// SPDX-License-Identifier: GPL-2.0+ /* * Hardware driver for NI 660x devices */ /* * Driver: ni_660x * Description: National Instruments 660x counter/timer boards * Devices: [National Instruments] PCI-6601 (ni_660x), PCI-6602, PXI-6602, * PCI-6608, PXI-6608, PCI-6624, PXI-6624 * Author: J.P. Mellor , * Herman.Bruyninckx@mech.kuleuven.ac.be, * Wim.Meeussen@mech.kuleuven.ac.be, * Klaas.Gadeyne@mech.kuleuven.ac.be, * Frank Mori Hess * Updated: Mon, 16 Jan 2017 14:00:43 +0000 * Status: experimental * * Encoders work. PulseGeneration (both single pulse and pulse train) * works. Buffered commands work for input but not output. * * References: * DAQ 660x Register-Level Programmer Manual (NI 370505A-01) * DAQ 6601/6602 User Manual (NI 322137B-01) */ #include #include #include "../comedi_pci.h" #include "mite.h" #include "ni_tio.h" #include "ni_routes.h" /* See Register-Level Programmer Manual page 3.1 */ enum ni_660x_register { /* see enum ni_gpct_register */ NI660X_STC_DIO_PARALLEL_INPUT = NITIO_NUM_REGS, NI660X_STC_DIO_OUTPUT, NI660X_STC_DIO_CONTROL, NI660X_STC_DIO_SERIAL_INPUT, NI660X_DIO32_INPUT, NI660X_DIO32_OUTPUT, NI660X_CLK_CFG, NI660X_GLOBAL_INT_STATUS, NI660X_DMA_CFG, NI660X_GLOBAL_INT_CFG, NI660X_IO_CFG_0_1, NI660X_IO_CFG_2_3, NI660X_IO_CFG_4_5, NI660X_IO_CFG_6_7, NI660X_IO_CFG_8_9, NI660X_IO_CFG_10_11, NI660X_IO_CFG_12_13, NI660X_IO_CFG_14_15, NI660X_IO_CFG_16_17, NI660X_IO_CFG_18_19, NI660X_IO_CFG_20_21, NI660X_IO_CFG_22_23, NI660X_IO_CFG_24_25, NI660X_IO_CFG_26_27, NI660X_IO_CFG_28_29, NI660X_IO_CFG_30_31, NI660X_IO_CFG_32_33, NI660X_IO_CFG_34_35, NI660X_IO_CFG_36_37, NI660X_IO_CFG_38_39, NI660X_NUM_REGS, }; #define NI660X_CLK_CFG_COUNTER_SWAP BIT(21) #define NI660X_GLOBAL_INT_COUNTER0 BIT(8) #define NI660X_GLOBAL_INT_COUNTER1 BIT(9) #define NI660X_GLOBAL_INT_COUNTER2 BIT(10) #define NI660X_GLOBAL_INT_COUNTER3 BIT(11) #define NI660X_GLOBAL_INT_CASCADE BIT(29) #define NI660X_GLOBAL_INT_GLOBAL_POL BIT(30) #define NI660X_GLOBAL_INT_GLOBAL BIT(31) #define NI660X_DMA_CFG_SEL(_c, _s) (((_s) & 0x1f) << (8 * (_c))) #define NI660X_DMA_CFG_SEL_MASK(_c) NI660X_DMA_CFG_SEL((_c), 0x1f) #define NI660X_DMA_CFG_SEL_NONE(_c) NI660X_DMA_CFG_SEL((_c), 0x1f) #define NI660X_DMA_CFG_RESET(_c) NI660X_DMA_CFG_SEL((_c), 0x80) #define NI660X_IO_CFG(x) (NI660X_IO_CFG_0_1 + ((x) / 2)) #define NI660X_IO_CFG_OUT_SEL(_c, _s) (((_s) & 0x3) << (((_c) % 2) ? 0 : 8)) #define NI660X_IO_CFG_OUT_SEL_MASK(_c) NI660X_IO_CFG_OUT_SEL((_c), 0x3) #define NI660X_IO_CFG_IN_SEL(_c, _s) (((_s) & 0x7) << (((_c) % 2) ? 4 : 12)) #define NI660X_IO_CFG_IN_SEL_MASK(_c) NI660X_IO_CFG_IN_SEL((_c), 0x7) struct ni_660x_register_data { int offset; /* Offset from base address from GPCT chip */ char size; /* 2 or 4 bytes */ }; static const struct ni_660x_register_data ni_660x_reg_data[NI660X_NUM_REGS] = { [NITIO_G0_INT_ACK] = { 0x004, 2 }, /* write */ [NITIO_G0_STATUS] = { 0x004, 2 }, /* read */ [NITIO_G1_INT_ACK] = { 0x006, 2 }, /* write */ [NITIO_G1_STATUS] = { 0x006, 2 }, /* read */ [NITIO_G01_STATUS] = { 0x008, 2 }, /* read */ [NITIO_G0_CMD] = { 0x00c, 2 }, /* write */ [NI660X_STC_DIO_PARALLEL_INPUT] = { 0x00e, 2 }, /* read */ [NITIO_G1_CMD] = { 0x00e, 2 }, /* write */ [NITIO_G0_HW_SAVE] = { 0x010, 4 }, /* read */ [NITIO_G1_HW_SAVE] = { 0x014, 4 }, /* read */ [NI660X_STC_DIO_OUTPUT] = { 0x014, 2 }, /* write */ [NI660X_STC_DIO_CONTROL] = { 0x016, 2 }, /* write */ [NITIO_G0_SW_SAVE] = { 0x018, 4 }, /* read */ [NITIO_G1_SW_SAVE] = { 0x01c, 4 }, /* read */ [NITIO_G0_MODE] = { 0x034, 2 }, /* write */ [NITIO_G01_STATUS1] = { 0x036, 2 }, /* read */ [NITIO_G1_MODE] = { 0x036, 2 }, /* write */ [NI660X_STC_DIO_SERIAL_INPUT] = { 0x038, 2 }, /* read */ [NITIO_G0_LOADA] = { 0x038, 4 }, /* write */ [NITIO_G01_STATUS2] = { 0x03a, 2 }, /* read */ [NITIO_G0_LOADB] = { 0x03c, 4 }, /* write */ [NITIO_G1_LOADA] = { 0x040, 4 }, /* write */ [NITIO_G1_LOADB] = { 0x044, 4 }, /* write */ [NITIO_G0_INPUT_SEL] = { 0x048, 2 }, /* write */ [NITIO_G1_INPUT_SEL] = { 0x04a, 2 }, /* write */ [NITIO_G0_AUTO_INC] = { 0x088, 2 }, /* write */ [NITIO_G1_AUTO_INC] = { 0x08a, 2 }, /* write */ [NITIO_G01_RESET] = { 0x090, 2 }, /* write */ [NITIO_G0_INT_ENA] = { 0x092, 2 }, /* write */ [NITIO_G1_INT_ENA] = { 0x096, 2 }, /* write */ [NITIO_G0_CNT_MODE] = { 0x0b0, 2 }, /* write */ [NITIO_G1_CNT_MODE] = { 0x0b2, 2 }, /* write */ [NITIO_G0_GATE2] = { 0x0b4, 2 }, /* write */ [NITIO_G1_GATE2] = { 0x0b6, 2 }, /* write */ [NITIO_G0_DMA_CFG] = { 0x0b8, 2 }, /* write */ [NITIO_G0_DMA_STATUS] = { 0x0b8, 2 }, /* read */ [NITIO_G1_DMA_CFG] = { 0x0ba, 2 }, /* write */ [NITIO_G1_DMA_STATUS] = { 0x0ba, 2 }, /* read */ [NITIO_G2_INT_ACK] = { 0x104, 2 }, /* write */ [NITIO_G2_STATUS] = { 0x104, 2 }, /* read */ [NITIO_G3_INT_ACK] = { 0x106, 2 }, /* write */ [NITIO_G3_STATUS] = { 0x106, 2 }, /* read */ [NITIO_G23_STATUS] = { 0x108, 2 }, /* read */ [NITIO_G2_CMD] = { 0x10c, 2 }, /* write */ [NITIO_G3_CMD] = { 0x10e, 2 }, /* write */ [NITIO_G2_HW_SAVE] = { 0x110, 4 }, /* read */ [NITIO_G3_HW_SAVE] = { 0x114, 4 }, /* read */ [NITIO_G2_SW_SAVE] = { 0x118, 4 }, /* read */ [NITIO_G3_SW_SAVE] = { 0x11c, 4 }, /* read */ [NITIO_G2_MODE] = { 0x134, 2 }, /* write */ [NITIO_G23_STATUS1] = { 0x136, 2 }, /* read */ [NITIO_G3_MODE] = { 0x136, 2 }, /* write */ [NITIO_G2_LOADA] = { 0x138, 4 }, /* write */ [NITIO_G23_STATUS2] = { 0x13a, 2 }, /* read */ [NITIO_G2_LOADB] = { 0x13c, 4 }, /* write */ [NITIO_G3_LOADA] = { 0x140, 4 }, /* write */ [NITIO_G3_LOADB] = { 0x144, 4 }, /* write */ [NITIO_G2_INPUT_SEL] = { 0x148, 2 }, /* write */ [NITIO_G3_INPUT_SEL] = { 0x14a, 2 }, /* write */ [NITIO_G2_AUTO_INC] = { 0x188, 2 }, /* write */ [NITIO_G3_AUTO_INC] = { 0x18a, 2 }, /* write */ [NITIO_G23_RESET] = { 0x190, 2 }, /* write */ [NITIO_G2_INT_ENA] = { 0x192, 2 }, /* write */ [NITIO_G3_INT_ENA] = { 0x196, 2 }, /* write */ [NITIO_G2_CNT_MODE] = { 0x1b0, 2 }, /* write */ [NITIO_G3_CNT_MODE] = { 0x1b2, 2 }, /* write */ [NITIO_G2_GATE2] = { 0x1b4, 2 }, /* write */ [NITIO_G3_GATE2] = { 0x1b6, 2 }, /* write */ [NITIO_G2_DMA_CFG] = { 0x1b8, 2 }, /* write */ [NITIO_G2_DMA_STATUS] = { 0x1b8, 2 }, /* read */ [NITIO_G3_DMA_CFG] = { 0x1ba, 2 }, /* write */ [NITIO_G3_DMA_STATUS] = { 0x1ba, 2 }, /* read */ [NI660X_DIO32_INPUT] = { 0x414, 4 }, /* read */ [NI660X_DIO32_OUTPUT] = { 0x510, 4 }, /* write */ [NI660X_CLK_CFG] = { 0x73c, 4 }, /* write */ [NI660X_GLOBAL_INT_STATUS] = { 0x754, 4 }, /* read */ [NI660X_DMA_CFG] = { 0x76c, 4 }, /* write */ [NI660X_GLOBAL_INT_CFG] = { 0x770, 4 }, /* write */ [NI660X_IO_CFG_0_1] = { 0x77c, 2 }, /* read/write */ [NI660X_IO_CFG_2_3] = { 0x77e, 2 }, /* read/write */ [NI660X_IO_CFG_4_5] = { 0x780, 2 }, /* read/write */ [NI660X_IO_CFG_6_7] = { 0x782, 2 }, /* read/write */ [NI660X_IO_CFG_8_9] = { 0x784, 2 }, /* read/write */ [NI660X_IO_CFG_10_11] = { 0x786, 2 }, /* read/write */ [NI660X_IO_CFG_12_13] = { 0x788, 2 }, /* read/write */ [NI660X_IO_CFG_14_15] = { 0x78a, 2 }, /* read/write */ [NI660X_IO_CFG_16_17] = { 0x78c, 2 }, /* read/write */ [NI660X_IO_CFG_18_19] = { 0x78e, 2 }, /* read/write */ [NI660X_IO_CFG_20_21] = { 0x790, 2 }, /* read/write */ [NI660X_IO_CFG_22_23] = { 0x792, 2 }, /* read/write */ [NI660X_IO_CFG_24_25] = { 0x794, 2 }, /* read/write */ [NI660X_IO_CFG_26_27] = { 0x796, 2 }, /* read/write */ [NI660X_IO_CFG_28_29] = { 0x798, 2 }, /* read/write */ [NI660X_IO_CFG_30_31] = { 0x79a, 2 }, /* read/write */ [NI660X_IO_CFG_32_33] = { 0x79c, 2 }, /* read/write */ [NI660X_IO_CFG_34_35] = { 0x79e, 2 }, /* read/write */ [NI660X_IO_CFG_36_37] = { 0x7a0, 2 }, /* read/write */ [NI660X_IO_CFG_38_39] = { 0x7a2, 2 } /* read/write */ }; #define NI660X_CHIP_OFFSET 0x800 enum ni_660x_boardid { BOARD_PCI6601, BOARD_PCI6602, BOARD_PXI6602, BOARD_PCI6608, BOARD_PXI6608, BOARD_PCI6624, BOARD_PXI6624 }; struct ni_660x_board { const char *name; unsigned int n_chips; /* total number of TIO chips */ }; static const struct ni_660x_board ni_660x_boards[] = { [BOARD_PCI6601] = { .name = "PCI-6601", .n_chips = 1, }, [BOARD_PCI6602] = { .name = "PCI-6602", .n_chips = 2, }, [BOARD_PXI6602] = { .name = "PXI-6602", .n_chips = 2, }, [BOARD_PCI6608] = { .name = "PCI-6608", .n_chips = 2, }, [BOARD_PXI6608] = { .name = "PXI-6608", .n_chips = 2, }, [BOARD_PCI6624] = { .name = "PCI-6624", .n_chips = 2, }, [BOARD_PXI6624] = { .name = "PXI-6624", .n_chips = 2, }, }; #define NI660X_NUM_PFI_CHANNELS 40 /* there are only up to 3 dma channels, but the register layout allows for 4 */ #define NI660X_MAX_DMA_CHANNEL 4 #define NI660X_COUNTERS_PER_CHIP 4 #define NI660X_MAX_CHIPS 2 #define NI660X_MAX_COUNTERS (NI660X_MAX_CHIPS * \ NI660X_COUNTERS_PER_CHIP) struct ni_660x_private { struct mite *mite; struct ni_gpct_device *counter_dev; struct mite_ring *ring[NI660X_MAX_CHIPS][NI660X_COUNTERS_PER_CHIP]; /* protects mite channel request/release */ spinlock_t mite_channel_lock; /* prevents races between interrupt and comedi_poll */ spinlock_t interrupt_lock; unsigned int dma_cfg[NI660X_MAX_CHIPS]; unsigned int io_cfg[NI660X_NUM_PFI_CHANNELS]; u64 io_dir; struct ni_route_tables routing_tables; }; static void ni_660x_write(struct comedi_device *dev, unsigned int chip, unsigned int bits, unsigned int reg) { unsigned int addr = (chip * NI660X_CHIP_OFFSET) + ni_660x_reg_data[reg].offset; if (ni_660x_reg_data[reg].size == 2) writew(bits, dev->mmio + addr); else writel(bits, dev->mmio + addr); } static unsigned int ni_660x_read(struct comedi_device *dev, unsigned int chip, unsigned int reg) { unsigned int addr = (chip * NI660X_CHIP_OFFSET) + ni_660x_reg_data[reg].offset; if (ni_660x_reg_data[reg].size == 2) return readw(dev->mmio + addr); return readl(dev->mmio + addr); } static void ni_660x_gpct_write(struct ni_gpct *counter, unsigned int bits, enum ni_gpct_register reg) { struct comedi_device *dev = counter->counter_dev->dev; ni_660x_write(dev, counter->chip_index, bits, reg); } static unsigned int ni_660x_gpct_read(struct ni_gpct *counter, enum ni_gpct_register reg) { struct comedi_device *dev = counter->counter_dev->dev; return ni_660x_read(dev, counter->chip_index, reg); } static inline void ni_660x_set_dma_channel(struct comedi_device *dev, unsigned int mite_channel, struct ni_gpct *counter) { struct ni_660x_private *devpriv = dev->private; unsigned int chip = counter->chip_index; devpriv->dma_cfg[chip] &= ~NI660X_DMA_CFG_SEL_MASK(mite_channel); devpriv->dma_cfg[chip] |= NI660X_DMA_CFG_SEL(mite_channel, counter->counter_index); ni_660x_write(dev, chip, devpriv->dma_cfg[chip] | NI660X_DMA_CFG_RESET(mite_channel), NI660X_DMA_CFG); } static inline void ni_660x_unset_dma_channel(struct comedi_device *dev, unsigned int mite_channel, struct ni_gpct *counter) { struct ni_660x_private *devpriv = dev->private; unsigned int chip = counter->chip_index; devpriv->dma_cfg[chip] &= ~NI660X_DMA_CFG_SEL_MASK(mite_channel); devpriv->dma_cfg[chip] |= NI660X_DMA_CFG_SEL_NONE(mite_channel); ni_660x_write(dev, chip, devpriv->dma_cfg[chip], NI660X_DMA_CFG); } static int ni_660x_request_mite_channel(struct comedi_device *dev, struct ni_gpct *counter, enum comedi_io_direction direction) { struct ni_660x_private *devpriv = dev->private; struct mite_ring *ring; struct mite_channel *mite_chan; unsigned long flags; spin_lock_irqsave(&devpriv->mite_channel_lock, flags); ring = devpriv->ring[counter->chip_index][counter->counter_index]; mite_chan = mite_request_channel(devpriv->mite, ring); if (!mite_chan) { spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags); dev_err(dev->class_dev, "failed to reserve mite dma channel for counter\n"); return -EBUSY; } mite_chan->dir = direction; ni_tio_set_mite_channel(counter, mite_chan); ni_660x_set_dma_channel(dev, mite_chan->channel, counter); spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags); return 0; } static void ni_660x_release_mite_channel(struct comedi_device *dev, struct ni_gpct *counter) { struct ni_660x_private *devpriv = dev->private; unsigned long flags; spin_lock_irqsave(&devpriv->mite_channel_lock, flags); if (counter->mite_chan) { struct mite_channel *mite_chan = counter->mite_chan; ni_660x_unset_dma_channel(dev, mite_chan->channel, counter); ni_tio_set_mite_channel(counter, NULL); mite_release_channel(mite_chan); } spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags); } static int ni_660x_cmd(struct comedi_device *dev, struct comedi_subdevice *s) { struct ni_gpct *counter = s->private; int retval; retval = ni_660x_request_mite_channel(dev, counter, COMEDI_INPUT); if (retval) { dev_err(dev->class_dev, "no dma channel available for use by counter\n"); return retval; } ni_tio_acknowledge(counter); return ni_tio_cmd(dev, s); } static int ni_660x_cancel(struct comedi_device *dev, struct comedi_subdevice *s) { struct ni_gpct *counter = s->private; int retval; retval = ni_tio_cancel(counter); ni_660x_release_mite_channel(dev, counter); return retval; } static void set_tio_counterswap(struct comedi_device *dev, int chip) { unsigned int bits = 0; /* * See P. 3.5 of the Register-Level Programming manual. * The CounterSwap bit has to be set on the second chip, * otherwise it will try to use the same pins as the * first chip. */ if (chip) bits = NI660X_CLK_CFG_COUNTER_SWAP; ni_660x_write(dev, chip, bits, NI660X_CLK_CFG); } static void ni_660x_handle_gpct_interrupt(struct comedi_device *dev, struct comedi_subdevice *s) { struct ni_gpct *counter = s->private; ni_tio_handle_interrupt(counter, s); comedi_handle_events(dev, s); } static irqreturn_t ni_660x_interrupt(int irq, void *d) { struct comedi_device *dev = d; struct ni_660x_private *devpriv = dev->private; struct comedi_subdevice *s; unsigned int i; unsigned long flags; if (!dev->attached) return IRQ_NONE; /* make sure dev->attached is checked before doing anything else */ smp_mb(); /* lock to avoid race with comedi_poll */ spin_lock_irqsave(&devpriv->interrupt_lock, flags); for (i = 0; i < dev->n_subdevices; ++i) { s = &dev->subdevices[i]; if (s->type == COMEDI_SUBD_COUNTER) ni_660x_handle_gpct_interrupt(dev, s); } spin_unlock_irqrestore(&devpriv->interrupt_lock, flags); return IRQ_HANDLED; } static int ni_660x_input_poll(struct comedi_device *dev, struct comedi_subdevice *s) { struct ni_660x_private *devpriv = dev->private; struct ni_gpct *counter = s->private; unsigned long flags; /* lock to avoid race with comedi_poll */ spin_lock_irqsave(&devpriv->interrupt_lock, flags); mite_sync_dma(counter->mite_chan, s); spin_unlock_irqrestore(&devpriv->interrupt_lock, flags); return comedi_buf_read_n_available(s); } static int ni_660x_buf_change(struct comedi_device *dev, struct comedi_subdevice *s) { struct ni_660x_private *devpriv = dev->private; struct ni_gpct *counter = s->private; struct mite_ring *ring; int ret; ring = devpriv->ring[counter->chip_index][counter->counter_index]; ret = mite_buf_change(ring, s); if (ret < 0) return ret; return 0; } static int ni_660x_allocate_private(struct comedi_device *dev) { struct ni_660x_private *devpriv; unsigned int i; devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv)); if (!devpriv) return -ENOMEM; spin_lock_init(&devpriv->mite_channel_lock); spin_lock_init(&devpriv->interrupt_lock); for (i = 0; i < NI660X_NUM_PFI_CHANNELS; ++i) devpriv->io_cfg[i] = NI_660X_PFI_OUTPUT_COUNTER; return 0; } static int ni_660x_alloc_mite_rings(struct comedi_device *dev) { const struct ni_660x_board *board = dev->board_ptr; struct ni_660x_private *devpriv = dev->private; unsigned int i; unsigned int j; for (i = 0; i < board->n_chips; ++i) { for (j = 0; j < NI660X_COUNTERS_PER_CHIP; ++j) { devpriv->ring[i][j] = mite_alloc_ring(devpriv->mite); if (!devpriv->ring[i][j]) return -ENOMEM; } } return 0; } static void ni_660x_free_mite_rings(struct comedi_device *dev) { const struct ni_660x_board *board = dev->board_ptr; struct ni_660x_private *devpriv = dev->private; unsigned int i; unsigned int j; for (i = 0; i < board->n_chips; ++i) { for (j = 0; j < NI660X_COUNTERS_PER_CHIP; ++j) mite_free_ring(devpriv->ring[i][j]); } } static int ni_660x_dio_insn_bits(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { unsigned int shift = CR_CHAN(insn->chanspec); unsigned int mask = data[0] << shift; unsigned int bits = data[1] << shift; /* * There are 40 channels in this subdevice but only 32 are usable * as DIO. The shift adjusts the mask/bits to account for the base * channel in insn->chanspec. The state update can then be handled * normally for the 32 usable channels. */ if (mask) { s->state &= ~mask; s->state |= (bits & mask); ni_660x_write(dev, 0, s->state, NI660X_DIO32_OUTPUT); } /* * Return the input channels, shifted back to account for the base * channel. */ data[1] = ni_660x_read(dev, 0, NI660X_DIO32_INPUT) >> shift; return insn->n; } static void ni_660x_select_pfi_output(struct comedi_device *dev, unsigned int chan, unsigned int out_sel) { const struct ni_660x_board *board = dev->board_ptr; unsigned int active_chip = 0; unsigned int idle_chip = 0; unsigned int bits; if (chan >= NI_PFI(0)) /* allow new and old names of pfi channels to work. */ chan -= NI_PFI(0); if (board->n_chips > 1) { if (out_sel == NI_660X_PFI_OUTPUT_COUNTER && chan >= 8 && chan <= 23) { /* counters 4-7 pfi channels */ active_chip = 1; idle_chip = 0; } else { /* counters 0-3 pfi channels */ active_chip = 0; idle_chip = 1; } } if (idle_chip != active_chip) { /* set the pfi channel to high-z on the inactive chip */ bits = ni_660x_read(dev, idle_chip, NI660X_IO_CFG(chan)); bits &= ~NI660X_IO_CFG_OUT_SEL_MASK(chan); bits |= NI660X_IO_CFG_OUT_SEL(chan, 0); /* high-z */ ni_660x_write(dev, idle_chip, bits, NI660X_IO_CFG(chan)); } /* set the pfi channel output on the active chip */ bits = ni_660x_read(dev, active_chip, NI660X_IO_CFG(chan)); bits &= ~NI660X_IO_CFG_OUT_SEL_MASK(chan); bits |= NI660X_IO_CFG_OUT_SEL(chan, out_sel); ni_660x_write(dev, active_chip, bits, NI660X_IO_CFG(chan)); } static void ni_660x_set_pfi_direction(struct comedi_device *dev, unsigned int chan, unsigned int direction) { struct ni_660x_private *devpriv = dev->private; u64 bit; if (chan >= NI_PFI(0)) /* allow new and old names of pfi channels to work. */ chan -= NI_PFI(0); bit = 1ULL << chan; if (direction == COMEDI_OUTPUT) { devpriv->io_dir |= bit; /* reset the output to currently assigned output value */ ni_660x_select_pfi_output(dev, chan, devpriv->io_cfg[chan]); } else { devpriv->io_dir &= ~bit; /* set pin to high-z; do not change currently assigned route */ ni_660x_select_pfi_output(dev, chan, 0); } } static unsigned int ni_660x_get_pfi_direction(struct comedi_device *dev, unsigned int chan) { struct ni_660x_private *devpriv = dev->private; u64 bit; if (chan >= NI_PFI(0)) /* allow new and old names of pfi channels to work. */ chan -= NI_PFI(0); bit = 1ULL << chan; return (devpriv->io_dir & bit) ? COMEDI_OUTPUT : COMEDI_INPUT; } static int ni_660x_set_pfi_routing(struct comedi_device *dev, unsigned int chan, unsigned int source) { struct ni_660x_private *devpriv = dev->private; if (chan >= NI_PFI(0)) /* allow new and old names of pfi channels to work. */ chan -= NI_PFI(0); switch (source) { case NI_660X_PFI_OUTPUT_COUNTER: if (chan < 8) return -EINVAL; break; case NI_660X_PFI_OUTPUT_DIO: if (chan > 31) return -EINVAL; break; default: return -EINVAL; } devpriv->io_cfg[chan] = source; if (ni_660x_get_pfi_direction(dev, chan) == COMEDI_OUTPUT) ni_660x_select_pfi_output(dev, chan, devpriv->io_cfg[chan]); return 0; } static int ni_660x_get_pfi_routing(struct comedi_device *dev, unsigned int chan) { struct ni_660x_private *devpriv = dev->private; if (chan >= NI_PFI(0)) /* allow new and old names of pfi channels to work. */ chan -= NI_PFI(0); return devpriv->io_cfg[chan]; } static void ni_660x_set_pfi_filter(struct comedi_device *dev, unsigned int chan, unsigned int value) { unsigned int val; if (chan >= NI_PFI(0)) /* allow new and old names of pfi channels to work. */ chan -= NI_PFI(0); val = ni_660x_read(dev, 0, NI660X_IO_CFG(chan)); val &= ~NI660X_IO_CFG_IN_SEL_MASK(chan); val |= NI660X_IO_CFG_IN_SEL(chan, value); ni_660x_write(dev, 0, val, NI660X_IO_CFG(chan)); } static int ni_660x_dio_insn_config(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { unsigned int chan = CR_CHAN(insn->chanspec); int ret; switch (data[0]) { case INSN_CONFIG_DIO_OUTPUT: ni_660x_set_pfi_direction(dev, chan, COMEDI_OUTPUT); break; case INSN_CONFIG_DIO_INPUT: ni_660x_set_pfi_direction(dev, chan, COMEDI_INPUT); break; case INSN_CONFIG_DIO_QUERY: data[1] = ni_660x_get_pfi_direction(dev, chan); break; case INSN_CONFIG_SET_ROUTING: ret = ni_660x_set_pfi_routing(dev, chan, data[1]); if (ret) return ret; break; case INSN_CONFIG_GET_ROUTING: data[1] = ni_660x_get_pfi_routing(dev, chan); break; case INSN_CONFIG_FILTER: ni_660x_set_pfi_filter(dev, chan, data[1]); break; default: return -EINVAL; } return insn->n; } static unsigned int _ni_get_valid_routes(struct comedi_device *dev, unsigned int n_pairs, unsigned int *pair_data) { struct ni_660x_private *devpriv = dev->private; return ni_get_valid_routes(&devpriv->routing_tables, n_pairs, pair_data); } /* * Retrieves the current source of the output selector for the given * destination. If the terminal for the destination is not already configured * as an output, this function returns -EINVAL as error. * * Return: The register value of the destination output selector; * -EINVAL if terminal is not configured for output. */ static inline int get_output_select_source(int dest, struct comedi_device *dev) { struct ni_660x_private *devpriv = dev->private; int reg = -1; if (channel_is_pfi(dest)) { if (ni_660x_get_pfi_direction(dev, dest) == COMEDI_OUTPUT) reg = ni_660x_get_pfi_routing(dev, dest); } else if (channel_is_rtsi(dest)) { dev_dbg(dev->class_dev, "%s: unhandled rtsi destination (%d) queried\n", __func__, dest); /* * The following can be enabled when RTSI routing info is * determined (not currently documented): * if (ni_get_rtsi_direction(dev, dest) == COMEDI_OUTPUT) { * reg = ni_get_rtsi_routing(dev, dest); * if (reg == NI_RTSI_OUTPUT_RGOUT0) { * dest = NI_RGOUT0; ** prepare for lookup below ** * reg = get_rgout0_reg(dev); * } else if (reg >= NI_RTSI_OUTPUT_RTSI_BRD(0) && * reg <= NI_RTSI_OUTPUT_RTSI_BRD(3)) { * const int i = reg - NI_RTSI_OUTPUT_RTSI_BRD(0); * dest = NI_RTSI_BRD(i); ** prepare for lookup ** * reg = get_ith_rtsi_brd_reg(i, dev); * } * } */ } else if (channel_is_ctr(dest)) { reg = ni_tio_get_routing(devpriv->counter_dev, dest); } else { dev_dbg(dev->class_dev, "%s: unhandled destination (%d) queried\n", __func__, dest); } if (reg >= 0) return ni_find_route_source(CR_CHAN(reg), dest, &devpriv->routing_tables); return -EINVAL; } /* * Test a route: * * Return: -1 if not connectible; * 0 if connectible and not connected; * 1 if connectible and connected. */ static inline int test_route(unsigned int src, unsigned int dest, struct comedi_device *dev) { struct ni_660x_private *devpriv = dev->private; s8 reg = ni_route_to_register(CR_CHAN(src), dest, &devpriv->routing_tables); if (reg < 0) return -1; if (get_output_select_source(dest, dev) != CR_CHAN(src)) return 0; return 1; } /* Connect the actual route. */ static inline int connect_route(unsigned int src, unsigned int dest, struct comedi_device *dev) { struct ni_660x_private *devpriv = dev->private; s8 reg = ni_route_to_register(CR_CHAN(src), dest, &devpriv->routing_tables); s8 current_src; if (reg < 0) /* route is not valid */ return -EINVAL; current_src = get_output_select_source(dest, dev); if (current_src == CR_CHAN(src)) return -EALREADY; if (current_src >= 0) /* destination mux is already busy. complain, don't overwrite */ return -EBUSY; /* The route is valid and available. Now connect... */ if (channel_is_pfi(CR_CHAN(dest))) { /* * set routing and then direction so that the output does not * first get generated with the wrong pin */ ni_660x_set_pfi_routing(dev, dest, reg); ni_660x_set_pfi_direction(dev, dest, COMEDI_OUTPUT); } else if (channel_is_rtsi(CR_CHAN(dest))) { dev_dbg(dev->class_dev, "%s: unhandled rtsi destination (%d)\n", __func__, dest); return -EINVAL; /* * The following can be enabled when RTSI routing info is * determined (not currently documented): * if (reg == NI_RTSI_OUTPUT_RGOUT0) { * int ret = incr_rgout0_src_use(src, dev); * if (ret < 0) * return ret; * } else if (ni_rtsi_route_requires_mux(reg)) { * ** Attempt to allocate and route (src->brd) ** * int brd = incr_rtsi_brd_src_use(src, dev); * if (brd < 0) * return brd; * ** Now lookup the register value for (brd->dest) ** * reg = ni_lookup_route_register(brd, CR_CHAN(dest), * &devpriv->routing_tables); * } * ni_set_rtsi_direction(dev, dest, COMEDI_OUTPUT); * ni_set_rtsi_routing(dev, dest, reg); */ } else if (channel_is_ctr(CR_CHAN(dest))) { /* * we are adding back the channel modifier info to set * invert/edge info passed by the user */ ni_tio_set_routing(devpriv->counter_dev, dest, reg | (src & ~CR_CHAN(-1))); } else { return -EINVAL; } return 0; } static inline int disconnect_route(unsigned int src, unsigned int dest, struct comedi_device *dev) { struct ni_660x_private *devpriv = dev->private; s8 reg = ni_route_to_register(CR_CHAN(src), CR_CHAN(dest), &devpriv->routing_tables); if (reg < 0) /* route is not valid */ return -EINVAL; if (get_output_select_source(dest, dev) != CR_CHAN(src)) /* cannot disconnect something not connected */ return -EINVAL; /* The route is valid and is connected. Now disconnect... */ if (channel_is_pfi(CR_CHAN(dest))) { unsigned int source = ((CR_CHAN(dest) - NI_PFI(0)) < 8) ? NI_660X_PFI_OUTPUT_DIO : NI_660X_PFI_OUTPUT_COUNTER; /* set the pfi to high impedance, and disconnect */ ni_660x_set_pfi_direction(dev, dest, COMEDI_INPUT); ni_660x_set_pfi_routing(dev, dest, source); } else if (channel_is_rtsi(CR_CHAN(dest))) { dev_dbg(dev->class_dev, "%s: unhandled rtsi destination (%d)\n", __func__, dest); return -EINVAL; /* * The following can be enabled when RTSI routing info is * determined (not currently documented): * if (reg == NI_RTSI_OUTPUT_RGOUT0) { * int ret = decr_rgout0_src_use(src, dev); * if (ret < 0) * return ret; * } else if (ni_rtsi_route_requires_mux(reg)) { * ** find which RTSI_BRD line is source for rtsi pin ** * int brd = ni_find_route_source( * ni_get_rtsi_routing(dev, dest), CR_CHAN(dest), * &devpriv->routing_tables); * if (brd < 0) * return brd; * ** decrement/disconnect RTSI_BRD line from source ** * decr_rtsi_brd_src_use(src, brd, dev); * } * ** set rtsi output selector to default state ** * reg = default_rtsi_routing[CR_CHAN(dest) - TRIGGER_LINE(0)]; * ni_set_rtsi_direction(dev, dest, COMEDI_INPUT); * ni_set_rtsi_routing(dev, dest, reg); */ } else if (channel_is_ctr(CR_CHAN(dest))) { ni_tio_unset_routing(devpriv->counter_dev, dest); } else { return -EINVAL; } return 0; } static int ni_global_insn_config(struct comedi_device *dev, struct comedi_insn *insn, unsigned int *data) { switch (data[0]) { case INSN_DEVICE_CONFIG_TEST_ROUTE: data[0] = test_route(data[1], data[2], dev); return 2; case INSN_DEVICE_CONFIG_CONNECT_ROUTE: return connect_route(data[1], data[2], dev); case INSN_DEVICE_CONFIG_DISCONNECT_ROUTE: return disconnect_route(data[1], data[2], dev); /* * This case is already handled one level up. * case INSN_DEVICE_CONFIG_GET_ROUTES: */ default: return -EINVAL; } return 1; } static void ni_660x_init_tio_chips(struct comedi_device *dev, unsigned int n_chips) { struct ni_660x_private *devpriv = dev->private; unsigned int chip; unsigned int chan; /* * We use the ioconfig registers to control dio direction, so zero * output enables in stc dio control reg. */ ni_660x_write(dev, 0, 0, NI660X_STC_DIO_CONTROL); for (chip = 0; chip < n_chips; ++chip) { /* init dma configuration register */ devpriv->dma_cfg[chip] = 0; for (chan = 0; chan < NI660X_MAX_DMA_CHANNEL; ++chan) devpriv->dma_cfg[chip] |= NI660X_DMA_CFG_SEL_NONE(chan); ni_660x_write(dev, chip, devpriv->dma_cfg[chip], NI660X_DMA_CFG); /* init ioconfig registers */ for (chan = 0; chan < NI660X_NUM_PFI_CHANNELS; ++chan) ni_660x_write(dev, chip, 0, NI660X_IO_CFG(chan)); } } static int ni_660x_auto_attach(struct comedi_device *dev, unsigned long context) { struct pci_dev *pcidev = comedi_to_pci_dev(dev); const struct ni_660x_board *board = NULL; struct ni_660x_private *devpriv; struct comedi_subdevice *s; struct ni_gpct_device *gpct_dev; unsigned int n_counters; int subdev; int ret; unsigned int i; unsigned int global_interrupt_config_bits; if (context < ARRAY_SIZE(ni_660x_boards)) board = &ni_660x_boards[context]; if (!board) return -ENODEV; dev->board_ptr = board; dev->board_name = board->name; ret = comedi_pci_enable(dev); if (ret) return ret; ret = ni_660x_allocate_private(dev); if (ret < 0) return ret; devpriv = dev->private; devpriv->mite = mite_attach(dev, true); /* use win1 */ if (!devpriv->mite) return -ENOMEM; ret = ni_660x_alloc_mite_rings(dev); if (ret < 0) return ret; ni_660x_init_tio_chips(dev, board->n_chips); /* prepare the device for globally-named routes. */ if (ni_assign_device_routes("ni_660x", board->name, &devpriv->routing_tables) < 0) { dev_warn(dev->class_dev, "%s: %s device has no signal routing table.\n", __func__, board->name); dev_warn(dev->class_dev, "%s: High level NI signal names will not be available for this %s board.\n", __func__, board->name); } else { /* * only(?) assign insn_device_config if we have global names for * this device. */ dev->insn_device_config = ni_global_insn_config; dev->get_valid_routes = _ni_get_valid_routes; } n_counters = board->n_chips * NI660X_COUNTERS_PER_CHIP; gpct_dev = ni_gpct_device_construct(dev, ni_660x_gpct_write, ni_660x_gpct_read, ni_gpct_variant_660x, n_counters, NI660X_COUNTERS_PER_CHIP, &devpriv->routing_tables); if (!gpct_dev) return -ENOMEM; devpriv->counter_dev = gpct_dev; ret = comedi_alloc_subdevices(dev, 2 + NI660X_MAX_COUNTERS); if (ret) return ret; subdev = 0; s = &dev->subdevices[subdev++]; /* Old GENERAL-PURPOSE COUNTER/TIME (GPCT) subdevice, no longer used */ s->type = COMEDI_SUBD_UNUSED; /* * Digital I/O subdevice * * There are 40 channels but only the first 32 can be digital I/Os. * The last 8 are dedicated to counters 0 and 1. * * Counter 0-3 signals are from the first TIO chip. * Counter 4-7 signals are from the second TIO chip. * * Comedi External * PFI Chan DIO Chan Counter Signal * ------- -------- -------------- * 0 0 * 1 1 * 2 2 * 3 3 * 4 4 * 5 5 * 6 6 * 7 7 * 8 8 CTR 7 OUT * 9 9 CTR 7 AUX * 10 10 CTR 7 GATE * 11 11 CTR 7 SOURCE * 12 12 CTR 6 OUT * 13 13 CTR 6 AUX * 14 14 CTR 6 GATE * 15 15 CTR 6 SOURCE * 16 16 CTR 5 OUT * 17 17 CTR 5 AUX * 18 18 CTR 5 GATE * 19 19 CTR 5 SOURCE * 20 20 CTR 4 OUT * 21 21 CTR 4 AUX * 22 22 CTR 4 GATE * 23 23 CTR 4 SOURCE * 24 24 CTR 3 OUT * 25 25 CTR 3 AUX * 26 26 CTR 3 GATE * 27 27 CTR 3 SOURCE * 28 28 CTR 2 OUT * 29 29 CTR 2 AUX * 30 30 CTR 2 GATE * 31 31 CTR 2 SOURCE * 32 CTR 1 OUT * 33 CTR 1 AUX * 34 CTR 1 GATE * 35 CTR 1 SOURCE * 36 CTR 0 OUT * 37 CTR 0 AUX * 38 CTR 0 GATE * 39 CTR 0 SOURCE */ s = &dev->subdevices[subdev++]; s->type = COMEDI_SUBD_DIO; s->subdev_flags = SDF_READABLE | SDF_WRITABLE; s->n_chan = NI660X_NUM_PFI_CHANNELS; s->maxdata = 1; s->range_table = &range_digital; s->insn_bits = ni_660x_dio_insn_bits; s->insn_config = ni_660x_dio_insn_config; /* * Default the DIO channels as: * chan 0-7: DIO inputs * chan 8-39: counter signal inputs */ for (i = 0; i < s->n_chan; ++i) { unsigned int source = (i < 8) ? NI_660X_PFI_OUTPUT_DIO : NI_660X_PFI_OUTPUT_COUNTER; ni_660x_set_pfi_routing(dev, i, source); ni_660x_set_pfi_direction(dev, i, COMEDI_INPUT);/* high-z */ } /* Counter subdevices (4 NI TIO General Purpose Counters per chip) */ for (i = 0; i < NI660X_MAX_COUNTERS; ++i) { s = &dev->subdevices[subdev++]; if (i < n_counters) { struct ni_gpct *counter = &gpct_dev->counters[i]; s->type = COMEDI_SUBD_COUNTER; s->subdev_flags = SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL | SDF_CMD_READ; s->n_chan = 3; s->maxdata = 0xffffffff; s->insn_read = ni_tio_insn_read; s->insn_write = ni_tio_insn_write; s->insn_config = ni_tio_insn_config; s->len_chanlist = 1; s->do_cmd = ni_660x_cmd; s->do_cmdtest = ni_tio_cmdtest; s->cancel = ni_660x_cancel; s->poll = ni_660x_input_poll; s->buf_change = ni_660x_buf_change; s->async_dma_dir = DMA_BIDIRECTIONAL; s->private = counter; ni_tio_init_counter(counter); } else { s->type = COMEDI_SUBD_UNUSED; } } /* * To be safe, set counterswap bits on tio chips after all the counter * outputs have been set to high impedance mode. */ for (i = 0; i < board->n_chips; ++i) set_tio_counterswap(dev, i); ret = request_irq(pcidev->irq, ni_660x_interrupt, IRQF_SHARED, dev->board_name, dev); if (ret < 0) { dev_warn(dev->class_dev, " irq not available\n"); return ret; } dev->irq = pcidev->irq; global_interrupt_config_bits = NI660X_GLOBAL_INT_GLOBAL; if (board->n_chips > 1) global_interrupt_config_bits |= NI660X_GLOBAL_INT_CASCADE; ni_660x_write(dev, 0, global_interrupt_config_bits, NI660X_GLOBAL_INT_CFG); return 0; } static void ni_660x_detach(struct comedi_device *dev) { struct ni_660x_private *devpriv = dev->private; if (dev->irq) { ni_660x_write(dev, 0, 0, NI660X_GLOBAL_INT_CFG); free_irq(dev->irq, dev); } if (devpriv) { ni_gpct_device_destroy(devpriv->counter_dev); ni_660x_free_mite_rings(dev); mite_detach(devpriv->mite); } if (dev->mmio) iounmap(dev->mmio); comedi_pci_disable(dev); } static struct comedi_driver ni_660x_driver = { .driver_name = "ni_660x", .module = THIS_MODULE, .auto_attach = ni_660x_auto_attach, .detach = ni_660x_detach, }; static int ni_660x_pci_probe(struct pci_dev *dev, const struct pci_device_id *id) { return comedi_pci_auto_config(dev, &ni_660x_driver, id->driver_data); } static const struct pci_device_id ni_660x_pci_table[] = { { PCI_VDEVICE(NI, 0x1310), BOARD_PCI6602 }, { PCI_VDEVICE(NI, 0x1360), BOARD_PXI6602 }, { PCI_VDEVICE(NI, 0x2c60), BOARD_PCI6601 }, { PCI_VDEVICE(NI, 0x2db0), BOARD_PCI6608 }, { PCI_VDEVICE(NI, 0x2cc0), BOARD_PXI6608 }, { PCI_VDEVICE(NI, 0x1e30), BOARD_PCI6624 }, { PCI_VDEVICE(NI, 0x1e40), BOARD_PXI6624 }, { 0 } }; MODULE_DEVICE_TABLE(pci, ni_660x_pci_table); static struct pci_driver ni_660x_pci_driver = { .name = "ni_660x", .id_table = ni_660x_pci_table, .probe = ni_660x_pci_probe, .remove = comedi_pci_auto_unconfig, }; module_comedi_pci_driver(ni_660x_driver, ni_660x_pci_driver); MODULE_AUTHOR("Comedi http://www.comedi.org"); MODULE_DESCRIPTION("Comedi driver for NI 660x counter/timer boards"); MODULE_LICENSE("GPL");