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