
+static void usbduxsub_ao_IsocIrq(struct urb *urb)
+{
+#else
+static void usbduxsub_ao_IsocIrq(struct urb *urb PT_REGS_ARG)
+{
+#endif
+ int i, ret;
+ int8_t *datap;
+ usbduxsub_t *this_usbduxsub;
+ comedi_device *this_comedidev;
+ comedi_subdevice *s;
+
+ if (!urb) {
+ printk("comedi_: usbdux_: ao urb handler called with NULL ptr.\n");
+ return;
+ }
+ // the context variable points to the subdevice
+ this_comedidev = urb->context;
+ if (!this_comedidev) {
+ printk("comedi_: usbdux_: ao urb int-context is a NULL pointer.\n");
+ return;
+ }
+ // the private structure of the subdevice is usbduxsub_t
+ this_usbduxsub = this_comedidev->private;
+ if (!this_usbduxsub) {
+ printk("comedi_: usbdux_: private data structure of ao subdev is NULL p.\n");
+ return;
+ }
+
+ s = this_comedidev->subdevices + SUBDEV_DA;
+
+ switch (urb->status) {
+ case 0:
+ /* success */
+ break;
+
+ // after an unlink command, unplug, ... etc
+ // no unlink needed here. Already shutting down.
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ case -ECONNABORTED:
+ if (this_usbduxsub->ao_cmd_running) {
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ usbdux_ao_stop(this_usbduxsub, 0);
+ }
+ return;
+
+ // a real error
+ default:
+ if (this_usbduxsub->ao_cmd_running) {
+ printk("comedi_: usbdux_: Non-zero urb status received in ao intr context: %d\n", urb->status);
+ s->async->events |= COMEDI_CB_ERROR;
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ // we do an unlink if we are in the high speed mode
+ usbdux_ao_stop(this_usbduxsub, 0);
+ }
+ return;
+ }
+
+ // are we actually running?
+ if (!(this_usbduxsub->ao_cmd_running)) {
+ return;
+ }
+ // normal operation: executing a command in this subdevice
+ this_usbduxsub->ao_counter--;
+ if (this_usbduxsub->ao_counter <= 0) {
+ // timer zero
+ this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;
+
+ // handle non continous aquisition
+ if (!(this_usbduxsub->ao_continous)) {
+ // fixed number of samples
+ this_usbduxsub->ao_sample_count--;
+ if (this_usbduxsub->ao_sample_count < 0) {
+ // all samples transmitted
+ usbdux_ao_stop(this_usbduxsub, 0);
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ // no resubmit of the urb
+ return;
+ }
+ }
+ // transmit data to the USB bus
+ ((uint8_t *) (urb->transfer_buffer))[0] =
+ s->async->cmd.chanlist_len;
+ for (i = 0; i < s->async->cmd.chanlist_len; i++) {
+ sampl_t temp;
+ if (i >= NUMOUTCHANNELS) {
+ break;
+ }
+ // pointer to the DA
+ datap = (&(((int8_t *) urb->transfer_buffer)[i * 3 + 1]));
+ // get the data from comedi
+ ret = comedi_buf_get(s->async, &temp);
+ datap[0] = temp;
+ datap[1] = temp >> 8;
+ datap[2] = this_usbduxsub->dac_commands[i];
+ // printk("data[0]=%x, data[1]=%x, data[2]=%x\n",
+ // datap[0],datap[1],datap[2]);
+ if (ret < 0) {
+ printk("comedi: usbdux: buffer underflow\n");
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_OVERFLOW;
+ }
+ // transmit data to comedi
+ s->async->events |= COMEDI_CB_BLOCK;
+ comedi_event(this_usbduxsub->comedidev, s);
+ }
+ }
+ urb->transfer_buffer_length = SIZEOUTBUF;
+ urb->dev = this_usbduxsub->usbdev;
+ urb->status = 0;
+ if (this_usbduxsub->ao_cmd_running) {
+ if (this_usbduxsub->high_speed) {
+ // uframes
+ urb->interval = 8;
+ } else {
+ // frames
+ urb->interval = 1;
+ }
+ urb->number_of_packets = 1;
+ urb->iso_frame_desc[0].offset = 0;
+ urb->iso_frame_desc[0].length = SIZEOUTBUF;
+ urb->iso_frame_desc[0].status = 0;
+ if ((ret = USB_SUBMIT_URB(urb)) < 0) {
+ printk("comedi_: usbdux_: ao urb resubm failed in int-cont.");
+ printk("ret=%d", ret);
+ if (ret == EL2NSYNC) {
+ printk("--> buggy USB host controller or bug in IRQ handling!\n");
+ } else {
+ printk("\n");
+ }
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ // don't do an unlink here
+ usbdux_ao_stop(this_usbduxsub, 0);
+ }
+ }
+}
+
+static int usbduxsub_start(usbduxsub_t * usbduxsub)
+{
+ int errcode = 0;
+ uint8_t local_transfer_buffer[16];
+
+ if (usbduxsub->probed) {
+ // 7f92 to zero
+ local_transfer_buffer[0] = 0;
+ errcode = USB_CONTROL_MSG(usbduxsub->usbdev,
+ // create a pipe for a control transfer
+ usb_sndctrlpipe(usbduxsub->usbdev, 0),
+ // bRequest, "Firmware"
+ USBDUXSUB_FIRMWARE,
+ // bmRequestType
+ VENDOR_DIR_OUT,
+ // Value
+ USBDUXSUB_CPUCS,
+ // Index
+ 0x0000,
+ // address of the transfer buffer
+ local_transfer_buffer,
+ // Length
+ 1,
+ // Timeout
+ EZTIMEOUT);
+ if (errcode < 0) {
+ printk("comedi_: usbdux_: control msg failed (start)\n");
+ return errcode;
+ }
+ }
+ return 0;
+}
+
+static int usbduxsub_stop(usbduxsub_t * usbduxsub)
+{
+ int errcode = 0;
+
+ uint8_t local_transfer_buffer[16];
+ if (usbduxsub->probed) {
+ // 7f92 to one
+ local_transfer_buffer[0] = 1;
+ errcode = USB_CONTROL_MSG
+ (usbduxsub->usbdev,
+ usb_sndctrlpipe(usbduxsub->usbdev, 0),
+ // bRequest, "Firmware"
+ USBDUXSUB_FIRMWARE,
+ // bmRequestType
+ VENDOR_DIR_OUT,
+ // Value
+ USBDUXSUB_CPUCS,
+ // Index
+ 0x0000, local_transfer_buffer,
+ // Length
+ 1,
+ // Timeout
+ EZTIMEOUT);
+ if (errcode < 0) {
+ printk("comedi_: usbdux: control msg failed (stop)\n");
+ return errcode;
+ }
+ }
+ return 0;
+}
+
+static int usbduxsub_upload(usbduxsub_t * usbduxsub,
+ uint8_t * local_transfer_buffer,
+ unsigned int startAddr, unsigned int len)
+{
+ int errcode;
+
+ if (usbduxsub->probed) {
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi%d: usbdux: uploading %d bytes",
+ usbduxsub->comedidev->minor, len);
+ printk(" to addr %d, first byte=%d.\n",
+ startAddr, local_transfer_buffer[0]);
+#endif
+ errcode = USB_CONTROL_MSG
+ (usbduxsub->usbdev,
+ usb_sndctrlpipe(usbduxsub->usbdev, 0),
+ // brequest, firmware
+ USBDUXSUB_FIRMWARE,
+ // bmRequestType
+ VENDOR_DIR_OUT,
+ // value
+ startAddr,
+ // index
+ 0x0000,
+ // our local safe buffer
+ local_transfer_buffer,
+ // length
+ len,
+ // timeout
+ EZTIMEOUT);
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi_: usbdux: result=%d\n", errcode);
+#endif
+ if (errcode < 0) {
+ printk("comedi_: usbdux: uppload failed\n");
+ return errcode;
+ }
+ } else {
+ // no device on the bus for this index
+ return -EFAULT;
+ }
+ return 0;
+}
+
+int firmwareUpload(usbduxsub_t * usbduxsub,
+ uint8_t * firmwareBinary, int sizeFirmware)
+{
+ int ret;
+
+ if (!firmwareBinary) {
+ return 0;
+ }
+ ret = usbduxsub_stop(usbduxsub);
+ if (ret < 0) {
+ printk("comedi_: usbdux: can not stop firmware\n");
+ return ret;
+ }
+ ret = usbduxsub_upload(usbduxsub, firmwareBinary, 0, sizeFirmware);
+ if (ret < 0) {
+ printk("comedi_: usbdux: firmware upload failed\n");
+ return ret;
+ }
+ ret = usbduxsub_start(usbduxsub);
+ if (ret < 0) {
+ printk("comedi_: usbdux: can not start firmware\n");
+ return ret;
+ }
+ return 0;
+}
+
+int usbduxsub_submit_InURBs(usbduxsub_t * usbduxsub)
+{
+ int i, errFlag;
+
+ if (!usbduxsub) {
+ return -EFAULT;
+ }
+ /* Submit all URBs and start the transfer on the bus */
+ for (i = 0; i < usbduxsub->numOfInBuffers; i++) {
+ // in case of a resubmission after an unlink...
+ usbduxsub->urbIn[i]->interval = usbduxsub->ai_interval;
+ usbduxsub->urbIn[i]->context = usbduxsub->comedidev;
+ usbduxsub->urbIn[i]->dev = usbduxsub->usbdev;
+ usbduxsub->urbIn[i]->status = 0;
+ usbduxsub->urbIn[i]->transfer_flags = URB_ISO_ASAP;
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux: submitting in-urb[%d]: %p,%p intv=%d\n", usbduxsub->comedidev->minor, i, (usbduxsub->urbIn[i]->context), (usbduxsub->urbIn[i]->dev), (usbduxsub->urbIn[i]->interval));
+#endif
+ errFlag = USB_SUBMIT_URB(usbduxsub->urbIn[i]);
+ if (errFlag) {
+ printk("comedi_: usbdux: ai: ");
+ printk("USB_SUBMIT_URB(%d)", i);
+ printk(" error %d\n", errFlag);
+ return errFlag;
+ }
+ }
+ return 0;
+}
+
+int usbduxsub_submit_OutURBs(usbduxsub_t * usbduxsub)
+{
+ int i, errFlag;
+
+ if (!usbduxsub) {
+ return -EFAULT;
+ }
+ for (i = 0; i < usbduxsub->numOfOutBuffers; i++) {
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi_: usbdux: submitting out-urb[%d]\n", i);
+#endif
+ // in case of a resubmission after an unlink...
+ usbduxsub->urbOut[i]->context = usbduxsub->comedidev;
+ usbduxsub->urbOut[i]->dev = usbduxsub->usbdev;
+ usbduxsub->urbOut[i]->status = 0;
+ usbduxsub->urbOut[i]->transfer_flags = URB_ISO_ASAP;
+ errFlag = USB_SUBMIT_URB(usbduxsub->urbOut[i]);
+ if (errFlag) {
+ printk("comedi_: usbdux: ao: ");
+ printk("USB_SUBMIT_URB(%d)", i);
+ printk(" error %d\n", errFlag);
+ return errFlag;
+ }
+ }
+ return 0;
+}
+
+static int usbdux_ai_cmdtest(comedi_device * dev,
+ comedi_subdevice * s, comedi_cmd * cmd)
+{
+ int err = 0, tmp, i;
+ unsigned int tmpTimer;
+ usbduxsub_t *this_usbduxsub = dev->private;
+ if (!(this_usbduxsub->probed)) {
+ return -ENODEV;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux_ai_cmdtest\n", dev->minor);
+#endif
+ /* make sure triggers are valid */
+ // Only immediate triggers are allowed
+ tmp = cmd->start_src;
+ cmd->start_src &= TRIG_NOW | TRIG_INT;
+ if (!cmd->start_src || tmp != cmd->start_src)
+ err++;
+
+ // trigger should happen timed
+ tmp = cmd->scan_begin_src;
+ // start a new _scan_ with a timer
+ cmd->scan_begin_src &= TRIG_TIMER;
+ if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+ err++;
+
+ // scanning is continous
+ tmp = cmd->convert_src;
+ cmd->convert_src &= TRIG_NOW;
+ if (!cmd->convert_src || tmp != cmd->convert_src)
+ err++;
+
+ // issue a trigger when scan is finished and start a new scan
+ tmp = cmd->scan_end_src;
+ cmd->scan_end_src &= TRIG_COUNT;
+ if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+ err++;
+
+ // trigger at the end of count events or not, stop condition or not
+ tmp = cmd->stop_src;
+ cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+ if (!cmd->stop_src || tmp != cmd->stop_src)
+ err++;
+
+ if (err)
+ return 1;
+
+ /* step 2: make sure trigger sources are unique and mutually compatible */
+ /* note that mutual compatiblity is not an issue here */
+ if (cmd->scan_begin_src != TRIG_FOLLOW &&
+ cmd->scan_begin_src != TRIG_EXT &&
+ cmd->scan_begin_src != TRIG_TIMER)
+ err++;
+ if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+ err++;
+
+ if (err)
+ return 2;
+
+ /* step 3: make sure arguments are trivially compatible */
+
+ if (cmd->start_arg != 0) {
+ cmd->start_arg = 0;
+ err++;
+ }
+
+ if (cmd->scan_begin_src == TRIG_FOLLOW) {
+ /* internal trigger */
+ if (cmd->scan_begin_arg != 0) {
+ cmd->scan_begin_arg = 0;
+ err++;
+ }
+ }
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ if (this_usbduxsub->high_speed) {
+ // In high speed mode microframes are possible.
+ // However, during one microframe we can roughly
+ // sample one channel. Thus, the more channels
+ // are in the channel list the more time we need.
+ i = 1;
+ // find a power of 2 for the number of channels
+ while (i < (cmd->chanlist_len)) {
+ i = i * 2;
+ }
+ if (cmd->scan_begin_arg < (1000000 / 8 * i)) {
+ cmd->scan_begin_arg = 1000000 / 8 * i;
+ err++;
+ }
+ // now calc the real sampling rate with all the rounding errors
+ tmpTimer =
+ ((unsigned int)(cmd->scan_begin_arg / 125000)) *
+ 125000;
+ if (cmd->scan_begin_arg != tmpTimer) {
+ cmd->scan_begin_arg = tmpTimer;
+ err++;
+ }
+ } else { // full speed
+ // 1kHz scans every USB frame
+ if (cmd->scan_begin_arg < 1000000) {
+ cmd->scan_begin_arg = 1000000;
+ err++;
+ }
+ // calc the real sampling rate with the rounding errors
+ tmpTimer =
+ ((unsigned int)(cmd->scan_begin_arg /
+ 1000000)) * 1000000;
+ if (cmd->scan_begin_arg != tmpTimer) {
+ cmd->scan_begin_arg = tmpTimer;
+ err++;
+ }
+ }
+ }
+ // the same argument
+ if (cmd->scan_end_arg != cmd->chanlist_len) {
+ cmd->scan_end_arg = cmd->chanlist_len;
+ err++;
+ }
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ /* any count is allowed */
+ } else {
+ /* TRIG_NONE */
+ if (cmd->stop_arg != 0) {
+ cmd->stop_arg = 0;
+ err++;
+ }
+ }
+
+ if (err)
+ return 3;
+
+ return 0;
+}
+
+// creates the ADC command for the MAX1271
+// range is the range value from comedi
+static int8_t create_adc_command(unsigned int chan, int range)
+{
+ int8_t p = (range <= 1);
+ int8_t r = ((range % 2) == 0);
+ return (chan << 4) | ((p == 1) << 2) | ((r == 1) << 3);
+}
+
+// bulk transfers to usbdux
+
+#define SENDADCOMMANDS 0
+#define SENDDACOMMANDS 1
+#define SENDDIOCONFIGCOMMAND 2
+#define SENDDIOBITSCOMMAND 3
+#define SENDSINGLEAD 4
+#define READCOUNTERCOMMAND 5
+#define WRITECOUNTERCOMMAND 6
+#define SENDPWMON 7
+#define SENDPWMOFF 8
+
+static int send_dux_commands(usbduxsub_t * this_usbduxsub, int cmd_type)
+{
+ int result, nsent;
+
+ this_usbduxsub->dux_commands[0] = cmd_type;
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux: dux_commands: ",
+ this_usbduxsub->comedidev->minor);
+ for (result = 0; result < SIZEOFDUXBUFFER; result++) {
+ printk(" %02x", this_usbduxsub->dux_commands[result]);
+ }
+ printk("\n");
+#endif
+ result = USB_BULK_MSG(this_usbduxsub->usbdev,
+ usb_sndbulkpipe(this_usbduxsub->usbdev,
+ COMMAND_OUT_EP),
+ this_usbduxsub->dux_commands, SIZEOFDUXBUFFER, &nsent, 10 * HZ);
+ if (result < 0) {
+ printk("comedi%d: could not transmit dux_command to the usb-device, err=%d\n", this_usbduxsub->comedidev->minor, result);
+ }
+ return result;
+}
+
+static int receive_dux_commands(usbduxsub_t * this_usbduxsub, int command)
+{
+ int result = (-EFAULT);
+ int nrec;
+ int i;
+
+ for (i = 0; i < RETRIES; i++) {
+ result = USB_BULK_MSG(this_usbduxsub->usbdev,
+ usb_rcvbulkpipe(this_usbduxsub->usbdev,
+ COMMAND_IN_EP),
+ this_usbduxsub->insnBuffer, SIZEINSNBUF, &nrec, 1 * HZ);
+ if (result < 0) {
+ printk("comedi%d: insn: USB error %d while receiving DUX command\n", this_usbduxsub->comedidev->minor, result);
+ return result;
+ }
+ if (le16_to_cpu(this_usbduxsub->insnBuffer[0]) == command) {
+ return result;
+ }
+ }
+ // this is only reached if the data has been requested a couple of times
+ printk("comedi%d: insn: wrong data returned from firmware: want cmd %d, got cmd %d.\n", this_usbduxsub->comedidev->minor, command, le16_to_cpu(this_usbduxsub->insnBuffer[0]));
+ return -EFAULT;
+}
+
+static int usbdux_ai_inttrig(comedi_device * dev,
+ comedi_subdevice * s, unsigned int trignum)
+{
+ int ret;
+ usbduxsub_t *this_usbduxsub = dev->private;
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux_ai_inttrig\n", dev->minor);
+#endif
+
+ if (trignum != 0) {
+ printk("comedi%d: usbdux_ai_inttrig: invalid trignum\n",
+ dev->minor);
+ up(&this_usbduxsub->sem);
+ return -EINVAL;
+ }
+ if (!(this_usbduxsub->ai_cmd_running)) {
+ this_usbduxsub->ai_cmd_running = 1;
+ ret = usbduxsub_submit_InURBs(this_usbduxsub);
+ if (ret < 0) {
+ printk("comedi%d: usbdux_ai_inttrig: urbSubmit: err=%d\n", dev->minor, ret);
+ this_usbduxsub->ai_cmd_running = 0;
+ up(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ printk("comedi%d: ai_inttrig but acqu is already running\n",
+ dev->minor);
+ }
+ up(&this_usbduxsub->sem);
+ return 1;
+}
+
+static int usbdux_ai_cmd(comedi_device * dev, comedi_subdevice * s)
+{
+ comedi_cmd *cmd = &s->async->cmd;
+ unsigned int chan, range;
+ int i, ret;
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int result;
+
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux_ai_cmd\n", dev->minor);
+#endif
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ // block other CPUs from starting an ai_cmd
+ down(&this_usbduxsub->sem);
+
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (this_usbduxsub->ai_cmd_running) {
+ printk("comedi%d: ai_cmd not possible. Another ai_cmd is running.\n", dev->minor);
+ up(&this_usbduxsub->sem);
+ return -EBUSY;
+ }
+ // set current channel of the running aquisition to zero
+ s->async->cur_chan = 0;
+
+ this_usbduxsub->dux_commands[1] = cmd->chanlist_len;
+ for (i = 0; i < cmd->chanlist_len; ++i) {
+ chan = CR_CHAN(cmd->chanlist[i]);
+ range = CR_RANGE(cmd->chanlist[i]);
+ if (i >= NUMCHANNELS) {
+ printk("comedi%d: channel list too long\n", dev->minor);
+ break;
+ }
+ this_usbduxsub->dux_commands[i + 2] =
+ create_adc_command(chan, range);
+ }
+
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi %d: sending commands to the usb device: ", dev->minor);
+ printk("size=%u\n", NUMCHANNELS);
+#endif
+ if ((result = send_dux_commands(this_usbduxsub, SENDADCOMMANDS)) < 0) {
+ up(&this_usbduxsub->sem);
+ return result;
+ }
+
+ if (this_usbduxsub->high_speed) {
+ // every channel gets a time window of 125us. Thus, if we
+ // sample all 8 channels we need 1ms. If we sample only
+ // one channel we need only 125us
+ this_usbduxsub->ai_interval = 1;
+ // find a power of 2 for the interval
+ while ((this_usbduxsub->ai_interval) < (cmd->chanlist_len)) {
+ this_usbduxsub->ai_interval =
+ (this_usbduxsub->ai_interval) * 2;
+ }
+ this_usbduxsub->ai_timer =
+ cmd->scan_begin_arg / (125000 *
+ (this_usbduxsub->ai_interval));
+ } else {
+ // interval always 1ms
+ this_usbduxsub->ai_interval = 1;
+ this_usbduxsub->ai_timer = cmd->scan_begin_arg / 1000000;
+ }
+ if (this_usbduxsub->ai_timer < 1) {
+ printk("comedi%d: usbdux: ai_cmd: timer=%d, scan_begin_arg=%d. Not properly tested by cmdtest?\n", dev->minor, this_usbduxsub->ai_timer, cmd->scan_begin_arg);
+ up(&this_usbduxsub->sem);
+ return -EINVAL;
+ }
+ this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ // data arrives as one packet
+ this_usbduxsub->ai_sample_count = cmd->stop_arg;
+ this_usbduxsub->ai_continous = 0;
+ } else {
+ // continous aquisition
+ this_usbduxsub->ai_continous = 1;
+ this_usbduxsub->ai_sample_count = 0;
+ }
+
+ if (cmd->start_src == TRIG_NOW) {
+ // enable this acquisition operation
+ this_usbduxsub->ai_cmd_running = 1;
+ ret = usbduxsub_submit_InURBs(this_usbduxsub);
+ if (ret < 0) {
+ this_usbduxsub->ai_cmd_running = 0;
+ // fixme: unlink here??
+ up(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ /* TRIG_INT */
+ // don't enable the acquision operation
+ // wait for an internal signal
+ s->async->inttrig = usbdux_ai_inttrig;
+ }
+ up(&this_usbduxsub->sem);
+ return 0;
+}
+
+/* Mode 0 is used to get a single conversion on demand */
+static int usbdux_ai_insn_read(comedi_device * dev,
+ comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
+{
+ int i;
+ lsampl_t one = 0;
+ int chan, range;
+ int err;
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub) {
+ printk("comedi%d: ai_insn_read: no usb dev.\n", dev->minor);
+ return 0;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: ai_insn_read, insn->n=%d, insn->subdev=%d\n",
+ dev->minor, insn->n, insn->subdev);
+#endif
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (this_usbduxsub->ai_cmd_running) {
+ printk("comedi%d: ai_insn_read not possible. Async Command is running.\n", dev->minor);
+ up(&this_usbduxsub->sem);
+ return 0;
+ }
+
+ // sample one channel
+ chan = CR_CHAN(insn->chanspec);
+ range = CR_RANGE(insn->chanspec);
+ // set command for the first channel
+ this_usbduxsub->dux_commands[1] = create_adc_command(chan, range);
+
+ // adc commands
+ if ((err = send_dux_commands(this_usbduxsub, SENDSINGLEAD)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+
+ for (i = 0; i < insn->n; i++) {
+ if ((err = receive_dux_commands(this_usbduxsub,
+ SENDSINGLEAD)) < 0) {
+ up(&this_usbduxsub->sem);
+ return 0;
+ }
+ one = le16_to_cpu(this_usbduxsub->insnBuffer[1]);
+ if (CR_RANGE(insn->chanspec) <= 1) {
+ one = one ^ 0x800;
+ }
+ data[i] = one;
+ }
+ up(&this_usbduxsub->sem);
+ return i;
+}
+
+//////////////////
+// analog out
+
+static int usbdux_ao_insn_read(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int i;
+ int chan = CR_CHAN(insn->chanspec);
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ for (i = 0; i < insn->n; i++) {
+ data[i] = this_usbduxsub->outBuffer[chan];
+ }
+ up(&this_usbduxsub->sem);
+ return i;
+}
+
+static int usbdux_ao_insn_write(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int i, err;
+ int chan = CR_CHAN(insn->chanspec);
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: ao_insn_write\n", dev->minor);
+#endif
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (this_usbduxsub->ao_cmd_running) {
+ printk("comedi%d: ao_insn_write: ERROR: asynchronous ao_cmd is running\n", dev->minor);
+ up(&this_usbduxsub->sem);
+ return 0;
+ }
+
+ for (i = 0; i < insn->n; i++) {
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: ao_insn_write: data[chan=%d,i=%d]=%d\n",
+ dev->minor, chan, i, data[i]);
+#endif
+ // number of channels: 1
+ this_usbduxsub->dux_commands[1] = 1;
+ // one 16 bit value
+ *((int16_t *) (this_usbduxsub->dux_commands + 2)) =
+ cpu_to_le16(data[i]);
+ this_usbduxsub->outBuffer[chan] = data[i];
+ // channel number
+ this_usbduxsub->dux_commands[4] = (chan << 6);
+ if ((err = send_dux_commands(this_usbduxsub,
+ SENDDACOMMANDS)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+ }
+ up(&this_usbduxsub->sem);
+
+ return i;
+}
+
+static int usbdux_ao_inttrig(comedi_device * dev, comedi_subdevice * s,
+ unsigned int trignum)
+{
+ int ret;
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (trignum != 0) {
+ printk("comedi%d: usbdux_ao_inttrig: invalid trignum\n",
+ dev->minor);
+ return -EINVAL;
+ }
+ if (!(this_usbduxsub->ao_cmd_running)) {
+ this_usbduxsub->ao_cmd_running = 1;
+ ret = usbduxsub_submit_OutURBs(this_usbduxsub);
+ if (ret < 0) {
+ printk("comedi%d: usbdux_ao_inttrig: submitURB: err=%d\n", dev->minor, ret);
+ this_usbduxsub->ao_cmd_running = 0;
+ up(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ printk("comedi%d: ao_inttrig but acqu is already running.\n",
+ dev->minor);
+ }
+ up(&this_usbduxsub->sem);
+ return 1;
+}
+
+static int usbdux_ao_cmdtest(comedi_device * dev,
+ comedi_subdevice * s, comedi_cmd * cmd)
+{
+ int err = 0, tmp;
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ if (!(this_usbduxsub->probed)) {
+ return -ENODEV;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux_ao_cmdtest\n", dev->minor);
+#endif
+ /* make sure triggers are valid */
+ // Only immediate triggers are allowed
+ tmp = cmd->start_src;
+ cmd->start_src &= TRIG_NOW | TRIG_INT;
+ if (!cmd->start_src || tmp != cmd->start_src)
+ err++;
+
+ // trigger should happen timed
+ tmp = cmd->scan_begin_src;
+ // just now we scan also in the high speed mode every frame
+ // this is due to ehci driver limitations
+ if (0) { /* (this_usbduxsub->high_speed) */
+ // start immidiately a new scan
+ // the sampling rate is set by the coversion rate
+ cmd->scan_begin_src &= TRIG_FOLLOW;
+ } else {
+ // start a new scan (output at once) with a timer
+ cmd->scan_begin_src &= TRIG_TIMER;
+ }
+ if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+ err++;
+
+ // scanning is continous
+ tmp = cmd->convert_src;
+ // we always output at 1kHz just now all channels at once
+ if (0) { /* (this_usbduxsub->high_speed) */
+ // in usb-2.0 only one conversion it tranmitted but with 8kHz/n
+ cmd->convert_src &= TRIG_TIMER;
+ } else {
+ // all conversion events happen simultaneously with a rate of 1kHz/n
+ cmd->convert_src &= TRIG_NOW;
+ }
+ if (!cmd->convert_src || tmp != cmd->convert_src)
+ err++;
+
+ // issue a trigger when scan is finished and start a new scan
+ tmp = cmd->scan_end_src;
+ cmd->scan_end_src &= TRIG_COUNT;
+ if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+ err++;
+
+ // trigger at the end of count events or not, stop condition or not
+ tmp = cmd->stop_src;
+ cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+ if (!cmd->stop_src || tmp != cmd->stop_src)
+ err++;
+
+ if (err)
+ return 1;
+
+ /* step 2: make sure trigger sources are unique and mutually compatible */
+ /* note that mutual compatiblity is not an issue here */
+ if (cmd->scan_begin_src != TRIG_FOLLOW &&
+ cmd->scan_begin_src != TRIG_EXT &&
+ cmd->scan_begin_src != TRIG_TIMER)
+ err++;
+ if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+ err++;
+
+ if (err)
+ return 2;
+
+ /* step 3: make sure arguments are trivially compatible */
+
+ if (cmd->start_arg != 0) {
+ cmd->start_arg = 0;
+ err++;
+ }
+
+ if (cmd->scan_begin_src == TRIG_FOLLOW) {
+ /* internal trigger */
+ if (cmd->scan_begin_arg != 0) {
+ cmd->scan_begin_arg = 0;
+ err++;
+ }
+ }
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ /* timer */
+ if (cmd->scan_begin_arg < 1000000) {
+ cmd->scan_begin_arg = 1000000;
+ err++;
+ }
+ }
+ // not used now, is for later use
+ if (cmd->convert_src == TRIG_TIMER) {
+ if (cmd->convert_arg < 125000) {
+ cmd->convert_arg = 125000;
+ err++;
+ }
+ }
+
+ // the same argument
+ if (cmd->scan_end_arg != cmd->chanlist_len) {
+ cmd->scan_end_arg = cmd->chanlist_len;
+ err++;
+ }
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ /* any count is allowed */
+ } else {
+ /* TRIG_NONE */
+ if (cmd->stop_arg != 0) {
+ cmd->stop_arg = 0;
+ err++;
+ }
+ }
+
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: err=%d, scan_begin_src=%d, scan_begin_arg=%d, convert_src=%d, convert_arg=%d\n", dev->minor, err, cmd->scan_begin_src, cmd->scan_begin_arg, cmd->convert_src, cmd->convert_arg);
+#endif
+
+ if (err)
+ return 3;
+
+ return 0;
+}
+
+static int usbdux_ao_cmd(comedi_device * dev, comedi_subdevice * s)
+{
+ comedi_cmd *cmd = &s->async->cmd;
+ unsigned int chan, gain;
+ int i, ret;
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ down(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux_ao_cmd\n", dev->minor);
+#endif
+
+ // set current channel of the running aquisition to zero
+ s->async->cur_chan = 0;
+ for (i = 0; i < cmd->chanlist_len; ++i) {
+ chan = CR_CHAN(cmd->chanlist[i]);
+ gain = CR_RANGE(cmd->chanlist[i]);
+ if (i >= NUMOUTCHANNELS) {
+ printk("comedi%d: usbdux_ao_cmd: channel list too long\n", dev->minor);
+ break;
+ }
+ this_usbduxsub->dac_commands[i] = (chan << 6);
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: dac command for ch %d is %x\n",
+ dev->minor, i, this_usbduxsub->dac_commands[i]);
+#endif
+ }
+
+ // we count in steps of 1ms (125us)
+ // 125us mode not used yet
+ if (0) { /* (this_usbduxsub->high_speed) */
+ // 125us
+ // timing of the conversion itself: every 125 us
+ this_usbduxsub->ao_timer = cmd->convert_arg / 125000;
+ } else {
+ // 1ms
+ // timing of the scan: we get all channels at once
+ this_usbduxsub->ao_timer = cmd->scan_begin_arg / 1000000;
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux: scan_begin_src=%d, scan_begin_arg=%d, convert_src=%d, convert_arg=%d\n", dev->minor, cmd->scan_begin_src, cmd->scan_begin_arg, cmd->convert_src, cmd->convert_arg);
+ printk("comedi%d: usbdux: ao_timer=%d (ms)\n",
+ dev->minor, this_usbduxsub->ao_timer);
+#endif
+ if (this_usbduxsub->ao_timer < 1) {
+ printk("comedi%d: usbdux: ao_timer=%d, scan_begin_arg=%d. Not properly tested by cmdtest?\n", dev->minor, this_usbduxsub->ao_timer, cmd->scan_begin_arg);
+ up(&this_usbduxsub->sem);
+ return -EINVAL;
+ }
+ }
+ this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ // not continous
+ // counter
+ // high speed also scans everything at once
+ if (0) { /* (this_usbduxsub->high_speed) */
+ this_usbduxsub->ao_sample_count =
+ (cmd->stop_arg) * (cmd->scan_end_arg);
+ } else {
+ // there's no scan as the scan has been
+ // perf inside the FX2
+ // data arrives as one packet
+ this_usbduxsub->ao_sample_count = cmd->stop_arg;
+ }
+ this_usbduxsub->ao_continous = 0;
+ } else {
+ // continous aquisition
+ this_usbduxsub->ao_continous = 1;
+ this_usbduxsub->ao_sample_count = 0;
+ }
+
+ if (cmd->start_src == TRIG_NOW) {
+ // enable this acquisition operation
+ this_usbduxsub->ao_cmd_running = 1;
+ ret = usbduxsub_submit_OutURBs(this_usbduxsub);
+ if (ret < 0) {
+ this_usbduxsub->ao_cmd_running = 0;
+ // fixme: unlink here??
+ up(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ /* TRIG_INT */
+ // submit the urbs later
+ // wait for an internal signal
+ s->async->inttrig = usbdux_ao_inttrig;
+ }
+
+ up(&this_usbduxsub->sem);
+ return 0;
+}
+
+static int usbdux_dio_insn_config(comedi_device * dev,
+ comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
+{
+ int chan = CR_CHAN(insn->chanspec);
+
+ /* The input or output configuration of each digital line is
+ * configured by a special insn_config instruction. chanspec
+ * contains the channel to be changed, and data[0] contains the
+ * value COMEDI_INPUT or COMEDI_OUTPUT. */
+
+ switch (data[0]) {
+ case INSN_CONFIG_DIO_OUTPUT:
+ s->io_bits |= 1 << chan; /* 1 means Out */
+ break;
+ case INSN_CONFIG_DIO_INPUT:
+ s->io_bits &= ~(1 << chan);
+ break;
+ case INSN_CONFIG_DIO_QUERY:
+ data[1] =
+ (s->
+ io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT;
+ break;
+ default:
+ return -EINVAL;
+ break;
+ }
+ // we don't tell the firmware here as it would take 8 frames
+ // to submit the information. We do it in the insn_bits.
+ return insn->n;
+}
+
+static int usbdux_dio_insn_bits(comedi_device * dev,
+ comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
+{
+
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int err;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+
+ if (insn->n != 2)
+ return -EINVAL;
+
+ down(&this_usbduxsub->sem);
+
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+
+ /* The insn data is a mask in data[0] and the new data
+ * in data[1], each channel cooresponding to a bit. */
+ s->state &= ~data[0];
+ s->state |= data[0] & data[1];
+ this_usbduxsub->dux_commands[1] = s->io_bits;
+ this_usbduxsub->dux_commands[2] = s->state;
+
+ // This command also tells the firmware to return
+ // the digital input lines
+ if ((err = send_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+ if ((err = receive_dux_commands(this_usbduxsub,
+ SENDDIOBITSCOMMAND)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+
+ data[1] = le16_to_cpu(this_usbduxsub->insnBuffer[1]);
+ up(&this_usbduxsub->sem);
+ return 2;
+}
+
+// reads the 4 counters
+// only two are used just now
+static int usbdux_counter_read(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int chan = insn->chanspec;
+ int err;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+
+ down(&this_usbduxsub->sem);
+
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+
+ if ((err = send_dux_commands(this_usbduxsub, READCOUNTERCOMMAND)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+
+ if ((err = receive_dux_commands(this_usbduxsub,
+ READCOUNTERCOMMAND)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+
+ data[0] = le16_to_cpu(this_usbduxsub->insnBuffer[chan + 1]);
+ up(&this_usbduxsub->sem);
+ return 1;
+}
+
+static int usbdux_counter_write(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int err;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+
+ down(&this_usbduxsub->sem);
+
+ if (!(this_usbduxsub->probed)) {
+ up(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+
+ this_usbduxsub->dux_commands[1] = insn->chanspec;
+ *((int16_t *) (this_usbduxsub->dux_commands + 2)) = cpu_to_le16(*data);
+
+ if ((err = send_dux_commands(this_usbduxsub, WRITECOUNTERCOMMAND)) < 0) {
+ up(&this_usbduxsub->sem);
+ return err;
+ }
+
+ up(&this_usbduxsub->sem);
+
+ return 1;
+}
+
+static int usbdux_counter_config(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ // nothing to do so far
+ return 2;
+}
+
+/////////////////////////////
+// PWM
+
+static int usbduxsub_unlink_PwmURBs(usbduxsub_t * usbduxsub_tmp)
+{
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8)
+ int j = 0;
+#endif
+
+ int err = 0;
+
+ if (usbduxsub_tmp && usbduxsub_tmp->urbPwm) {
+ if (usbduxsub_tmp->urbPwm) {
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8)
+ j = usb_unlink_urb(usbduxsub_tmp->urbPwm);
+ if (j < err) {
+ err = j;
+ }
+#else
+ usb_kill_urb(usbduxsub_tmp->urbPwm);
+#endif
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux: unlinked PwmURB: res=%d\n", err);
+#endif
+ }
+ return err;
+}
+
+/* This cancels a running acquisition operation
+ * in any context.
+ */
+static int usbdux_pwm_stop(usbduxsub_t * this_usbduxsub, int do_unlink)
+{
+ int ret = 0;
+
+ if (!this_usbduxsub) {
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi?: usbdux_pwm_stop: this_usbduxsub=NULL!\n");
+#endif
+ return -EFAULT;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi: usbdux_pwm_cancel\n");
+#endif
+ if (do_unlink) {
+ ret = usbduxsub_unlink_PwmURBs(this_usbduxsub);
+ }
+
+ this_usbduxsub->pwm_cmd_running = 0;
+
+ return ret;
+}
+
+// force unlink
+// is called by comedi
+static int usbdux_pwm_cancel(comedi_device * dev, comedi_subdevice * s)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int res = 0;
+
+ // unlink only if it is really running
+ res = usbdux_pwm_stop(this_usbduxsub, this_usbduxsub->pwm_cmd_running);
+
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi %d: sending pwm off command to the usb device.\n",
+ dev->minor);
+#endif
+ if ((res = send_dux_commands(this_usbduxsub, SENDPWMOFF)) < 0) {
+ return res;
+ }
+
+ return res;
+}
+
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0) || LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,19)
+static void usbduxsub_pwm_irq(struct urb *urb)
+{
+#else
+static void usbduxsub_pwm_irq(struct urb *urb, struct pt_regs *regs)
+{
+#endif
+ int ret;
+ usbduxsub_t *this_usbduxsub;
+ comedi_device *this_comedidev;
+ comedi_subdevice *s;
+
+ // printk("PWM: IRQ\n");
+
+ if (!urb) {
+ printk("comedi_: usbdux_: pwm urb handler called with NULL ptr.\n");
+ return;
+ }
+ // the context variable points to the subdevice
+ this_comedidev = urb->context;
+ if (!this_comedidev) {
+ printk("comedi_: usbdux_: pwm urb int-context is a NULL pointer.\n");
+ return;
+ }
+ // the private structure of the subdevice is usbduxsub_t
+ this_usbduxsub = this_comedidev->private;
+ if (!this_usbduxsub) {
+ printk("comedi_: usbdux_: private data structure of pwm subdev is NULL p.\n");
+ return;
+ }
+
+ s = this_comedidev->subdevices + SUBDEV_DA;
+
+ switch (urb->status) {
+ case 0:
+ /* success */
+ break;
+
+ // after an unlink command, unplug, ... etc
+ // no unlink needed here. Already shutting down.
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ case -ECONNABORTED:
+ if (this_usbduxsub->pwm_cmd_running) {
+ usbdux_pwm_stop(this_usbduxsub, 0);
+ }
+ return;
+
+ // a real error
+ default:
+ if (this_usbduxsub->pwm_cmd_running) {
+ printk("comedi_: usbdux_: Non-zero urb status received in pwm intr context: %d\n", urb->status);
+ usbdux_pwm_stop(this_usbduxsub, 0);
+ }
+ return;
+ }
+
+ // are we actually running?
+ if (!(this_usbduxsub->pwm_cmd_running)) {
+ return;
+ }
+
+ urb->transfer_buffer_length = this_usbduxsub->sizePwmBuf;
+ urb->dev = this_usbduxsub->usbdev;
+ urb->status = 0;
+ if (this_usbduxsub->pwm_cmd_running) {
+ if ((ret = USB_SUBMIT_URB(urb)) < 0) {
+ printk("comedi_: usbdux_: pwm urb resubm failed in int-cont.");
+ printk("ret=%d", ret);
+ if (ret == EL2NSYNC) {
+ printk("--> buggy USB host controller or bug in IRQ handling!\n");
+ } else {
+ printk("\n");
+ }
+ // don't do an unlink here
+ usbdux_pwm_stop(this_usbduxsub, 0);
+ }
+ }
+}
+
+int usbduxsub_submit_PwmURBs(usbduxsub_t * usbduxsub)
+{
+ int errFlag;
+
+ if (!usbduxsub) {
+ return -EFAULT;
+ }
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi_: usbdux: submitting pwm-urb\n");
+#endif
+ // in case of a resubmission after an unlink...
+
+ usb_fill_bulk_urb(usbduxsub->urbPwm,
+ usbduxsub->usbdev,
+ usb_sndbulkpipe(usbduxsub->usbdev, PWM_EP),
+ usbduxsub->urbPwm->transfer_buffer,
+ usbduxsub->sizePwmBuf, usbduxsub_pwm_irq, usbduxsub->comedidev);
+
+ errFlag = USB_SUBMIT_URB(usbduxsub->urbPwm);
+ if (errFlag) {
+ printk("comedi_: usbdux: pwm: ");
+ printk("USB_SUBMIT_URB");
+ printk(" error %d\n", errFlag);
+ return errFlag;
+ }
+ return 0;
+}
+
+static int usbdux_pwm_period(comedi_device * dev, comedi_subdevice * s,
+ lsampl_t period)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int fx2delay=255;
+ if (period < MIN_PWM_PERIOD)
+ {
+ printk("comedi%d: illegal period setting for pwm.\n", dev->minor);
+ return -EAGAIN;
+ } else {
+ fx2delay = period / ((int)(6*512*(1.0/0.033))) - 6;
+ if (fx2delay > 255) {
+ printk("comedi%d: period %d for pwm is too low.\n",
+ dev->minor, period);
+ return -EAGAIN;
+ }
+ }
+ this_usbduxsub->pwmDelay=fx2delay;
+ this_usbduxsub->pwmPeriod=period;
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("usbdux_pwm_period: frequ=%d, period=%d\n",period,fx2delay);
+#endif
+ return 0;
+}
+
+
+// is called from insn so there's no need to do all the sanity checks
+static int usbdux_pwm_start(comedi_device * dev, comedi_subdevice * s)
+{
+ int ret, i;
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: usbdux_pwm_start\n", dev->minor);
+#endif
+ if (this_usbduxsub->pwm_cmd_running) {
+ // already running
+ return 0;
+ }
+
+ this_usbduxsub->dux_commands[1] = ((int8_t) this_usbduxsub->pwmDelay);
+ if ((ret = send_dux_commands(this_usbduxsub, SENDPWMON)) < 0) {
+ return ret;
+ }
+ // initalise the buffer
+ for (i = 0; i < this_usbduxsub->sizePwmBuf; i++) {
+ ((char *)(this_usbduxsub->urbPwm->transfer_buffer))[i] = 0;
+ }
+
+ this_usbduxsub->pwm_cmd_running = 1;
+ ret = usbduxsub_submit_PwmURBs(this_usbduxsub);
+ if (ret < 0) {
+ this_usbduxsub->pwm_cmd_running = 0;
+ return ret;
+ }
+ return 0;
+}
+
+
+// generates the bit pattern for PWM with the optional sign bit
+static int usbdux_pwm_pattern(comedi_device * dev, comedi_subdevice * s,
+ int channel, lsampl_t value, lsampl_t sign)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ int i, szbuf;
+ char *pBuf;
+ char pwm_mask,sgn_mask,c;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+ // this is the DIO bit which carries the PWM data
+ pwm_mask = (1 << channel);
+ // this is the DIO bit which carries the optional direction bit
+ sgn_mask = (16 << channel);
+ // this is the buffer which will be filled with the with bit
+ // pattern for one period
+ szbuf = this_usbduxsub->sizePwmBuf;
+ pBuf = (char *)(this_usbduxsub->urbPwm->transfer_buffer);
+ for (i = 0; i < szbuf; i++) {
+ c = *pBuf;
+ // reset bits
+ c = c & (~pwm_mask);
+ // set the bit as long as the index is lower than the value
+ if (i < value)
+ c = c | pwm_mask;
+ // set the optional sign bit for a relay
+ if (!sign) {
+ // positive value
+ c = c & (~sgn_mask);
+ } else {
+ // negative value
+ c = c | sgn_mask;
+ }
+ *(pBuf++) = c;
+ }
+ return 1;
+}
+
+static int usbdux_pwm_write(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub) {
+ return -EFAULT;
+ }
+
+ if ((insn->n)!=1) {
+ // doesn't make sense to have more than one value here
+ // because it would just overwrite the PWM buffer a couple of times
+ return -EINVAL;
+ }
+
+ // the sign is set via a special INSN only, this gives us 8 bits for
+ // normal operation
+ return usbdux_pwm_pattern(dev,s,
+ CR_CHAN(insn->chanspec),
+ data[0],
+ 0); // relay sign 0 by default
+}
+
+
+static int usbdux_pwm_read(comedi_device * x1, comedi_subdevice * x2,
+ comedi_insn * x3, lsampl_t * x4)
+{
+ // not needed
+ return -EINVAL;
+};
+
+// switches on/off PWM
+static int usbdux_pwm_config(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ usbduxsub_t *this_usbduxsub = dev->private;
+ switch (data[0]) {
+ case INSN_CONFIG_ARM:
+#ifdef NOISY_DUX_DEBUGBUG
+ // switch it on
+ printk("comedi%d: pwm_insn_config: pwm on\n",
+ dev->minor);
+#endif
+ // if not zero the PWM is limited to a certain time which is
+ // not supported here
+ if (data[1]!=0) {
+ return -EINVAL;
+ }
+ return usbdux_pwm_start(dev, s);
+ case INSN_CONFIG_DISARM:
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: pwm_insn_config: pwm off\n",
+ dev->minor);
+#endif
+ return usbdux_pwm_cancel(dev, s);
+ case INSN_CONFIG_GET_PWM_STATUS:
+ // to check if the USB transmission has failed or in case
+ // PWM was limited to n cycles to check if it has terminated
+ data[1] = this_usbduxsub->pwm_cmd_running;
+ return 0;
+ case INSN_CONFIG_PWM_SET_PERIOD:
+#ifdef NOISY_DUX_DEBUGBUG
+ printk("comedi%d: pwm_insn_config: setting period\n",
+ dev->minor);
+#endif
+ return usbdux_pwm_period(dev,s,data[1]);
+ case INSN_CONFIG_PWM_GET_PERIOD:
+ data[1] = this_usbduxsub->pwmPeriod;
+ return 0;
+ case INSN_CONFIG_PWM_SET_H_BRIDGE:
+ // value in the first byte and the sign in the second for a relay
+ return usbdux_pwm_pattern(dev, s,
+ CR_CHAN(insn->chanspec), // the channel number
+ data[1], // actual PWM data
+ (data[2]!=0)); // just a sign
+ case INSN_CONFIG_PWM_GET_H_BRIDGE:
+ // values are not kept in this driver, nothing to return here
+ return -EINVAL;
+ }
+ return -EINVAL;
+}
+
+// end of PWM
+///////////////////////////////////////////////////////////////////
+
+static void tidy_up(usbduxsub_t * usbduxsub_tmp)
+{
+ int i;
+
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi_: usbdux: tiding up\n");
+#endif
+ if (!usbduxsub_tmp) {
+ return;
+ }
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
+ // shows the usb subsystem that the driver is down
+ if (usbduxsub_tmp->interface) {
+ usb_set_intfdata(usbduxsub_tmp->interface, NULL);
+ }
+#endif
+
+ usbduxsub_tmp->probed = 0;
+
+ if (usbduxsub_tmp->urbIn) {
+ if (usbduxsub_tmp->ai_cmd_running) {
+ usbduxsub_tmp->ai_cmd_running = 0;
+ usbduxsub_unlink_InURBs(usbduxsub_tmp);
+ }
+ for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) {
+ if (usbduxsub_tmp->urbIn[i]->transfer_buffer) {
+ kfree(usbduxsub_tmp->urbIn[i]->transfer_buffer);
+ usbduxsub_tmp->urbIn[i]->transfer_buffer = NULL;
+ }
+ if (usbduxsub_tmp->urbIn[i]) {
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,8)
+ usb_kill_urb(usbduxsub_tmp->urbIn[i]);
+#endif
+ usb_free_urb(usbduxsub_tmp->urbIn[i]);
+ usbduxsub_tmp->urbIn[i] = NULL;
+ }
+ }
+ kfree(usbduxsub_tmp->urbIn);
+ usbduxsub_tmp->urbIn = NULL;
+ }
+ if (usbduxsub_tmp->urbOut) {
+ if (usbduxsub_tmp->ao_cmd_running) {
+ usbduxsub_tmp->ao_cmd_running = 0;
+ usbduxsub_unlink_OutURBs(usbduxsub_tmp);
+ }
+ for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) {
+ if (usbduxsub_tmp->urbOut[i]->transfer_buffer) {
+ kfree(usbduxsub_tmp->urbOut[i]->
+ transfer_buffer);
+ usbduxsub_tmp->urbOut[i]->transfer_buffer =
+ NULL;
+ }
+ if (usbduxsub_tmp->urbOut[i]) {
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,8)
+ usb_kill_urb(usbduxsub_tmp->urbOut[i]);
+#endif
+ usb_free_urb(usbduxsub_tmp->urbOut[i]);
+ usbduxsub_tmp->urbOut[i] = NULL;
+ }
+ }
+ kfree(usbduxsub_tmp->urbOut);
+ usbduxsub_tmp->urbOut = NULL;
+ }
+ if (usbduxsub_tmp->urbPwm) {
+ if (usbduxsub_tmp->pwm_cmd_running) {
+ usbduxsub_tmp->pwm_cmd_running = 0;
+ usbduxsub_unlink_PwmURBs(usbduxsub_tmp);
+ }
+ if (usbduxsub_tmp->urbPwm->transfer_buffer) {
+ kfree(usbduxsub_tmp->urbPwm->transfer_buffer);
+ usbduxsub_tmp->urbPwm->transfer_buffer = NULL;
+ }
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,8)
+ usb_kill_urb(usbduxsub_tmp->urbPwm);
+#endif
+ usb_free_urb(usbduxsub_tmp->urbPwm);
+ usbduxsub_tmp->urbPwm = NULL;
+ }
+ if (usbduxsub_tmp->inBuffer) {
+ kfree(usbduxsub_tmp->inBuffer);
+ usbduxsub_tmp->inBuffer = NULL;
+ }
+ if (usbduxsub_tmp->insnBuffer) {
+ kfree(usbduxsub_tmp->insnBuffer);
+ usbduxsub_tmp->insnBuffer = NULL;
+ }
+ if (usbduxsub_tmp->inBuffer) {
+ kfree(usbduxsub_tmp->inBuffer);
+ usbduxsub_tmp->inBuffer = NULL;
+ }
+ if (usbduxsub_tmp->dac_commands) {
+ kfree(usbduxsub_tmp->dac_commands);
+ usbduxsub_tmp->dac_commands = NULL;
+ }
+ if (usbduxsub_tmp->dux_commands) {
+ kfree(usbduxsub_tmp->dux_commands);
+ usbduxsub_tmp->dux_commands = NULL;
+ }
+ usbduxsub_tmp->ai_cmd_running = 0;
+ usbduxsub_tmp->ao_cmd_running = 0;
+ usbduxsub_tmp->pwm_cmd_running = 0;
+}
+
+static unsigned hex2unsigned(char *h)
+{
+ unsigned hi, lo;
+ if (h[0] > '9') {
+ hi = h[0] - 'A' + 0x0a;
+ } else {
+ hi = h[0] - '0';
+ }
+ if (h[1] > '9') {
+ lo = h[1] - 'A' + 0x0a;
+ } else {
+ lo = h[1] - '0';
+ }
+ return hi * 0x10 + lo;
+}
+
+// for FX2
+#define FIRMWARE_MAX_LEN 0x2000
+
+// taken from David Brownell's fxload and adjusted for this driver
+static int read_firmware(usbduxsub_t * usbduxsub, void *firmwarePtr, long size)
+{
+ int i = 0;
+ unsigned char *fp = (char *)firmwarePtr;
+ unsigned char *firmwareBinary = NULL;
+ int res = 0;
+ int maxAddr = 0;
+
+ firmwareBinary = kzalloc(FIRMWARE_MAX_LEN, GFP_KERNEL);
+ if (!firmwareBinary) {
+ printk("comedi_: usbdux: mem alloc for firmware failed\n");
+ return -ENOMEM;
+ }
+
+ for (;;) {
+ char buf[256], *cp;
+ char type;
+ int len;
+ int idx, off;
+ int j = 0;
+
+ // get one line
+ while ((i < size) && (fp[i] != 13) && (fp[i] != 10)) {
+ buf[j] = fp[i];
+ i++;
+ j++;
+ if (j >= sizeof(buf)) {
+ printk("comedi_: usbdux: bogus firmware file!\n");
+ return -1;
+ }
+ }
+ // get rid of LF/CR/...
+ while ((i < size) && ((fp[i] == 13) || (fp[i] == 10)
+ || (fp[i] == 0))) {
+ i++;
+ }
+
+ buf[j] = 0;
+ //printk("comedi_: buf=%s\n",buf);
+
+ /* EXTENSION: "# comment-till-end-of-line", for copyrights etc */
+ if (buf[0] == '#')
+ continue;
+
+ if (buf[0] != ':') {
+ printk("comedi_: usbdux: upload: not an ihex record: %s", buf);
+ return -EFAULT;
+ }
+
+ /* Read the length field (up to 16 bytes) */
+ len = hex2unsigned(buf + 1);
+
+ /* Read the target offset */
+ off = (hex2unsigned(buf + 3) * 0x0100) + hex2unsigned(buf + 5);
+
+ if ((off + len) > maxAddr) {
+ maxAddr = off + len;
+ }
+
+ if (maxAddr >= FIRMWARE_MAX_LEN) {
+ printk("comedi_: usbdux: firmware upload goes beyond FX2 RAM boundaries.");
+ return -EFAULT;
+ }
+ //printk("comedi_: usbdux: off=%x, len=%x:",off,len);
+
+ /* Read the record type */
+ type = hex2unsigned(buf + 7);
+
+ /* If this is an EOF record, then make it so. */
+ if (type == 1) {
+ break;
+ }
+
+ if (type != 0) {
+ printk("comedi_: usbdux: unsupported record type: %u\n",
+ type);
+ return -EFAULT;
+ }
+
+ for (idx = 0, cp = buf + 9; idx < len; idx += 1, cp += 2) {
+ firmwareBinary[idx + off] = hex2unsigned(cp);
+ //printk("%02x ",firmwareBinary[idx+off]);
+ }
+ //printk("\n");
+
+ if (i >= size) {
+ printk("comedi_: usbdux: unexpected end of hex file\n");
+ break;
+ }
+
+ }
+ res = firmwareUpload(usbduxsub, firmwareBinary, maxAddr + 1);
+ kfree(firmwareBinary);
+ return res;
+}
+
+// allocate memory for the urbs and initialise them
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
+static void *usbduxsub_probe(struct usb_device *udev,
+ unsigned int interfnum, const struct usb_device_id *id)
+{
+#else
+static int usbduxsub_probe(struct usb_interface *uinterf,
+ const struct usb_device_id *id)
+{
+ struct usb_device *udev = interface_to_usbdev(uinterf);
+#endif
+ int i;
+ int index;
+
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi_: usbdux_: finding a free structure for the usb-device\n");
+#endif
+ down(&start_stop_sem);
+ // look for a free place in the usbdux array
+ index = -1;
+ for (i = 0; i < NUMUSBDUX; i++) {
+ if (!(usbduxsub[i].probed)) {
+ index = i;
+ break;
+ }
+ }
+
+ // no more space
+ if (index == -1) {
+ printk("Too many usbdux-devices connected.\n");
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-EMFILE);
+ }
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi_: usbdux: usbduxsub[%d] is ready to connect to comedi.\n", index);
+#endif
+
+ init_MUTEX(&(usbduxsub[index].sem));
+ // save a pointer to the usb device
+ usbduxsub[index].usbdev = udev;
+
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
+ // save the interface number
+ usbduxsub[index].ifnum = interfnum;
+#else
+ // 2.6: save the interface itself
+ usbduxsub[index].interface = uinterf;
+ // get the interface number from the interface
+ usbduxsub[index].ifnum = uinterf->altsetting->desc.bInterfaceNumber;
+ // hand the private data over to the usb subsystem
+ // will be needed for disconnect
+ usb_set_intfdata(uinterf, &(usbduxsub[index]));
+#endif
+
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi_: usbdux: ifnum=%d\n", usbduxsub[index].ifnum);
+#endif
+ // test if it is high speed (USB 2.0)
+ usbduxsub[index].high_speed =
+ (usbduxsub[index].usbdev->speed == USB_SPEED_HIGH);
+
+ // create space for the commands of the DA converter
+ usbduxsub[index].dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL);
+ if (!usbduxsub[index].dac_commands) {
+ printk("comedi_: usbdux: error alloc space for dac commands\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ // create space for the commands going to the usb device
+ usbduxsub[index].dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
+ if (!usbduxsub[index].dux_commands) {
+ printk("comedi_: usbdux: error alloc space for dac commands\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ // create space for the in buffer and set it to zero
+ usbduxsub[index].inBuffer = kzalloc(SIZEINBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].inBuffer)) {
+ printk("comedi_: usbdux: could not alloc space for inBuffer\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ // create space of the instruction buffer
+ usbduxsub[index].insnBuffer = kzalloc(SIZEINSNBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].insnBuffer)) {
+ printk("comedi_: usbdux: could not alloc space for insnBuffer\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ // create space for the outbuffer
+ usbduxsub[index].outBuffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].outBuffer)) {
+ printk("comedi_: usbdux: could not alloc space for outBuffer\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ // setting to alternate setting 3: enabling iso ep and bulk ep.
+ i = usb_set_interface(usbduxsub[index].usbdev,
+ usbduxsub[index].ifnum, 3);
+ if (i < 0) {
+ printk("comedi_: usbdux%d: could not set alternate setting 3 in high speed.\n", index);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENODEV);
+ }
+ if (usbduxsub[index].high_speed) {
+ usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSHIGH;
+ } else {
+ usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSFULL;
+ }
+ usbduxsub[index].urbIn =
+ kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfInBuffers,
+ GFP_KERNEL);
+ if (!(usbduxsub[index].urbIn)) {
+ printk("comedi_: usbdux: Could not alloc. urbIn array\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ for (i = 0; i < usbduxsub[index].numOfInBuffers; i++) {
+ // one frame: 1ms
+ usbduxsub[index].urbIn[i] = USB_ALLOC_URB(1);
+ if (usbduxsub[index].urbIn[i] == NULL) {
+ printk("comedi_: usbdux%d: Could not alloc. urb(%d)\n",
+ index, i);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ usbduxsub[index].urbIn[i]->dev = usbduxsub[index].usbdev;
+ // will be filled later with a pointer to the comedi-device
+ // and ONLY then the urb should be submitted
+ usbduxsub[index].urbIn[i]->context = NULL;
+ usbduxsub[index].urbIn[i]->pipe =
+ usb_rcvisocpipe(usbduxsub[index].usbdev, ISOINEP);
+ usbduxsub[index].urbIn[i]->transfer_flags = URB_ISO_ASAP;
+ usbduxsub[index].urbIn[i]->transfer_buffer =
+ kzalloc(SIZEINBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].urbIn[i]->transfer_buffer)) {
+ printk("comedi_: usbdux%d: could not alloc. transb.\n",
+ index);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ usbduxsub[index].urbIn[i]->complete = usbduxsub_ai_IsocIrq;
+ usbduxsub[index].urbIn[i]->number_of_packets = 1;
+ usbduxsub[index].urbIn[i]->transfer_buffer_length = SIZEINBUF;
+ usbduxsub[index].urbIn[i]->iso_frame_desc[0].offset = 0;
+ usbduxsub[index].urbIn[i]->iso_frame_desc[0].length = SIZEINBUF;
+ }
+
+ // out
+ if (usbduxsub[index].high_speed) {
+ usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSHIGH;
+ } else {
+ usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSFULL;
+ }
+ usbduxsub[index].urbOut =
+ kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfOutBuffers,
+ GFP_KERNEL);
+ if (!(usbduxsub[index].urbOut)) {
+ printk("comedi_: usbdux: Could not alloc. urbOut array\n");
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ for (i = 0; i < usbduxsub[index].numOfOutBuffers; i++) {
+ // one frame: 1ms
+ usbduxsub[index].urbOut[i] = USB_ALLOC_URB(1);
+ if (usbduxsub[index].urbOut[i] == NULL) {
+ printk("comedi_: usbdux%d: Could not alloc. urb(%d)\n",
+ index, i);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ usbduxsub[index].urbOut[i]->dev = usbduxsub[index].usbdev;
+ // will be filled later with a pointer to the comedi-device
+ // and ONLY then the urb should be submitted
+ usbduxsub[index].urbOut[i]->context = NULL;
+ usbduxsub[index].urbOut[i]->pipe =
+ usb_sndisocpipe(usbduxsub[index].usbdev, ISOOUTEP);
+ usbduxsub[index].urbOut[i]->transfer_flags = URB_ISO_ASAP;
+ usbduxsub[index].urbOut[i]->transfer_buffer =
+ kzalloc(SIZEOUTBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].urbOut[i]->transfer_buffer)) {
+ printk("comedi_: usbdux%d: could not alloc. transb.\n",
+ index);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ usbduxsub[index].urbOut[i]->complete = usbduxsub_ao_IsocIrq;
+ usbduxsub[index].urbOut[i]->number_of_packets = 1;
+ usbduxsub[index].urbOut[i]->transfer_buffer_length = SIZEOUTBUF;
+ usbduxsub[index].urbOut[i]->iso_frame_desc[0].offset = 0;
+ usbduxsub[index].urbOut[i]->iso_frame_desc[0].length =
+ SIZEOUTBUF;
+ if (usbduxsub[index].high_speed) {
+ // uframes
+ usbduxsub[index].urbOut[i]->interval = 8;
+ } else {
+ // frames
+ usbduxsub[index].urbOut[i]->interval = 1;
+ }
+ }
+
+ // pwm
+ if (usbduxsub[index].high_speed) {
+ usbduxsub[index].sizePwmBuf = 512; // max bulk ep size in high speed
+ usbduxsub[index].urbPwm = USB_ALLOC_URB(0);
+ if (usbduxsub[index].urbPwm == NULL) {
+ printk("comedi_: usbdux%d: Could not alloc. pwm urb\n",
+ index);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ usbduxsub[index].urbPwm->transfer_buffer =
+ kzalloc(usbduxsub[index].sizePwmBuf, GFP_KERNEL);
+ if (!(usbduxsub[index].urbPwm->transfer_buffer)) {
+ printk("comedi_: usbdux%d: could not alloc. transb. for pwm\n", index);
+ tidy_up(&(usbduxsub[index]));
+ up(&start_stop_sem);
+ return PROBE_ERR_RETURN(-ENOMEM);
+ }
+ } else {
+ usbduxsub[index].urbPwm = NULL;
+ usbduxsub[index].sizePwmBuf = 0;
+ }
+
+ usbduxsub[index].ai_cmd_running = 0;
+ usbduxsub[index].ao_cmd_running = 0;
+ usbduxsub[index].pwm_cmd_running = 0;
+
+ // we've reached the bottom of the function
+ usbduxsub[index].probed = 1;
+ up(&start_stop_sem);
+ printk("comedi_: usbdux%d has been successfully initialised.\n", index);
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
+ return (void *)(&usbduxsub[index]);
+#else
+ // success
+ return 0;
+#endif
+}
+
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0)
+static void usbduxsub_disconnect(struct usb_device *udev, void *ptr)
+{
+ usbduxsub_t *usbduxsub_tmp = (usbduxsub_t *) ptr;
+#else
+static void usbduxsub_disconnect(struct usb_interface *intf)
+{
+ usbduxsub_t *usbduxsub_tmp = usb_get_intfdata(intf);
+ struct usb_device *udev = interface_to_usbdev(intf);
+#endif
+ if (!usbduxsub_tmp) {
+ printk("comedi_: usbdux: disconnect called with null pointer.\n");
+ return;
+ }
+ if (usbduxsub_tmp->usbdev != udev) {
+ printk("comedi_: usbdux: BUG! called with wrong ptr!!!\n");
+ return;
+ }
+ down(&start_stop_sem);
+ down(&usbduxsub_tmp->sem);
+ tidy_up(usbduxsub_tmp);
+ up(&usbduxsub_tmp->sem);
+ up(&start_stop_sem);
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi_: usbdux: disconnected from the usb\n");
+#endif
+}
+
+// is called when comedi-config is called
+static int usbdux_attach(comedi_device * dev, comedi_devconfig * it)
+{
+ int ret;
+ int index;
+ int i;
+ comedi_subdevice *s = NULL;
+ dev->private = NULL;
+
+ down(&start_stop_sem);
+ // find a valid device which has been detected by the probe function of the usb
+ index = -1;
+ for (i = 0; i < NUMUSBDUX; i++) {
+ if ((usbduxsub[i].probed) && (!usbduxsub[i].attached)) {
+ index = i;
+ break;
+ }
+ }
+
+ if (index < 0) {
+ printk("comedi%d: usbdux: error: attach failed, no usbdux devs connected to the usb bus.\n", dev->minor);
+ up(&start_stop_sem);
+ return -ENODEV;
+ }
+
+ down(&(usbduxsub[index].sem));
+ // pointer back to the corresponding comedi device
+ usbduxsub[index].comedidev = dev;
+
+ // trying to upload the firmware into the chip
+ if (comedi_aux_data(it->options, 0) &&
+ it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]) {
+ read_firmware(usbduxsub + index,
+ comedi_aux_data(it->options, 0),
+ it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]);
+ }
+
+ dev->board_name = BOARDNAME;
+
+ /* set number of subdevices */
+ if (usbduxsub[index].high_speed) {
+ // with pwm
+ dev->n_subdevices = 5;
+ } else {
+ // without pwm
+ dev->n_subdevices = 4;
+ }
+
+ // allocate space for the subdevices
+ if ((ret = alloc_subdevices(dev, dev->n_subdevices)) < 0) {
+ printk("comedi%d: usbdux: error alloc space for subdev\n",
+ dev->minor);
+ up(&start_stop_sem);
+ return ret;
+ }
+
+ printk("comedi%d: usbdux: usb-device %d is attached to comedi.\n",
+ dev->minor, index);
+ // private structure is also simply the usb-structure
+ dev->private = usbduxsub + index;
+
+ // the first subdevice is the A/D converter
+ s = dev->subdevices + SUBDEV_AD;
+ // the URBs get the comedi subdevice
+ // which is responsible for reading
+ // this is the subdevice which reads data
+ dev->read_subdev = s;
+ // the subdevice receives as private structure the
+ // usb-structure
+ s->private = NULL;
+ // analog input
+ s->type = COMEDI_SUBD_AI;
+ // readable and ref is to ground
+ s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ;
+ // 8 channels
+ s->n_chan = 8;
+ // length of the channellist
+ s->len_chanlist = 8;
+ // callback functions
+ s->insn_read = usbdux_ai_insn_read;
+ s->do_cmdtest = usbdux_ai_cmdtest;
+ s->do_cmd = usbdux_ai_cmd;
+ s->cancel = usbdux_ai_cancel;
+ // max value from the A/D converter (12bit)
+ s->maxdata = 0xfff;
+ // range table to convert to physical units
+ s->range_table = (&range_usbdux_ai_range);
+ //
+
+ // analog out
+ s = dev->subdevices + SUBDEV_DA;
+ // analog out
+ s->type = COMEDI_SUBD_AO;
+ // backward pointer
+ dev->write_subdev = s;
+ // the subdevice receives as private structure the
+ // usb-structure
+ s->private = NULL;
+ // are writable
+ s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
+ // 4 channels
+ s->n_chan = 4;
+ // length of the channellist
+ s->len_chanlist = 4;
+ // 12 bit resolution
+ s->maxdata = 0x0fff;
+ // bipolar range
+ s->range_table = (&range_usbdux_ao_range);
+ // callback
+ s->do_cmdtest = usbdux_ao_cmdtest;
+ s->do_cmd = usbdux_ao_cmd;
+ s->cancel = usbdux_ao_cancel;
+ s->insn_read = usbdux_ao_insn_read;
+ s->insn_write = usbdux_ao_insn_write;
+
+ // digital I/O
+ s = dev->subdevices + SUBDEV_DIO;
+ s->type = COMEDI_SUBD_DIO;
+ s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
+ s->n_chan = 8;
+ s->maxdata = 1;
+ s->range_table = (&range_digital);
+ s->insn_bits = usbdux_dio_insn_bits;
+ s->insn_config = usbdux_dio_insn_config;
+ // we don't use it
+ s->private = NULL;
+
+ //counter
+ s = dev->subdevices + SUBDEV_COUNTER;
+ s->type = COMEDI_SUBD_COUNTER;
+ s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
+ s->n_chan = 4;
+ s->maxdata = 0xFFFF;
+ s->insn_read = usbdux_counter_read;
+ s->insn_write = usbdux_counter_write;
+ s->insn_config = usbdux_counter_config;
+
+ if (usbduxsub[index].high_speed) {
+ //timer / pwm
+ s = dev->subdevices + SUBDEV_PWM;
+ s->type = COMEDI_SUBD_PWM;
+ s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
+ s->n_chan = 8;
+ // this defines the max duty cycle resolution
+ s->maxdata = usbduxsub[index].sizePwmBuf;
+ s->insn_write = usbdux_pwm_write;
+ s->insn_read = usbdux_pwm_read;
+ s->insn_config = usbdux_pwm_config;
+ usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
+ }
+ // finally decide that it's attached
+ usbduxsub[index].attached = 1;
+
+ up(&(usbduxsub[index].sem));
+
+ up(&start_stop_sem);
+
+ printk("comedi%d: attached to usbdux.\n", dev->minor);
+
+ return 0;
+}
+
+static int usbdux_detach(comedi_device * dev)
+{
+ usbduxsub_t *usbduxsub_tmp;
+
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi%d: usbdux: detach usb device\n", dev->minor);
+#endif
+
+ if (!dev) {
+ printk("comedi?: usbdux: detach without dev variable...\n");
+ return -EFAULT;
+ }
+
+ usbduxsub_tmp = dev->private;
+ if (!usbduxsub_tmp) {
+ printk("comedi?: usbdux: detach without ptr to usbduxsub[]\n");
+ return -EFAULT;
+ }
+
+ down(&usbduxsub_tmp->sem);
+ // Don't allow detach to free the private structure
+ // It's one entry of of usbduxsub[]
+ dev->private = NULL;
+ usbduxsub_tmp->attached = 0;
+ usbduxsub_tmp->comedidev = NULL;
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi%d: usbdux: detach: successfully removed\n", dev->minor);
+#endif
+ up(&usbduxsub_tmp->sem);
+ return 0;
+}
+
+/* main driver struct */
+static comedi_driver driver_usbdux = {
+ driver_name:"usbdux",
+ module:THIS_MODULE,
+ attach:usbdux_attach,
+ detach:usbdux_detach,
+};
+
+static void init_usb_devices(void)
+{
+ int index;
+#ifdef CONFIG_COMEDI_DEBUG
+ printk("comedi_: usbdux: setting all possible devs to invalid\n");
+#endif
+ // all devices entries are invalid to begin with
+ // they will become valid by the probe function
+ // and then finally by the attach-function
+ for (index = 0; index < NUMUSBDUX; index++) {
+ memset(&(usbduxsub[index]), 0x00, sizeof(usbduxsub[index]));
+ init_MUTEX(&(usbduxsub[index].sem));
+ }
+}
+
+// Table with the USB-devices: just now only testing IDs
+static struct usb_device_id usbduxsub_table[] = {
+ {USB_DEVICE(0x13d8, 0x0001),
+ },
+ {USB_DEVICE(0x13d8, 0x0002)
+ },
+ {} /* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, usbduxsub_table);
+
+// The usbduxsub-driver
+static struct usb_driver usbduxsub_driver = {
+#ifdef COMEDI_HAVE_USB_DRIVER_OWNER
+ owner:THIS_MODULE,
+#endif
+ name:BOARDNAME,
+ probe:usbduxsub_probe,
+ disconnect:usbduxsub_disconnect,
+ id_table:usbduxsub_table,
+};
+
+// Can't use the nice macro as I have also to initialise the USB
+// subsystem:
+// registering the usb-system _and_ the comedi-driver
+static int init_usbdux(void)
+{
+ printk(KERN_INFO KBUILD_MODNAME ": "
+ DRIVER_VERSION ":" DRIVER_DESC "\n");
+ init_usb_devices();
+ usb_register(&usbduxsub_driver);
+ comedi_driver_register(&driver_usbdux);
+ return 0;
+}
+
+// deregistering the comedi driver and the usb-subsystem
+static void exit_usbdux(void)
+{
+ comedi_driver_unregister(&driver_usbdux);
+ usb_deregister(&usbduxsub_driver);
+}
+
+module_init(init_usbdux);
+module_exit(exit_usbdux);
+
+MODULE_AUTHOR(DRIVER_AUTHOR);
+MODULE_DESCRIPTION(DRIVER_DESC);
+MODULE_LICENSE("GPL");
projects / GitHub / MotorolaMobilityLLC / kernel-slsi.git / commitdiff