2 comedi/drivers/icp_multi.c
4 COMEDI - Linux Control and Measurement Device Interface
5 Copyright (C) 1997-2002 David A. Schleef <ds@schleef.org>
7 This program is free software; you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation; either version 2 of the License, or
10 (at your option) any later version.
12 This program is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
20 Description: Inova ICP_MULTI
21 Author: Anne Smorthit <anne.smorthit@sfwte.ch>
22 Devices: [Inova] ICP_MULTI (icp_multi)
25 The driver works for analog input and output and digital input and output.
26 It does not work with interrupts or with the counters. Currently no support
29 It has 16 single-ended or 8 differential Analogue Input channels with 12-bit
30 resolution. Ranges : 5V, 10V, +/-5V, +/-10V, 0..20mA and 4..20mA. Input
31 ranges can be individually programmed for each channel. Voltage or current
32 measurement is selected by jumper.
34 There are 4 x 12-bit Analogue Outputs. Ranges : 5V, 10V, +/-5V, +/-10V
36 16 x Digital Inputs, 24V
38 8 x Digital Outputs, 24V, 1A
42 Configuration options: not applicable, uses PCI auto config
45 #include <linux/module.h>
46 #include <linux/pci.h>
47 #include <linux/delay.h>
48 #include <linux/interrupt.h>
50 #include "../comedidev.h"
52 #define ICP_MULTI_ADC_CSR 0 /* R/W: ADC command/status register */
53 #define ICP_MULTI_AI 2 /* R: Analogue input data */
54 #define ICP_MULTI_DAC_CSR 4 /* R/W: DAC command/status register */
55 #define ICP_MULTI_AO 6 /* R/W: Analogue output data */
56 #define ICP_MULTI_DI 8 /* R/W: Digital inputs */
57 #define ICP_MULTI_DO 0x0A /* R/W: Digital outputs */
58 #define ICP_MULTI_INT_EN 0x0C /* R/W: Interrupt enable register */
59 #define ICP_MULTI_INT_STAT 0x0E /* R/W: Interrupt status register */
60 #define ICP_MULTI_CNTR0 0x10 /* R/W: Counter 0 */
61 #define ICP_MULTI_CNTR1 0x12 /* R/W: counter 1 */
62 #define ICP_MULTI_CNTR2 0x14 /* R/W: Counter 2 */
63 #define ICP_MULTI_CNTR3 0x16 /* R/W: Counter 3 */
65 /* Define bits from ADC command/status register */
66 #define ADC_ST 0x0001 /* Start ADC */
67 #define ADC_BSY 0x0001 /* ADC busy */
68 #define ADC_BI 0x0010 /* Bipolar input range 1 = bipolar */
69 #define ADC_RA 0x0020 /* Input range 0 = 5V, 1 = 10V */
70 #define ADC_DI 0x0040 /* Differential input mode 1 = differential */
72 /* Define bits from DAC command/status register */
73 #define DAC_ST 0x0001 /* Start DAC */
74 #define DAC_BSY 0x0001 /* DAC busy */
75 #define DAC_BI 0x0010 /* Bipolar input range 1 = bipolar */
76 #define DAC_RA 0x0020 /* Input range 0 = 5V, 1 = 10V */
78 /* Define bits from interrupt enable/status registers */
79 #define ADC_READY 0x0001 /* A/d conversion ready interrupt */
80 #define DAC_READY 0x0002 /* D/a conversion ready interrupt */
81 #define DOUT_ERROR 0x0004 /* Digital output error interrupt */
82 #define DIN_STATUS 0x0008 /* Digital input status change interrupt */
83 #define CIE0 0x0010 /* Counter 0 overrun interrupt */
84 #define CIE1 0x0020 /* Counter 1 overrun interrupt */
85 #define CIE2 0x0040 /* Counter 2 overrun interrupt */
86 #define CIE3 0x0080 /* Counter 3 overrun interrupt */
88 /* Useful definitions */
89 #define Status_IRQ 0x00ff /* All interrupts */
91 /* Define analogue range */
92 static const struct comedi_lrange range_analog = {
101 static const char range_codes_analog[] = { 0x00, 0x20, 0x10, 0x30 };
104 ==============================================================================
105 Data & Structure declarations
106 ==============================================================================
109 struct icp_multi_private {
110 unsigned int AdcCmdStatus; /* ADC Command/Status register */
111 unsigned int DacCmdStatus; /* DAC Command/Status register */
112 unsigned int IntEnable; /* Interrupt Enable register */
113 unsigned int IntStatus; /* Interrupt Status register */
114 unsigned int act_chanlist[32]; /* list of scanned channel */
115 unsigned char act_chanlist_len; /* len of scanlist */
116 unsigned char act_chanlist_pos; /* actual position in MUX list */
117 unsigned int *ai_chanlist; /* actaul chanlist */
118 unsigned int do_data; /* Remember digital output data */
121 static void setup_channel_list(struct comedi_device *dev,
122 struct comedi_subdevice *s,
123 unsigned int *chanlist, unsigned int n_chan)
125 struct icp_multi_private *devpriv = dev->private;
126 unsigned int i, range, chanprog;
129 devpriv->act_chanlist_len = n_chan;
130 devpriv->act_chanlist_pos = 0;
132 for (i = 0; i < n_chan; i++) {
134 chanprog = CR_CHAN(chanlist[i]);
136 /* Determine if it is a differential channel (Bit 15 = 1) */
137 if (CR_AREF(chanlist[i]) == AREF_DIFF) {
145 /* Clear channel, range and input mode bits
146 * in A/D command/status register */
147 devpriv->AdcCmdStatus &= 0xf00f;
149 /* Set channel number and differential mode status bit */
151 /* Set channel number, bits 9-11 & mode, bit 6 */
152 devpriv->AdcCmdStatus |= (chanprog << 9);
153 devpriv->AdcCmdStatus |= ADC_DI;
155 /* Set channel number, bits 8-11 */
156 devpriv->AdcCmdStatus |= (chanprog << 8);
158 /* Get range for current channel */
159 range = range_codes_analog[CR_RANGE(chanlist[i])];
160 /* Set range. bits 4-5 */
161 devpriv->AdcCmdStatus |= range;
163 /* Output channel, range, mode to ICP Multi */
164 writew(devpriv->AdcCmdStatus, dev->mmio + ICP_MULTI_ADC_CSR);
168 static int icp_multi_ai_eoc(struct comedi_device *dev,
169 struct comedi_subdevice *s,
170 struct comedi_insn *insn,
171 unsigned long context)
175 status = readw(dev->mmio + ICP_MULTI_ADC_CSR);
176 if ((status & ADC_BSY) == 0)
181 static int icp_multi_insn_read_ai(struct comedi_device *dev,
182 struct comedi_subdevice *s,
183 struct comedi_insn *insn,
186 struct icp_multi_private *devpriv = dev->private;
190 /* Disable A/D conversion ready interrupt */
191 devpriv->IntEnable &= ~ADC_READY;
192 writew(devpriv->IntEnable, dev->mmio + ICP_MULTI_INT_EN);
194 /* Clear interrupt status */
195 devpriv->IntStatus |= ADC_READY;
196 writew(devpriv->IntStatus, dev->mmio + ICP_MULTI_INT_STAT);
198 /* Set up appropriate channel, mode and range data, for specified ch */
199 setup_channel_list(dev, s, &insn->chanspec, 1);
201 for (n = 0; n < insn->n; n++) {
202 /* Set start ADC bit */
203 devpriv->AdcCmdStatus |= ADC_ST;
204 writew(devpriv->AdcCmdStatus, dev->mmio + ICP_MULTI_ADC_CSR);
205 devpriv->AdcCmdStatus &= ~ADC_ST;
209 /* Wait for conversion to complete, or get fed up waiting */
210 ret = comedi_timeout(dev, s, insn, icp_multi_ai_eoc, 0);
214 data[n] = (readw(dev->mmio + ICP_MULTI_AI) >> 4) & 0x0fff;
217 /* Disable interrupt */
218 devpriv->IntEnable &= ~ADC_READY;
219 writew(devpriv->IntEnable, dev->mmio + ICP_MULTI_INT_EN);
221 /* Clear interrupt status */
222 devpriv->IntStatus |= ADC_READY;
223 writew(devpriv->IntStatus, dev->mmio + ICP_MULTI_INT_STAT);
225 return ret ? ret : n;
228 static int icp_multi_ao_eoc(struct comedi_device *dev,
229 struct comedi_subdevice *s,
230 struct comedi_insn *insn,
231 unsigned long context)
235 status = readw(dev->mmio + ICP_MULTI_DAC_CSR);
236 if ((status & DAC_BSY) == 0)
241 static int icp_multi_ao_insn_write(struct comedi_device *dev,
242 struct comedi_subdevice *s,
243 struct comedi_insn *insn,
246 struct icp_multi_private *devpriv = dev->private;
247 unsigned int chan = CR_CHAN(insn->chanspec);
248 unsigned int range = CR_RANGE(insn->chanspec);
251 /* Disable D/A conversion ready interrupt */
252 devpriv->IntEnable &= ~DAC_READY;
253 writew(devpriv->IntEnable, dev->mmio + ICP_MULTI_INT_EN);
255 /* Clear interrupt status */
256 devpriv->IntStatus |= DAC_READY;
257 writew(devpriv->IntStatus, dev->mmio + ICP_MULTI_INT_STAT);
259 /* Set up range and channel data */
260 /* Bit 4 = 1 : Bipolar */
262 /* Bit 5 = 1 : 10V */
263 /* Bits 8-9 : Channel number */
264 devpriv->DacCmdStatus &= 0xfccf;
265 devpriv->DacCmdStatus |= range_codes_analog[range];
266 devpriv->DacCmdStatus |= (chan << 8);
268 writew(devpriv->DacCmdStatus, dev->mmio + ICP_MULTI_DAC_CSR);
270 for (i = 0; i < insn->n; i++) {
271 unsigned int val = data[i];
274 /* Wait for analogue output data register to be
275 * ready for new data, or get fed up waiting */
276 ret = comedi_timeout(dev, s, insn, icp_multi_ao_eoc, 0);
278 /* Disable interrupt */
279 devpriv->IntEnable &= ~DAC_READY;
280 writew(devpriv->IntEnable,
281 dev->mmio + ICP_MULTI_INT_EN);
283 /* Clear interrupt status */
284 devpriv->IntStatus |= DAC_READY;
285 writew(devpriv->IntStatus,
286 dev->mmio + ICP_MULTI_INT_STAT);
291 writew(val, dev->mmio + ICP_MULTI_AO);
293 /* Set DAC_ST bit to write the data to selected channel */
294 devpriv->DacCmdStatus |= DAC_ST;
295 writew(devpriv->DacCmdStatus, dev->mmio + ICP_MULTI_DAC_CSR);
296 devpriv->DacCmdStatus &= ~DAC_ST;
298 s->readback[chan] = val;
304 static int icp_multi_insn_bits_di(struct comedi_device *dev,
305 struct comedi_subdevice *s,
306 struct comedi_insn *insn,
309 data[1] = readw(dev->mmio + ICP_MULTI_DI);
314 static int icp_multi_insn_bits_do(struct comedi_device *dev,
315 struct comedi_subdevice *s,
316 struct comedi_insn *insn,
319 if (comedi_dio_update_state(s, data))
320 writew(s->state, dev->mmio + ICP_MULTI_DO);
327 static int icp_multi_insn_read_ctr(struct comedi_device *dev,
328 struct comedi_subdevice *s,
329 struct comedi_insn *insn, unsigned int *data)
334 static int icp_multi_insn_write_ctr(struct comedi_device *dev,
335 struct comedi_subdevice *s,
336 struct comedi_insn *insn,
342 static irqreturn_t interrupt_service_icp_multi(int irq, void *d)
344 struct comedi_device *dev = d;
347 /* Is this interrupt from our board? */
348 int_no = readw(dev->mmio + ICP_MULTI_INT_STAT) & Status_IRQ;
353 /* Determine which interrupt is active & handle it */
380 static int check_channel_list(struct comedi_device *dev,
381 struct comedi_subdevice *s,
382 unsigned int *chanlist, unsigned int n_chan)
386 /* Check that we at least have one channel to check */
388 dev_err(dev->class_dev, "range/channel list is empty!\n");
391 /* Check all channels */
392 for (i = 0; i < n_chan; i++) {
393 /* Check that channel number is < maximum */
394 if (CR_AREF(chanlist[i]) == AREF_DIFF) {
395 if (CR_CHAN(chanlist[i]) > (s->nchan / 2)) {
396 dev_err(dev->class_dev,
397 "Incorrect differential ai ch-nr\n");
401 if (CR_CHAN(chanlist[i]) > s->n_chan) {
402 dev_err(dev->class_dev,
403 "Incorrect ai channel number\n");
412 static int icp_multi_reset(struct comedi_device *dev)
414 struct icp_multi_private *devpriv = dev->private;
417 /* Clear INT enables and requests */
418 writew(0, dev->mmio + ICP_MULTI_INT_EN);
419 writew(0x00ff, dev->mmio + ICP_MULTI_INT_STAT);
421 /* Set DACs to 0..5V range and 0V output */
422 for (i = 0; i < 4; i++) {
423 devpriv->DacCmdStatus &= 0xfcce;
425 /* Set channel number */
426 devpriv->DacCmdStatus |= (i << 8);
429 writew(0, dev->mmio + ICP_MULTI_AO);
431 /* Set start conversion bit */
432 devpriv->DacCmdStatus |= DAC_ST;
434 /* Output to command / status register */
435 writew(devpriv->DacCmdStatus, dev->mmio + ICP_MULTI_DAC_CSR);
437 /* Delay to allow DAC time to recover */
441 /* Digital outputs to 0 */
442 writew(0, dev->mmio + ICP_MULTI_DO);
447 static int icp_multi_auto_attach(struct comedi_device *dev,
448 unsigned long context_unused)
450 struct pci_dev *pcidev = comedi_to_pci_dev(dev);
451 struct icp_multi_private *devpriv;
452 struct comedi_subdevice *s;
455 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
459 ret = comedi_pci_enable(dev);
463 dev->mmio = pci_ioremap_bar(pcidev, 2);
467 ret = comedi_alloc_subdevices(dev, 5);
471 icp_multi_reset(dev);
474 ret = request_irq(pcidev->irq, interrupt_service_icp_multi,
475 IRQF_SHARED, dev->board_name, dev);
477 dev->irq = pcidev->irq;
480 s = &dev->subdevices[0];
481 dev->read_subdev = s;
482 s->type = COMEDI_SUBD_AI;
483 s->subdev_flags = SDF_READABLE | SDF_COMMON | SDF_GROUND | SDF_DIFF;
486 s->len_chanlist = 16;
487 s->range_table = &range_analog;
488 s->insn_read = icp_multi_insn_read_ai;
490 s = &dev->subdevices[1];
491 s->type = COMEDI_SUBD_AO;
492 s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_COMMON;
496 s->range_table = &range_analog;
497 s->insn_write = icp_multi_ao_insn_write;
499 ret = comedi_alloc_subdev_readback(s);
503 s = &dev->subdevices[2];
504 s->type = COMEDI_SUBD_DI;
505 s->subdev_flags = SDF_READABLE;
508 s->len_chanlist = 16;
509 s->range_table = &range_digital;
510 s->insn_bits = icp_multi_insn_bits_di;
512 s = &dev->subdevices[3];
513 s->type = COMEDI_SUBD_DO;
514 s->subdev_flags = SDF_WRITABLE;
518 s->range_table = &range_digital;
519 s->insn_bits = icp_multi_insn_bits_do;
521 s = &dev->subdevices[4];
522 s->type = COMEDI_SUBD_COUNTER;
523 s->subdev_flags = SDF_WRITABLE;
528 s->insn_read = icp_multi_insn_read_ctr;
529 s->insn_write = icp_multi_insn_write_ctr;
534 static void icp_multi_detach(struct comedi_device *dev)
537 icp_multi_reset(dev);
538 comedi_pci_detach(dev);
541 static struct comedi_driver icp_multi_driver = {
542 .driver_name = "icp_multi",
543 .module = THIS_MODULE,
544 .auto_attach = icp_multi_auto_attach,
545 .detach = icp_multi_detach,
548 static int icp_multi_pci_probe(struct pci_dev *dev,
549 const struct pci_device_id *id)
551 return comedi_pci_auto_config(dev, &icp_multi_driver, id->driver_data);
554 static const struct pci_device_id icp_multi_pci_table[] = {
555 { PCI_DEVICE(PCI_VENDOR_ID_ICP, 0x8000) },
558 MODULE_DEVICE_TABLE(pci, icp_multi_pci_table);
560 static struct pci_driver icp_multi_pci_driver = {
562 .id_table = icp_multi_pci_table,
563 .probe = icp_multi_pci_probe,
564 .remove = comedi_pci_auto_unconfig,
566 module_comedi_pci_driver(icp_multi_driver, icp_multi_pci_driver);
568 MODULE_AUTHOR("Comedi http://www.comedi.org");
569 MODULE_DESCRIPTION("Comedi low-level driver");
570 MODULE_LICENSE("GPL");