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 usbdux_ao_cmdtest(struct comedi_device *dev,
 934                              struct comedi_subdevice *s,
 935                              struct comedi_cmd *cmd)
 936 {
 937         int err = 0;
 938         unsigned int flags;
 939
 940         /* Step 1 : check if triggers are trivially valid */
 941
 942         err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
 943
 944         if (0) {                /* (this_usbduxsub->high_speed) */
 945                 /*
 946                  * start immediately a new scan
 947                  * the sampling rate is set by the coversion rate
 948                  */
 949                 flags = TRIG_FOLLOW;
 950         } else {
 951                 /* start a new scan (output at once) with a timer */
 952                 flags = TRIG_TIMER;
 953         }
 954         err |= cfc_check_trigger_src(&cmd->scan_begin_src, flags);
 955
 956         err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
 957         err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
 958         err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
 959
 960         if (err)
 961                 return 1;
 962
 963         /* Step 2a : make sure trigger sources are unique */
 964
 965         err |= cfc_check_trigger_is_unique(cmd->start_src);
 966         err |= cfc_check_trigger_is_unique(cmd->stop_src);
 967
 968         /* Step 2b : and mutually compatible */
 969
 970         if (err)
 971                 return 2;
 972
 973         /* Step 3: check if arguments are trivially valid */
 974
 975         err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
 976
 977         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 978                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
 979
 980         if (cmd->scan_begin_src == TRIG_TIMER)
 981                 err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
 982                                                  1000000);
 983
 984         /* not used now, is for later use */
 985         if (cmd->convert_src == TRIG_TIMER)
 986                 err |= cfc_check_trigger_arg_min(&cmd->convert_arg, 125000);
 987
 988         err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->chanlist_len);
 989
 990         if (cmd->stop_src == TRIG_COUNT) {
 991                 /* any count is allowed */
 992         } else {
 993                 /* TRIG_NONE */
 994                 err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
 995         }
 996
 997         if (err)
 998                 return 3;
 999
1000         return 0;
1001 }
1002
1003 static int usbdux_ao_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
1004 {
1005         struct usbduxsigma_private *this_usbduxsub = dev->private;
1006         struct comedi_cmd *cmd = &s->async->cmd;
1007         unsigned int chan, gain;
1008         int i, ret;
1009
1010         down(&this_usbduxsub->sem);
1011         /* set current channel of the running acquisition to zero */
1012         s->async->cur_chan = 0;
1013         for (i = 0; i < cmd->chanlist_len; ++i) {
1014                 chan = CR_CHAN(cmd->chanlist[i]);
1015                 gain = CR_RANGE(cmd->chanlist[i]);
1016                 this_usbduxsub->dac_commands[i] = chan;
1017         }
1018
1019         /* we count in steps of 1ms (125us) */
1020         /* 125us mode not used yet */
1021         if (0) {                /* (this_usbduxsub->high_speed) */
1022                 /* 125us */
1023                 /* timing of the conversion itself: every 125 us */
1024                 this_usbduxsub->ao_timer = cmd->convert_arg / 125000;
1025         } else {
1026                 /* 1ms */
1027                 /* timing of the scan: we get all channels at once */
1028                 this_usbduxsub->ao_timer = cmd->scan_begin_arg / 1000000;
1029                 if (this_usbduxsub->ao_timer < 1) {
1030                         up(&this_usbduxsub->sem);
1031                         return -EINVAL;
1032                 }
1033         }
1034         this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;
1035
1036         if (cmd->stop_src == TRIG_COUNT) {
1037                 /* not continuous */
1038                 /* counter */
1039                 /* high speed also scans everything at once */
1040                 if (0) {        /* (this_usbduxsub->high_speed) */
1041                         this_usbduxsub->ao_sample_count =
1042                             (cmd->stop_arg) * (cmd->scan_end_arg);
1043                 } else {
1044                         /* there's no scan as the scan has been */
1045                         /* perf inside the FX2 */
1046                         /* data arrives as one packet */
1047                         this_usbduxsub->ao_sample_count = cmd->stop_arg;
1048                 }
1049                 this_usbduxsub->ao_continuous = 0;
1050         } else {
1051                 /* continuous acquisition */
1052                 this_usbduxsub->ao_continuous = 1;
1053                 this_usbduxsub->ao_sample_count = 0;
1054         }
1055
1056         if (cmd->start_src == TRIG_NOW) {
1057                 /* enable this acquisition operation */
1058                 ret = usbduxsigma_submit_urbs(dev, this_usbduxsub->urbOut,
1059                                               this_usbduxsub->numOfOutBuffers,
1060                                               0);
1061                 if (ret < 0) {
1062                         up(&this_usbduxsub->sem);
1063                         return ret;
1064                 }
1065                 this_usbduxsub->ao_cmd_running = 1;
1066                 s->async->inttrig = NULL;
1067         } else {
1068                 /* TRIG_INT */
1069                 /* submit the urbs later */
1070                 /* wait for an internal signal */
1071                 s->async->inttrig = usbduxsigma_ao_inttrig;
1072         }
1073
1074         up(&this_usbduxsub->sem);
1075         return 0;
1076 }
1077
1078 static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
1079                                        struct comedi_subdevice *s,
1080                                        struct comedi_insn *insn,
1081                                        unsigned int *data)
1082 {
1083         unsigned int chan = CR_CHAN(insn->chanspec);
1084         unsigned int mask = 1 << chan;
1085
1086         switch (data[0]) {
1087         case INSN_CONFIG_DIO_OUTPUT:
1088                 s->io_bits |= mask;
1089                 break;
1090         case INSN_CONFIG_DIO_INPUT:
1091                 s->io_bits &= ~mask;
1092                 break;
1093         case INSN_CONFIG_DIO_QUERY:
1094                 data[1] = (s->io_bits & mask) ? COMEDI_OUTPUT : COMEDI_INPUT;
1095                 break;
1096         default:
1097                 return -EINVAL;
1098                 break;
1099         }
1100
1101         /*
1102          * We don't tell the firmware here as it would take 8 frames
1103          * to submit the information. We do it in the (*insn_bits).
1104          */
1105         return insn->n;
1106 }
1107
1108 static int usbduxsigma_dio_insn_bits(struct comedi_device *dev,
1109                                      struct comedi_subdevice *s,
1110                                      struct comedi_insn *insn,
1111                                      unsigned int *data)
1112 {
1113         struct usbduxsigma_private *devpriv = dev->private;
1114         unsigned int mask = data[0];
1115         unsigned int bits = data[1];
1116         int ret;
1117
1118         down(&devpriv->sem);
1119
1120         s->state &= ~mask;
1121         s->state |= (bits & mask);
1122
1123         devpriv->dux_commands[1] = s->io_bits & 0xff;
1124         devpriv->dux_commands[4] = s->state & 0xff;
1125         devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff;
1126         devpriv->dux_commands[5] = (s->state >> 8) & 0xff;
1127         devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff;
1128         devpriv->dux_commands[6] = (s->state >> 16) & 0xff;
1129
1130         ret = send_dux_commands(dev, SENDDIOBITSCOMMAND);
1131         if (ret < 0)
1132                 goto done;
1133         ret = receive_dux_commands(dev, SENDDIOBITSCOMMAND);
1134         if (ret < 0)
1135                 goto done;
1136
1137         s->state = devpriv->insnBuffer[1] |
1138                    (devpriv->insnBuffer[2] << 8) |
1139                    (devpriv->insnBuffer[3] << 16);
1140
1141         data[1] = s->state;
1142         ret = insn->n;
1143
1144 done:
1145         up(&devpriv->sem);
1146
1147         return ret;
1148 }
1149
1150 static void usbdux_pwm_stop(struct usbduxsigma_private *devpriv, int do_unlink)
1151 {
1152         if (do_unlink) {
1153                 if (devpriv->urbPwm)
1154                         usb_kill_urb(devpriv->urbPwm);
1155         }
1156
1157         devpriv->pwm_cmd_running = 0;
1158 }
1159
1160 static int usbduxsigma_pwm_cancel(struct comedi_device *dev,
1161                                   struct comedi_subdevice *s)
1162 {
1163         struct usbduxsigma_private *devpriv = dev->private;
1164
1165         /* unlink only if it is really running */
1166         usbdux_pwm_stop(devpriv, devpriv->pwm_cmd_running);
1167
1168         return send_dux_commands(dev, SENDPWMOFF);
1169 }
1170
1171 static void usbduxsigma_pwm_irq(struct urb *urb)
1172 {
1173         struct comedi_device *dev = urb->context;
1174         struct usbduxsigma_private *devpriv = dev->private;
1175         int ret;
1176
1177         switch (urb->status) {
1178         case 0:
1179                 /* success */
1180                 break;
1181
1182         case -ECONNRESET:
1183         case -ENOENT:
1184         case -ESHUTDOWN:
1185         case -ECONNABORTED:
1186                 /* happens after an unlink command */
1187                 if (devpriv->pwm_cmd_running)
1188                         usbdux_pwm_stop(devpriv, 0);    /* w/o unlink */
1189                 return;
1190
1191         default:
1192                 /* a real error */
1193                 if (devpriv->pwm_cmd_running) {
1194                         dev_err(dev->class_dev,
1195                                 "%s: non-zero urb status (%d)\n",
1196                                 __func__, urb->status);
1197                         usbdux_pwm_stop(devpriv, 0);    /* w/o unlink */
1198                 }
1199                 return;
1200         }
1201
1202         if (!devpriv->pwm_cmd_running)
1203                 return;
1204
1205         urb->transfer_buffer_length = devpriv->sizePwmBuf;
1206         urb->dev = comedi_to_usb_dev(dev);
1207         urb->status = 0;
1208         ret = usb_submit_urb(urb, GFP_ATOMIC);
1209         if (ret < 0) {
1210                 dev_err(dev->class_dev, "%s: urb resubmit failed (%d)\n",
1211                         __func__, ret);
1212                 if (ret == EL2NSYNC)
1213                         dev_err(dev->class_dev,
1214                                 "buggy USB host controller or bug in IRQ handler\n");
1215                 usbdux_pwm_stop(devpriv, 0);    /* w/o unlink */
1216         }
1217 }
1218
1219 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1220 {
1221         struct usb_device *usb = comedi_to_usb_dev(dev);
1222         struct usbduxsigma_private *devpriv = dev->private;
1223         struct urb *urb = devpriv->urbPwm;
1224
1225         /* in case of a resubmission after an unlink... */
1226         usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, PWM_EP),
1227                           urb->transfer_buffer, devpriv->sizePwmBuf,
1228                           usbduxsigma_pwm_irq, dev);
1229
1230         return usb_submit_urb(urb, GFP_ATOMIC);
1231 }
1232
1233 static int usbduxsigma_pwm_period(struct comedi_device *dev,
1234                                   struct comedi_subdevice *s,
1235                                   unsigned int period)
1236 {
1237         struct usbduxsigma_private *devpriv = dev->private;
1238         int fx2delay = 255;
1239
1240         if (period < MIN_PWM_PERIOD) {
1241                 return -EAGAIN;
1242         } else {
1243                 fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1244                 if (fx2delay > 255)
1245                         return -EAGAIN;
1246         }
1247         devpriv->pwmDelay = fx2delay;
1248         devpriv->pwmPeriod = period;
1249         return 0;
1250 }
1251
1252 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1253                                  struct comedi_subdevice *s)
1254 {
1255         struct usbduxsigma_private *devpriv = dev->private;
1256         int ret;
1257
1258         if (devpriv->pwm_cmd_running)
1259                 return 0;
1260
1261         devpriv->dux_commands[1] = devpriv->pwmDelay;
1262         ret = send_dux_commands(dev, SENDPWMON);
1263         if (ret < 0)
1264                 return ret;
1265
1266         memset(devpriv->urbPwm->transfer_buffer, 0, devpriv->sizePwmBuf);
1267
1268         ret = usbduxsigma_submit_pwm_urb(dev);
1269         if (ret < 0)
1270                 return ret;
1271         devpriv->pwm_cmd_running = 1;
1272
1273         return 0;
1274 }
1275
1276 static int usbduxsigma_pwm_pattern(struct comedi_device *dev,
1277                                    struct comedi_subdevice *s,
1278                                    unsigned int chan,
1279                                    unsigned int value,
1280                                    unsigned int sign)
1281 {
1282         struct usbduxsigma_private *devpriv = dev->private;
1283         char pwm_mask = (1 << chan);    /* DIO bit for the PWM data */
1284         char sgn_mask = (16 << chan);   /* DIO bit for the sign */
1285         char *buf = (char *)(devpriv->urbPwm->transfer_buffer);
1286         int szbuf = devpriv->sizePwmBuf;
1287         int i;
1288
1289         for (i = 0; i < szbuf; i++) {
1290                 char c = *buf;
1291
1292                 c &= ~pwm_mask;
1293                 if (i < value)
1294                         c |= pwm_mask;
1295                 if (!sign)
1296                         c &= ~sgn_mask;
1297                 else
1298                         c |= sgn_mask;
1299                 *buf++ = c;
1300         }
1301         return 1;
1302 }
1303
1304 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1305                                  struct comedi_subdevice *s,
1306                                  struct comedi_insn *insn,
1307                                  unsigned int *data)
1308 {
1309         unsigned int chan = CR_CHAN(insn->chanspec);
1310
1311         /*
1312          * It doesn't make sense to support more than one value here
1313          * because it would just overwrite the PWM buffer.
1314          */
1315         if (insn->n != 1)
1316                 return -EINVAL;
1317
1318         /*
1319          * The sign is set via a special INSN only, this gives us 8 bits
1320          * for normal operation, sign is 0 by default.
1321          */
1322         return usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1323 }
1324
1325 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1326                                   struct comedi_subdevice *s,
1327                                   struct comedi_insn *insn,
1328                                   unsigned int *data)
1329 {
1330         struct usbduxsigma_private *devpriv = dev->private;
1331         unsigned int chan = CR_CHAN(insn->chanspec);
1332
1333         switch (data[0]) {
1334         case INSN_CONFIG_ARM:
1335                 /*
1336                  * if not zero the PWM is limited to a certain time which is
1337                  * not supported here
1338                  */
1339                 if (data[1] != 0)
1340                         return -EINVAL;
1341                 return usbduxsigma_pwm_start(dev, s);
1342         case INSN_CONFIG_DISARM:
1343                 return usbduxsigma_pwm_cancel(dev, s);
1344         case INSN_CONFIG_GET_PWM_STATUS:
1345                 data[1] = devpriv->pwm_cmd_running;
1346                 return 0;
1347         case INSN_CONFIG_PWM_SET_PERIOD:
1348                 return usbduxsigma_pwm_period(dev, s, data[1]);
1349         case INSN_CONFIG_PWM_GET_PERIOD:
1350                 data[1] = devpriv->pwmPeriod;
1351                 return 0;
1352         case INSN_CONFIG_PWM_SET_H_BRIDGE:
1353                 /*
1354                  * data[1] = value
1355                  * data[2] = sign (for a relay)
1356                  */
1357                 return usbduxsigma_pwm_pattern(dev, s, chan,
1358                                                data[1], (data[2] != 0));
1359         case INSN_CONFIG_PWM_GET_H_BRIDGE:
1360                 /* values are not kept in this driver, nothing to return */
1361                 return -EINVAL;
1362         }
1363         return -EINVAL;
1364 }
1365
1366 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1367 {
1368         struct usbduxsigma_private *devpriv = dev->private;
1369         uint8_t sysred;
1370         uint32_t val;
1371         int ret;
1372
1373         switch (chan) {
1374         default:
1375         case 0:
1376                 sysred = 0;             /* ADC zero */
1377                 break;
1378         case 1:
1379                 sysred = 1;             /* ADC offset */
1380                 break;
1381         case 2:
1382                 sysred = 4;             /* VCC */
1383                 break;
1384         case 3:
1385                 sysred = 8;             /* temperature */
1386                 break;
1387         case 4:
1388                 sysred = 16;            /* gain */
1389                 break;
1390         case 5:
1391                 sysred =  32;           /* ref */
1392                 break;
1393         }
1394
1395         devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1396         devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1397         devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1398         devpriv->dux_commands[4] = 0;
1399         devpriv->dux_commands[5] = 0;
1400         devpriv->dux_commands[6] = sysred;
1401         ret = send_dux_commands(dev, SENDSINGLEAD);
1402         if (ret < 0)
1403                 return ret;
1404
1405         ret = receive_dux_commands(dev, SENDSINGLEAD);
1406         if (ret < 0)
1407                 return ret;
1408
1409         /* 32 bits big endian from the A/D converter */
1410         val = be32_to_cpu(*((int32_t *)((devpriv->insnBuffer)+1)));
1411         val &= 0x00ffffff;      /* strip status byte */
1412         val ^= 0x00800000;      /* convert to unsigned */
1413
1414         return (int)val;
1415 }
1416
1417 static int usbduxsigma_attach_common(struct comedi_device *dev)
1418 {
1419         struct usbduxsigma_private *devpriv = dev->private;
1420         struct comedi_subdevice *s;
1421         int n_subdevs;
1422         int offset;
1423         int ret;
1424
1425         down(&devpriv->sem);
1426
1427         if (devpriv->high_speed)
1428                 n_subdevs = 4;  /* with pwm */
1429         else
1430                 n_subdevs = 3;  /* without pwm */
1431         ret = comedi_alloc_subdevices(dev, n_subdevs);
1432         if (ret) {
1433                 up(&devpriv->sem);
1434                 return ret;
1435         }
1436
1437         /* Analog Input subdevice */
1438         s = &dev->subdevices[0];
1439         dev->read_subdev = s;
1440         s->type         = COMEDI_SUBD_AI;
1441         s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1442         s->n_chan       = NUMCHANNELS;
1443         s->len_chanlist = NUMCHANNELS;
1444         s->maxdata      = 0x00ffffff;
1445         s->range_table  = &range_usbdux_ai_range;
1446         s->insn_read    = usbdux_ai_insn_read;
1447         s->do_cmdtest   = usbdux_ai_cmdtest;
1448         s->do_cmd       = usbdux_ai_cmd;
1449         s->cancel       = usbdux_ai_cancel;
1450
1451         /* Analog Output subdevice */
1452         s = &dev->subdevices[1];
1453         dev->write_subdev = s;
1454         s->type         = COMEDI_SUBD_AO;
1455         s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1456         s->n_chan       = 4;
1457         s->len_chanlist = 4;
1458         s->maxdata      = 0x00ff;
1459         s->range_table  = &range_unipolar2_5;
1460         s->insn_write   = usbdux_ao_insn_write;
1461         s->insn_read    = usbdux_ao_insn_read;
1462         s->do_cmdtest   = usbdux_ao_cmdtest;
1463         s->do_cmd       = usbdux_ao_cmd;
1464         s->cancel       = usbdux_ao_cancel;
1465
1466         /* Digital I/O subdevice */
1467         s = &dev->subdevices[2];
1468         s->type         = COMEDI_SUBD_DIO;
1469         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1470         s->n_chan       = 24;
1471         s->maxdata      = 1;
1472         s->range_table  = &range_digital;
1473         s->insn_bits    = usbduxsigma_dio_insn_bits;
1474         s->insn_config  = usbduxsigma_dio_insn_config;
1475
1476         if (devpriv->high_speed) {
1477                 /* Timer / pwm subdevice */
1478                 s = &dev->subdevices[3];
1479                 s->type         = COMEDI_SUBD_PWM;
1480                 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1481                 s->n_chan       = 8;
1482                 s->maxdata      = devpriv->sizePwmBuf;
1483                 s->insn_write   = usbduxsigma_pwm_write;
1484                 s->insn_config  = usbduxsigma_pwm_config;
1485
1486                 usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1487         }
1488
1489         up(&devpriv->sem);
1490
1491         offset = usbduxsigma_getstatusinfo(dev, 0);
1492         if (offset < 0)
1493                 dev_err(dev->class_dev,
1494                         "Communication to USBDUXSIGMA failed! Check firmware and cabling\n");
1495
1496         dev_info(dev->class_dev, "attached, ADC_zero = %x\n", offset);
1497
1498         return 0;
1499 }
1500
1501 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1502                                        const u8 *data, size_t size,
1503                                        unsigned long context)
1504 {
1505         struct usb_device *usb = comedi_to_usb_dev(dev);
1506         uint8_t *buf;
1507         uint8_t *tmp;
1508         int ret;
1509
1510         if (!data)
1511                 return 0;
1512
1513         if (size > FIRMWARE_MAX_LEN) {
1514                 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1515                 return -ENOMEM;
1516         }
1517
1518         /* we generate a local buffer for the firmware */
1519         buf = kmemdup(data, size, GFP_KERNEL);
1520         if (!buf)
1521                 return -ENOMEM;
1522
1523         /* we need a malloc'ed buffer for usb_control_msg() */
1524         tmp = kmalloc(1, GFP_KERNEL);
1525         if (!tmp) {
1526                 kfree(buf);
1527                 return -ENOMEM;
1528         }
1529
1530         /* stop the current firmware on the device */
1531         *tmp = 1;       /* 7f92 to one */
1532         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1533                               USBDUXSUB_FIRMWARE,
1534                               VENDOR_DIR_OUT,
1535                               USBDUXSUB_CPUCS, 0x0000,
1536                               tmp, 1,
1537                               BULK_TIMEOUT);
1538         if (ret < 0) {
1539                 dev_err(dev->class_dev, "can not stop firmware\n");
1540                 goto done;
1541         }
1542
1543         /* upload the new firmware to the device */
1544         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1545                               USBDUXSUB_FIRMWARE,
1546                               VENDOR_DIR_OUT,
1547                               0, 0x0000,
1548                               buf, size,
1549                               BULK_TIMEOUT);
1550         if (ret < 0) {
1551                 dev_err(dev->class_dev, "firmware upload failed\n");
1552                 goto done;
1553         }
1554
1555         /* start the new firmware on the device */
1556         *tmp = 0;       /* 7f92 to zero */
1557         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1558                               USBDUXSUB_FIRMWARE,
1559                               VENDOR_DIR_OUT,
1560                               USBDUXSUB_CPUCS, 0x0000,
1561                               tmp, 1,
1562                               BULK_TIMEOUT);
1563         if (ret < 0)
1564                 dev_err(dev->class_dev, "can not start firmware\n");
1565
1566 done:
1567         kfree(tmp);
1568         kfree(buf);
1569         return ret;
1570 }
1571
1572 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1573 {
1574         struct usb_device *usb = comedi_to_usb_dev(dev);
1575         struct usbduxsigma_private *devpriv = dev->private;
1576         struct urb *urb;
1577         int i;
1578
1579         devpriv->dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL);
1580         devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1581         devpriv->inBuffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1582         devpriv->insnBuffer = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1583         devpriv->outBuffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1584         devpriv->urbIn = kcalloc(devpriv->numOfInBuffers, sizeof(*urb),
1585                                  GFP_KERNEL);
1586         devpriv->urbOut = kcalloc(devpriv->numOfOutBuffers, sizeof(*urb),
1587                                   GFP_KERNEL);
1588         if (!devpriv->dac_commands || !devpriv->dux_commands ||
1589             !devpriv->inBuffer || !devpriv->insnBuffer ||
1590             !devpriv->outBuffer || !devpriv->urbIn || !devpriv->urbOut)
1591                 return -ENOMEM;
1592
1593         for (i = 0; i < devpriv->numOfInBuffers; i++) {
1594                 /* one frame: 1ms */
1595                 urb = usb_alloc_urb(1, GFP_KERNEL);
1596                 if (!urb)
1597                         return -ENOMEM;
1598                 devpriv->urbIn[i] = urb;
1599                 urb->dev = usb;
1600                 /* will be filled later with a pointer to the comedi-device */
1601                 /* and ONLY then the urb should be submitted */
1602                 urb->context = NULL;
1603                 urb->pipe = usb_rcvisocpipe(usb, ISOINEP);
1604                 urb->transfer_flags = URB_ISO_ASAP;
1605                 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1606                 if (!urb->transfer_buffer)
1607                         return -ENOMEM;
1608                 urb->complete = usbduxsub_ai_IsocIrq;
1609                 urb->number_of_packets = 1;
1610                 urb->transfer_buffer_length = SIZEINBUF;
1611                 urb->iso_frame_desc[0].offset = 0;
1612                 urb->iso_frame_desc[0].length = SIZEINBUF;
1613         }
1614
1615         for (i = 0; i < devpriv->numOfOutBuffers; i++) {
1616                 /* one frame: 1ms */
1617                 urb = usb_alloc_urb(1, GFP_KERNEL);
1618                 if (!urb)
1619                         return -ENOMEM;
1620                 devpriv->urbOut[i] = urb;
1621                 urb->dev = usb;
1622                 /* will be filled later with a pointer to the comedi-device */
1623                 /* and ONLY then the urb should be submitted */
1624                 urb->context = NULL;
1625                 urb->pipe = usb_sndisocpipe(usb, ISOOUTEP);
1626                 urb->transfer_flags = URB_ISO_ASAP;
1627                 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1628                 if (!urb->transfer_buffer)
1629                         return -ENOMEM;
1630                 urb->complete = usbduxsub_ao_IsocIrq;
1631                 urb->number_of_packets = 1;
1632                 urb->transfer_buffer_length = SIZEOUTBUF;
1633                 urb->iso_frame_desc[0].offset = 0;
1634                 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1635                 if (devpriv->high_speed)
1636                         urb->interval = 8;      /* uframes */
1637                 else
1638                         urb->interval = 1;      /* frames */
1639         }
1640
1641         if (devpriv->high_speed) {
1642                 /* max bulk ep size in high speed */
1643                 devpriv->sizePwmBuf = 512;
1644                 urb = usb_alloc_urb(0, GFP_KERNEL);
1645                 if (!urb)
1646                         return -ENOMEM;
1647                 devpriv->urbPwm = urb;
1648                 urb->transfer_buffer = kzalloc(devpriv->sizePwmBuf, GFP_KERNEL);
1649                 if (!urb->transfer_buffer)
1650                         return -ENOMEM;
1651         } else {
1652                 devpriv->urbPwm = NULL;
1653                 devpriv->sizePwmBuf = 0;
1654         }
1655
1656         return 0;
1657 }
1658
1659 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1660 {
1661         struct usbduxsigma_private *devpriv = dev->private;
1662         struct urb *urb;
1663         int i;
1664
1665         /* force unlink all urbs */
1666         usbdux_ai_stop(devpriv, 1);
1667         usbdux_ao_stop(devpriv, 1);
1668         usbdux_pwm_stop(devpriv, 1);
1669
1670         urb = devpriv->urbPwm;
1671         if (urb) {
1672                 kfree(urb->transfer_buffer);
1673                 usb_free_urb(urb);
1674         }
1675         if (devpriv->urbOut) {
1676                 for (i = 0; i < devpriv->numOfOutBuffers; i++) {
1677                         urb = devpriv->urbOut[i];
1678                         if (urb) {
1679                                 kfree(urb->transfer_buffer);
1680                                 usb_free_urb(urb);
1681                         }
1682                 }
1683                 kfree(devpriv->urbOut);
1684         }
1685         if (devpriv->urbIn) {
1686                 for (i = 0; i < devpriv->numOfInBuffers; i++) {
1687                         urb = devpriv->urbIn[i];
1688                         if (urb) {
1689                                 kfree(urb->transfer_buffer);
1690                                 usb_free_urb(urb);
1691                         }
1692                 }
1693                 kfree(devpriv->urbIn);
1694         }
1695         kfree(devpriv->outBuffer);
1696         kfree(devpriv->insnBuffer);
1697         kfree(devpriv->inBuffer);
1698         kfree(devpriv->dux_commands);
1699         kfree(devpriv->dac_commands);
1700 }
1701
1702 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1703                                    unsigned long context_unused)
1704 {
1705         struct usb_interface *intf = comedi_to_usb_interface(dev);
1706         struct usb_device *usb = comedi_to_usb_dev(dev);
1707         struct usbduxsigma_private *devpriv;
1708         int ret;
1709
1710         devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
1711         if (!devpriv)
1712                 return -ENOMEM;
1713         dev->private = devpriv;
1714
1715         sema_init(&devpriv->sem, 1);
1716         usb_set_intfdata(intf, devpriv);
1717
1718         ret = usb_set_interface(usb,
1719                                 intf->altsetting->desc.bInterfaceNumber, 3);
1720         if (ret < 0) {
1721                 dev_err(dev->class_dev,
1722                         "could not set alternate setting 3 in high speed\n");
1723                 return -ENODEV;
1724         }
1725
1726         /* test if it is high speed (USB 2.0) */
1727         devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1728         if (devpriv->high_speed) {
1729                 devpriv->numOfInBuffers = NUMOFINBUFFERSHIGH;
1730                 devpriv->numOfOutBuffers = NUMOFOUTBUFFERSHIGH;
1731         } else {
1732                 devpriv->numOfInBuffers = NUMOFINBUFFERSFULL;
1733                 devpriv->numOfOutBuffers = NUMOFOUTBUFFERSFULL;
1734         }
1735
1736         ret = usbduxsigma_alloc_usb_buffers(dev);
1737         if (ret)
1738                 return ret;
1739
1740         ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1741                                    usbduxsigma_firmware_upload, 0);
1742         if (ret)
1743                 return ret;
1744
1745         return usbduxsigma_attach_common(dev);
1746 }
1747
1748 static void usbduxsigma_detach(struct comedi_device *dev)
1749 {
1750         struct usb_interface *intf = comedi_to_usb_interface(dev);
1751         struct usbduxsigma_private *devpriv = dev->private;
1752
1753         if (!devpriv)
1754                 return;
1755
1756         usb_set_intfdata(intf, NULL);
1757
1758         down(&devpriv->sem);
1759         usbduxsigma_free_usb_buffers(dev);
1760         up(&devpriv->sem);
1761 }
1762
1763 static struct comedi_driver usbduxsigma_driver = {
1764         .driver_name    = "usbduxsigma",
1765         .module         = THIS_MODULE,
1766         .auto_attach    = usbduxsigma_auto_attach,
1767         .detach         = usbduxsigma_detach,
1768 };
1769
1770 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1771                                  const struct usb_device_id *id)
1772 {
1773         return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1774 }
1775
1776 static const struct usb_device_id usbduxsigma_usb_table[] = {
1777         { USB_DEVICE(0x13d8, 0x0020) },
1778         { USB_DEVICE(0x13d8, 0x0021) },
1779         { USB_DEVICE(0x13d8, 0x0022) },
1780         { }
1781 };
1782 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1783
1784 static struct usb_driver usbduxsigma_usb_driver = {
1785         .name           = "usbduxsigma",
1786         .probe          = usbduxsigma_usb_probe,
1787         .disconnect     = comedi_usb_auto_unconfig,
1788         .id_table       = usbduxsigma_usb_table,
1789 };
1790 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1791
1792 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1793 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com");
1794 MODULE_LICENSE("GPL");
1795 MODULE_FIRMWARE(FIRMWARE);