Pileus Git - ~andy/linux/blob - drivers/staging/comedi/drivers/usbduxsigma.c

   1 /*
   2    comedi/drivers/usbdux.c
   3    Copyright (C) 2011 Bernd Porr, Bernd.Porr@f2s.com
   4
   5    This program is free software; you can redistribute it and/or modify
   6    it under the terms of the GNU General Public License as published by
   7    the Free Software Foundation; either version 2 of the License, or
   8    (at your option) any later version.
   9
  10    This program is distributed in the hope that it will be useful,
  11    but WITHOUT ANY WARRANTY; without even the implied warranty of
  12    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13    GNU General Public License for more details.
  14  */
  15 /*
  16 Driver: usbduxsigma
  17 Description: University of Stirling USB DAQ & INCITE Technology Limited
  18 Devices: [ITL] USB-DUX (usbduxsigma.o)
  19 Author: Bernd Porr <BerndPorr@f2s.com>
  20 Updated: 8 Nov 2011
  21 Status: testing
  22 */
  23 /*
  24  * I must give credit here to Chris Baugher who
  25  * wrote the driver for AT-MIO-16d. I used some parts of this
  26  * driver. I also must give credits to David Brownell
  27  * who supported me with the USB development.
  28  *
  29  * Note: the raw data from the A/D converter is 24 bit big endian
  30  * anything else is little endian to/from the dux board
  31  *
  32  *
  33  * Revision history:
  34  *   0.1: initial version
  35  *   0.2: all basic functions implemented, digital I/O only for one port
  36  *   0.3: proper vendor ID and driver name
  37  *   0.4: fixed D/A voltage range
  38  *   0.5: various bug fixes, health check at startup
  39  *   0.6: corrected wrong input range
  40  */
  41
  42 #include <linux/kernel.h>
  43 #include <linux/module.h>
  44 #include <linux/init.h>
  45 #include <linux/slab.h>
  46 #include <linux/input.h>
  47 #include <linux/usb.h>
  48 #include <linux/fcntl.h>
  49 #include <linux/compiler.h>
  50
  51 #include "comedi_fc.h"
  52 #include "../comedidev.h"
  53
  54 /* timeout for the USB-transfer in ms*/
  55 #define BULK_TIMEOUT 1000
  56
  57 /* constants for "firmware" upload and download */
  58 #define FIRMWARE                "usbduxsigma_firmware.bin"
  59 #define FIRMWARE_MAX_LEN        0x4000
  60 #define USBDUXSUB_FIRMWARE      0xa0
  61 #define VENDOR_DIR_IN           0xc0
  62 #define VENDOR_DIR_OUT          0x40
  63
  64 /* internal addresses of the 8051 processor */
  65 #define USBDUXSUB_CPUCS 0xE600
  66
  67 /*
  68  * the minor device number, major is 180 only for debugging purposes and to
  69  * upload special firmware (programming the eeprom etc) which is not
  70  * compatible with the comedi framwork
  71  */
  72 #define USBDUXSUB_MINOR 32
  73
  74 /* max lenghth of the transfer-buffer for software upload */
  75 #define TB_LEN 0x2000
  76
  77 /* Input endpoint number: ISO/IRQ */
  78 #define ISOINEP           6
  79
  80 /* Output endpoint number: ISO/IRQ */
  81 #define ISOOUTEP          2
  82
  83 /* This EP sends DUX commands to USBDUX */
  84 #define COMMAND_OUT_EP     1
  85
  86 /* This EP receives the DUX commands from USBDUX */
  87 #define COMMAND_IN_EP        8
  88
  89 /* Output endpoint for PWM */
  90 #define PWM_EP         4
  91
  92 /* 300Hz max frequ under PWM */
  93 #define MIN_PWM_PERIOD  ((long)(1E9/300))
  94
  95 /* Default PWM frequency */
  96 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
  97
  98 /* Number of channels (16 AD and offset)*/
  99 #define NUMCHANNELS 16
 100
 101 /* Size of one A/D value */
 102 #define SIZEADIN          ((sizeof(int32_t)))
 103
 104 /*
 105  * Size of the async input-buffer IN BYTES, the DIO state is transmitted
 106  * as the first byte.
 107  */
 108 #define SIZEINBUF         (((NUMCHANNELS+1)*SIZEADIN))
 109
 110 /* 16 bytes. */
 111 #define SIZEINSNBUF       16
 112
 113 /* Number of DA channels */
 114 #define NUMOUTCHANNELS    8
 115
 116 /* size of one value for the D/A converter: channel and value */
 117 #define SIZEDAOUT          ((sizeof(uint8_t)+sizeof(int16_t)))
 118
 119 /*
 120  * Size of the output-buffer in bytes
 121  * Actually only the first 4 triplets are used but for the
 122  * high speed mode we need to pad it to 8 (microframes).
 123  */
 124 #define SIZEOUTBUF         ((8*SIZEDAOUT))
 125
 126 /*
 127  * Size of the buffer for the dux commands: just now max size is determined
 128  * by the analogue out + command byte + panic bytes...
 129  */
 130 #define SIZEOFDUXBUFFER    ((8*SIZEDAOUT+2))
 131
 132 /* Number of in-URBs which receive the data: min=2 */
 133 #define NUMOFINBUFFERSFULL     5
 134
 135 /* Number of out-URBs which send the data: min=2 */
 136 #define NUMOFOUTBUFFERSFULL    5
 137
 138 /* Number of in-URBs which receive the data: min=5 */
 139 /* must have more buffers due to buggy USB ctr */
 140 #define NUMOFINBUFFERSHIGH     10
 141
 142 /* Number of out-URBs which send the data: min=5 */
 143 /* must have more buffers due to buggy USB ctr */
 144 #define NUMOFOUTBUFFERSHIGH    10
 145
 146 /* number of retries to get the right dux command */
 147 #define RETRIES 10
 148
 149 /**************************************************/
 150 /* comedi constants */
 151 static const struct comedi_lrange range_usbdux_ai_range = { 1, {
 152                                                                 BIP_RANGE
 153                                                                 (2.65/2.0)
 154                                                                 }
 155 };
 156
 157 struct usbduxsigma_private {
 158         /* actual number of in-buffers */
 159         int numOfInBuffers;
 160         /* actual number of out-buffers */
 161         int numOfOutBuffers;
 162         /* ISO-transfer handling: buffers */
 163         struct urb **urbIn;
 164         struct urb **urbOut;
 165         /* pwm-transfer handling */
 166         struct urb *urbPwm;
 167         /* PWM period */
 168         unsigned int pwmPeriod;
 169         /* PWM internal delay for the GPIF in the FX2 */
 170         uint8_t pwmDelay;
 171         /* size of the PWM buffer which holds the bit pattern */
 172         int sizePwmBuf;
 173         /* input buffer for the ISO-transfer */
 174         int32_t *inBuffer;
 175         /* input buffer for single insn */
 176         int8_t *insnBuffer;
 177         /* output buffer for single DA outputs */
 178         int16_t *outBuffer;
 179         /* interface structure in 2.6 */
 180         struct usb_interface *interface;
 181         /* is it USB_SPEED_HIGH or not? */
 182         short int high_speed;
 183         /* asynchronous command is running */
 184         short int ai_cmd_running;
 185         short int ao_cmd_running;
 186         /* pwm is running */
 187         short int pwm_cmd_running;
 188         /* continuous acquisition */
 189         short int ai_continuous;
 190         short int ao_continuous;
 191         /* number of samples to acquire */
 192         int ai_sample_count;
 193         int ao_sample_count;
 194         /* time between samples in units of the timer */
 195         unsigned int ai_timer;
 196         unsigned int ao_timer;
 197         /* counter between acquisitions */
 198         unsigned int ai_counter;
 199         unsigned int ao_counter;
 200         /* interval in frames/uframes */
 201         unsigned int ai_interval;
 202         /* D/A commands */
 203         uint8_t *dac_commands;
 204         /* commands */
 205         uint8_t *dux_commands;
 206         struct semaphore sem;
 207 };
 208
 209 static void usbdux_ai_stop(struct usbduxsigma_private *devpriv, int do_unlink)
 210 {
 211         if (do_unlink) {
 212                 int i;
 213
 214                 for (i = 0; i < devpriv->numOfInBuffers; i++) {
 215                         if (devpriv->urbIn[i])
 216                                 usb_kill_urb(devpriv->urbIn[i]);
 217                 }
 218         }
 219
 220         devpriv->ai_cmd_running = 0;
 221 }
 222
 223 static int usbdux_ai_cancel(struct comedi_device *dev,
 224                             struct comedi_subdevice *s)
 225 {
 226         struct usbduxsigma_private *devpriv = dev->private;
 227
 228         down(&devpriv->sem);
 229         /* unlink only if it is really running */
 230         usbdux_ai_stop(devpriv, devpriv->ai_cmd_running);
 231         up(&devpriv->sem);
 232
 233         return 0;
 234 }
 235
 236 static void usbduxsub_ai_IsocIrq(struct urb *urb)
 237 {
 238         struct comedi_device *dev = urb->context;
 239         struct usbduxsigma_private *devpriv = dev->private;
 240         struct comedi_subdevice *s = dev->read_subdev;
 241         unsigned int dio_state;
 242         int32_t val;
 243         int ret;
 244         int i;
 245
 246         /* first we test if something unusual has just happened */
 247         switch (urb->status) {
 248         case 0:
 249                 /* copy the result in the transfer buffer */
 250                 memcpy(devpriv->inBuffer, urb->transfer_buffer, SIZEINBUF);
 251                 break;
 252         case -EILSEQ:
 253                 /*
 254                  * error in the ISOchronous data
 255                  * we don't copy the data into the transfer buffer
 256                  * and recycle the last data byte
 257                  */
 258                 dev_dbg(dev->class_dev,"CRC error in ISO IN stream\n");
 259
 260                 break;
 261
 262         case -ECONNRESET:
 263         case -ENOENT:
 264         case -ESHUTDOWN:
 265         case -ECONNABORTED:
 266                 /* happens after an unlink command */
 267                 if (devpriv->ai_cmd_running) {
 268                         usbdux_ai_stop(devpriv, 0);     /* w/o unlink */
 269                         /* we are still running a command, tell comedi */
 270                         s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 271                         comedi_event(dev, s);
 272                 }
 273                 return;
 274
 275         default:
 276                 /*
 277                  * a real error on the bus
 278                  * pass error to comedi if we are really running a command
 279                  */
 280                 if (devpriv->ai_cmd_running) {
 281                         dev_err(dev->class_dev,
 282                                 "%s: non-zero urb status (%d)\n",
 283                                 __func__, urb->status);
 284                         usbdux_ai_stop(devpriv, 0);     /* w/o unlink */
 285                         s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 286                         comedi_event(dev, s);
 287                 }
 288                 return;
 289         }
 290
 291         if (unlikely(!devpriv->ai_cmd_running))
 292                 return;
 293
 294         urb->dev = comedi_to_usb_dev(dev);
 295
 296         ret = usb_submit_urb(urb, GFP_ATOMIC);
 297         if (unlikely(ret < 0)) {
 298                 dev_err(dev->class_dev, "%s: urb resubmit failed (%d)\n",
 299                         __func__, ret);
 300                 if (ret == -EL2NSYNC)
 301                         dev_err(dev->class_dev,
 302                                 "buggy USB host controller or bug in IRQ handler\n");
 303                 usbdux_ai_stop(devpriv, 0);     /* w/o unlink */
 304                 s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 305                 comedi_event(dev, s);
 306                 return;
 307         }
 308
 309         /* get the state of the dio pins to allow external trigger */
 310         dio_state = be32_to_cpu(devpriv->inBuffer[0]);
 311
 312         devpriv->ai_counter--;
 313         if (likely(devpriv->ai_counter > 0))
 314                 return;
 315
 316         /* timer zero, transfer measurements to comedi */
 317         devpriv->ai_counter = devpriv->ai_timer;
 318
 319         if (!devpriv->ai_continuous) {
 320                 /* not continuous, fixed number of samples */
 321                 devpriv->ai_sample_count--;
 322                 if (devpriv->ai_sample_count < 0) {
 323                         usbdux_ai_stop(devpriv, 0);     /* w/o unlink */
 324                         /* acquistion is over, tell comedi */
 325                         s->async->events |= COMEDI_CB_EOA;
 326                         comedi_event(dev, s);
 327                         return;
 328                 }
 329         }
 330
 331         /* get the data from the USB bus and hand it over to comedi */
 332         for (i = 0; i < s->async->cmd.chanlist_len; i++) {
 333                 /* transfer data, note first byte is the DIO state */
 334                 val = be32_to_cpu(devpriv->inBuffer[i+1]);
 335                 val &= 0x00ffffff;      /* strip status byte */
 336                 val ^= 0x00800000;      /* convert to unsigned */
 337
 338                 ret = cfc_write_array_to_buffer(s, &val, sizeof(uint32_t));
 339                 if (unlikely(ret == 0)) {
 340                         /* buffer overflow */
 341                         usbdux_ai_stop(devpriv, 0);     /* w/o unlink */
 342                         return;
 343                 }
 344         }
 345         /* tell comedi that data is there */
 346         s->async->events |= (COMEDI_CB_BLOCK | COMEDI_CB_EOS);
 347         comedi_event(dev, s);
 348 }
 349
 350 static void usbdux_ao_stop(struct usbduxsigma_private *devpriv, int do_unlink)
 351 {
 352         if (do_unlink) {
 353                 int i;
 354
 355                 for (i = 0; i < devpriv->numOfOutBuffers; i++) {
 356                         if (devpriv->urbOut[i])
 357                                 usb_kill_urb(devpriv->urbOut[i]);
 358                 }
 359         }
 360
 361         devpriv->ao_cmd_running = 0;
 362 }
 363
 364 static int usbdux_ao_cancel(struct comedi_device *dev,
 365                             struct comedi_subdevice *s)
 366 {
 367         struct usbduxsigma_private *devpriv = dev->private;
 368
 369         down(&devpriv->sem);
 370         /* unlink only if it is really running */
 371         usbdux_ao_stop(devpriv, devpriv->ao_cmd_running);
 372         up(&devpriv->sem);
 373
 374         return 0;
 375 }
 376
 377 static void usbduxsub_ao_IsocIrq(struct urb *urb)
 378 {
 379         struct comedi_device *dev = urb->context;
 380         struct usbduxsigma_private *devpriv = dev->private;
 381         struct comedi_subdevice *s = dev->write_subdev;
 382         uint8_t *datap;
 383         int len;
 384         int ret;
 385         int i;
 386
 387         switch (urb->status) {
 388         case 0:
 389                 /* success */
 390                 break;
 391
 392         case -ECONNRESET:
 393         case -ENOENT:
 394         case -ESHUTDOWN:
 395         case -ECONNABORTED:
 396                 /* happens after an unlink command */
 397                 if (devpriv->ao_cmd_running) {
 398                         usbdux_ao_stop(devpriv, 0);     /* w/o unlink */
 399                         s->async->events |= COMEDI_CB_EOA;
 400                         comedi_event(dev, s);
 401                 }
 402                 return;
 403
 404         default:
 405                 /* a real error */
 406                 if (devpriv->ao_cmd_running) {
 407                         dev_err(dev->class_dev,
 408                                 "%s: non-zero urb status (%d)\n",
 409                                 __func__, urb->status);
 410                         usbdux_ao_stop(devpriv, 0);     /* w/o unlink */
 411                         s->async->events |= (COMEDI_CB_ERROR | COMEDI_CB_EOA);
 412                         comedi_event(dev, s);
 413                 }
 414                 return;
 415         }
 416
 417         if (!devpriv->ao_cmd_running)
 418                 return;
 419
 420         devpriv->ao_counter--;
 421         if ((int)devpriv->ao_counter <= 0) {
 422                 /* timer zero, transfer from comedi */
 423                 devpriv->ao_counter = devpriv->ao_timer;
 424
 425                 if (!devpriv->ao_continuous) {
 426                         /* not continuous, fixed number of samples */
 427                         devpriv->ao_sample_count--;
 428                         if (devpriv->ao_sample_count < 0) {
 429                                 usbdux_ao_stop(devpriv, 0);     /* w/o unlink */
 430                                 /* acquistion is over, tell comedi */
 431                                 s->async->events |= COMEDI_CB_EOA;
 432                                 comedi_event(dev, s);
 433                                 return;
 434                         }
 435                 }
 436
 437                 /* transmit data to the USB bus */
 438                 datap = urb->transfer_buffer;
 439                 len = s->async->cmd.chanlist_len;
 440                 *datap++ = len;
 441                 for (i = 0; i < len; i++) {
 442                         short val;
 443
 444                         if (i >= NUMOUTCHANNELS)
 445                                 break;
 446
 447                         ret = comedi_buf_get(s->async, &val);
 448                         if (ret < 0) {
 449                                 dev_err(dev->class_dev, "buffer underflow\n");
 450                                 s->async->events |= (COMEDI_CB_EOA |
 451                                                      COMEDI_CB_OVERFLOW);
 452                         }
 453                         *datap++ = val;
 454                         *datap++ = devpriv->dac_commands[i];
 455
 456                         s->async->events |= COMEDI_CB_BLOCK;
 457                         comedi_event(dev, s);
 458                 }
 459         }
 460
 461         urb->transfer_buffer_length = SIZEOUTBUF;
 462         urb->dev = comedi_to_usb_dev(dev);
 463         urb->status = 0;
 464         if (devpriv->high_speed)
 465                 urb->interval = 8;      /* uframes */
 466         else
 467                 urb->interval = 1;      /* frames */
 468         urb->number_of_packets = 1;
 469         urb->iso_frame_desc[0].offset = 0;
 470         urb->iso_frame_desc[0].length = SIZEOUTBUF;
 471         urb->iso_frame_desc[0].status = 0;
 472         ret = usb_submit_urb(urb, GFP_ATOMIC);
 473         if (ret < 0) {
 474                 dev_err(dev->class_dev,
 475                         "%s: urb resubmit failed (%d)\n",
 476                         __func__, ret);
 477                 if (ret == EL2NSYNC)
 478                         dev_err(dev->class_dev,
 479                                 "buggy USB host controller or bug in IRQ handler\n");
 480                 usbdux_ao_stop(devpriv, 0);     /* w/o unlink */
 481                 s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 482                 comedi_event(dev, s);
 483         }
 484 }
 485
 486 static int usbduxsigma_submit_urbs(struct comedi_device *dev,
 487                                    struct urb **urbs, int num_urbs,
 488                                    int input_urb)
 489 {
 490         struct usb_device *usb = comedi_to_usb_dev(dev);
 491         struct usbduxsigma_private *devpriv = dev->private;
 492         struct urb *urb;
 493         int ret;
 494         int i;
 495
 496         /* Submit all URBs and start the transfer on the bus */
 497         for (i = 0; i < num_urbs; i++) {
 498                 urb = urbs[i];
 499
 500                 /* in case of a resubmission after an unlink... */
 501                 if (input_urb)
 502                         urb->interval = devpriv->ai_interval;
 503                 urb->context = dev;
 504                 urb->dev = usb;
 505                 urb->status = 0;
 506                 urb->transfer_flags = URB_ISO_ASAP;
 507
 508                 ret = usb_submit_urb(urb, GFP_ATOMIC);
 509                 if (ret)
 510                         return ret;
 511         }
 512         return 0;
 513 }
 514
 515 static int chanToInterval(int nChannels)
 516 {
 517         if (nChannels <= 2)
 518                 /* 4kHz */
 519                 return 2;
 520         if (nChannels <= 8)
 521                 /* 2kHz */
 522                 return 4;
 523         /* 1kHz */
 524         return 8;
 525 }
 526
 527 static int usbdux_ai_cmdtest(struct comedi_device *dev,
 528                              struct comedi_subdevice *s,
 529                              struct comedi_cmd *cmd)
 530 {
 531         struct usbduxsigma_private *this_usbduxsub = dev->private;
 532         int err = 0, i;
 533         unsigned int tmpTimer;
 534
 535         /* Step 1 : check if triggers are trivially valid */
 536
 537         err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
 538         err |= cfc_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
 539         err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
 540         err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
 541         err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
 542
 543         if (err)
 544                 return 1;
 545
 546         /* Step 2a : make sure trigger sources are unique */
 547
 548         err |= cfc_check_trigger_is_unique(cmd->start_src);
 549         err |= cfc_check_trigger_is_unique(cmd->stop_src);
 550
 551         /* Step 2b : and mutually compatible */
 552
 553         if (err)
 554                 return 2;
 555
 556         /* Step 3: check if arguments are trivially valid */
 557
 558         err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
 559
 560         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 561                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
 562
 563         if (cmd->scan_begin_src == TRIG_TIMER) {
 564                 if (this_usbduxsub->high_speed) {
 565                         /*
 566                          * In high speed mode microframes are possible.
 567                          * However, during one microframe we can roughly
 568                          * sample two channels. Thus, the more channels
 569                          * are in the channel list the more time we need.
 570                          */
 571                         i = chanToInterval(cmd->chanlist_len);
 572                         err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
 573                                                          (1000000 / 8 * i));
 574                         /* now calc the real sampling rate with all the
 575                          * rounding errors */
 576                         tmpTimer =
 577                             ((unsigned int)(cmd->scan_begin_arg / 125000)) *
 578                             125000;
 579                 } else {
 580                         /* full speed */
 581                         /* 1kHz scans every USB frame */
 582                         err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
 583                                                          1000000);
 584                         /*
 585                          * calc the real sampling rate with the rounding errors
 586                          */
 587                         tmpTimer = ((unsigned int)(cmd->scan_begin_arg /
 588                                                    1000000)) * 1000000;
 589                 }
 590                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg,
 591                                                 tmpTimer);
 592         }
 593
 594         err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->chanlist_len);
 595
 596         if (cmd->stop_src == TRIG_COUNT) {
 597                 /* any count is allowed */
 598         } else {
 599                 /* TRIG_NONE */
 600                 err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
 601         }
 602
 603         if (err)
 604                 return 3;
 605
 606         return 0;
 607 }
 608
 609 /*
 610  * creates the ADC command for the MAX1271
 611  * range is the range value from comedi
 612  */
 613 static void create_adc_command(unsigned int chan,
 614                                uint8_t *muxsg0,
 615                                uint8_t *muxsg1)
 616 {
 617         if (chan < 8)
 618                 (*muxsg0) = (*muxsg0) | (1 << chan);
 619         else if (chan < 16)
 620                 (*muxsg1) = (*muxsg1) | (1 << (chan-8));
 621 }
 622
 623
 624 /* bulk transfers to usbdux */
 625
 626 #define SENDADCOMMANDS            0
 627 #define SENDDACOMMANDS            1
 628 #define SENDDIOCONFIGCOMMAND      2
 629 #define SENDDIOBITSCOMMAND        3
 630 #define SENDSINGLEAD              4
 631 #define SENDPWMON                 7
 632 #define SENDPWMOFF                8
 633
 634 static int send_dux_commands(struct comedi_device *dev, int cmd_type)
 635 {
 636         struct usb_device *usb = comedi_to_usb_dev(dev);
 637         struct usbduxsigma_private *devpriv = dev->private;
 638         int nsent;
 639
 640         devpriv->dux_commands[0] = cmd_type;
 641
 642         return usb_bulk_msg(usb, usb_sndbulkpipe(usb, COMMAND_OUT_EP),
 643                             devpriv->dux_commands, SIZEOFDUXBUFFER,
 644                             &nsent, BULK_TIMEOUT);
 645 }
 646
 647 static int receive_dux_commands(struct comedi_device *dev, int command)
 648 {
 649         struct usb_device *usb = comedi_to_usb_dev(dev);
 650         struct usbduxsigma_private *devpriv = dev->private;
 651         int nrec;
 652         int ret;
 653         int i;
 654
 655         for (i = 0; i < RETRIES; i++) {
 656                 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, COMMAND_IN_EP),
 657                                    devpriv->insnBuffer, SIZEINSNBUF,
 658                                    &nrec, BULK_TIMEOUT);
 659                 if (ret < 0)
 660                         return ret;
 661
 662                 if (devpriv->insnBuffer[0] == command)
 663                         return 0;
 664         }
 665         /*
 666          * This is only reached if the data has been requested a
 667          * couple of times and the command was not received.
 668          */
 669         return -EFAULT;
 670 }
 671
 672 static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
 673                                   struct comedi_subdevice *s,
 674                                   unsigned int trignum)
 675 {
 676         struct usbduxsigma_private *devpriv= dev->private;
 677         int ret;
 678
 679         if (trignum != 0)
 680                 return -EINVAL;
 681
 682         down(&devpriv->sem);
 683         if (!devpriv->ai_cmd_running) {
 684                 ret = usbduxsigma_submit_urbs(dev, devpriv->urbIn,
 685                                               devpriv->numOfInBuffers, 1);
 686                 if (ret < 0) {
 687                         up(&devpriv->sem);
 688                         return ret;
 689                 }
 690                 devpriv->ai_cmd_running = 1;
 691                 s->async->inttrig = NULL;
 692         }
 693         up(&devpriv->sem);
 694
 695         return 1;
 696 }
 697
 698 static int usbdux_ai_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
 699 {
 700         struct usbduxsigma_private *this_usbduxsub = dev->private;
 701         struct comedi_cmd *cmd = &s->async->cmd;
 702         unsigned int chan;
 703         int i, ret;
 704         int result;
 705         uint8_t muxsg0 = 0;
 706         uint8_t muxsg1 = 0;
 707         uint8_t sysred = 0;
 708
 709         /* block other CPUs from starting an ai_cmd */
 710         down(&this_usbduxsub->sem);
 711         if (this_usbduxsub->ai_cmd_running) {
 712                 dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
 713                         "ai_cmd not possible. Another ai_cmd is running.\n",
 714                         dev->minor);
 715                 up(&this_usbduxsub->sem);
 716                 return -EBUSY;
 717         }
 718         /* set current channel of the running acquisition to zero */
 719         s->async->cur_chan = 0;
 720
 721         /* first the number of channels per time step */
 722         this_usbduxsub->dux_commands[1] = cmd->chanlist_len;
 723
 724         /* CONFIG0 */
 725         this_usbduxsub->dux_commands[2] = 0x12;
 726
 727         /* CONFIG1: 23kHz sampling rate, delay = 0us,  */
 728         this_usbduxsub->dux_commands[3] = 0x03;
 729
 730         /* CONFIG3: differential channels off */
 731         this_usbduxsub->dux_commands[4] = 0x00;
 732
 733         for (i = 0; i < cmd->chanlist_len; i++) {
 734                 chan = CR_CHAN(cmd->chanlist[i]);
 735                 create_adc_command(chan, &muxsg0, &muxsg1);
 736         }
 737         this_usbduxsub->dux_commands[5] = muxsg0;
 738         this_usbduxsub->dux_commands[6] = muxsg1;
 739         this_usbduxsub->dux_commands[7] = sysred;
 740
 741         result = send_dux_commands(dev, SENDADCOMMANDS);
 742         if (result < 0) {
 743                 up(&this_usbduxsub->sem);
 744                 return result;
 745         }
 746
 747         if (this_usbduxsub->high_speed) {
 748                 /*
 749                  * every 2 channels get a time window of 125us. Thus, if we
 750                  * sample all 16 channels we need 1ms. If we sample only one
 751                  * channel we need only 125us
 752                  */
 753                 this_usbduxsub->ai_interval =
 754                         chanToInterval(cmd->chanlist_len);
 755                 this_usbduxsub->ai_timer = cmd->scan_begin_arg / (125000 *
 756                                                           (this_usbduxsub->
 757                                                            ai_interval));
 758         } else {
 759                 /* interval always 1ms */
 760                 this_usbduxsub->ai_interval = 1;
 761                 this_usbduxsub->ai_timer = cmd->scan_begin_arg / 1000000;
 762         }
 763         if (this_usbduxsub->ai_timer < 1) {
 764                 dev_err(&this_usbduxsub->interface->dev, "comedi%d: ai_cmd: "
 765                         "timer=%d, scan_begin_arg=%d. "
 766                         "Not properly tested by cmdtest?\n", dev->minor,
 767                         this_usbduxsub->ai_timer, cmd->scan_begin_arg);
 768                 up(&this_usbduxsub->sem);
 769                 return -EINVAL;
 770         }
 771         this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;
 772
 773         if (cmd->stop_src == TRIG_COUNT) {
 774                 /* data arrives as one packet */
 775                 this_usbduxsub->ai_sample_count = cmd->stop_arg;
 776                 this_usbduxsub->ai_continuous = 0;
 777         } else {
 778                 /* continuous acquisition */
 779                 this_usbduxsub->ai_continuous = 1;
 780                 this_usbduxsub->ai_sample_count = 0;
 781         }
 782
 783         if (cmd->start_src == TRIG_NOW) {
 784                 /* enable this acquisition operation */
 785                 ret = usbduxsigma_submit_urbs(dev, this_usbduxsub->urbIn,
 786                                               this_usbduxsub->numOfInBuffers,
 787                                               1);
 788                 if (ret < 0) {
 789                         up(&this_usbduxsub->sem);
 790                         return ret;
 791                 }
 792                 this_usbduxsub->ai_cmd_running = 1;
 793                 s->async->inttrig = NULL;
 794         } else {
 795                 /* TRIG_INT */
 796                 /* don't enable the acquision operation */
 797                 /* wait for an internal signal */
 798                 s->async->inttrig = usbduxsigma_ai_inttrig;
 799         }
 800         up(&this_usbduxsub->sem);
 801         return 0;
 802 }
 803
 804 /* Mode 0 is used to get a single conversion on demand */
 805 static int usbdux_ai_insn_read(struct comedi_device *dev,
 806                                struct comedi_subdevice *s,
 807                                struct comedi_insn *insn, unsigned int *data)
 808 {
 809         struct usbduxsigma_private *this_usbduxsub = dev->private;
 810         int i;
 811         int32_t one = 0;
 812         int chan;
 813         int err;
 814         uint8_t muxsg0 = 0;
 815         uint8_t muxsg1 = 0;
 816         uint8_t sysred = 0;
 817
 818         down(&this_usbduxsub->sem);
 819         if (this_usbduxsub->ai_cmd_running) {
 820                 dev_err(&this_usbduxsub->interface->dev,
 821                         "comedi%d: ai_insn_read not possible. "
 822                         "Async Command is running.\n", dev->minor);
 823                 up(&this_usbduxsub->sem);
 824                 return 0;
 825         }
 826
 827         /* sample one channel */
 828         /* CONFIG0: chopper on */
 829         this_usbduxsub->dux_commands[1] = 0x16;
 830
 831         /* CONFIG1: 2kHz sampling rate */
 832         this_usbduxsub->dux_commands[2] = 0x80;
 833
 834         /* CONFIG3: differential channels off */
 835         this_usbduxsub->dux_commands[3] = 0x00;
 836
 837         chan = CR_CHAN(insn->chanspec);
 838         create_adc_command(chan, &muxsg0, &muxsg1);
 839
 840         this_usbduxsub->dux_commands[4] = muxsg0;
 841         this_usbduxsub->dux_commands[5] = muxsg1;
 842         this_usbduxsub->dux_commands[6] = sysred;
 843
 844         /* adc commands */
 845         err = send_dux_commands(dev, SENDSINGLEAD);
 846         if (err < 0) {
 847                 up(&this_usbduxsub->sem);
 848                 return err;
 849         }
 850
 851         for (i = 0; i < insn->n; i++) {
 852                 err = receive_dux_commands(dev, SENDSINGLEAD);
 853                 if (err < 0) {
 854                         up(&this_usbduxsub->sem);
 855                         return 0;
 856                 }
 857                 /* 32 bits big endian from the A/D converter */
 858                 one = be32_to_cpu(*((int32_t *)
 859                                     ((this_usbduxsub->insnBuffer)+1)));
 860                 /* mask out the status byte */
 861                 one = one & 0x00ffffff;
 862                 /* turn it into an unsigned integer */
 863                 one = one ^ 0x00800000;
 864                 data[i] = one;
 865         }
 866         up(&this_usbduxsub->sem);
 867         return i;
 868 }
 869
 870 /************************************/
 871 /* analog out */
 872
 873 static int usbdux_ao_insn_read(struct comedi_device *dev,
 874                                struct comedi_subdevice *s,
 875                                struct comedi_insn *insn, unsigned int *data)
 876 {
 877         struct usbduxsigma_private *this_usbduxsub = dev->private;
 878         int i;
 879         int chan = CR_CHAN(insn->chanspec);
 880
 881         down(&this_usbduxsub->sem);
 882         for (i = 0; i < insn->n; i++)
 883                 data[i] = this_usbduxsub->outBuffer[chan];
 884
 885         up(&this_usbduxsub->sem);
 886         return i;
 887 }
 888
 889 static int usbdux_ao_insn_write(struct comedi_device *dev,
 890                                 struct comedi_subdevice *s,
 891                                 struct comedi_insn *insn, unsigned int *data)
 892 {
 893         struct usbduxsigma_private *this_usbduxsub = dev->private;
 894         int i, err;
 895         int chan = CR_CHAN(insn->chanspec);
 896
 897         down(&this_usbduxsub->sem);
 898         if (this_usbduxsub->ao_cmd_running) {
 899                 dev_err(&this_usbduxsub->interface->dev,
 900                         "comedi%d: ao_insn_write: "
 901                         "ERROR: asynchronous ao_cmd is running\n", dev->minor);
 902                 up(&this_usbduxsub->sem);
 903                 return 0;
 904         }
 905
 906         for (i = 0; i < insn->n; i++) {
 907                 dev_dbg(&this_usbduxsub->interface->dev,
 908                         "comedi%d: ao_insn_write: data[chan=%d,i=%d]=%d\n",
 909                         dev->minor, chan, i, data[i]);
 910
 911                 /* number of channels: 1 */
 912                 this_usbduxsub->dux_commands[1] = 1;
 913                 /* channel number */
 914                 this_usbduxsub->dux_commands[2] = data[i];
 915                 this_usbduxsub->outBuffer[chan] = data[i];
 916                 this_usbduxsub->dux_commands[3] = chan;
 917                 err = send_dux_commands(dev, SENDDACOMMANDS);
 918                 if (err < 0) {
 919                         up(&this_usbduxsub->sem);
 920                         return err;
 921                 }
 922         }
 923         up(&this_usbduxsub->sem);
 924
 925         return i;
 926 }
 927
 928 static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
 929                                   struct comedi_subdevice *s,
 930                                   unsigned int trignum)
 931 {
 932         struct usbduxsigma_private *devpriv = dev->private;
 933         int ret;
 934
 935         if (trignum != 0)
 936                 return -EINVAL;
 937
 938         down(&devpriv->sem);
 939         if (!devpriv->ao_cmd_running) {
 940                 ret = usbduxsigma_submit_urbs(dev, devpriv->urbOut,
 941                                               devpriv->numOfOutBuffers, 0);
 942                 if (ret < 0) {
 943                         up(&devpriv->sem);
 944                         return ret;
 945                 }
 946                 devpriv->ao_cmd_running = 1;
 947                 s->async->inttrig = NULL;
 948         }
 949         up(&devpriv->sem);
 950
 951         return 1;
 952 }
 953
 954 static int usbdux_ao_cmdtest(struct comedi_device *dev,
 955                              struct comedi_subdevice *s,
 956                              struct comedi_cmd *cmd)
 957 {
 958         int err = 0;
 959         unsigned int flags;
 960
 961         /* Step 1 : check if triggers are trivially valid */
 962
 963         err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
 964
 965         if (0) {                /* (this_usbduxsub->high_speed) */
 966                 /*
 967                  * start immediately a new scan
 968                  * the sampling rate is set by the coversion rate
 969                  */
 970                 flags = TRIG_FOLLOW;
 971         } else {
 972                 /* start a new scan (output at once) with a timer */
 973                 flags = TRIG_TIMER;
 974         }
 975         err |= cfc_check_trigger_src(&cmd->scan_begin_src, flags);
 976
 977         err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
 978         err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
 979         err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
 980
 981         if (err)
 982                 return 1;
 983
 984         /* Step 2a : make sure trigger sources are unique */
 985
 986         err |= cfc_check_trigger_is_unique(cmd->start_src);
 987         err |= cfc_check_trigger_is_unique(cmd->stop_src);
 988
 989         /* Step 2b : and mutually compatible */
 990
 991         if (err)
 992                 return 2;
 993
 994         /* Step 3: check if arguments are trivially valid */
 995
 996         err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
 997
 998         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 999                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
1000
1001         if (cmd->scan_begin_src == TRIG_TIMER)
1002                 err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
1003                                                  1000000);
1004
1005         /* not used now, is for later use */
1006         if (cmd->convert_src == TRIG_TIMER)
1007                 err |= cfc_check_trigger_arg_min(&cmd->convert_arg, 125000);
1008
1009         err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->chanlist_len);
1010
1011         if (cmd->stop_src == TRIG_COUNT) {
1012                 /* any count is allowed */
1013         } else {
1014                 /* TRIG_NONE */
1015                 err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
1016         }
1017
1018         if (err)
1019                 return 3;
1020
1021         return 0;
1022 }
1023
1024 static int usbdux_ao_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
1025 {
1026         struct usbduxsigma_private *this_usbduxsub = dev->private;
1027         struct comedi_cmd *cmd = &s->async->cmd;
1028         unsigned int chan, gain;
1029         int i, ret;
1030
1031         down(&this_usbduxsub->sem);
1032         /* set current channel of the running acquisition to zero */
1033         s->async->cur_chan = 0;
1034         for (i = 0; i < cmd->chanlist_len; ++i) {
1035                 chan = CR_CHAN(cmd->chanlist[i]);
1036                 gain = CR_RANGE(cmd->chanlist[i]);
1037                 this_usbduxsub->dac_commands[i] = chan;
1038                 dev_dbg(&this_usbduxsub->interface->dev,
1039                         "comedi%d: dac command for ch %d is %x\n",
1040                         dev->minor, i, this_usbduxsub->dac_commands[i]);
1041         }
1042
1043         /* we count in steps of 1ms (125us) */
1044         /* 125us mode not used yet */
1045         if (0) {                /* (this_usbduxsub->high_speed) */
1046                 /* 125us */
1047                 /* timing of the conversion itself: every 125 us */
1048                 this_usbduxsub->ao_timer = cmd->convert_arg / 125000;
1049         } else {
1050                 /* 1ms */
1051                 /* timing of the scan: we get all channels at once */
1052                 this_usbduxsub->ao_timer = cmd->scan_begin_arg / 1000000;
1053                 dev_dbg(&this_usbduxsub->interface->dev,
1054                         "comedi%d: scan_begin_src=%d, scan_begin_arg=%d, "
1055                         "convert_src=%d, convert_arg=%d\n", dev->minor,
1056                         cmd->scan_begin_src, cmd->scan_begin_arg,
1057                         cmd->convert_src, cmd->convert_arg);
1058                 dev_dbg(&this_usbduxsub->interface->dev,
1059                         "comedi%d: ao_timer=%d (ms)\n",
1060                         dev->minor, this_usbduxsub->ao_timer);
1061                 if (this_usbduxsub->ao_timer < 1) {
1062                         dev_err(&this_usbduxsub->interface->dev,
1063                                 "comedi%d: usbdux: ao_timer=%d, "
1064                                 "scan_begin_arg=%d. "
1065                                 "Not properly tested by cmdtest?\n",
1066                                 dev->minor, this_usbduxsub->ao_timer,
1067                                 cmd->scan_begin_arg);
1068                         up(&this_usbduxsub->sem);
1069                         return -EINVAL;
1070                 }
1071         }
1072         this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;
1073
1074         if (cmd->stop_src == TRIG_COUNT) {
1075                 /* not continuous */
1076                 /* counter */
1077                 /* high speed also scans everything at once */
1078                 if (0) {        /* (this_usbduxsub->high_speed) */
1079                         this_usbduxsub->ao_sample_count =
1080                             (cmd->stop_arg) * (cmd->scan_end_arg);
1081                 } else {
1082                         /* there's no scan as the scan has been */
1083                         /* perf inside the FX2 */
1084                         /* data arrives as one packet */
1085                         this_usbduxsub->ao_sample_count = cmd->stop_arg;
1086                 }
1087                 this_usbduxsub->ao_continuous = 0;
1088         } else {
1089                 /* continuous acquisition */
1090                 this_usbduxsub->ao_continuous = 1;
1091                 this_usbduxsub->ao_sample_count = 0;
1092         }
1093
1094         if (cmd->start_src == TRIG_NOW) {
1095                 /* enable this acquisition operation */
1096                 ret = usbduxsigma_submit_urbs(dev, this_usbduxsub->urbOut,
1097                                               this_usbduxsub->numOfOutBuffers,
1098                                               0);
1099                 if (ret < 0) {
1100                         up(&this_usbduxsub->sem);
1101                         return ret;
1102                 }
1103                 this_usbduxsub->ao_cmd_running = 1;
1104                 s->async->inttrig = NULL;
1105         } else {
1106                 /* TRIG_INT */
1107                 /* submit the urbs later */
1108                 /* wait for an internal signal */
1109                 s->async->inttrig = usbduxsigma_ao_inttrig;
1110         }
1111
1112         up(&this_usbduxsub->sem);
1113         return 0;
1114 }
1115
1116 static int usbdux_dio_insn_config(struct comedi_device *dev,
1117                                   struct comedi_subdevice *s,
1118                                   struct comedi_insn *insn, unsigned int *data)
1119 {
1120         int chan = CR_CHAN(insn->chanspec);
1121
1122         /* The input or output configuration of each digital line is
1123          * configured by a special insn_config instruction.  chanspec
1124          * contains the channel to be changed, and data[0] contains the
1125          * value COMEDI_INPUT or COMEDI_OUTPUT. */
1126
1127         switch (data[0]) {
1128         case INSN_CONFIG_DIO_OUTPUT:
1129                 s->io_bits |= 1 << chan;        /* 1 means Out */
1130                 break;
1131         case INSN_CONFIG_DIO_INPUT:
1132                 s->io_bits &= ~(1 << chan);
1133                 break;
1134         case INSN_CONFIG_DIO_QUERY:
1135                 data[1] =
1136                     (s->io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT;
1137                 break;
1138         default:
1139                 return -EINVAL;
1140                 break;
1141         }
1142         /* we don't tell the firmware here as it would take 8 frames */
1143         /* to submit the information. We do it in the insn_bits. */
1144         return insn->n;
1145 }
1146
1147 static int usbdux_dio_insn_bits(struct comedi_device *dev,
1148                                 struct comedi_subdevice *s,
1149                                 struct comedi_insn *insn,
1150                                 unsigned int *data)
1151 {
1152         struct usbduxsigma_private *this_usbduxsub = dev->private;
1153         int err;
1154
1155         down(&this_usbduxsub->sem);
1156
1157         /* The insn data is a mask in data[0] and the new data
1158          * in data[1], each channel cooresponding to a bit. */
1159         s->state &= ~data[0];
1160         s->state |= data[0] & data[1];
1161         /* The commands are 8 bits wide */
1162         this_usbduxsub->dux_commands[1] = (s->io_bits) & 0x000000FF;
1163         this_usbduxsub->dux_commands[4] = (s->state) & 0x000000FF;
1164         this_usbduxsub->dux_commands[2] = ((s->io_bits) & 0x0000FF00) >> 8;
1165         this_usbduxsub->dux_commands[5] = ((s->state) & 0x0000FF00) >> 8;
1166         this_usbduxsub->dux_commands[3] = ((s->io_bits) & 0x00FF0000) >> 16;
1167         this_usbduxsub->dux_commands[6] = ((s->state) & 0x00FF0000) >> 16;
1168
1169         /* This command also tells the firmware to return */
1170         /* the digital input lines */
1171         err = send_dux_commands(dev, SENDDIOBITSCOMMAND);
1172         if (err < 0) {
1173                 up(&this_usbduxsub->sem);
1174                 return err;
1175         }
1176         err = receive_dux_commands(dev, SENDDIOBITSCOMMAND);
1177         if (err < 0) {
1178                 up(&this_usbduxsub->sem);
1179                 return err;
1180         }
1181
1182         data[1] = (((unsigned int)(this_usbduxsub->insnBuffer[1]))&0xff) |
1183                 ((((unsigned int)(this_usbduxsub->insnBuffer[2]))&0xff) << 8) |
1184                 ((((unsigned int)(this_usbduxsub->insnBuffer[3]))&0xff) << 16);
1185
1186         s->state = data[1];
1187
1188         up(&this_usbduxsub->sem);
1189         return insn->n;
1190 }
1191
1192 static void usbdux_pwm_stop(struct usbduxsigma_private *devpriv, int do_unlink)
1193 {
1194         if (do_unlink) {
1195                 if (devpriv->urbPwm)
1196                         usb_kill_urb(devpriv->urbPwm);
1197         }
1198
1199         devpriv->pwm_cmd_running = 0;
1200 }
1201
1202 static int usbdux_pwm_cancel(struct comedi_device *dev,
1203                              struct comedi_subdevice *s)
1204 {
1205         struct usbduxsigma_private *devpriv = dev->private;
1206
1207         /* unlink only if it is really running */
1208         usbdux_pwm_stop(devpriv, devpriv->pwm_cmd_running);
1209
1210         return send_dux_commands(dev, SENDPWMOFF);
1211 }
1212
1213 static void usbduxsub_pwm_irq(struct urb *urb)
1214 {
1215         struct comedi_device *dev = urb->context;
1216         struct usbduxsigma_private *devpriv = dev->private;
1217         int ret;
1218
1219         switch (urb->status) {
1220         case 0:
1221                 /* success */
1222                 break;
1223
1224         case -ECONNRESET:
1225         case -ENOENT:
1226         case -ESHUTDOWN:
1227         case -ECONNABORTED:
1228                 /* happens after an unlink command */
1229                 if (devpriv->pwm_cmd_running)
1230                         usbdux_pwm_stop(devpriv, 0);    /* w/o unlink */
1231                 return;
1232
1233         default:
1234                 /* a real error */
1235                 if (devpriv->pwm_cmd_running) {
1236                         dev_err(dev->class_dev,
1237                                 "%s: non-zero urb status (%d)\n",
1238                                 __func__, urb->status);
1239                         usbdux_pwm_stop(devpriv, 0);    /* w/o unlink */
1240                 }
1241                 return;
1242         }
1243
1244         if (!devpriv->pwm_cmd_running)
1245                 return;
1246
1247         urb->transfer_buffer_length = devpriv->sizePwmBuf;
1248         urb->dev = comedi_to_usb_dev(dev);
1249         urb->status = 0;
1250         ret = usb_submit_urb(urb, GFP_ATOMIC);
1251         if (ret < 0) {
1252                 dev_err(dev->class_dev, "%s: urb resubmit failed (%d)\n",
1253                         __func__, ret);
1254                 if (ret == EL2NSYNC)
1255                         dev_err(dev->class_dev,
1256                                 "buggy USB host controller or bug in IRQ handler\n");
1257                 usbdux_pwm_stop(devpriv, 0);    /* w/o unlink */
1258         }
1259 }
1260
1261 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1262 {
1263         struct usb_device *usb = comedi_to_usb_dev(dev);
1264         struct usbduxsigma_private *devpriv = dev->private;
1265         struct urb *urb = devpriv->urbPwm;
1266
1267         /* in case of a resubmission after an unlink... */
1268         usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, PWM_EP),
1269                           urb->transfer_buffer, devpriv->sizePwmBuf,
1270                           usbduxsub_pwm_irq, dev);
1271
1272         return usb_submit_urb(urb, GFP_ATOMIC);
1273 }
1274
1275 static int usbdux_pwm_period(struct comedi_device *dev,
1276                              struct comedi_subdevice *s, unsigned int period)
1277 {
1278         struct usbduxsigma_private *this_usbduxsub = dev->private;
1279         int fx2delay = 255;
1280
1281         if (period < MIN_PWM_PERIOD) {
1282                 dev_err(&this_usbduxsub->interface->dev,
1283                         "comedi%d: illegal period setting for pwm.\n",
1284                         dev->minor);
1285                 return -EAGAIN;
1286         } else {
1287                 fx2delay = period / ((int)(6 * 512 * (1.0 / 0.033))) - 6;
1288                 if (fx2delay > 255) {
1289                         dev_err(&this_usbduxsub->interface->dev,
1290                                 "comedi%d: period %d for pwm is too low.\n",
1291                                 dev->minor, period);
1292                         return -EAGAIN;
1293                 }
1294         }
1295         this_usbduxsub->pwmDelay = fx2delay;
1296         this_usbduxsub->pwmPeriod = period;
1297         return 0;
1298 }
1299
1300 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1301                                  struct comedi_subdevice *s)
1302 {
1303         struct usbduxsigma_private *devpriv = dev->private;
1304         int ret;
1305
1306         if (devpriv->pwm_cmd_running)
1307                 return 0;
1308
1309         devpriv->dux_commands[1] = devpriv->pwmDelay;
1310         ret = send_dux_commands(dev, SENDPWMON);
1311         if (ret < 0)
1312                 return ret;
1313
1314         memset(devpriv->urbPwm->transfer_buffer, 0, devpriv->sizePwmBuf);
1315
1316         ret = usbduxsigma_submit_pwm_urb(dev);
1317         if (ret < 0)
1318                 return ret;
1319         devpriv->pwm_cmd_running = 1;
1320
1321         return 0;
1322 }
1323
1324 static int usbduxsigma_pwm_pattern(struct comedi_device *dev,
1325                                    struct comedi_subdevice *s,
1326                                    unsigned int chan,
1327                                    unsigned int value,
1328                                    unsigned int sign)
1329 {
1330         struct usbduxsigma_private *devpriv = dev->private;
1331         char pwm_mask = (1 << chan);    /* DIO bit for the PWM data */
1332         char sgn_mask = (16 << chan);   /* DIO bit for the sign */
1333         char *buf = (char *)(devpriv->urbPwm->transfer_buffer);
1334         int szbuf = devpriv->sizePwmBuf;
1335         int i;
1336
1337         for (i = 0; i < szbuf; i++) {
1338                 char c = *buf;
1339
1340                 c &= ~pwm_mask;
1341                 if (i < value)
1342                         c |= pwm_mask;
1343                 if (!sign)
1344                         c &= ~sgn_mask;
1345                 else
1346                         c |= sgn_mask;
1347                 *buf++ = c;
1348         }
1349         return 1;
1350 }
1351
1352 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1353                                  struct comedi_subdevice *s,
1354                                  struct comedi_insn *insn,
1355                                  unsigned int *data)
1356 {
1357         unsigned int chan = CR_CHAN(insn->chanspec);
1358
1359         /*
1360          * It doesn't make sense to support more than one value here
1361          * because it would just overwrite the PWM buffer.
1362          */
1363         if (insn->n != 1)
1364                 return -EINVAL;
1365
1366         /*
1367          * The sign is set via a special INSN only, this gives us 8 bits
1368          * for normal operation, sign is 0 by default.
1369          */
1370         return usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1371 }
1372
1373 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1374                                   struct comedi_subdevice *s,
1375                                   struct comedi_insn *insn,
1376                                   unsigned int *data)
1377 {
1378         struct usbduxsigma_private *devpriv = dev->private;
1379         unsigned int chan = CR_CHAN(insn->chanspec);
1380
1381         switch (data[0]) {
1382         case INSN_CONFIG_ARM:
1383                 /*
1384                  * if not zero the PWM is limited to a certain time which is
1385                  * not supported here
1386                  */
1387                 if (data[1] != 0)
1388                         return -EINVAL;
1389                 return usbduxsigma_pwm_start(dev, s);
1390         case INSN_CONFIG_DISARM:
1391                 return usbdux_pwm_cancel(dev, s);
1392         case INSN_CONFIG_GET_PWM_STATUS:
1393                 data[1] = devpriv->pwm_cmd_running;
1394                 return 0;
1395         case INSN_CONFIG_PWM_SET_PERIOD:
1396                 return usbdux_pwm_period(dev, s, data[1]);
1397         case INSN_CONFIG_PWM_GET_PERIOD:
1398                 data[1] = devpriv->pwmPeriod;
1399                 return 0;
1400         case INSN_CONFIG_PWM_SET_H_BRIDGE:
1401                 /*
1402                  * data[1] = value
1403                  * data[2] = sign (for a relay)
1404                  */
1405                 return usbduxsigma_pwm_pattern(dev, s, chan,
1406                                                data[1], (data[2] != 0));
1407         case INSN_CONFIG_PWM_GET_H_BRIDGE:
1408                 /* values are not kept in this driver, nothing to return */
1409                 return -EINVAL;
1410         }
1411         return -EINVAL;
1412 }
1413
1414 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1415 {
1416         struct usbduxsigma_private *devpriv = dev->private;
1417         uint8_t sysred;
1418         uint32_t val;
1419         int ret;
1420
1421         switch (chan) {
1422         default:
1423         case 0:
1424                 sysred = 0;             /* ADC zero */
1425                 break;
1426         case 1:
1427                 sysred = 1;             /* ADC offset */
1428                 break;
1429         case 2:
1430                 sysred = 4;             /* VCC */
1431                 break;
1432         case 3:
1433                 sysred = 8;             /* temperature */
1434                 break;
1435         case 4:
1436                 sysred = 16;            /* gain */
1437                 break;
1438         case 5:
1439                 sysred =  32;           /* ref */
1440                 break;
1441         }
1442
1443         devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1444         devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1445         devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1446         devpriv->dux_commands[4] = 0;
1447         devpriv->dux_commands[5] = 0;
1448         devpriv->dux_commands[6] = sysred;
1449         ret = send_dux_commands(dev, SENDSINGLEAD);
1450         if (ret < 0)
1451                 return ret;
1452
1453         ret = receive_dux_commands(dev, SENDSINGLEAD);
1454         if (ret < 0)
1455                 return ret;
1456
1457         /* 32 bits big endian from the A/D converter */
1458         val = be32_to_cpu(*((int32_t *)((devpriv->insnBuffer)+1)));
1459         val &= 0x00ffffff;      /* strip status byte */
1460         val ^= 0x00800000;      /* convert to unsigned */
1461
1462         return (int)val;
1463 }
1464
1465 static int usbduxsigma_attach_common(struct comedi_device *dev)
1466 {
1467         struct usbduxsigma_private *devpriv = dev->private;
1468         struct comedi_subdevice *s;
1469         int n_subdevs;
1470         int offset;
1471         int ret;
1472
1473         down(&devpriv->sem);
1474
1475         if (devpriv->high_speed)
1476                 n_subdevs = 4;  /* with pwm */
1477         else
1478                 n_subdevs = 3;  /* without pwm */
1479         ret = comedi_alloc_subdevices(dev, n_subdevs);
1480         if (ret) {
1481                 up(&devpriv->sem);
1482                 return ret;
1483         }
1484
1485         /* Analog Input subdevice */
1486         s = &dev->subdevices[0];
1487         dev->read_subdev = s;
1488         s->type         = COMEDI_SUBD_AI;
1489         s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1490         s->n_chan       = NUMCHANNELS;
1491         s->len_chanlist = NUMCHANNELS;
1492         s->maxdata      = 0x00ffffff;
1493         s->range_table  = &range_usbdux_ai_range;
1494         s->insn_read    = usbdux_ai_insn_read;
1495         s->do_cmdtest   = usbdux_ai_cmdtest;
1496         s->do_cmd       = usbdux_ai_cmd;
1497         s->cancel       = usbdux_ai_cancel;
1498
1499         /* Analog Output subdevice */
1500         s = &dev->subdevices[1];
1501         dev->write_subdev = s;
1502         s->type         = COMEDI_SUBD_AO;
1503         s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1504         s->n_chan       = 4;
1505         s->len_chanlist = 4;
1506         s->maxdata      = 0x00ff;
1507         s->range_table  = &range_unipolar2_5;
1508         s->insn_write   = usbdux_ao_insn_write;
1509         s->insn_read    = usbdux_ao_insn_read;
1510         s->do_cmdtest   = usbdux_ao_cmdtest;
1511         s->do_cmd       = usbdux_ao_cmd;
1512         s->cancel       = usbdux_ao_cancel;
1513
1514         /* Digital I/O subdevice */
1515         s = &dev->subdevices[2];
1516         s->type         = COMEDI_SUBD_DIO;
1517         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1518         s->n_chan       = 24;
1519         s->maxdata      = 1;
1520         s->range_table  = &range_digital;
1521         s->insn_bits    = usbdux_dio_insn_bits;
1522         s->insn_config  = usbdux_dio_insn_config;
1523
1524         if (devpriv->high_speed) {
1525                 /* Timer / pwm subdevice */
1526                 s = &dev->subdevices[3];
1527                 s->type         = COMEDI_SUBD_PWM;
1528                 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1529                 s->n_chan       = 8;
1530                 s->maxdata      = devpriv->sizePwmBuf;
1531                 s->insn_write   = usbduxsigma_pwm_write;
1532                 s->insn_config  = usbduxsigma_pwm_config;
1533
1534                 usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1535         }
1536
1537         up(&devpriv->sem);
1538
1539         offset = usbduxsigma_getstatusinfo(dev, 0);
1540         if (offset < 0)
1541                 dev_err(dev->class_dev,
1542                         "Communication to USBDUXSIGMA failed! Check firmware and cabling\n");
1543
1544         dev_info(dev->class_dev, "attached, ADC_zero = %x\n", offset);
1545
1546         return 0;
1547 }
1548
1549 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1550                                        const u8 *data, size_t size,
1551                                        unsigned long context)
1552 {
1553         struct usb_device *usb = comedi_to_usb_dev(dev);
1554         uint8_t *buf;
1555         uint8_t *tmp;
1556         int ret;
1557
1558         if (!data)
1559                 return 0;
1560
1561         if (size > FIRMWARE_MAX_LEN) {
1562                 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1563                 return -ENOMEM;
1564         }
1565
1566         /* we generate a local buffer for the firmware */
1567         buf = kmemdup(data, size, GFP_KERNEL);
1568         if (!buf)
1569                 return -ENOMEM;
1570
1571         /* we need a malloc'ed buffer for usb_control_msg() */
1572         tmp = kmalloc(1, GFP_KERNEL);
1573         if (!tmp) {
1574                 kfree(buf);
1575                 return -ENOMEM;
1576         }
1577
1578         /* stop the current firmware on the device */
1579         *tmp = 1;       /* 7f92 to one */
1580         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1581                               USBDUXSUB_FIRMWARE,
1582                               VENDOR_DIR_OUT,
1583                               USBDUXSUB_CPUCS, 0x0000,
1584                               tmp, 1,
1585                               BULK_TIMEOUT);
1586         if (ret < 0) {
1587                 dev_err(dev->class_dev, "can not stop firmware\n");
1588                 goto done;
1589         }
1590
1591         /* upload the new firmware to the device */
1592         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1593                               USBDUXSUB_FIRMWARE,
1594                               VENDOR_DIR_OUT,
1595                               0, 0x0000,
1596                               buf, size,
1597                               BULK_TIMEOUT);
1598         if (ret < 0) {
1599                 dev_err(dev->class_dev, "firmware upload failed\n");
1600                 goto done;
1601         }
1602
1603         /* start the new firmware on the device */
1604         *tmp = 0;       /* 7f92 to zero */
1605         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1606                               USBDUXSUB_FIRMWARE,
1607                               VENDOR_DIR_OUT,
1608                               USBDUXSUB_CPUCS, 0x0000,
1609                               tmp, 1,
1610                               BULK_TIMEOUT);
1611         if (ret < 0)
1612                 dev_err(dev->class_dev, "can not start firmware\n");
1613
1614 done:
1615         kfree(tmp);
1616         kfree(buf);
1617         return ret;
1618 }
1619
1620 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1621 {
1622         struct usb_device *usb = comedi_to_usb_dev(dev);
1623         struct usbduxsigma_private *devpriv = dev->private;
1624         struct urb *urb;
1625         int i;
1626
1627         devpriv->dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL);
1628         devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1629         devpriv->inBuffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1630         devpriv->insnBuffer = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1631         devpriv->outBuffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1632         devpriv->urbIn = kcalloc(devpriv->numOfInBuffers, sizeof(*urb),
1633                                  GFP_KERNEL);
1634         devpriv->urbOut = kcalloc(devpriv->numOfOutBuffers, sizeof(*urb),
1635                                   GFP_KERNEL);
1636         if (!devpriv->dac_commands || !devpriv->dux_commands ||
1637             !devpriv->inBuffer || !devpriv->insnBuffer ||
1638             !devpriv->outBuffer || !devpriv->urbIn || !devpriv->urbOut)
1639                 return -ENOMEM;
1640
1641         for (i = 0; i < devpriv->numOfInBuffers; i++) {
1642                 /* one frame: 1ms */
1643                 urb = usb_alloc_urb(1, GFP_KERNEL);
1644                 if (!urb)
1645                         return -ENOMEM;
1646                 devpriv->urbIn[i] = urb;
1647                 urb->dev = usb;
1648                 /* will be filled later with a pointer to the comedi-device */
1649                 /* and ONLY then the urb should be submitted */
1650                 urb->context = NULL;
1651                 urb->pipe = usb_rcvisocpipe(usb, ISOINEP);
1652                 urb->transfer_flags = URB_ISO_ASAP;
1653                 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1654                 if (!urb->transfer_buffer)
1655                         return -ENOMEM;
1656                 urb->complete = usbduxsub_ai_IsocIrq;
1657                 urb->number_of_packets = 1;
1658                 urb->transfer_buffer_length = SIZEINBUF;
1659                 urb->iso_frame_desc[0].offset = 0;
1660                 urb->iso_frame_desc[0].length = SIZEINBUF;
1661         }
1662
1663         for (i = 0; i < devpriv->numOfOutBuffers; i++) {
1664                 /* one frame: 1ms */
1665                 urb = usb_alloc_urb(1, GFP_KERNEL);
1666                 if (!urb)
1667                         return -ENOMEM;
1668                 devpriv->urbOut[i] = urb;
1669                 urb->dev = usb;
1670                 /* will be filled later with a pointer to the comedi-device */
1671                 /* and ONLY then the urb should be submitted */
1672                 urb->context = NULL;
1673                 urb->pipe = usb_sndisocpipe(usb, ISOOUTEP);
1674                 urb->transfer_flags = URB_ISO_ASAP;
1675                 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1676                 if (!urb->transfer_buffer)
1677                         return -ENOMEM;
1678                 urb->complete = usbduxsub_ao_IsocIrq;
1679                 urb->number_of_packets = 1;
1680                 urb->transfer_buffer_length = SIZEOUTBUF;
1681                 urb->iso_frame_desc[0].offset = 0;
1682                 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1683                 if (devpriv->high_speed)
1684                         urb->interval = 8;      /* uframes */
1685                 else
1686                         urb->interval = 1;      /* frames */
1687         }
1688
1689         if (devpriv->high_speed) {
1690                 /* max bulk ep size in high speed */
1691                 devpriv->sizePwmBuf = 512;
1692                 urb = usb_alloc_urb(0, GFP_KERNEL);
1693                 if (!urb)
1694                         return -ENOMEM;
1695                 devpriv->urbPwm = urb;
1696                 urb->transfer_buffer = kzalloc(devpriv->sizePwmBuf, GFP_KERNEL);
1697                 if (!urb->transfer_buffer)
1698                         return -ENOMEM;
1699         } else {
1700                 devpriv->urbPwm = NULL;
1701                 devpriv->sizePwmBuf = 0;
1702         }
1703
1704         return 0;
1705 }
1706
1707 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1708 {
1709         struct usbduxsigma_private *devpriv = dev->private;
1710         struct urb *urb;
1711         int i;
1712
1713         /* force unlink all urbs */
1714         usbdux_ai_stop(devpriv, 1);
1715         usbdux_ao_stop(devpriv, 1);
1716         usbdux_pwm_stop(devpriv, 1);
1717
1718         urb = devpriv->urbPwm;
1719         if (urb) {
1720                 kfree(urb->transfer_buffer);
1721                 usb_free_urb(urb);
1722         }
1723         if (devpriv->urbOut) {
1724                 for (i = 0; i < devpriv->numOfOutBuffers; i++) {
1725                         urb = devpriv->urbOut[i];
1726                         if (urb) {
1727                                 kfree(urb->transfer_buffer);
1728                                 usb_free_urb(urb);
1729                         }
1730                 }
1731                 kfree(devpriv->urbOut);
1732         }
1733         if (devpriv->urbIn) {
1734                 for (i = 0; i < devpriv->numOfInBuffers; i++) {
1735                         urb = devpriv->urbIn[i];
1736                         if (urb) {
1737                                 kfree(urb->transfer_buffer);
1738                                 usb_free_urb(urb);
1739                         }
1740                 }
1741                 kfree(devpriv->urbIn);
1742         }
1743         kfree(devpriv->outBuffer);
1744         kfree(devpriv->insnBuffer);
1745         kfree(devpriv->inBuffer);
1746         kfree(devpriv->dux_commands);
1747         kfree(devpriv->dac_commands);
1748 }
1749
1750 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1751                                    unsigned long context_unused)
1752 {
1753         struct usb_interface *intf = comedi_to_usb_interface(dev);
1754         struct usb_device *usb = comedi_to_usb_dev(dev);
1755         struct usbduxsigma_private *devpriv;
1756         int ret;
1757
1758         devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
1759         if (!devpriv)
1760                 return -ENOMEM;
1761         dev->private = devpriv;
1762
1763         sema_init(&devpriv->sem, 1);
1764         devpriv->interface = intf;
1765         usb_set_intfdata(intf, devpriv);
1766
1767         ret = usb_set_interface(usb,
1768                                 intf->altsetting->desc.bInterfaceNumber, 3);
1769         if (ret < 0) {
1770                 dev_err(dev->class_dev,
1771                         "could not set alternate setting 3 in high speed\n");
1772                 return -ENODEV;
1773         }
1774
1775         /* test if it is high speed (USB 2.0) */
1776         devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1777         if (devpriv->high_speed) {
1778                 devpriv->numOfInBuffers = NUMOFINBUFFERSHIGH;
1779                 devpriv->numOfOutBuffers = NUMOFOUTBUFFERSHIGH;
1780         } else {
1781                 devpriv->numOfInBuffers = NUMOFINBUFFERSFULL;
1782                 devpriv->numOfOutBuffers = NUMOFOUTBUFFERSFULL;
1783         }
1784
1785         ret = usbduxsigma_alloc_usb_buffers(dev);
1786         if (ret)
1787                 return ret;
1788
1789         ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1790                                    usbduxsigma_firmware_upload, 0);
1791         if (ret)
1792                 return ret;
1793
1794         return usbduxsigma_attach_common(dev);
1795 }
1796
1797 static void usbduxsigma_detach(struct comedi_device *dev)
1798 {
1799         struct usb_interface *intf = comedi_to_usb_interface(dev);
1800         struct usbduxsigma_private *devpriv = dev->private;
1801
1802         if (!devpriv)
1803                 return;
1804
1805         usb_set_intfdata(intf, NULL);
1806
1807         down(&devpriv->sem);
1808         usbduxsigma_free_usb_buffers(dev);
1809         up(&devpriv->sem);
1810 }
1811
1812 static struct comedi_driver usbduxsigma_driver = {
1813         .driver_name    = "usbduxsigma",
1814         .module         = THIS_MODULE,
1815         .auto_attach    = usbduxsigma_auto_attach,
1816         .detach         = usbduxsigma_detach,
1817 };
1818
1819 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1820                                  const struct usb_device_id *id)
1821 {
1822         return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1823 }
1824
1825 static const struct usb_device_id usbduxsigma_usb_table[] = {
1826         { USB_DEVICE(0x13d8, 0x0020) },
1827         { USB_DEVICE(0x13d8, 0x0021) },
1828         { USB_DEVICE(0x13d8, 0x0022) },
1829         { }
1830 };
1831 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1832
1833 static struct usb_driver usbduxsigma_usb_driver = {
1834         .name           = "usbduxsigma",
1835         .probe          = usbduxsigma_usb_probe,
1836         .disconnect     = comedi_usb_auto_unconfig,
1837         .id_table       = usbduxsigma_usb_table,
1838 };
1839 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1840
1841 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1842 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com");
1843 MODULE_LICENSE("GPL");
1844 MODULE_FIRMWARE(FIRMWARE);