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added 2.6.29.6 aldebaran kernel
[nao-ulib.git] / kernel / 2.6.29.6-aldebaran-rt / drivers / staging / comedi / drivers / me_daq.c
blob6accec20a0f9d38fdcfefd929168928a6a68e4f8
1 /*
2
3 comedi/drivers/me_daq.c
4
5 Hardware driver for Meilhaus data acquisition cards:
6
7 ME-2000i, ME-2600i, ME-3000vm1
8
9 Copyright (C) 2002 Michael Hillmann <hillmann@syscongroup.de>
10
11 This program is free software; you can redistribute it and/or modify
12 it under the terms of the GNU General Public License as published by
13 the Free Software Foundation; either version 2 of the License, or
14 (at your option) any later version.
15
16 This program is distributed in the hope that it will be useful,
17 but WITHOUT ANY WARRANTY; without even the implied warranty of
18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 GNU General Public License for more details.
20
21 You should have received a copy of the GNU General Public License
22 along with this program; if not, write to the Free Software
23 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 */
25
26 /*
27 Driver: me_daq
28 Description: Meilhaus PCI data acquisition cards
29 Author: Michael Hillmann <hillmann@syscongroup.de>
30 Devices: [Meilhaus] ME-2600i (me_daq), ME-2000i
31 Status: experimental
32
33 Supports:
34
35 Analog Output
36
37 Configuration options:
38
39 [0] - PCI bus number (optional)
40 [1] - PCI slot number (optional)
41
42 If bus/slot is not specified, the first available PCI
43 device will be used.
44
45 The 2600 requires a firmware upload, which can be accomplished
46 using the -i or --init-data option of comedi_config.
47 The firmware can be
48 found in the comedi_nonfree_firmware tarball available
49 from http://www.comedi.org
50
51 */
52
53 #include "../comedidev.h"
54
55 #include "comedi_pci.h"
56
57 /*#include "me2600_fw.h" */
58
59 #define ME_DRIVER_NAME "me_daq"
60
61 #define ME2000_DEVICE_ID 0x2000
62 #define ME2600_DEVICE_ID 0x2600
63
64 #define PLX_INTCSR 0x4C /* PLX interrupt status register */
65 #define XILINX_DOWNLOAD_RESET 0x42 /* Xilinx registers */
66
67 #define ME_CONTROL_1 0x0000 /* - | W */
68 #define INTERRUPT_ENABLE (1<<15)
69 #define COUNTER_B_IRQ (1<<12)
70 #define COUNTER_A_IRQ (1<<11)
71 #define CHANLIST_READY_IRQ (1<<10)
72 #define EXT_IRQ (1<<9)
73 #define ADFIFO_HALFFULL_IRQ (1<<8)
74 #define SCAN_COUNT_ENABLE (1<<5)
75 #define SIMULTANEOUS_ENABLE (1<<4)
76 #define TRIGGER_FALLING_EDGE (1<<3)
77 #define CONTINUOUS_MODE (1<<2)
78 #define DISABLE_ADC (0<<0)
79 #define SOFTWARE_TRIGGERED_ADC (1<<0)
80 #define SCAN_TRIGGERED_ADC (2<<0)
81 #define EXT_TRIGGERED_ADC (3<<0)
82 #define ME_ADC_START 0x0000 /* R | - */
83 #define ME_CONTROL_2 0x0002 /* - | W */
84 #define ENABLE_ADFIFO (1<<10)
85 #define ENABLE_CHANLIST (1<<9)
86 #define ENABLE_PORT_B (1<<7)
87 #define ENABLE_PORT_A (1<<6)
88 #define ENABLE_COUNTER_B (1<<4)
89 #define ENABLE_COUNTER_A (1<<3)
90 #define ENABLE_DAC (1<<1)
91 #define BUFFERED_DAC (1<<0)
92 #define ME_DAC_UPDATE 0x0002 /* R | - */
93 #define ME_STATUS 0x0004 /* R | - */
94 #define COUNTER_B_IRQ_PENDING (1<<12)
95 #define COUNTER_A_IRQ_PENDING (1<<11)
96 #define CHANLIST_READY_IRQ_PENDING (1<<10)
97 #define EXT_IRQ_PENDING (1<<9)
98 #define ADFIFO_HALFFULL_IRQ_PENDING (1<<8)
99 #define ADFIFO_FULL (1<<4)
100 #define ADFIFO_HALFFULL (1<<3)
101 #define ADFIFO_EMPTY (1<<2)
102 #define CHANLIST_FULL (1<<1)
103 #define FST_ACTIVE (1<<0)
104 #define ME_RESET_INTERRUPT 0x0004 /* - | W */
105 #define ME_DIO_PORT_A 0x0006 /* R | W */
106 #define ME_DIO_PORT_B 0x0008 /* R | W */
107 #define ME_TIMER_DATA_0 0x000A /* - | W */
108 #define ME_TIMER_DATA_1 0x000C /* - | W */
109 #define ME_TIMER_DATA_2 0x000E /* - | W */
110 #define ME_CHANNEL_LIST 0x0010 /* - | W */
111 #define ADC_UNIPOLAR (1<<6)
112 #define ADC_GAIN_0 (0<<4)
113 #define ADC_GAIN_1 (1<<4)
114 #define ADC_GAIN_2 (2<<4)
115 #define ADC_GAIN_3 (3<<4)
116 #define ME_READ_AD_FIFO 0x0010 /* R | - */
117 #define ME_DAC_CONTROL 0x0012 /* - | W */
118 #define DAC_UNIPOLAR_D (0<<4)
119 #define DAC_BIPOLAR_D (1<<4)
120 #define DAC_UNIPOLAR_C (0<<5)
121 #define DAC_BIPOLAR_C (1<<5)
122 #define DAC_UNIPOLAR_B (0<<6)
123 #define DAC_BIPOLAR_B (1<<6)
124 #define DAC_UNIPOLAR_A (0<<7)
125 #define DAC_BIPOLAR_A (1<<7)
126 #define DAC_GAIN_0_D (0<<8)
127 #define DAC_GAIN_1_D (1<<8)
128 #define DAC_GAIN_0_C (0<<9)
129 #define DAC_GAIN_1_C (1<<9)
130 #define DAC_GAIN_0_B (0<<10)
131 #define DAC_GAIN_1_B (1<<10)
132 #define DAC_GAIN_0_A (0<<11)
133 #define DAC_GAIN_1_A (1<<11)
134 #define ME_DAC_CONTROL_UPDATE 0x0012 /* R | - */
135 #define ME_DAC_DATA_A 0x0014 /* - | W */
136 #define ME_DAC_DATA_B 0x0016 /* - | W */
137 #define ME_DAC_DATA_C 0x0018 /* - | W */
138 #define ME_DAC_DATA_D 0x001A /* - | W */
139 #define ME_COUNTER_ENDDATA_A 0x001C /* - | W */
140 #define ME_COUNTER_ENDDATA_B 0x001E /* - | W */
141 #define ME_COUNTER_STARTDATA_A 0x0020 /* - | W */
142 #define ME_COUNTER_VALUE_A 0x0020 /* R | - */
143 #define ME_COUNTER_STARTDATA_B 0x0022 /* - | W */
144 #define ME_COUNTER_VALUE_B 0x0022 /* R | - */
145
146 /* Function prototypes */
147 static int me_attach(comedi_device *dev, comedi_devconfig *it);
148 static int me_detach(comedi_device *dev);
149
150 static const comedi_lrange me2000_ai_range = {
151 8,
152 {
153 BIP_RANGE(10),
154 BIP_RANGE(5),
155 BIP_RANGE(2.5),
156 BIP_RANGE(1.25),
157 UNI_RANGE(10),
158 UNI_RANGE(5),
159 UNI_RANGE(2.5),
160 UNI_RANGE(1.25)
161 }
162 };
163
164 static const comedi_lrange me2600_ai_range = {
165 8,
166 {
167 BIP_RANGE(10),
168 BIP_RANGE(5),
169 BIP_RANGE(2.5),
170 BIP_RANGE(1.25),
171 UNI_RANGE(10),
172 UNI_RANGE(5),
173 UNI_RANGE(2.5),
174 UNI_RANGE(1.25)
175 }
176 };
177
178 static const comedi_lrange me2600_ao_range = {
179 3,
180 {
181 BIP_RANGE(10),
182 BIP_RANGE(5),
183 UNI_RANGE(10)
184 }
185 };
186
187 static DEFINE_PCI_DEVICE_TABLE(me_pci_table) = {
188 {PCI_VENDOR_ID_MEILHAUS, ME2600_DEVICE_ID, PCI_ANY_ID, PCI_ANY_ID, 0, 0,
189 0},
190 {PCI_VENDOR_ID_MEILHAUS, ME2000_DEVICE_ID, PCI_ANY_ID, PCI_ANY_ID, 0, 0,
191 0},
192 {0}
193 };
194
195 MODULE_DEVICE_TABLE(pci, me_pci_table);
196
197 /* Board specification structure */
198 struct me_board {
199 const char *name; /* driver name */
200 int device_id;
201 int ao_channel_nbr; /* DA config */
202 int ao_resolution;
203 int ao_resolution_mask;
204 const comedi_lrange *ao_range_list;
205 int ai_channel_nbr; /* AD config */
206 int ai_resolution;
207 int ai_resolution_mask;
208 const comedi_lrange *ai_range_list;
209 int dio_channel_nbr; /* DIO config */
210 };
211
212 static const struct me_board me_boards[] = {
213 {
214 /* -- ME-2600i -- */
215 .name = ME_DRIVER_NAME,
216 .device_id = ME2600_DEVICE_ID,
217 /* Analog Output */
218 .ao_channel_nbr = 4,
219 .ao_resolution = 12,
220 .ao_resolution_mask = 0x0fff,
221 .ao_range_list = &me2600_ao_range,
222 .ai_channel_nbr = 16,
223 /* Analog Input */
224 .ai_resolution = 12,
225 .ai_resolution_mask = 0x0fff,
226 .ai_range_list = &me2600_ai_range,
227 .dio_channel_nbr = 32,
228 },
229 {
230 /* -- ME-2000i -- */
231 .name = ME_DRIVER_NAME,
232 .device_id = ME2000_DEVICE_ID,
233 /* Analog Output */
234 .ao_channel_nbr = 0,
235 .ao_resolution = 0,
236 .ao_resolution_mask = 0,
237 .ao_range_list = NULL,
238 .ai_channel_nbr = 16,
239 /* Analog Input */
240 .ai_resolution = 12,
241 .ai_resolution_mask = 0x0fff,
242 .ai_range_list = &me2000_ai_range,
243 .dio_channel_nbr = 32,
244 }
245 };
246
247 #define me_board_nbr (sizeof(me_boards)/sizeof(struct me_board))
248
249 static comedi_driver me_driver = {
250 .driver_name = ME_DRIVER_NAME,
251 .module = THIS_MODULE,
252 .attach = me_attach,
253 .detach = me_detach,
254 };
255 COMEDI_PCI_INITCLEANUP(me_driver, me_pci_table);
256
257 /* Private data structure */
258 struct me_private_data {
259 struct pci_dev *pci_device;
260 void __iomem *plx_regbase; /* PLX configuration base address */
261 void __iomem *me_regbase; /* Base address of the Meilhaus card */
262 unsigned long plx_regbase_size; /* Size of PLX configuration space */
263 unsigned long me_regbase_size; /* Size of Meilhaus space */
264
265 unsigned short control_1; /* Mirror of CONTROL_1 register */
266 unsigned short control_2; /* Mirror of CONTROL_2 register */
267 unsigned short dac_control; /* Mirror of the DAC_CONTROL register */
268 int ao_readback[4]; /* Mirror of analog output data */
269 };
270
271 #define dev_private ((struct me_private_data *)dev->private)
272
273 /*
274 * ------------------------------------------------------------------
275 *
276 * Helpful functions
277 *
278 * ------------------------------------------------------------------
279 */
280 static inline void sleep(unsigned sec)
281 {
282 current->state = TASK_INTERRUPTIBLE;
283 schedule_timeout(sec * HZ);
284 }
285
286 /*
287 * ------------------------------------------------------------------
288 *
289 * DIGITAL INPUT/OUTPUT SECTION
290 *
291 * ------------------------------------------------------------------
292 */
293 static int me_dio_insn_config(comedi_device *dev, comedi_subdevice *s,
294 comedi_insn *insn, lsampl_t *data)
295 {
296 int bits;
297 int mask = 1 << CR_CHAN(insn->chanspec);
298
299 /* calculate port */
300 if (mask & 0x0000ffff) { /* Port A in use */
301 bits = 0x0000ffff;
302
303 /* Enable Port A */
304 dev_private->control_2 |= ENABLE_PORT_A;
305 writew(dev_private->control_2,
306 dev_private->me_regbase + ME_CONTROL_2);
307 } else { /* Port B in use */
308
309 bits = 0xffff0000;
310
311 /* Enable Port B */
312 dev_private->control_2 |= ENABLE_PORT_B;
313 writew(dev_private->control_2,
314 dev_private->me_regbase + ME_CONTROL_2);
315 }
316
317 if (data[0]) {
318 /* Config port as output */
319 s->io_bits |= bits;
320 } else {
321 /* Config port as input */
322 s->io_bits &= ~bits;
323 }
324
325 return 1;
326 }
327
328 /* Digital instant input/outputs */
329 static int me_dio_insn_bits(comedi_device *dev, comedi_subdevice *s,
330 comedi_insn *insn, lsampl_t *data)
331 {
332 unsigned int mask = data[0];
333 s->state &= ~mask;
334 s->state |= (mask & data[1]);
335
336 mask &= s->io_bits;
337 if (mask & 0x0000ffff) { /* Port A */
338 writew((s->state & 0xffff),
339 dev_private->me_regbase + ME_DIO_PORT_A);
340 } else {
341 data[1] &= ~0x0000ffff;
342 data[1] |= readw(dev_private->me_regbase + ME_DIO_PORT_A);
343 }
344
345 if (mask & 0xffff0000) { /* Port B */
346 writew(((s->state >> 16) & 0xffff),
347 dev_private->me_regbase + ME_DIO_PORT_B);
348 } else {
349 data[1] &= ~0xffff0000;
350 data[1] |= readw(dev_private->me_regbase + ME_DIO_PORT_B) << 16;
351 }
352
353 return 2;
354 }
355
356 /*
357 * ------------------------------------------------------------------
358 *
359 * ANALOG INPUT SECTION
360 *
361 * ------------------------------------------------------------------
362 */
363
364 /* Analog instant input */
365 static int me_ai_insn_read(comedi_device *dev, comedi_subdevice *subdevice,
366 comedi_insn *insn, lsampl_t *data)
367 {
368 unsigned short value;
369 int chan = CR_CHAN((&insn->chanspec)[0]);
370 int rang = CR_RANGE((&insn->chanspec)[0]);
371 int aref = CR_AREF((&insn->chanspec)[0]);
372 int i;
373
374 /* stop any running conversion */
375 dev_private->control_1 &= 0xFFFC;
376 writew(dev_private->control_1, dev_private->me_regbase + ME_CONTROL_1);
377
378 /* clear chanlist and ad fifo */
379 dev_private->control_2 &= ~(ENABLE_ADFIFO | ENABLE_CHANLIST);
380 writew(dev_private->control_2, dev_private->me_regbase + ME_CONTROL_2);
381
382 /* reset any pending interrupt */
383 writew(0x00, dev_private->me_regbase + ME_RESET_INTERRUPT);
384
385 /* enable the chanlist and ADC fifo */
386 dev_private->control_2 |= (ENABLE_ADFIFO | ENABLE_CHANLIST);
387 writew(dev_private->control_2, dev_private->me_regbase + ME_CONTROL_2);
388
389 /* write to channel list fifo */
390 /* b3:b0 are the channel number */
391 value = chan & 0x0f;
392 /* b5:b4 are the channel gain */
393 value |= (rang & 0x03) << 4;
394 /* b6 channel polarity */
395 value |= (rang & 0x04) << 4;
396 /* b7 single or differential */
397 value |= ((aref & AREF_DIFF) ? 0x80 : 0);
398 writew(value & 0xff, dev_private->me_regbase + ME_CHANNEL_LIST);
399
400 /* set ADC mode to software trigger */
401 dev_private->control_1 |= SOFTWARE_TRIGGERED_ADC;
402 writew(dev_private->control_1, dev_private->me_regbase + ME_CONTROL_1);
403
404 /* start conversion by reading from ADC_START */
405 readw(dev_private->me_regbase + ME_ADC_START);
406
407 /* wait for ADC fifo not empty flag */
408 for (i = 100000; i > 0; i--)
409 if (!(readw(dev_private->me_regbase + ME_STATUS) & 0x0004))
410 break;
411
412 /* get value from ADC fifo */
413 if (i) {
414 data[0] =
415 (readw(dev_private->me_regbase +
416 ME_READ_AD_FIFO) ^ 0x800) & 0x0FFF;
417 } else {
418 printk(KERN_ERR "comedi%d: Cannot get single value\n",
419 dev->minor);
420 return -EIO;
421 }
422
423 /* stop any running conversion */
424 dev_private->control_1 &= 0xFFFC;
425 writew(dev_private->control_1, dev_private->me_regbase + ME_CONTROL_1);
426
427 return 1;
428 }
429
430 /*
431 * ------------------------------------------------------------------
432 *
433 * HARDWARE TRIGGERED ANALOG INPUT SECTION
434 *
435 * ------------------------------------------------------------------
436 */
437
438 /* Cancel analog input autoscan */
439 static int me_ai_cancel(comedi_device *dev, comedi_subdevice *s)
440 {
441 /* disable interrupts */
442
443 /* stop any running conversion */
444 dev_private->control_1 &= 0xFFFC;
445 writew(dev_private->control_1, dev_private->me_regbase + ME_CONTROL_1);
446
447 return 0;
448 }
449
450 /* Test analog input command */
451 static int me_ai_do_cmd_test(comedi_device *dev, comedi_subdevice *s,
452 comedi_cmd *cmd)
453 {
454 return 0;
455 }
456
457 /* Analog input command */
458 static int me_ai_do_cmd(comedi_device *dev, comedi_subdevice *subdevice)
459 {
460 return 0;
461 }
462
463 /*
464 * ------------------------------------------------------------------
465 *
466 * ANALOG OUTPUT SECTION
467 *
468 * ------------------------------------------------------------------
469 */
470
471 /* Analog instant output */
472 static int me_ao_insn_write(comedi_device *dev, comedi_subdevice *s,
473 comedi_insn *insn, lsampl_t *data)
474 {
475 int chan;
476 int rang;
477 int i;
478
479 /* Enable all DAC */
480 dev_private->control_2 |= ENABLE_DAC;
481 writew(dev_private->control_2, dev_private->me_regbase + ME_CONTROL_2);
482
483 /* and set DAC to "buffered" mode */
484 dev_private->control_2 |= BUFFERED_DAC;
485 writew(dev_private->control_2, dev_private->me_regbase + ME_CONTROL_2);
486
487 /* Set dac-control register */
488 for (i = 0; i < insn->n; i++) {
489 chan = CR_CHAN((&insn->chanspec)[i]);
490 rang = CR_RANGE((&insn->chanspec)[i]);
491
492 /* clear bits for this channel */
493 dev_private->dac_control &= ~(0x0880 >> chan);
494 if (rang == 0)
495 dev_private->dac_control |=
496 ((DAC_BIPOLAR_A | DAC_GAIN_1_A) >> chan);
497 else if (rang == 1)
498 dev_private->dac_control |=
499 ((DAC_BIPOLAR_A | DAC_GAIN_0_A) >> chan);
500 }
501 writew(dev_private->dac_control,
502 dev_private->me_regbase + ME_DAC_CONTROL);
503
504 /* Update dac-control register */
505 readw(dev_private->me_regbase + ME_DAC_CONTROL_UPDATE);
506
507 /* Set data register */
508 for (i = 0; i < insn->n; i++) {
509 chan = CR_CHAN((&insn->chanspec)[i]);
510 writew((data[0] & s->maxdata),
511 dev_private->me_regbase + ME_DAC_DATA_A + (chan << 1));
512 dev_private->ao_readback[chan] = (data[0] & s->maxdata);
513 }
514
515 /* Update dac with data registers */
516 readw(dev_private->me_regbase + ME_DAC_UPDATE);
517
518 return i;
519 }
520
521 /* Analog output readback */
522 static int me_ao_insn_read(comedi_device *dev, comedi_subdevice *s,
523 comedi_insn *insn, lsampl_t *data)
524 {
525 int i;
526
527 for (i = 0; i < insn->n; i++) {
528 data[i] =
529 dev_private->ao_readback[CR_CHAN((&insn->chanspec)[i])];
530 }
531
532 return 1;
533 }
534
535 /*
536 * ------------------------------------------------------------------
537 *
538 * INITIALISATION SECTION
539 *
540 * ------------------------------------------------------------------
541 */
542
543 /* Xilinx firmware download for card: ME-2600i */
544 static int me2600_xilinx_download(comedi_device *dev,
545 unsigned char *me2600_firmware,
546 unsigned int length)
547 {
548 unsigned int value;
549 unsigned int file_length;
550 unsigned int i;
551
552 /* disable irq's on PLX */
553 writel(0x00, dev_private->plx_regbase + PLX_INTCSR);
554
555 /* First, make a dummy read to reset xilinx */
556 value = readw(dev_private->me_regbase + XILINX_DOWNLOAD_RESET);
557
558 /* Wait until reset is over */
559 sleep(1);
560
561 /* Write a dummy value to Xilinx */
562 writeb(0x00, dev_private->me_regbase + 0x0);
563 sleep(1);
564
565 /*
566 * Format of the firmware
567 * Build longs from the byte-wise coded header
568 * Byte 1-3: length of the array
569 * Byte 4-7: version
570 * Byte 8-11: date
571 * Byte 12-15: reserved
572 */
573 if (length < 16)
574 return -EINVAL;
575 file_length = (((unsigned int)me2600_firmware[0] & 0xff) << 24) +
576 (((unsigned int)me2600_firmware[1] & 0xff) << 16) +
577 (((unsigned int)me2600_firmware[2] & 0xff) << 8) +
578 ((unsigned int)me2600_firmware[3] & 0xff);
579
580 /*
581 * Loop for writing firmware byte by byte to xilinx
582 * Firmware data start at offfset 16
583 */
584 for (i = 0; i < file_length; i++)
585 writeb((me2600_firmware[16 + i] & 0xff),
586 dev_private->me_regbase + 0x0);
587
588 /* Write 5 dummy values to xilinx */
589 for (i = 0; i < 5; i++)
590 writeb(0x00, dev_private->me_regbase + 0x0);
591
592 /* Test if there was an error during download -> INTB was thrown */
593 value = readl(dev_private->plx_regbase + PLX_INTCSR);
594 if (value & 0x20) {
595 /* Disable interrupt */
596 writel(0x00, dev_private->plx_regbase + PLX_INTCSR);
597 printk(KERN_ERR "comedi%d: Xilinx download failed\n",
598 dev->minor);
599 return -EIO;
600 }
601
602 /* Wait until the Xilinx is ready for real work */
603 sleep(1);
604
605 /* Enable PLX-Interrupts */
606 writel(0x43, dev_private->plx_regbase + PLX_INTCSR);
607
608 return 0;
609 }
610
611 /* Reset device */
612 static int me_reset(comedi_device *dev)
613 {
614 /* Reset board */
615 writew(0x00, dev_private->me_regbase + ME_CONTROL_1);
616 writew(0x00, dev_private->me_regbase + ME_CONTROL_2);
617 writew(0x00, dev_private->me_regbase + ME_RESET_INTERRUPT);
618 writew(0x00, dev_private->me_regbase + ME_DAC_CONTROL);
619
620 /* Save values in the board context */
621 dev_private->dac_control = 0;
622 dev_private->control_1 = 0;
623 dev_private->control_2 = 0;
624
625 return 0;
626 }
627
628 /*
629 * Attach
630 *
631 * - Register PCI device
632 * - Declare device driver capability
633 */
634 static int me_attach(comedi_device *dev, comedi_devconfig *it)
635 {
636 struct pci_dev *pci_device;
637 comedi_subdevice *subdevice;
638 struct me_board *board;
639 resource_size_t plx_regbase_tmp;
640 unsigned long plx_regbase_size_tmp;
641 resource_size_t me_regbase_tmp;
642 unsigned long me_regbase_size_tmp;
643 resource_size_t swap_regbase_tmp;
644 unsigned long swap_regbase_size_tmp;
645 resource_size_t regbase_tmp;
646 int result, error, i;
647
648 /* Allocate private memory */
649 if (alloc_private(dev, sizeof(struct me_private_data)) < 0)
650 return -ENOMEM;
651
652 /* Probe the device to determine what device in the series it is. */
653 for (pci_device = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
654 pci_device != NULL;
655 pci_device =
656 pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pci_device)) {
657 if (pci_device->vendor == PCI_VENDOR_ID_MEILHAUS) {
658 for (i = 0; i < me_board_nbr; i++) {
659 if (me_boards[i].device_id ==
660 pci_device->device) {
661 /*
662 * was a particular bus/slot requested?
663 */
664 if ((it->options[0] != 0)
665 || (it->options[1] != 0)) {
666 /*
667 * are we on the wrong bus/slot?
668 */
669 if (pci_device->bus->number !=
670 it->options[0]
671 || PCI_SLOT(pci_device->
672 devfn) !=
673 it->options[1]) {
674 continue;
675 }
676 }
677
678 dev->board_ptr = me_boards + i;
679 board = (struct me_board *) dev->
680 board_ptr;
681 dev_private->pci_device = pci_device;
682 goto found;
683 }
684 }
685 }
686 }
687
688 printk(KERN_ERR
689 "comedi%d: no supported board found! (req. bus/slot : %d/%d)\n",
690 dev->minor, it->options[0], it->options[1]);
691 return -EIO;
692
693 found:
694 printk(KERN_INFO "comedi%d: found %s at PCI bus %d, slot %d\n",
695 dev->minor, me_boards[i].name,
696 pci_device->bus->number, PCI_SLOT(pci_device->devfn));
697
698 /* Enable PCI device and request PCI regions */
699 if (comedi_pci_enable(pci_device, ME_DRIVER_NAME) < 0) {
700 printk(KERN_ERR "comedi%d: Failed to enable PCI device and "
701 "request regions\n", dev->minor);
702 return -EIO;
703 }
704
705 /* Set data in device structure */
706 dev->board_name = board->name;
707
708 /* Read PLX register base address [PCI_BASE_ADDRESS #0]. */
709 plx_regbase_tmp = pci_resource_start(pci_device, 0);
710 plx_regbase_size_tmp = pci_resource_len(pci_device, 0);
711 dev_private->plx_regbase =
712 ioremap(plx_regbase_tmp, plx_regbase_size_tmp);
713 dev_private->plx_regbase_size = plx_regbase_size_tmp;
714 if (!dev_private->plx_regbase) {
715 printk("comedi%d: Failed to remap I/O memory\n", dev->minor);
716 return -ENOMEM;
717 }
718
719 /* Read Swap base address [PCI_BASE_ADDRESS #5]. */
720
721 swap_regbase_tmp = pci_resource_start(pci_device, 5);
722 swap_regbase_size_tmp = pci_resource_len(pci_device, 5);
723
724 if (!swap_regbase_tmp)
725 printk(KERN_ERR "comedi%d: Swap not present\n", dev->minor);
726
727 /*---------------------------------------------- Workaround start ---*/
728 if (plx_regbase_tmp & 0x0080) {
729 printk(KERN_ERR "comedi%d: PLX-Bug detected\n", dev->minor);
730
731 if (swap_regbase_tmp) {
732 regbase_tmp = plx_regbase_tmp;
733 plx_regbase_tmp = swap_regbase_tmp;
734 swap_regbase_tmp = regbase_tmp;
735
736 result = pci_write_config_dword(pci_device,
737 PCI_BASE_ADDRESS_0, plx_regbase_tmp);
738 if (result != PCIBIOS_SUCCESSFUL)
739 return -EIO;
740
741 result = pci_write_config_dword(pci_device,
742 PCI_BASE_ADDRESS_5, swap_regbase_tmp);
743 if (result != PCIBIOS_SUCCESSFUL)
744 return -EIO;
745 } else {
746 plx_regbase_tmp -= 0x80;
747 result = pci_write_config_dword(pci_device,
748 PCI_BASE_ADDRESS_0, plx_regbase_tmp);
749 if (result != PCIBIOS_SUCCESSFUL)
750 return -EIO;
751 }
752 }
753 /*--------------------------------------------- Workaround end -----*/
754
755 /* Read Meilhaus register base address [PCI_BASE_ADDRESS #2]. */
756
757 me_regbase_tmp = pci_resource_start(pci_device, 2);
758 me_regbase_size_tmp = pci_resource_len(pci_device, 2);
759 dev_private->me_regbase_size = me_regbase_size_tmp;
760 dev_private->me_regbase = ioremap(me_regbase_tmp, me_regbase_size_tmp);
761 if (!dev_private->me_regbase) {
762 printk(KERN_ERR "comedi%d: Failed to remap I/O memory\n",
763 dev->minor);
764 return -ENOMEM;
765 }
766 /* Download firmware and reset card */
767 if (board->device_id == ME2600_DEVICE_ID) {
768 unsigned char *aux_data;
769 int aux_len;
770
771 aux_data = comedi_aux_data(it->options, 0);
772 aux_len = it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH];
773
774 if (!aux_data || aux_len < 1) {
775 comedi_error(dev, "You must provide me2600 firmware "
776 "using the --init-data option of "
777 "comedi_config");
778 return -EINVAL;
779 }
780 me2600_xilinx_download(dev, aux_data, aux_len);
781 }
782
783 me_reset(dev);
784
785 /* device driver capabilities */
786 error = alloc_subdevices(dev, 3);
787 if (error < 0)
788 return error;
789
790 subdevice = dev->subdevices + 0;
791 subdevice->type = COMEDI_SUBD_AI;
792 subdevice->subdev_flags = SDF_READABLE | SDF_COMMON | SDF_CMD_READ;
793 subdevice->n_chan = board->ai_channel_nbr;
794 subdevice->maxdata = board->ai_resolution_mask;
795 subdevice->len_chanlist = board->ai_channel_nbr;
796 subdevice->range_table = board->ai_range_list;
797 subdevice->cancel = me_ai_cancel;
798 subdevice->insn_read = me_ai_insn_read;
799 subdevice->do_cmdtest = me_ai_do_cmd_test;
800 subdevice->do_cmd = me_ai_do_cmd;
801
802 subdevice = dev->subdevices + 1;
803 subdevice->type = COMEDI_SUBD_AO;
804 subdevice->subdev_flags = SDF_WRITEABLE | SDF_COMMON;
805 subdevice->n_chan = board->ao_channel_nbr;
806 subdevice->maxdata = board->ao_resolution_mask;
807 subdevice->len_chanlist = board->ao_channel_nbr;
808 subdevice->range_table = board->ao_range_list;
809 subdevice->insn_read = me_ao_insn_read;
810 subdevice->insn_write = me_ao_insn_write;
811
812 subdevice = dev->subdevices + 2;
813 subdevice->type = COMEDI_SUBD_DIO;
814 subdevice->subdev_flags = SDF_READABLE | SDF_WRITEABLE;
815 subdevice->n_chan = board->dio_channel_nbr;
816 subdevice->maxdata = 1;
817 subdevice->len_chanlist = board->dio_channel_nbr;
818 subdevice->range_table = &range_digital;
819 subdevice->insn_bits = me_dio_insn_bits;
820 subdevice->insn_config = me_dio_insn_config;
821 subdevice->io_bits = 0;
822
823 printk(KERN_INFO "comedi%d: "ME_DRIVER_NAME" attached.\n", dev->minor);
824 return 0;
825 }
826
827 /* Detach */
828 static int me_detach(comedi_device *dev)
829 {
830 if (dev_private) {
831 if (dev_private->me_regbase) {
832 me_reset(dev);
833 iounmap(dev_private->me_regbase);
834 }
835 if (dev_private->plx_regbase)
836 iounmap(dev_private->plx_regbase);
837 if (dev_private->pci_device) {
838 if (dev_private->plx_regbase_size)
839 comedi_pci_disable(dev_private->pci_device);
840
841 pci_dev_put(dev_private->pci_device);
842 }
843 }
844 return 0;
845 }
Nao low-level kernelspace/userspace library that runs on our robots, Nao-Team HTWK