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
27 * instead of 4 digital ports
31 * The state of this driver is only a starting point for a complete
32 * COMEDI-driver. The final driver should support all features of the
33 * carrier board and modules.
35 * The test configuration:
37 * kernel 2.2.14 with RTAI v1.2 and patch-2.2.14rthal2
44 Description: Intelligent Instruments PCI-20001C carrier board
45 Author: Markus Kempf <kempf@matsci.uni-sb.de>
46 Devices: [Intelligent Instrumentation] PCI-20001C (ii_pci20kc)
49 Supports the PCI-20001 C-2a Carrier board, and could probably support
50 the other carrier boards with small modifications. Modules supported
52 PCI-20006 M-2 16-bit analog output module
53 PCI-20341 M-1A 16-bit analog input module
58 2 first option for module 1
59 3 second option for module 1
60 4 first option for module 2
61 5 second option for module 2
62 6 first option for module 3
63 7 second option for module 3
65 options for PCI-20006M:
66 first: Analog output channel 0 range configuration
67 0 bipolar 10 (-10V -- +10V)
68 1 unipolar 10 (0V -- +10V)
69 2 bipolar 5 (-5V -- 5V)
70 second: Analog output channel 1 range configuration
72 options for PCI-20341M:
73 first: Analog input gain configuration
80 /* XXX needs to use ioremap() for compatibility with 2.4 kernels. Should also
81 * check_mem_region() etc. - fmhess */
83 #include "../comedidev.h"
85 #define PCI20000_ID 0x1d
86 #define PCI20341_ID 0x77
87 #define PCI20006_ID 0xe3
88 #define PCI20xxx_EMPTY_ID 0xff
90 #define PCI20000_OFFSET 0x100
91 #define PCI20000_MODULES 3
93 #define PCI20000_DIO_0 0x80
94 #define PCI20000_DIO_1 0x81
95 #define PCI20000_DIO_2 0xc0
96 #define PCI20000_DIO_3 0xc1
97 #define PCI20000_DIO_CONTROL_01 0x83 /* port 0, 1 control */
98 #define PCI20000_DIO_CONTROL_23 0xc3 /* port 2, 3 control */
99 #define PCI20000_DIO_BUFFER 0x82 /* buffer direction & enable */
100 #define PCI20000_DIO_EOC 0xef /* even port, control output */
101 #define PCI20000_DIO_OOC 0xfd /* odd port, control output */
102 #define PCI20000_DIO_EIC 0x90 /* even port, control input */
103 #define PCI20000_DIO_OIC 0x82 /* odd port, control input */
104 #define DIO_CAND 0x12 /* and bit 1 & 4 of control */
105 #define DIO_BE 0x01 /* buffer: port enable */
106 #define DIO_BO 0x04 /* buffer: output */
107 #define DIO_BI 0x05 /* buffer: input */
108 #define DIO_PS_0 0x00 /* buffer: port shift 0 */
109 #define DIO_PS_1 0x01 /* buffer: port shift 1 */
110 #define DIO_PS_2 0x04 /* buffer: port shift 2 */
111 #define DIO_PS_3 0x05 /* buffer: port shift 3 */
113 #define PCI20006_LCHAN0 0x0d
114 #define PCI20006_STROBE0 0x0b
115 #define PCI20006_LCHAN1 0x15
116 #define PCI20006_STROBE1 0x13
118 #define PCI20341_INIT 0x04
119 #define PCI20341_REPMODE 0x00 /* single shot mode */
120 #define PCI20341_PACER 0x00 /* Hardware Pacer disabled */
121 #define PCI20341_CHAN_NR 0x04 /* number of input channels */
122 #define PCI20341_CONFIG_REG 0x10
123 #define PCI20341_MOD_STATUS 0x01
124 #define PCI20341_OPT_REG 0x11
125 #define PCI20341_SET_TIME_REG 0x15
126 #define PCI20341_LCHAN_ADDR_REG 0x13
127 #define PCI20341_CHAN_LIST 0x80
128 #define PCI20341_CC_RESET 0x1b
129 #define PCI20341_CHAN_RESET 0x19
130 #define PCI20341_SOFT_PACER 0x04
131 #define PCI20341_STATUS_REG 0x12
132 #define PCI20341_LDATA 0x02
133 #define PCI20341_DAISY_CHAIN 0x20 /* On-board inputs only */
134 #define PCI20341_MUX 0x04 /* Enable on-board MUX */
135 #define PCI20341_SCANLIST 0x80 /* Channel/Gain Scan List */
137 union pci20xxx_subdev_private
{
141 const struct comedi_lrange
*ao_range_list
[2];
142 /* range of channels of ao module */
143 unsigned int last_data
[2];
153 struct pci20xxx_private
{
156 union pci20xxx_subdev_private subdev_private
[PCI20000_MODULES
];
159 #define devpriv ((struct pci20xxx_private *)dev->private)
160 #define CHAN (CR_CHAN(it->chanlist[0]))
162 static int pci20xxx_attach(struct comedi_device
*dev
,
163 struct comedi_devconfig
*it
);
164 static int pci20xxx_detach(struct comedi_device
*dev
);
166 static struct comedi_driver driver_pci20xxx
= {
167 .driver_name
= "ii_pci20kc",
168 .module
= THIS_MODULE
,
169 .attach
= pci20xxx_attach
,
170 .detach
= pci20xxx_detach
,
173 static int pci20006_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
175 static int pci20341_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
177 static int pci20xxx_dio_init(struct comedi_device
*dev
,
178 struct comedi_subdevice
*s
);
181 options[0] Board base address
183 options[2] first option for module 1
184 options[3] second option for module 1
185 options[4] first option for module 2
186 options[5] second option for module 2
187 options[6] first option for module 3
188 options[7] second option for module 3
190 options for PCI-20341M:
191 first Analog input gain configuration
197 options for PCI-20006M:
198 first Analog output channel 0 range configuration
199 0 == bipolar 10 (-10V -- +10V)
200 1 == unipolar 10V (0V -- +10V)
201 2 == bipolar 5V (-5V -- +5V)
202 second Analog output channel 1 range configuration
203 0 == bipolar 10 (-10V -- +10V)
204 1 == unipolar 10V (0V -- +10V)
205 2 == bipolar 5V (-5V -- +5V)
207 static int pci20xxx_attach(struct comedi_device
*dev
,
208 struct comedi_devconfig
*it
)
213 struct comedi_subdevice
*s
;
214 union pci20xxx_subdev_private
*sdp
;
216 ret
= alloc_subdevices(dev
, 1 + PCI20000_MODULES
);
220 ret
= alloc_private(dev
, sizeof(struct pci20xxx_private
));
224 devpriv
->ioaddr
= (void *)(unsigned long)it
->options
[0];
225 dev
->board_name
= "pci20kc";
227 /* Check PCI-20001 C-2A Carrier Board ID */
228 if ((readb(devpriv
->ioaddr
) & PCI20000_ID
) != PCI20000_ID
) {
229 printk(KERN_WARNING
"comedi%d: ii_pci20kc PCI-20001"
230 " C-2A Carrier Board at base=0x%p not found !\n",
231 dev
->minor
, devpriv
->ioaddr
);
234 printk(KERN_INFO
"comedi%d: ii_pci20kc: PCI-20001 C-2A at base=0x%p\n",
235 dev
->minor
, devpriv
->ioaddr
);
237 for (i
= 0; i
< PCI20000_MODULES
; i
++) {
238 s
= dev
->subdevices
+ i
;
239 id
= readb(devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
);
240 s
->private = devpriv
->subdev_private
+ i
;
244 sdp
->pci20006
.iobase
=
245 devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
;
246 pci20006_init(dev
, s
, it
->options
[2 * i
+ 2],
247 it
->options
[2 * i
+ 3]);
248 printk(KERN_INFO
"comedi%d: "
249 "ii_pci20kc PCI-20006 module in slot %d \n",
253 sdp
->pci20341
.iobase
=
254 devpriv
->ioaddr
+ (i
+ 1) * PCI20000_OFFSET
;
255 pci20341_init(dev
, s
, it
->options
[2 * i
+ 2],
256 it
->options
[2 * i
+ 3]);
257 printk(KERN_INFO
"comedi%d: "
258 "ii_pci20kc PCI-20341 module in slot %d \n",
262 printk(KERN_WARNING
"ii_pci20kc: unknown module "
263 "code 0x%02x in slot %d: module disabled\n",
264 id
, i
); /* XXX this looks like a bug! i + 1 ?? */
266 case PCI20xxx_EMPTY_ID
:
267 s
->type
= COMEDI_SUBD_UNUSED
;
272 /* initialize struct pci20xxx_private */
273 pci20xxx_dio_init(dev
, dev
->subdevices
+ PCI20000_MODULES
);
278 static int pci20xxx_detach(struct comedi_device
*dev
)
280 printk(KERN_INFO
"comedi%d: pci20xxx: remove\n", dev
->minor
);
287 static int pci20006_insn_read(struct comedi_device
*dev
,
288 struct comedi_subdevice
*s
,
289 struct comedi_insn
*insn
, unsigned int *data
);
290 static int pci20006_insn_write(struct comedi_device
*dev
,
291 struct comedi_subdevice
*s
,
292 struct comedi_insn
*insn
, unsigned int *data
);
294 static const struct comedi_lrange
*pci20006_range_list
[] = {
300 static int pci20006_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
303 union pci20xxx_subdev_private
*sdp
= s
->private;
305 if (opt0
< 0 || opt0
> 2)
307 if (opt1
< 0 || opt1
> 2)
310 sdp
->pci20006
.ao_range_list
[0] = pci20006_range_list
[opt0
];
311 sdp
->pci20006
.ao_range_list
[1] = pci20006_range_list
[opt1
];
314 s
->type
= COMEDI_SUBD_AO
;
315 s
->subdev_flags
= SDF_WRITABLE
;
318 s
->insn_read
= pci20006_insn_read
;
319 s
->insn_write
= pci20006_insn_write
;
321 s
->range_table_list
= sdp
->pci20006
.ao_range_list
;
325 static int pci20006_insn_read(struct comedi_device
*dev
,
326 struct comedi_subdevice
*s
,
327 struct comedi_insn
*insn
, unsigned int *data
)
329 union pci20xxx_subdev_private
*sdp
= s
->private;
331 data
[0] = sdp
->pci20006
.last_data
[CR_CHAN(insn
->chanspec
)];
336 static int pci20006_insn_write(struct comedi_device
*dev
,
337 struct comedi_subdevice
*s
,
338 struct comedi_insn
*insn
, unsigned int *data
)
340 union pci20xxx_subdev_private
*sdp
= s
->private;
342 unsigned int boarddata
;
344 sdp
->pci20006
.last_data
[CR_CHAN(insn
->chanspec
)] = data
[0];
345 boarddata
= (((unsigned int)data
[0] + 0x8000) & 0xffff);
346 /* comedi-data -> board-data */
347 lo
= (boarddata
& 0xff);
348 hi
= ((boarddata
>> 8) & 0xff);
350 switch (CR_CHAN(insn
->chanspec
)) {
352 writeb(lo
, sdp
->iobase
+ PCI20006_LCHAN0
);
353 writeb(hi
, sdp
->iobase
+ PCI20006_LCHAN0
+ 1);
354 writeb(0x00, sdp
->iobase
+ PCI20006_STROBE0
);
357 writeb(lo
, sdp
->iobase
+ PCI20006_LCHAN1
);
358 writeb(hi
, sdp
->iobase
+ PCI20006_LCHAN1
+ 1);
359 writeb(0x00, sdp
->iobase
+ PCI20006_STROBE1
);
363 " comedi%d: pci20xxx: ao channel Error!\n", dev
->minor
);
372 static int pci20341_insn_read(struct comedi_device
*dev
,
373 struct comedi_subdevice
*s
,
374 struct comedi_insn
*insn
, unsigned int *data
);
376 static const int pci20341_timebase
[] = { 0x00, 0x00, 0x00, 0x04 };
377 static const int pci20341_settling_time
[] = { 0x58, 0x58, 0x93, 0x99 };
379 static const struct comedi_lrange range_bipolar0_5
= { 1, {BIP_RANGE(0.5)} };
380 static const struct comedi_lrange range_bipolar0_05
= { 1, {BIP_RANGE(0.05)} };
381 static const struct comedi_lrange range_bipolar0_025
= { 1, {BIP_RANGE(0.025)} };
383 static const struct comedi_lrange
*const pci20341_ranges
[] = {
390 static int pci20341_init(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
393 union pci20xxx_subdev_private
*sdp
= s
->private;
396 /* options handling */
397 if (opt0
< 0 || opt0
> 3)
399 sdp
->pci20341
.timebase
= pci20341_timebase
[opt0
];
400 sdp
->pci20341
.settling_time
= pci20341_settling_time
[opt0
];
403 s
->type
= COMEDI_SUBD_AI
;
404 s
->subdev_flags
= SDF_READABLE
;
405 s
->n_chan
= PCI20341_CHAN_NR
;
406 s
->len_chanlist
= PCI20341_SCANLIST
;
407 s
->insn_read
= pci20341_insn_read
;
409 s
->range_table
= pci20341_ranges
[opt0
];
411 option
= sdp
->pci20341
.timebase
| PCI20341_REPMODE
; /* depends on gain, trigger, repetition mode */
413 writeb(PCI20341_INIT
, sdp
->iobase
+ PCI20341_CONFIG_REG
); /* initialize Module */
414 writeb(PCI20341_PACER
, sdp
->iobase
+ PCI20341_MOD_STATUS
); /* set Pacer */
415 writeb(option
, sdp
->iobase
+ PCI20341_OPT_REG
); /* option register */
416 writeb(sdp
->pci20341
.settling_time
, sdp
->iobase
+ PCI20341_SET_TIME_REG
); /* settling time counter */
417 /* trigger not implemented */
421 static int pci20341_insn_read(struct comedi_device
*dev
,
422 struct comedi_subdevice
*s
,
423 struct comedi_insn
*insn
, unsigned int *data
)
425 union pci20xxx_subdev_private
*sdp
= s
->private;
426 unsigned int i
= 0, j
= 0;
428 unsigned char eoc
; /* end of conversion */
429 unsigned int clb
; /* channel list byte */
430 unsigned int boarddata
;
432 writeb(1, sdp
->iobase
+ PCI20341_LCHAN_ADDR_REG
); /* write number of input channels */
433 clb
= PCI20341_DAISY_CHAIN
| PCI20341_MUX
| (sdp
->pci20341
.ai_gain
<< 3)
434 | CR_CHAN(insn
->chanspec
);
435 writeb(clb
, sdp
->iobase
+ PCI20341_CHAN_LIST
);
436 writeb(0x00, sdp
->iobase
+ PCI20341_CC_RESET
); /* reset settling time counter and trigger delay counter */
437 writeb(0x00, sdp
->iobase
+ PCI20341_CHAN_RESET
);
441 for (i
= 0; i
< insn
->n
; i
++) {
442 /* data polling isn't the niciest way to get the data, I know,
443 * but there are only 6 cycles (mean) and it is easier than
444 * the whole interrupt stuff
447 readb(sdp
->iobase
+ PCI20341_SOFT_PACER
); /* generate Pacer */
448 eoc
= readb(sdp
->iobase
+ PCI20341_STATUS_REG
);
449 while ((eoc
< 0x80) && j
< 100) { /* poll Interrupt Flag */
451 eoc
= readb(sdp
->iobase
+ PCI20341_STATUS_REG
);
455 "comedi%d: pci20xxx: "
456 "AI interrupt channel %i polling exit !\n",
460 lo
= readb(sdp
->iobase
+ PCI20341_LDATA
);
461 hi
= readb(sdp
->iobase
+ PCI20341_LDATA
+ 1);
462 boarddata
= lo
+ 0x100 * hi
;
463 data
[i
] = (short)((boarddata
+ 0x8000) & 0xffff); /* board-data -> comedi-data */
471 static void pci20xxx_dio_config(struct comedi_device
*dev
,
472 struct comedi_subdevice
*s
);
473 static int pci20xxx_dio_insn_bits(struct comedi_device
*dev
,
474 struct comedi_subdevice
*s
,
475 struct comedi_insn
*insn
, unsigned int *data
);
476 static int pci20xxx_dio_insn_config(struct comedi_device
*dev
,
477 struct comedi_subdevice
*s
,
478 struct comedi_insn
*insn
,
481 /* initialize struct pci20xxx_private */
482 static int pci20xxx_dio_init(struct comedi_device
*dev
,
483 struct comedi_subdevice
*s
)
486 s
->type
= COMEDI_SUBD_DIO
;
487 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
489 s
->insn_bits
= pci20xxx_dio_insn_bits
;
490 s
->insn_config
= pci20xxx_dio_insn_config
;
492 s
->len_chanlist
= 32;
493 s
->range_table
= &range_digital
;
496 /* digital I/O lines default to input on board reset. */
497 pci20xxx_dio_config(dev
, s
);
502 static int pci20xxx_dio_insn_config(struct comedi_device
*dev
,
503 struct comedi_subdevice
*s
,
504 struct comedi_insn
*insn
,
509 mask
= 1 << CR_CHAN(insn
->chanspec
);
510 if (mask
& 0x000000ff)
512 else if (mask
& 0x0000ff00)
514 else if (mask
& 0x00ff0000)
522 pci20xxx_dio_config(dev
, s
);
527 static int pci20xxx_dio_insn_bits(struct comedi_device
*dev
,
528 struct comedi_subdevice
*s
,
529 struct comedi_insn
*insn
, unsigned int *data
)
531 unsigned int mask
= data
[0];
534 s
->state
|= (mask
& data
[1]);
537 if (mask
& 0x000000ff)
538 writeb((s
->state
>> 0) & 0xff,
539 devpriv
->ioaddr
+ PCI20000_DIO_0
);
540 if (mask
& 0x0000ff00)
541 writeb((s
->state
>> 8) & 0xff,
542 devpriv
->ioaddr
+ PCI20000_DIO_1
);
543 if (mask
& 0x00ff0000)
544 writeb((s
->state
>> 16) & 0xff,
545 devpriv
->ioaddr
+ PCI20000_DIO_2
);
546 if (mask
& 0xff000000)
547 writeb((s
->state
>> 24) & 0xff,
548 devpriv
->ioaddr
+ PCI20000_DIO_3
);
550 data
[1] = readb(devpriv
->ioaddr
+ PCI20000_DIO_0
);
551 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_1
) << 8;
552 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_2
) << 16;
553 data
[1] |= readb(devpriv
->ioaddr
+ PCI20000_DIO_3
) << 24;
558 static void pci20xxx_dio_config(struct comedi_device
*dev
,
559 struct comedi_subdevice
*s
)
561 unsigned char control_01
;
562 unsigned char control_23
;
563 unsigned char buffer
;
565 control_01
= readb(devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_01
);
566 control_23
= readb(devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_23
);
567 buffer
= readb(devpriv
->ioaddr
+ PCI20000_DIO_BUFFER
);
569 if (s
->io_bits
& 0x000000ff) {
571 control_01
&= PCI20000_DIO_EOC
;
572 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_0
))) | (DIO_BO
<<
576 control_01
= (control_01
& DIO_CAND
) | PCI20000_DIO_EIC
;
577 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_0
)));
579 if (s
->io_bits
& 0x0000ff00) {
581 control_01
&= PCI20000_DIO_OOC
;
582 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_1
))) | (DIO_BO
<<
586 control_01
= (control_01
& DIO_CAND
) | PCI20000_DIO_OIC
;
587 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_1
)));
589 if (s
->io_bits
& 0x00ff0000) {
591 control_23
&= PCI20000_DIO_EOC
;
592 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_2
))) | (DIO_BO
<<
596 control_23
= (control_23
& DIO_CAND
) | PCI20000_DIO_EIC
;
597 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_2
)));
599 if (s
->io_bits
& 0xff000000) {
601 control_23
&= PCI20000_DIO_OOC
;
602 buffer
= (buffer
& (~(DIO_BE
<< DIO_PS_3
))) | (DIO_BO
<<
606 control_23
= (control_23
& DIO_CAND
) | PCI20000_DIO_OIC
;
607 buffer
= (buffer
& (~(DIO_BI
<< DIO_PS_3
)));
609 writeb(control_01
, devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_01
);
610 writeb(control_23
, devpriv
->ioaddr
+ PCI20000_DIO_CONTROL_23
);
611 writeb(buffer
, devpriv
->ioaddr
+ PCI20000_DIO_BUFFER
);
615 static void pci20xxx_do(struct comedi_device
*dev
, struct comedi_subdevice
*s
)
617 /* XXX if the channel is configured for input, does this
619 /* XXX it would be a good idea to only update the registers
620 that _need_ to be updated. This requires changes to
622 writeb((s
->state
>> 0) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_0
);
623 writeb((s
->state
>> 8) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_1
);
624 writeb((s
->state
>> 16) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_2
);
625 writeb((s
->state
>> 24) & 0xff, devpriv
->ioaddr
+ PCI20000_DIO_3
);
628 static unsigned int pci20xxx_di(struct comedi_device
*dev
,
629 struct comedi_subdevice
*s
)
631 /* XXX same note as above */
634 bits
= readb(devpriv
->ioaddr
+ PCI20000_DIO_0
);
635 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_1
) << 8;
636 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_2
) << 16;
637 bits
|= readb(devpriv
->ioaddr
+ PCI20000_DIO_3
) << 24;
643 static int __init
driver_pci20xxx_init_module(void)
645 return comedi_driver_register(&driver_pci20xxx
);
648 static void __exit
driver_pci20xxx_cleanup_module(void)
650 comedi_driver_unregister(&driver_pci20xxx
);
653 module_init(driver_pci20xxx_init_module
);
654 module_exit(driver_pci20xxx_cleanup_module
);
656 MODULE_AUTHOR("Comedi http://www.comedi.org");
657 MODULE_DESCRIPTION("Comedi low-level driver");
658 MODULE_LICENSE("GPL");