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

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