ni_pcidio.c

rtlinux-3.2-pre3.tar.bz2 rtlinux3.2-pre3的源代码

/*
    comedi/drivers/ni_pcidio.c
    driver for National Instruments PCI-DIO-96/PCI-6508
               National Instruments PCI-DIO-32HS
               National Instruments PCI-6503

    COMEDI - Linux Control and Measurement Device Interface
    Copyright (C) 1999,2002 David A. Schleef <[e-mail]>

    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: ni_pcidio.o
Description: National Instruments PCI-DIO32HS, PCI-DIO96, PCI-6533, PCI-6503
Author: ds
Status: works
Devices: [National Instruments] PCI-DIO-32HS (ni_pcidio), PXI-6533,
  PCI-DIO-96, PCI-DIO-96B, PXI-6508, PCI-6503, PCI-6503B, PCI-6503X,
  PXI-6503, PCI-6534, PCI-6533
Updated: Sun, 21 Apr 2002 21:03:38 -0700

The DIO-96 appears as four 8255 subdevices.  See the 8255
driver notes for details.

The DIO32HS board appears as one subdevice, with 32 channels.
Each channel is individually I/O configurable.  The channel order
is 0=A0, 1=A1, 2=A2, ... 8=B0, 16=C0, 24=D0.  The driver only
supports simple digital I/O; no handshaking is supported.

DMA mostly works for the PCI-DIO32HS, but only in timed input mode.

This driver could be easily modified to support AT-MIO32HS and
AT-MIO96.
*/

/*
   This driver is for both the NI PCI-DIO-32HS and the PCI-DIO-96,
   which have very different architectures.  But, since the '96 is
   so simple, it is included here.

   Manuals (available from ftp://ftp.natinst.com/support/manuals)

	320938c.pdf	PCI-DIO-96/PXI-6508/PCI-6503 User Manual
	321464b.pdf	AT/PCI-DIO-32HS User Manual
	341329A.pdf	PCI-6533 Register-Level Programmer Manual
	341330A.pdf	DAQ-DIO Technical Reference Manual

 */

#define USE_DMA
#define DEBUG 1
#define DEBUG_FLAGS

#include <linux/comedidev.h>

#include <linux/irq.h> /* for disable_irq */

#include "mite.h"
#include "8255.h"


#undef DPRINTK
#ifdef DEBUG
#define DPRINTK(format, args...)	printk(format, ## args)
#else
#define DPRINTK(format, args...)
#endif

#define PCI_VENDOR_ID_NATINST	0x1093

#define PCI_DIO_SIZE 4096
#define PCI_MITE_SIZE 4096

/* defines for the PCI-DIO-96 */

#define NIDIO_8255_BASE(x)	((x)*4)
#define NIDIO_A 0
#define NIDIO_B 4
#define NIDIO_C 8
#define NIDIO_D 12

/* defines for the PCI-DIO-32HS */

#define Window_Address			4	/* W */
#define Interrupt_And_Window_Status	4	/* R */
  #define IntStatus1				(1<<0)
  #define IntStatus2				(1<<1)
  #define WindowAddressStatus_mask		0x7c

#define Master_DMA_And_Interrupt_Control 5	/* W */
  #define InterruptLine(x)			((x)&3)
  #define OpenInt				(1<<2)
#define Group_Status			5	/* R */
  #define DataLeft				(1<<0)
  #define Req					(1<<2)
  #define StopTrig				(1<<3)

#define Group_1_Flags			6	/* R */
#define Group_2_Flags			7	/* R */
  #define TransferReady				(1<<0)
  #define CountExpired				(1<<1)
  #define Waited				(1<<5)
  #define PrimaryTC				(1<<6)
  #define SecondaryTC				(1<<7)
  //#define SerialRose
  //#define ReqRose
  //#define Paused

#define Group_1_First_Clear		6	/* W */
#define Group_2_First_Clear		7	/* W */
  #define ClearWaited				(1<<3)
  #define ClearPrimaryTC			(1<<4)
  #define ClearSecondaryTC			(1<<5)
  #define DMAReset				(1<<6)
  #define FIFOReset				(1<<7)
  #define ClearAll				0xf8

#define Group_1_FIFO			8	/* W */
#define Group_2_FIFO			12	/* W */

#define Transfer_Count			20
#define Chip_ID_D			24
#define Chip_ID_I			25
#define Chip_ID_O			26
#define Chip_Version			27
#define Port_IO(x)			(28+(x))
#define Port_Pin_Directions(x)		(32+(x))
#define Port_Pin_Mask(x)		(36+(x))
#define Port_Pin_Polarities(x)		(40+(x))

#define Master_Clock_Routing		45
  #define RTSIClocking(x)			(((x)&3)<<4)

#define Group_1_Second_Clear		46	/* W */
#define Group_2_Second_Clear		47	/* W */
  #define ClearExpired				(1<<0)

#define Port_Pattern(x)			(48+(x))

#define Data_Path			64
  #define FIFOEnableA		(1<<0)
  #define FIFOEnableB		(1<<1)
  #define FIFOEnableC		(1<<2)
  #define FIFOEnableD		(1<<3)
  #define Funneling(x)		(((x)&3)<<4)
  #define GroupDirection	(1<<7)

#define Protocol_Register_1		65
#define OpMode				Protocol_Register_1
  #define RunMode(x)		((x)&7)
  #define Numbered		(1<<3)

#define Protocol_Register_2		66
#define ClockReg			Protocol_Register_2
  #define ClockLine(x)		(((x)&3)<<5)
  #define InvertStopTrig	(1<<7)

#define Protocol_Register_3		67
#define Sequence			Protocol_Register_3

#define Protocol_Register_14		68 /* 16 bit */
#define ClockSpeed			Protocol_Register_14

#define Protocol_Register_4		70
#define ReqReg				Protocol_Register_4
  #define ReqConditioning(x)	(((x)&7)<<3)

#define Protocol_Register_5		71
#define BlockMode			Protocol_Register_5

#define FIFO_Control			72
  #define ReadyLevel(x)		((x)&7)

#define Protocol_Register_6		73
#define LinePolarities			Protocol_Register_6
  #define InvertAck		(1<<0)
  #define InvertReq		(1<<1)
  #define InvertClock		(1<<2)
  #define InvertSerial		(1<<3)
  #define OpenAck		(1<<4)
  #define OpenClock		(1<<5)

#define Protocol_Register_7		74
#define AckSer				Protocol_Register_7
  #define AckLine(x)		(((x)&3)<<2)
  #define ExchangePins		(1<<7)

#define Interrupt_Control		75
  /* bits same as flags */

#define DMA_Line_Control		76
  #define DMAChannel(x)		((x)&0xf)

#define Transfer_Size_Control		77
  #define TransferWidth(x)	((x)&3)
  #define TransferLength(x)	(((x)&3)<<3)
  #define RequireRLevel		(1<<5)

#define Protocol_Register_15		79
#define DAQOptions			Protocol_Register_15
  #define StartSource(x)			((x)&0x3)
  #define InvertStart				(1<<2)
  #define StopSource(x)				(((x)&0x3)<<3)
  #define ReqStart				(1<<6)
  #define PreStart				(1<<7)

#define Pattern_Detection		81
  #define DetectionMethod			(1<<0)
  #define InvertMatch				(1<<1)
  #define IE_Pattern_Detection			(1<<2)

#define Protocol_Register_9		82
#define ReqDelay			Protocol_Register_9

#define Protocol_Register_10		83
#define ReqNotDelay			Protocol_Register_10

#define Protocol_Register_11		84
#define AckDelay			Protocol_Register_11

#define Protocol_Register_12		85
#define AckNotDelay			Protocol_Register_12

#define Protocol_Register_13		86
#define Data1Delay			Protocol_Register_13

#define Protocol_Register_8		88 /* 32 bit */
#define StartDelay			Protocol_Register_8


#define TIMER_BASE 50		/* nanoseconds */

#ifdef USE_DMA
#define IntEn (CountExpired|Waited|PrimaryTC|SecondaryTC)
#else
#define IntEn (TransferReady|CountExpired|Waited|PrimaryTC|SecondaryTC)
#endif

enum mite_dma_channels
{
	DI_DMA_CHAN = 1,
};

static int nidio_attach(comedi_device *dev,comedi_devconfig *it);
static int nidio_detach(comedi_device *dev);
static comedi_driver driver_pcidio={
	driver_name:	"ni_pcidio",
	module:		THIS_MODULE,
	attach:		nidio_attach,
	detach:		nidio_detach,
};
COMEDI_INITCLEANUP(driver_pcidio);

typedef struct{
	int dev_id;
	char *name;
	int n_8255;
	unsigned int is_diodaq : 1;
}nidio_board;
static nidio_board nidio_boards[]={
	{
	dev_id:		0x1150,
	name:		"pci-dio-32hs",
	n_8255:		0,
	is_diodaq:	1,
	},
	{
	dev_id:		0x1320,
	name:		"pxi-6533",
	n_8255:		0,
	is_diodaq:	1,
	},
	{
	dev_id:		0x12b0,
	name:		"pci-6534",
	n_8255:		0,
	is_diodaq:	1,
	},
	{
	dev_id:		0x0160,
	name:		"pci-dio-96",
	n_8255:		4,
	is_diodaq:	0,
	},
	{
	dev_id:		0x1630,
	name:		"pci-dio-96b",
	n_8255:		4,
	is_diodaq:	0,
	},
	{
	dev_id:		0x13c0,
	name:		"pxi-6508",
	n_8255:		4,
	is_diodaq:	0,
	},
	{
	dev_id:		0x0400,
	name:		"pci-6503",
	n_8255:		1,
	is_diodaq:	0,
	},
	{
	dev_id:		0x1250,
	name:		"pci-6503b",
	n_8255:		1,
	is_diodaq:	0,
	},
	{
	dev_id:		0x17d0,
	name:		"pci-6503x",
	n_8255:		1,
	is_diodaq:	0,
	},
	{
	dev_id:		0x1800,
	name:		"pxi-6503",
	n_8255:		1,
	is_diodaq:	0,
	},
};
#define n_nidio_boards (sizeof(nidio_boards)/sizeof(nidio_boards[0]))
#define this_board ((nidio_board *)dev->board_ptr)

static struct pci_device_id ni_pcidio_pci_table[] __devinitdata = {
	{ PCI_VENDOR_ID_NATINST, 0x1150, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x1320, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x12b0, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x0160, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x1630, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x13c0, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x0400, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x1250, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x17d0, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ PCI_VENDOR_ID_NATINST, 0x1800, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
	{ 0 }
};
MODULE_DEVICE_TABLE(pci, ni_pcidio_pci_table);

typedef struct{
	struct mite_struct *mite;
	int boardtype;
	int dio;
}nidio96_private;
#define devpriv ((nidio96_private *)dev->private)

static int ni_pcidio_cmdtest(comedi_device *dev,comedi_subdevice *s,
				  comedi_cmd *cmd);
static int ni_pcidio_cmd(comedi_device *dev,comedi_subdevice *s);
static int ni_pcidio_inttrig(comedi_device *dev, comedi_subdevice *s,
	unsigned int trignum);
static int nidio_find_device(comedi_device *dev,int bus,int slot);
static int ni_pcidio_ns_to_timer(int *nanosec, int round_mode);
static void setup_mite_dma(comedi_device *dev,comedi_subdevice *s);

#ifdef DEBUG_FLAGS
static void ni_pcidio_print_flags(unsigned int flags);
static void ni_pcidio_print_status(unsigned int status);
#else
#define ni_pcidio_print_flags(x)
#define ni_pcidio_print_status(x)
#endif

static int nidio96_8255_cb(int dir,int port,int data,unsigned long iobase)
{
	if(dir){
		writeb(data,iobase+port);
		return 0;
	}else{
		return readb(iobase+port);
	}
}

static void nidio_interrupt(int irq, void *d, struct pt_regs *regs)
{
	comedi_device *dev=d;
	comedi_subdevice *s = dev->subdevices;
	comedi_async *async = s->async;
	struct mite_struct *mite = devpriv->mite;
	struct mite_channel *mite_chan = &mite->channels[ DI_DMA_CHAN ];
	//int i, j;
	long int AuxData = 0;
	sampl_t data1 = 0;
	sampl_t data2 = 0;
	int flags;
	int status;
	int work = 0;
	unsigned int m_status;

	status = readb(dev->iobase+Interrupt_And_Window_Status);
	flags = readb(dev->iobase+Group_1_Flags);
	m_status = readl(mite->mite_io_addr + MITE_CHSR + CHAN_OFFSET( DI_DMA_CHAN ));

	//interrupcions parasites
	if(dev->attached == 0){
		comedi_error(dev,"premature interrupt");
		async->events |= COMEDI_CB_ERROR|COMEDI_CB_EOA;
	}

	DPRINTK("ni_pcidio_interrupt: status=0x%02x,flags=0x%02x,m_status=0x%08x\n",
		status,flags,m_status);
	ni_pcidio_print_flags(flags);
	ni_pcidio_print_status(status);
#ifdef MITE_DEBUG
	mite_print_chsr(m_status);
#endif
	//printk("mite_bytes_transferred: %d\n",mite_bytes_transferred(mite,DI_DMA_CHAN));
	//mite_dump_regs(mite);

	//printk("buf[0]=%08x\n",*(unsigned int *)async->prealloc_buf);
	//printk("buf[4096]=%08x\n",*(unsigned int *)(async->prealloc_buf+4096));

	if(m_status & CHSR_INT){
		if(m_status & CHSR_LINKC){
			unsigned int count;

			writel(CHOR_CLRLC, mite->mite_io_addr + MITE_CHOR + CHAN_OFFSET(DI_DMA_CHAN));
			count = le32_to_cpu(mite_chan->ring[mite_chan->current_link].count);

			/* XXX need to byteswap */

			async->buf_write_count += count;
			async->buf_write_ptr += count;
			if(async->buf_write_ptr >= async->prealloc_bufsz){
				async->buf_write_ptr -= async->prealloc_bufsz;
			}
			mite_chan->current_link++;
			if(mite_chan->current_link >= mite_chan->n_links){
				mite_chan->current_link=0;
			}
		}
		if(m_status & CHSR_DONE){
			writel(CHOR_CLRDONE, mite->mite_io_addr + MITE_CHOR +
				CHAN_OFFSET( DI_DMA_CHAN ));
		}
		if(m_status & ~(CHSR_INT | CHSR_LINKC | CHSR_DONE | CHSR_DRDY | CHSR_DRQ1)){
			DPRINTK("unknown mite interrupt, disabling IRQ\n");
			writel(CHOR_DMARESET, mite->mite_io_addr + MITE_CHOR +
				CHAN_OFFSET( DI_DMA_CHAN ));
			disable_irq(dev->irq);
		}
		async->events |= COMEDI_CB_BLOCK;
	}

	while(status&DataLeft){
		work++;
		if(work>20){
			DPRINTK("too much work in interrupt\n");
			writeb(0x00,dev->iobase+Master_DMA_And_Interrupt_Control);
			break;
		}

		flags &= IntEn;

		if(flags & TransferReady){
			//DPRINTK("TransferReady\n");
			while(flags & TransferReady){
				work++;
				if(work>100){
					DPRINTK("too much work in interrupt\n");
					writeb(0x00,dev->iobase+Master_DMA_And_Interrupt_Control);
					goto out;
				}
				AuxData = readl(dev->iobase+Group_1_FIFO);
				data1 = AuxData & 0xffff;
				data2 = (AuxData & 0xffff0000) >> 16;
				comedi_buf_put(async,data1);
				comedi_buf_put(async,data2);
				//DPRINTK("read:%d, %d\n",data1,data2);
				flags = readb(dev->iobase+Group_1_Flags);
			}
			//DPRINTK("buf_int_count: %d\n",async->buf_int_count);
			//DPRINTK("1) IntEn=%d,flags=%d,status=%d\n",IntEn,flags,status);
			//ni_pcidio_print_flags(flags);
			//ni_pcidio_print_status(status);
			async->events |= COMEDI_CB_BLOCK;
		}

		if(flags & CountExpired){
			DPRINTK("CountExpired\n");
			writeb(ClearExpired,dev->iobase+Group_1_Second_Clear);
			async->events |= COMEDI_CB_EOA;

			writeb(0x00,dev->iobase+OpMode);
			writeb(0x00,dev->iobase+Master_DMA_And_Interrupt_Control);
#ifdef USE_DMA
			mite_dma_disarm(mite, DI_DMA_CHAN);
			writel(CHOR_DMARESET, mite->mite_io_addr + MITE_CHOR +
				CHAN_OFFSET( DI_DMA_CHAN ));
#endif
			break;
		}else if(flags & Waited){
			DPRINTK("Waited\n");
			writeb(ClearWaited,dev->iobase+Group_1_First_Clear);
			writeb(0x00,dev->iobase+Master_DMA_And_Interrupt_Control);
			async->events |= COMEDI_CB_EOA | COMEDI_CB_ERROR;
#ifdef USE_DMA
			mite_dma_disarm(mite, DI_DMA_CHAN);
			writel(CHOR_DMARESET, mite->mite_io_addr + MITE_CHOR +
				CHAN_OFFSET( DI_DMA_CHAN ));
#endif
			break;
		}else if(flags & PrimaryTC){
			DPRINTK("PrimaryTC\n");
			writeb(ClearPrimaryTC,dev->iobase+Group_1_First_Clear);
			async->events |= COMEDI_CB_EOA;
			writeb(0x00,dev->iobase+Master_DMA_And_Interrupt_Control);
		}else if(flags & SecondaryTC){
			DPRINTK("SecondaryTC\n");
			writeb(ClearSecondaryTC,dev->iobase+Group_1_First_Clear);