drivers/staging/comedi/drivers/usbduxsigma.c

   1 /*
   2  * usbduxsigma.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 /*
  17  * Driver: usbduxsigma
  18  * Description: University of Stirling USB DAQ & INCITE Technology Limited
  19  * Devices: (ITL) USB-DUX [usbduxsigma]
  20  * Author: Bernd Porr <BerndPorr@f2s.com>
  21  * Updated: 8 Nov 2011
  22  * Status: testing
  23  */
  24
  25 /*
  26  * I must give credit here to Chris Baugher who
  27  * wrote the driver for AT-MIO-16d. I used some parts of this
  28  * driver. I also must give credits to David Brownell
  29  * who supported me with the USB development.
  30  *
  31  * Note: the raw data from the A/D converter is 24 bit big endian
  32  * anything else is little endian to/from the dux board
  33  *
  34  *
  35  * Revision history:
  36  *   0.1: initial version
  37  *   0.2: all basic functions implemented, digital I/O only for one port
  38  *   0.3: proper vendor ID and driver name
  39  *   0.4: fixed D/A voltage range
  40  *   0.5: various bug fixes, health check at startup
  41  *   0.6: corrected wrong input range
  42  */
  43
  44 #include <linux/kernel.h>
  45 #include <linux/module.h>
  46 #include <linux/slab.h>
  47 #include <linux/input.h>
  48 #include <linux/usb.h>
  49 #include <linux/fcntl.h>
  50 #include <linux/compiler.h>
  51 #include <asm/unaligned.h>
  52
  53 #include "comedi_fc.h"
  54 #include "../comedidev.h"
  55
  56 /* timeout for the USB-transfer in ms*/
  57 #define BULK_TIMEOUT 1000
  58
  59 /* constants for "firmware" upload and download */
  60 #define FIRMWARE                "usbduxsigma_firmware.bin"
  61 #define FIRMWARE_MAX_LEN        0x4000
  62 #define USBDUXSUB_FIRMWARE      0xa0
  63 #define VENDOR_DIR_IN           0xc0
  64 #define VENDOR_DIR_OUT          0x40
  65
  66 /* internal addresses of the 8051 processor */
  67 #define USBDUXSUB_CPUCS 0xE600
  68
  69 /* 300Hz max frequ under PWM */
  70 #define MIN_PWM_PERIOD  ((long)(1E9/300))
  71
  72 /* Default PWM frequency */
  73 #define PWM_DEFAULT_PERIOD ((long)(1E9/100))
  74
  75 /* Number of channels (16 AD and offset)*/
  76 #define NUMCHANNELS 16
  77
  78 #define USBDUXSIGMA_NUM_AO_CHAN         4
  79
  80 /* Size of one A/D value */
  81 #define SIZEADIN          ((sizeof(uint32_t)))
  82
  83 /*
  84  * Size of the async input-buffer IN BYTES, the DIO state is transmitted
  85  * as the first byte.
  86  */
  87 #define SIZEINBUF         (((NUMCHANNELS+1)*SIZEADIN))
  88
  89 /* 16 bytes. */
  90 #define SIZEINSNBUF       16
  91
  92 /* Number of DA channels */
  93 #define NUMOUTCHANNELS    8
  94
  95 /* size of one value for the D/A converter: channel and value */
  96 #define SIZEDAOUT          ((sizeof(uint8_t)+sizeof(uint16_t)))
  97
  98 /*
  99  * Size of the output-buffer in bytes
 100  * Actually only the first 4 triplets are used but for the
 101  * high speed mode we need to pad it to 8 (microframes).
 102  */
 103 #define SIZEOUTBUF         ((8*SIZEDAOUT))
 104
 105 /*
 106  * Size of the buffer for the dux commands: just now max size is determined
 107  * by the analogue out + command byte + panic bytes...
 108  */
 109 #define SIZEOFDUXBUFFER    ((8*SIZEDAOUT+2))
 110
 111 /* Number of in-URBs which receive the data: min=2 */
 112 #define NUMOFINBUFFERSFULL     5
 113
 114 /* Number of out-URBs which send the data: min=2 */
 115 #define NUMOFOUTBUFFERSFULL    5
 116
 117 /* Number of in-URBs which receive the data: min=5 */
 118 /* must have more buffers due to buggy USB ctr */
 119 #define NUMOFINBUFFERSHIGH     10
 120
 121 /* Number of out-URBs which send the data: min=5 */
 122 /* must have more buffers due to buggy USB ctr */
 123 #define NUMOFOUTBUFFERSHIGH    10
 124
 125 /* number of retries to get the right dux command */
 126 #define RETRIES 10
 127
 128 /* bulk transfer commands to usbduxsigma */
 129 #define USBBUXSIGMA_AD_CMD              0
 130 #define USBDUXSIGMA_DA_CMD              1
 131 #define USBDUXSIGMA_DIO_CFG_CMD         2
 132 #define USBDUXSIGMA_DIO_BITS_CMD        3
 133 #define USBDUXSIGMA_SINGLE_AD_CMD       4
 134 #define USBDUXSIGMA_PWM_ON_CMD          7
 135 #define USBDUXSIGMA_PWM_OFF_CMD         8
 136
 137 static const struct comedi_lrange usbduxsigma_ai_range = {
 138         1, {
 139                 BIP_RANGE(2.5 * 0x800000 / 0x780000 / 2.0)
 140         }
 141 };
 142
 143 struct usbduxsigma_private {
 144         /* actual number of in-buffers */
 145         int n_ai_urbs;
 146         /* actual number of out-buffers */
 147         int n_ao_urbs;
 148         /* ISO-transfer handling: buffers */
 149         struct urb **ai_urbs;
 150         struct urb **ao_urbs;
 151         /* pwm-transfer handling */
 152         struct urb *pwm_urb;
 153         /* PWM period */
 154         unsigned int pwm_period;
 155         /* PWM internal delay for the GPIF in the FX2 */
 156         uint8_t pwm_delay;
 157         /* size of the PWM buffer which holds the bit pattern */
 158         int pwm_buf_sz;
 159         /* input buffer for the ISO-transfer */
 160         uint32_t *in_buf;
 161         /* input buffer for single insn */
 162         uint8_t *insn_buf;
 163
 164         unsigned int ao_readback[USBDUXSIGMA_NUM_AO_CHAN];
 165
 166         unsigned high_speed:1;
 167         unsigned ai_cmd_running:1;
 168         unsigned ao_cmd_running:1;
 169         unsigned pwm_cmd_running:1;
 170
 171         /* number of samples to acquire */
 172         int ai_sample_count;
 173         int ao_sample_count;
 174         /* time between samples in units of the timer */
 175         unsigned int ai_timer;
 176         unsigned int ao_timer;
 177         /* counter between acquisitions */
 178         unsigned int ai_counter;
 179         unsigned int ao_counter;
 180         /* interval in frames/uframes */
 181         unsigned int ai_interval;
 182         /* commands */
 183         uint8_t *dux_commands;
 184         struct semaphore sem;
 185 };
 186
 187 static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs)
 188 {
 189         int i;
 190
 191         for (i = 0; i < num_urbs; i++)
 192                 usb_kill_urb(urbs[i]);
 193 }
 194
 195 static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink)
 196 {
 197         struct usbduxsigma_private *devpriv = dev->private;
 198
 199         if (do_unlink && devpriv->ai_urbs)
 200                 usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
 201
 202         devpriv->ai_cmd_running = 0;
 203 }
 204
 205 static int usbduxsigma_ai_cancel(struct comedi_device *dev,
 206                                  struct comedi_subdevice *s)
 207 {
 208         struct usbduxsigma_private *devpriv = dev->private;
 209
 210         down(&devpriv->sem);
 211         /* unlink only if it is really running */
 212         usbduxsigma_ai_stop(dev, devpriv->ai_cmd_running);
 213         up(&devpriv->sem);
 214
 215         return 0;
 216 }
 217
 218 static void usbduxsigma_ai_urb_complete(struct urb *urb)
 219 {
 220         struct comedi_device *dev = urb->context;
 221         struct usbduxsigma_private *devpriv = dev->private;
 222         struct comedi_subdevice *s = dev->read_subdev;
 223         struct comedi_cmd *cmd = &s->async->cmd;
 224         unsigned int dio_state;
 225         uint32_t val;
 226         int ret;
 227         int i;
 228
 229         /* first we test if something unusual has just happened */
 230         switch (urb->status) {
 231         case 0:
 232                 /* copy the result in the transfer buffer */
 233                 memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF);
 234                 break;
 235         case -EILSEQ:
 236                 /*
 237                  * error in the ISOchronous data
 238                  * we don't copy the data into the transfer buffer
 239                  * and recycle the last data byte
 240                  */
 241                 dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
 242
 243                 break;
 244
 245         case -ECONNRESET:
 246         case -ENOENT:
 247         case -ESHUTDOWN:
 248         case -ECONNABORTED:
 249                 /* happens after an unlink command */
 250                 if (devpriv->ai_cmd_running) {
 251                         usbduxsigma_ai_stop(dev, 0);    /* w/o unlink */
 252                         /* we are still running a command, tell comedi */
 253                         s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 254                         comedi_event(dev, s);
 255                 }
 256                 return;
 257
 258         default:
 259                 /*
 260                  * a real error on the bus
 261                  * pass error to comedi if we are really running a command
 262                  */
 263                 if (devpriv->ai_cmd_running) {
 264                         dev_err(dev->class_dev,
 265                                 "%s: non-zero urb status (%d)\n",
 266                                 __func__, urb->status);
 267                         usbduxsigma_ai_stop(dev, 0);    /* w/o unlink */
 268                         s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 269                         comedi_event(dev, s);
 270                 }
 271                 return;
 272         }
 273
 274         if (unlikely(!devpriv->ai_cmd_running))
 275                 return;
 276
 277         urb->dev = comedi_to_usb_dev(dev);
 278
 279         ret = usb_submit_urb(urb, GFP_ATOMIC);
 280         if (unlikely(ret < 0)) {
 281                 dev_err(dev->class_dev, "%s: urb resubmit failed (%d)\n",
 282                         __func__, ret);
 283                 if (ret == -EL2NSYNC)
 284                         dev_err(dev->class_dev,
 285                                 "buggy USB host controller or bug in IRQ handler\n");
 286                 usbduxsigma_ai_stop(dev, 0);    /* w/o unlink */
 287                 s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 288                 comedi_event(dev, s);
 289                 return;
 290         }
 291
 292         /* get the state of the dio pins to allow external trigger */
 293         dio_state = be32_to_cpu(devpriv->in_buf[0]);
 294
 295         devpriv->ai_counter--;
 296         if (likely(devpriv->ai_counter > 0))
 297                 return;
 298
 299         /* timer zero, transfer measurements to comedi */
 300         devpriv->ai_counter = devpriv->ai_timer;
 301
 302         if (cmd->stop_src == TRIG_COUNT) {
 303                 /* not continuous, fixed number of samples */
 304                 devpriv->ai_sample_count--;
 305                 if (devpriv->ai_sample_count < 0) {
 306                         usbduxsigma_ai_stop(dev, 0);    /* w/o unlink */
 307                         /* acquistion is over, tell comedi */
 308                         s->async->events |= COMEDI_CB_EOA;
 309                         comedi_event(dev, s);
 310                         return;
 311                 }
 312         }
 313
 314         /* get the data from the USB bus and hand it over to comedi */
 315         for (i = 0; i < cmd->chanlist_len; i++) {
 316                 /* transfer data, note first byte is the DIO state */
 317                 val = be32_to_cpu(devpriv->in_buf[i+1]);
 318                 val &= 0x00ffffff;      /* strip status byte */
 319                 val ^= 0x00800000;      /* convert to unsigned */
 320
 321                 ret = cfc_write_array_to_buffer(s, &val, sizeof(uint32_t));
 322                 if (unlikely(ret == 0)) {
 323                         /* buffer overflow */
 324                         usbduxsigma_ai_stop(dev, 0);    /* w/o unlink */
 325                         return;
 326                 }
 327         }
 328         /* tell comedi that data is there */
 329         s->async->events |= (COMEDI_CB_BLOCK | COMEDI_CB_EOS);
 330         comedi_event(dev, s);
 331 }
 332
 333 static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink)
 334 {
 335         struct usbduxsigma_private *devpriv = dev->private;
 336
 337         if (do_unlink && devpriv->ao_urbs)
 338                 usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
 339
 340         devpriv->ao_cmd_running = 0;
 341 }
 342
 343 static int usbduxsigma_ao_cancel(struct comedi_device *dev,
 344                                  struct comedi_subdevice *s)
 345 {
 346         struct usbduxsigma_private *devpriv = dev->private;
 347
 348         down(&devpriv->sem);
 349         /* unlink only if it is really running */
 350         usbduxsigma_ao_stop(dev, devpriv->ao_cmd_running);
 351         up(&devpriv->sem);
 352
 353         return 0;
 354 }
 355
 356 static void usbduxsigma_ao_urb_complete(struct urb *urb)
 357 {
 358         struct comedi_device *dev = urb->context;
 359         struct usbduxsigma_private *devpriv = dev->private;
 360         struct comedi_subdevice *s = dev->write_subdev;
 361         struct comedi_cmd *cmd = &s->async->cmd;
 362         uint8_t *datap;
 363         int ret;
 364         int i;
 365
 366         switch (urb->status) {
 367         case 0:
 368                 /* success */
 369                 break;
 370
 371         case -ECONNRESET:
 372         case -ENOENT:
 373         case -ESHUTDOWN:
 374         case -ECONNABORTED:
 375                 /* happens after an unlink command */
 376                 if (devpriv->ao_cmd_running) {
 377                         usbduxsigma_ao_stop(dev, 0);    /* w/o unlink */
 378                         s->async->events |= COMEDI_CB_EOA;
 379                         comedi_event(dev, s);
 380                 }
 381                 return;
 382
 383         default:
 384                 /* a real error */
 385                 if (devpriv->ao_cmd_running) {
 386                         dev_err(dev->class_dev,
 387                                 "%s: non-zero urb status (%d)\n",
 388                                 __func__, urb->status);
 389                         usbduxsigma_ao_stop(dev, 0);    /* w/o unlink */
 390                         s->async->events |= (COMEDI_CB_ERROR | COMEDI_CB_EOA);
 391                         comedi_event(dev, s);
 392                 }
 393                 return;
 394         }
 395
 396         if (!devpriv->ao_cmd_running)
 397                 return;
 398
 399         devpriv->ao_counter--;
 400         if ((int)devpriv->ao_counter <= 0) {
 401                 /* timer zero, transfer from comedi */
 402                 devpriv->ao_counter = devpriv->ao_timer;
 403
 404                 if (cmd->stop_src == TRIG_COUNT) {
 405                         /* not continuous, fixed number of samples */
 406                         devpriv->ao_sample_count--;
 407                         if (devpriv->ao_sample_count < 0) {
 408                                 usbduxsigma_ao_stop(dev, 0);    /* w/o unlink */
 409                                 /* acquistion is over, tell comedi */
 410                                 s->async->events |= COMEDI_CB_EOA;
 411                                 comedi_event(dev, s);
 412                                 return;
 413                         }
 414                 }
 415
 416                 /* transmit data to the USB bus */
 417                 datap = urb->transfer_buffer;
 418                 *datap++ = cmd->chanlist_len;
 419                 for (i = 0; i < cmd->chanlist_len; i++) {
 420                         unsigned int chan = CR_CHAN(cmd->chanlist[i]);
 421                         unsigned short val;
 422
 423                         ret = comedi_buf_get(s, &val);
 424                         if (ret < 0) {
 425                                 dev_err(dev->class_dev, "buffer underflow\n");
 426                                 s->async->events |= (COMEDI_CB_EOA |
 427                                                      COMEDI_CB_OVERFLOW);
 428                         }
 429                         *datap++ = val;
 430                         *datap++ = chan;
 431                         devpriv->ao_readback[chan] = val;
 432
 433                         s->async->events |= COMEDI_CB_BLOCK;
 434                         comedi_event(dev, s);
 435                 }
 436         }
 437
 438         urb->transfer_buffer_length = SIZEOUTBUF;
 439         urb->dev = comedi_to_usb_dev(dev);
 440         urb->status = 0;
 441         if (devpriv->high_speed)
 442                 urb->interval = 8;      /* uframes */
 443         else
 444                 urb->interval = 1;      /* frames */
 445         urb->number_of_packets = 1;
 446         urb->iso_frame_desc[0].offset = 0;
 447         urb->iso_frame_desc[0].length = SIZEOUTBUF;
 448         urb->iso_frame_desc[0].status = 0;
 449         ret = usb_submit_urb(urb, GFP_ATOMIC);
 450         if (ret < 0) {
 451                 dev_err(dev->class_dev,
 452                         "%s: urb resubmit failed (%d)\n",
 453                         __func__, ret);
 454                 if (ret == EL2NSYNC)
 455                         dev_err(dev->class_dev,
 456                                 "buggy USB host controller or bug in IRQ handler\n");
 457                 usbduxsigma_ao_stop(dev, 0);    /* w/o unlink */
 458                 s->async->events |= (COMEDI_CB_EOA | COMEDI_CB_ERROR);
 459                 comedi_event(dev, s);
 460         }
 461 }
 462
 463 static int usbduxsigma_submit_urbs(struct comedi_device *dev,
 464                                    struct urb **urbs, int num_urbs,
 465                                    int input_urb)
 466 {
 467         struct usb_device *usb = comedi_to_usb_dev(dev);
 468         struct usbduxsigma_private *devpriv = dev->private;
 469         struct urb *urb;
 470         int ret;
 471         int i;
 472
 473         /* Submit all URBs and start the transfer on the bus */
 474         for (i = 0; i < num_urbs; i++) {
 475                 urb = urbs[i];
 476
 477                 /* in case of a resubmission after an unlink... */
 478                 if (input_urb)
 479                         urb->interval = devpriv->ai_interval;
 480                 urb->context = dev;
 481                 urb->dev = usb;
 482                 urb->status = 0;
 483                 urb->transfer_flags = URB_ISO_ASAP;
 484
 485                 ret = usb_submit_urb(urb, GFP_ATOMIC);
 486                 if (ret)
 487                         return ret;
 488         }
 489         return 0;
 490 }
 491
 492 static int usbduxsigma_chans_to_interval(int num_chan)
 493 {
 494         if (num_chan <= 2)
 495                 return 2;       /* 4kHz */
 496         if (num_chan <= 8)
 497                 return 4;       /* 2kHz */
 498         return 8;               /* 1kHz */
 499 }
 500
 501 static int usbduxsigma_ai_cmdtest(struct comedi_device *dev,
 502                                   struct comedi_subdevice *s,
 503                                   struct comedi_cmd *cmd)
 504 {
 505         struct usbduxsigma_private *devpriv = dev->private;
 506         int high_speed = devpriv->high_speed;
 507         int interval = usbduxsigma_chans_to_interval(cmd->chanlist_len);
 508         int err = 0;
 509
 510         /* Step 1 : check if triggers are trivially valid */
 511
 512         err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
 513         err |= cfc_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
 514         err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
 515         err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
 516         err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
 517
 518         if (err)
 519                 return 1;
 520
 521         /* Step 2a : make sure trigger sources are unique */
 522
 523         err |= cfc_check_trigger_is_unique(cmd->start_src);
 524         err |= cfc_check_trigger_is_unique(cmd->stop_src);
 525
 526         /* Step 2b : and mutually compatible */
 527
 528         if (err)
 529                 return 2;
 530
 531         /* Step 3: check if arguments are trivially valid */
 532
 533         err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
 534
 535         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 536                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
 537
 538         if (cmd->scan_begin_src == TRIG_TIMER) {
 539                 unsigned int tmp;
 540
 541                 if (high_speed) {
 542                         /*
 543                          * In high speed mode microframes are possible.
 544                          * However, during one microframe we can roughly
 545                          * sample two channels. Thus, the more channels
 546                          * are in the channel list the more time we need.
 547                          */
 548                         err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
 549                                                 (1000000 / 8 * interval));
 550
 551                         tmp = (cmd->scan_begin_arg / 125000) * 125000;
 552                 } else {
 553                         /* full speed */
 554                         /* 1kHz scans every USB frame */
 555                         err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
 556                                                          1000000);
 557
 558                         tmp = (cmd->scan_begin_arg / 1000000) * 1000000;
 559                 }
 560                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg, tmp);
 561         }
 562
 563         err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->chanlist_len);
 564
 565         if (cmd->stop_src == TRIG_COUNT) {
 566                 /* any count is allowed */
 567         } else {
 568                 /* TRIG_NONE */
 569                 err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
 570         }
 571
 572         if (err)
 573                 return 3;
 574
 575         /* Step 4: fix up any arguments */
 576
 577         if (high_speed) {
 578                 /*
 579                  * every 2 channels get a time window of 125us. Thus, if we
 580                  * sample all 16 channels we need 1ms. If we sample only one
 581                  * channel we need only 125us
 582                  */
 583                 devpriv->ai_interval = interval;
 584                 devpriv->ai_timer = cmd->scan_begin_arg / (125000 * interval);
 585         } else {
 586                 /* interval always 1ms */
 587                 devpriv->ai_interval = 1;
 588                 devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
 589         }
 590         if (devpriv->ai_timer < 1)
 591                 err |= -EINVAL;
 592
 593         if (cmd->stop_src == TRIG_COUNT) {
 594                 /* data arrives as one packet */
 595                 devpriv->ai_sample_count = cmd->stop_arg;
 596         } else {
 597                 /* continuous acquisition */
 598                 devpriv->ai_sample_count = 0;
 599         }
 600
 601         if (err)
 602                 return 4;
 603
 604         return 0;
 605 }
 606
 607 /*
 608  * creates the ADC command for the MAX1271
 609  * range is the range value from comedi
 610  */
 611 static void create_adc_command(unsigned int chan,
 612                                uint8_t *muxsg0,
 613                                uint8_t *muxsg1)
 614 {
 615         if (chan < 8)
 616                 (*muxsg0) = (*muxsg0) | (1 << chan);
 617         else if (chan < 16)
 618                 (*muxsg1) = (*muxsg1) | (1 << (chan-8));
 619 }
 620
 621 static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type)
 622 {
 623         struct usb_device *usb = comedi_to_usb_dev(dev);
 624         struct usbduxsigma_private *devpriv = dev->private;
 625         int nsent;
 626
 627         devpriv->dux_commands[0] = cmd_type;
 628
 629         return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
 630                             devpriv->dux_commands, SIZEOFDUXBUFFER,
 631                             &nsent, BULK_TIMEOUT);
 632 }
 633
 634 static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command)
 635 {
 636         struct usb_device *usb = comedi_to_usb_dev(dev);
 637         struct usbduxsigma_private *devpriv = dev->private;
 638         int nrec;
 639         int ret;
 640         int i;
 641
 642         for (i = 0; i < RETRIES; i++) {
 643                 ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
 644                                    devpriv->insn_buf, SIZEINSNBUF,
 645                                    &nrec, BULK_TIMEOUT);
 646                 if (ret < 0)
 647                         return ret;
 648
 649                 if (devpriv->insn_buf[0] == command)
 650                         return 0;
 651         }
 652         /*
 653          * This is only reached if the data has been requested a
 654          * couple of times and the command was not received.
 655          */
 656         return -EFAULT;
 657 }
 658
 659 static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
 660                                   struct comedi_subdevice *s,
 661                                   unsigned int trig_num)
 662 {
 663         struct usbduxsigma_private *devpriv = dev->private;
 664         struct comedi_cmd *cmd = &s->async->cmd;
 665         int ret;
 666
 667         if (trig_num != cmd->start_arg)
 668                 return -EINVAL;
 669
 670         down(&devpriv->sem);
 671         if (!devpriv->ai_cmd_running) {
 672                 devpriv->ai_cmd_running = 1;
 673                 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
 674                                               devpriv->n_ai_urbs, 1);
 675                 if (ret < 0) {
 676                         devpriv->ai_cmd_running = 0;
 677                         up(&devpriv->sem);
 678                         return ret;
 679                 }
 680                 s->async->inttrig = NULL;
 681         }
 682         up(&devpriv->sem);
 683
 684         return 1;
 685 }
 686
 687 static int usbduxsigma_ai_cmd(struct comedi_device *dev,
 688                               struct comedi_subdevice *s)
 689 {
 690         struct usbduxsigma_private *devpriv = dev->private;
 691         struct comedi_cmd *cmd = &s->async->cmd;
 692         unsigned int len = cmd->chanlist_len;
 693         uint8_t muxsg0 = 0;
 694         uint8_t muxsg1 = 0;
 695         uint8_t sysred = 0;
 696         int ret;
 697         int i;
 698
 699         down(&devpriv->sem);
 700
 701         /* set current channel of the running acquisition to zero */
 702         s->async->cur_chan = 0;
 703         for (i = 0; i < len; i++) {
 704                 unsigned int chan  = CR_CHAN(cmd->chanlist[i]);
 705
 706                 create_adc_command(chan, &muxsg0, &muxsg1);
 707         }
 708
 709         devpriv->dux_commands[1] = len;  /* num channels per time step */
 710         devpriv->dux_commands[2] = 0x12; /* CONFIG0 */
 711         devpriv->dux_commands[3] = 0x03; /* CONFIG1: 23kHz sample, delay 0us */
 712         devpriv->dux_commands[4] = 0x00; /* CONFIG3: diff. channels off */
 713         devpriv->dux_commands[5] = muxsg0;
 714         devpriv->dux_commands[6] = muxsg1;
 715         devpriv->dux_commands[7] = sysred;
 716
 717         ret = usbbuxsigma_send_cmd(dev, USBBUXSIGMA_AD_CMD);
 718         if (ret < 0) {
 719                 up(&devpriv->sem);
 720                 return ret;
 721         }
 722
 723         devpriv->ai_counter = devpriv->ai_timer;
 724
 725         if (cmd->start_src == TRIG_NOW) {
 726                 /* enable this acquisition operation */
 727                 devpriv->ai_cmd_running = 1;
 728                 ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
 729                                               devpriv->n_ai_urbs, 1);
 730                 if (ret < 0) {
 731                         devpriv->ai_cmd_running = 0;
 732                         up(&devpriv->sem);
 733                         return ret;
 734                 }
 735                 s->async->inttrig = NULL;
 736         } else {        /* TRIG_INT */
 737                 s->async->inttrig = usbduxsigma_ai_inttrig;
 738         }
 739
 740         up(&devpriv->sem);
 741
 742         return 0;
 743 }
 744
 745 static int usbduxsigma_ai_insn_read(struct comedi_device *dev,
 746                                     struct comedi_subdevice *s,
 747                                     struct comedi_insn *insn,
 748                                     unsigned int *data)
 749 {
 750         struct usbduxsigma_private *devpriv = dev->private;
 751         unsigned int chan = CR_CHAN(insn->chanspec);
 752         uint8_t muxsg0 = 0;
 753         uint8_t muxsg1 = 0;
 754         uint8_t sysred = 0;
 755         int ret;
 756         int i;
 757
 758         down(&devpriv->sem);
 759         if (devpriv->ai_cmd_running) {
 760                 up(&devpriv->sem);
 761                 return -EBUSY;
 762         }
 763
 764         create_adc_command(chan, &muxsg0, &muxsg1);
 765
 766         /* Mode 0 is used to get a single conversion on demand */
 767         devpriv->dux_commands[1] = 0x16; /* CONFIG0: chopper on */
 768         devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
 769         devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
 770         devpriv->dux_commands[4] = muxsg0;
 771         devpriv->dux_commands[5] = muxsg1;
 772         devpriv->dux_commands[6] = sysred;
 773
 774         /* adc commands */
 775         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
 776         if (ret < 0) {
 777                 up(&devpriv->sem);
 778                 return ret;
 779         }
 780
 781         for (i = 0; i < insn->n; i++) {
 782                 uint32_t val;
 783
 784                 ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
 785                 if (ret < 0) {
 786                         up(&devpriv->sem);
 787                         return ret;
 788                 }
 789
 790                 /* 32 bits big endian from the A/D converter */
 791                 val = be32_to_cpu(get_unaligned((uint32_t
 792                                                  *)(devpriv->insn_buf + 1)));
 793                 val &= 0x00ffffff;      /* strip status byte */
 794                 val ^= 0x00800000;      /* convert to unsigned */
 795
 796                 data[i] = val;
 797         }
 798         up(&devpriv->sem);
 799
 800         return insn->n;
 801 }
 802
 803 static int usbduxsigma_ao_insn_read(struct comedi_device *dev,
 804                                     struct comedi_subdevice *s,
 805                                     struct comedi_insn *insn,
 806                                     unsigned int *data)
 807 {
 808         struct usbduxsigma_private *devpriv = dev->private;
 809         unsigned int chan = CR_CHAN(insn->chanspec);
 810         int i;
 811
 812         down(&devpriv->sem);
 813         for (i = 0; i < insn->n; i++)
 814                 data[i] = devpriv->ao_readback[chan];
 815         up(&devpriv->sem);
 816
 817         return insn->n;
 818 }
 819
 820 static int usbduxsigma_ao_insn_write(struct comedi_device *dev,
 821                                      struct comedi_subdevice *s,
 822                                      struct comedi_insn *insn,
 823                                      unsigned int *data)
 824 {
 825         struct usbduxsigma_private *devpriv = dev->private;
 826         unsigned int chan = CR_CHAN(insn->chanspec);
 827         int ret;
 828         int i;
 829
 830         down(&devpriv->sem);
 831         if (devpriv->ao_cmd_running) {
 832                 up(&devpriv->sem);
 833                 return -EBUSY;
 834         }
 835
 836         for (i = 0; i < insn->n; i++) {
 837                 devpriv->dux_commands[1] = 1;           /* num channels */
 838                 devpriv->dux_commands[2] = data[i];     /* value */
 839                 devpriv->dux_commands[3] = chan;        /* channel number */
 840                 ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DA_CMD);
 841                 if (ret < 0) {
 842                         up(&devpriv->sem);
 843                         return ret;
 844                 }
 845                 devpriv->ao_readback[chan] = data[i];
 846         }
 847         up(&devpriv->sem);
 848
 849         return insn->n;
 850 }
 851
 852 static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
 853                                   struct comedi_subdevice *s,
 854                                   unsigned int trig_num)
 855 {
 856         struct usbduxsigma_private *devpriv = dev->private;
 857         struct comedi_cmd *cmd = &s->async->cmd;
 858         int ret;
 859
 860         if (trig_num != cmd->start_arg)
 861                 return -EINVAL;
 862
 863         down(&devpriv->sem);
 864         if (!devpriv->ao_cmd_running) {
 865                 devpriv->ao_cmd_running = 1;
 866                 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
 867                                               devpriv->n_ao_urbs, 0);
 868                 if (ret < 0) {
 869                         devpriv->ao_cmd_running = 0;
 870                         up(&devpriv->sem);
 871                         return ret;
 872                 }
 873                 s->async->inttrig = NULL;
 874         }
 875         up(&devpriv->sem);
 876
 877         return 1;
 878 }
 879
 880 static int usbduxsigma_ao_cmdtest(struct comedi_device *dev,
 881                                   struct comedi_subdevice *s,
 882                                   struct comedi_cmd *cmd)
 883 {
 884         struct usbduxsigma_private *devpriv = dev->private;
 885         int err = 0;
 886         int high_speed;
 887         unsigned int flags;
 888
 889         /* high speed conversions are not used yet */
 890         high_speed = 0;         /* (devpriv->high_speed) */
 891
 892         /* Step 1 : check if triggers are trivially valid */
 893
 894         err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
 895
 896         if (high_speed) {
 897                 /*
 898                  * start immediately a new scan
 899                  * the sampling rate is set by the coversion rate
 900                  */
 901                 flags = TRIG_FOLLOW;
 902         } else {
 903                 /* start a new scan (output at once) with a timer */
 904                 flags = TRIG_TIMER;
 905         }
 906         err |= cfc_check_trigger_src(&cmd->scan_begin_src, flags);
 907
 908         err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
 909         err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
 910         err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
 911
 912         if (err) {
 913                 up(&devpriv->sem);
 914                 return 1;
 915         }
 916
 917         /* Step 2a : make sure trigger sources are unique */
 918
 919         err |= cfc_check_trigger_is_unique(cmd->start_src);
 920         err |= cfc_check_trigger_is_unique(cmd->stop_src);
 921
 922         /* Step 2b : and mutually compatible */
 923
 924         if (err)
 925                 return 2;
 926
 927         /* Step 3: check if arguments are trivially valid */
 928
 929         err |= cfc_check_trigger_arg_is(&cmd->start_arg, 0);
 930
 931         if (cmd->scan_begin_src == TRIG_FOLLOW) /* internal trigger */
 932                 err |= cfc_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
 933
 934         if (cmd->scan_begin_src == TRIG_TIMER)
 935                 err |= cfc_check_trigger_arg_min(&cmd->scan_begin_arg,
 936                                                  1000000);
 937
 938         /* not used now, is for later use */
 939         if (cmd->convert_src == TRIG_TIMER)
 940                 err |= cfc_check_trigger_arg_min(&cmd->convert_arg, 125000);
 941
 942         err |= cfc_check_trigger_arg_is(&cmd->scan_end_arg, cmd->chanlist_len);
 943
 944         if (cmd->stop_src == TRIG_COUNT) {
 945                 /* any count is allowed */
 946         } else {
 947                 /* TRIG_NONE */
 948                 err |= cfc_check_trigger_arg_is(&cmd->stop_arg, 0);
 949         }
 950
 951         if (err)
 952                 return 3;
 953
 954         /* Step 4: fix up any arguments */
 955
 956         /* we count in timer steps */
 957         if (high_speed) {
 958                 /* timing of the conversion itself: every 125 us */
 959                 devpriv->ao_timer = cmd->convert_arg / 125000;
 960         } else {
 961                 /*
 962                  * timing of the scan: every 1ms
 963                  * we get all channels at once
 964                  */
 965                 devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
 966         }
 967         if (devpriv->ao_timer < 1)
 968                 err |= -EINVAL;
 969
 970         if (cmd->stop_src == TRIG_COUNT) {
 971                 /* not continuous, use counter */
 972                 if (high_speed) {
 973                         /* high speed also scans everything at once */
 974                         devpriv->ao_sample_count = cmd->stop_arg *
 975                                                    cmd->scan_end_arg;
 976                 } else {
 977                         /*
 978                          * There's no scan as the scan has been
 979                          * handled inside the FX2. Data arrives as
 980                          * one packet.
 981                          */
 982                         devpriv->ao_sample_count = cmd->stop_arg;
 983                 }
 984         } else {
 985                 /* continuous acquisition */
 986                 devpriv->ao_sample_count = 0;
 987         }
 988
 989         if (err)
 990                 return 4;
 991
 992         return 0;
 993 }
 994
 995 static int usbduxsigma_ao_cmd(struct comedi_device *dev,
 996                               struct comedi_subdevice *s)
 997 {
 998         struct usbduxsigma_private *devpriv = dev->private;
 999         struct comedi_cmd *cmd = &s->async->cmd;
1000         int ret;
1001
1002         down(&devpriv->sem);
1003
1004         /* set current channel of the running acquisition to zero */
1005         s->async->cur_chan = 0;
1006
1007         devpriv->ao_counter = devpriv->ao_timer;
1008
1009         if (cmd->start_src == TRIG_NOW) {
1010                 /* enable this acquisition operation */
1011                 devpriv->ao_cmd_running = 1;
1012                 ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
1013                                               devpriv->n_ao_urbs, 0);
1014                 if (ret < 0) {
1015                         devpriv->ao_cmd_running = 0;
1016                         up(&devpriv->sem);
1017                         return ret;
1018                 }
1019                 s->async->inttrig = NULL;
1020         } else {        /* TRIG_INT */
1021                 s->async->inttrig = usbduxsigma_ao_inttrig;
1022         }
1023
1024         up(&devpriv->sem);
1025
1026         return 0;
1027 }
1028
1029 static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
1030                                        struct comedi_subdevice *s,
1031                                        struct comedi_insn *insn,
1032                                        unsigned int *data)
1033 {
1034         int ret;
1035
1036         ret = comedi_dio_insn_config(dev, s, insn, data, 0);
1037         if (ret)
1038                 return ret;
1039
1040         /*
1041          * We don't tell the firmware here as it would take 8 frames
1042          * to submit the information. We do it in the (*insn_bits).
1043          */
1044         return insn->n;
1045 }
1046
1047 static int usbduxsigma_dio_insn_bits(struct comedi_device *dev,
1048                                      struct comedi_subdevice *s,
1049                                      struct comedi_insn *insn,
1050                                      unsigned int *data)
1051 {
1052         struct usbduxsigma_private *devpriv = dev->private;
1053         int ret;
1054
1055         down(&devpriv->sem);
1056
1057         comedi_dio_update_state(s, data);
1058
1059         /* Always update the hardware. See the (*insn_config). */
1060         devpriv->dux_commands[1] = s->io_bits & 0xff;
1061         devpriv->dux_commands[4] = s->state & 0xff;
1062         devpriv->dux_commands[2] = (s->io_bits >> 8) & 0xff;
1063         devpriv->dux_commands[5] = (s->state >> 8) & 0xff;
1064         devpriv->dux_commands[3] = (s->io_bits >> 16) & 0xff;
1065         devpriv->dux_commands[6] = (s->state >> 16) & 0xff;
1066
1067         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1068         if (ret < 0)
1069                 goto done;
1070         ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_DIO_BITS_CMD);
1071         if (ret < 0)
1072                 goto done;
1073
1074         s->state = devpriv->insn_buf[1] |
1075                    (devpriv->insn_buf[2] << 8) |
1076                    (devpriv->insn_buf[3] << 16);
1077
1078         data[1] = s->state;
1079         ret = insn->n;
1080
1081 done:
1082         up(&devpriv->sem);
1083
1084         return ret;
1085 }
1086
1087 static void usbduxsigma_pwm_stop(struct comedi_device *dev, int do_unlink)
1088 {
1089         struct usbduxsigma_private *devpriv = dev->private;
1090
1091         if (do_unlink) {
1092                 if (devpriv->pwm_urb)
1093                         usb_kill_urb(devpriv->pwm_urb);
1094         }
1095
1096         devpriv->pwm_cmd_running = 0;
1097 }
1098
1099 static int usbduxsigma_pwm_cancel(struct comedi_device *dev,
1100                                   struct comedi_subdevice *s)
1101 {
1102         struct usbduxsigma_private *devpriv = dev->private;
1103
1104         /* unlink only if it is really running */
1105         usbduxsigma_pwm_stop(dev, devpriv->pwm_cmd_running);
1106
1107         return usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_OFF_CMD);
1108 }
1109
1110 static void usbduxsigma_pwm_urb_complete(struct urb *urb)
1111 {
1112         struct comedi_device *dev = urb->context;
1113         struct usbduxsigma_private *devpriv = dev->private;
1114         int ret;
1115
1116         switch (urb->status) {
1117         case 0:
1118                 /* success */
1119                 break;
1120
1121         case -ECONNRESET:
1122         case -ENOENT:
1123         case -ESHUTDOWN:
1124         case -ECONNABORTED:
1125                 /* happens after an unlink command */
1126                 if (devpriv->pwm_cmd_running)
1127                         usbduxsigma_pwm_stop(dev, 0);   /* w/o unlink */
1128                 return;
1129
1130         default:
1131                 /* a real error */
1132                 if (devpriv->pwm_cmd_running) {
1133                         dev_err(dev->class_dev,
1134                                 "%s: non-zero urb status (%d)\n",
1135                                 __func__, urb->status);
1136                         usbduxsigma_pwm_stop(dev, 0);   /* w/o unlink */
1137                 }
1138                 return;
1139         }
1140
1141         if (!devpriv->pwm_cmd_running)
1142                 return;
1143
1144         urb->transfer_buffer_length = devpriv->pwm_buf_sz;
1145         urb->dev = comedi_to_usb_dev(dev);
1146         urb->status = 0;
1147         ret = usb_submit_urb(urb, GFP_ATOMIC);
1148         if (ret < 0) {
1149                 dev_err(dev->class_dev, "%s: urb resubmit failed (%d)\n",
1150                         __func__, ret);
1151                 if (ret == EL2NSYNC)
1152                         dev_err(dev->class_dev,
1153                                 "buggy USB host controller or bug in IRQ handler\n");
1154                 usbduxsigma_pwm_stop(dev, 0);   /* w/o unlink */
1155         }
1156 }
1157
1158 static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
1159 {
1160         struct usb_device *usb = comedi_to_usb_dev(dev);
1161         struct usbduxsigma_private *devpriv = dev->private;
1162         struct urb *urb = devpriv->pwm_urb;
1163
1164         /* in case of a resubmission after an unlink... */
1165         usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
1166                           urb->transfer_buffer, devpriv->pwm_buf_sz,
1167                           usbduxsigma_pwm_urb_complete, dev);
1168
1169         return usb_submit_urb(urb, GFP_ATOMIC);
1170 }
1171
1172 static int usbduxsigma_pwm_period(struct comedi_device *dev,
1173                                   struct comedi_subdevice *s,
1174                                   unsigned int period)
1175 {
1176         struct usbduxsigma_private *devpriv = dev->private;
1177         int fx2delay = 255;
1178
1179         if (period < MIN_PWM_PERIOD)
1180                 return -EAGAIN;
1181
1182         fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
1183         if (fx2delay > 255)
1184                 return -EAGAIN;
1185
1186         devpriv->pwm_delay = fx2delay;
1187         devpriv->pwm_period = period;
1188         return 0;
1189 }
1190
1191 static int usbduxsigma_pwm_start(struct comedi_device *dev,
1192                                  struct comedi_subdevice *s)
1193 {
1194         struct usbduxsigma_private *devpriv = dev->private;
1195         int ret;
1196
1197         if (devpriv->pwm_cmd_running)
1198                 return 0;
1199
1200         devpriv->dux_commands[1] = devpriv->pwm_delay;
1201         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_PWM_ON_CMD);
1202         if (ret < 0)
1203                 return ret;
1204
1205         memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
1206
1207         devpriv->pwm_cmd_running = 1;
1208         ret = usbduxsigma_submit_pwm_urb(dev);
1209         if (ret < 0) {
1210                 devpriv->pwm_cmd_running = 0;
1211                 return ret;
1212         }
1213
1214         return 0;
1215 }
1216
1217 static void usbduxsigma_pwm_pattern(struct comedi_device *dev,
1218                                     struct comedi_subdevice *s,
1219                                     unsigned int chan,
1220                                     unsigned int value,
1221                                     unsigned int sign)
1222 {
1223         struct usbduxsigma_private *devpriv = dev->private;
1224         char pwm_mask = (1 << chan);    /* DIO bit for the PWM data */
1225         char sgn_mask = (16 << chan);   /* DIO bit for the sign */
1226         char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
1227         int szbuf = devpriv->pwm_buf_sz;
1228         int i;
1229
1230         for (i = 0; i < szbuf; i++) {
1231                 char c = *buf;
1232
1233                 c &= ~pwm_mask;
1234                 if (i < value)
1235                         c |= pwm_mask;
1236                 if (!sign)
1237                         c &= ~sgn_mask;
1238                 else
1239                         c |= sgn_mask;
1240                 *buf++ = c;
1241         }
1242 }
1243
1244 static int usbduxsigma_pwm_write(struct comedi_device *dev,
1245                                  struct comedi_subdevice *s,
1246                                  struct comedi_insn *insn,
1247                                  unsigned int *data)
1248 {
1249         unsigned int chan = CR_CHAN(insn->chanspec);
1250
1251         /*
1252          * It doesn't make sense to support more than one value here
1253          * because it would just overwrite the PWM buffer.
1254          */
1255         if (insn->n != 1)
1256                 return -EINVAL;
1257
1258         /*
1259          * The sign is set via a special INSN only, this gives us 8 bits
1260          * for normal operation, sign is 0 by default.
1261          */
1262         usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
1263
1264         return insn->n;
1265 }
1266
1267 static int usbduxsigma_pwm_config(struct comedi_device *dev,
1268                                   struct comedi_subdevice *s,
1269                                   struct comedi_insn *insn,
1270                                   unsigned int *data)
1271 {
1272         struct usbduxsigma_private *devpriv = dev->private;
1273         unsigned int chan = CR_CHAN(insn->chanspec);
1274
1275         switch (data[0]) {
1276         case INSN_CONFIG_ARM:
1277                 /*
1278                  * if not zero the PWM is limited to a certain time which is
1279                  * not supported here
1280                  */
1281                 if (data[1] != 0)
1282                         return -EINVAL;
1283                 return usbduxsigma_pwm_start(dev, s);
1284         case INSN_CONFIG_DISARM:
1285                 return usbduxsigma_pwm_cancel(dev, s);
1286         case INSN_CONFIG_GET_PWM_STATUS:
1287                 data[1] = devpriv->pwm_cmd_running;
1288                 return 0;
1289         case INSN_CONFIG_PWM_SET_PERIOD:
1290                 return usbduxsigma_pwm_period(dev, s, data[1]);
1291         case INSN_CONFIG_PWM_GET_PERIOD:
1292                 data[1] = devpriv->pwm_period;
1293                 return 0;
1294         case INSN_CONFIG_PWM_SET_H_BRIDGE:
1295                 /*
1296                  * data[1] = value
1297                  * data[2] = sign (for a relay)
1298                  */
1299                 usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
1300                 return 0;
1301         case INSN_CONFIG_PWM_GET_H_BRIDGE:
1302                 /* values are not kept in this driver, nothing to return */
1303                 return -EINVAL;
1304         }
1305         return -EINVAL;
1306 }
1307
1308 static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
1309 {
1310         struct usbduxsigma_private *devpriv = dev->private;
1311         uint8_t sysred;
1312         uint32_t val;
1313         int ret;
1314
1315         switch (chan) {
1316         default:
1317         case 0:
1318                 sysred = 0;             /* ADC zero */
1319                 break;
1320         case 1:
1321                 sysred = 1;             /* ADC offset */
1322                 break;
1323         case 2:
1324                 sysred = 4;             /* VCC */
1325                 break;
1326         case 3:
1327                 sysred = 8;             /* temperature */
1328                 break;
1329         case 4:
1330                 sysred = 16;            /* gain */
1331                 break;
1332         case 5:
1333                 sysred =  32;           /* ref */
1334                 break;
1335         }
1336
1337         devpriv->dux_commands[1] = 0x12; /* CONFIG0 */
1338         devpriv->dux_commands[2] = 0x80; /* CONFIG1: 2kHz sampling rate */
1339         devpriv->dux_commands[3] = 0x00; /* CONFIG3: diff. channels off */
1340         devpriv->dux_commands[4] = 0;
1341         devpriv->dux_commands[5] = 0;
1342         devpriv->dux_commands[6] = sysred;
1343         ret = usbbuxsigma_send_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1344         if (ret < 0)
1345                 return ret;
1346
1347         ret = usbduxsigma_receive_cmd(dev, USBDUXSIGMA_SINGLE_AD_CMD);
1348         if (ret < 0)
1349                 return ret;
1350
1351         /* 32 bits big endian from the A/D converter */
1352         val = be32_to_cpu(get_unaligned((uint32_t *)(devpriv->insn_buf + 1)));
1353         val &= 0x00ffffff;      /* strip status byte */
1354         val ^= 0x00800000;      /* convert to unsigned */
1355
1356         return (int)val;
1357 }
1358
1359 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
1360                                        const u8 *data, size_t size,
1361                                        unsigned long context)
1362 {
1363         struct usb_device *usb = comedi_to_usb_dev(dev);
1364         uint8_t *buf;
1365         uint8_t *tmp;
1366         int ret;
1367
1368         if (!data)
1369                 return 0;
1370
1371         if (size > FIRMWARE_MAX_LEN) {
1372                 dev_err(dev->class_dev, "firmware binary too large for FX2\n");
1373                 return -ENOMEM;
1374         }
1375
1376         /* we generate a local buffer for the firmware */
1377         buf = kmemdup(data, size, GFP_KERNEL);
1378         if (!buf)
1379                 return -ENOMEM;
1380
1381         /* we need a malloc'ed buffer for usb_control_msg() */
1382         tmp = kmalloc(1, GFP_KERNEL);
1383         if (!tmp) {
1384                 kfree(buf);
1385                 return -ENOMEM;
1386         }
1387
1388         /* stop the current firmware on the device */
1389         *tmp = 1;       /* 7f92 to one */
1390         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1391                               USBDUXSUB_FIRMWARE,
1392                               VENDOR_DIR_OUT,
1393                               USBDUXSUB_CPUCS, 0x0000,
1394                               tmp, 1,
1395                               BULK_TIMEOUT);
1396         if (ret < 0) {
1397                 dev_err(dev->class_dev, "can not stop firmware\n");
1398                 goto done;
1399         }
1400
1401         /* upload the new firmware to the device */
1402         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1403                               USBDUXSUB_FIRMWARE,
1404                               VENDOR_DIR_OUT,
1405                               0, 0x0000,
1406                               buf, size,
1407                               BULK_TIMEOUT);
1408         if (ret < 0) {
1409                 dev_err(dev->class_dev, "firmware upload failed\n");
1410                 goto done;
1411         }
1412
1413         /* start the new firmware on the device */
1414         *tmp = 0;       /* 7f92 to zero */
1415         ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
1416                               USBDUXSUB_FIRMWARE,
1417                               VENDOR_DIR_OUT,
1418                               USBDUXSUB_CPUCS, 0x0000,
1419                               tmp, 1,
1420                               BULK_TIMEOUT);
1421         if (ret < 0)
1422                 dev_err(dev->class_dev, "can not start firmware\n");
1423
1424 done:
1425         kfree(tmp);
1426         kfree(buf);
1427         return ret;
1428 }
1429
1430 static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
1431 {
1432         struct usb_device *usb = comedi_to_usb_dev(dev);
1433         struct usbduxsigma_private *devpriv = dev->private;
1434         struct urb *urb;
1435         int i;
1436
1437         devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
1438         devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
1439         devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
1440         devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(*urb),
1441                                    GFP_KERNEL);
1442         devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(*urb),
1443                                    GFP_KERNEL);
1444         if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
1445             !devpriv->ai_urbs || !devpriv->ao_urbs)
1446                 return -ENOMEM;
1447
1448         for (i = 0; i < devpriv->n_ai_urbs; i++) {
1449                 /* one frame: 1ms */
1450                 urb = usb_alloc_urb(1, GFP_KERNEL);
1451                 if (!urb)
1452                         return -ENOMEM;
1453                 devpriv->ai_urbs[i] = urb;
1454                 urb->dev = usb;
1455                 /* will be filled later with a pointer to the comedi-device */
1456                 /* and ONLY then the urb should be submitted */
1457                 urb->context = NULL;
1458                 urb->pipe = usb_rcvisocpipe(usb, 6);
1459                 urb->transfer_flags = URB_ISO_ASAP;
1460                 urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
1461                 if (!urb->transfer_buffer)
1462                         return -ENOMEM;
1463                 urb->complete = usbduxsigma_ai_urb_complete;
1464                 urb->number_of_packets = 1;
1465                 urb->transfer_buffer_length = SIZEINBUF;
1466                 urb->iso_frame_desc[0].offset = 0;
1467                 urb->iso_frame_desc[0].length = SIZEINBUF;
1468         }
1469
1470         for (i = 0; i < devpriv->n_ao_urbs; i++) {
1471                 /* one frame: 1ms */
1472                 urb = usb_alloc_urb(1, GFP_KERNEL);
1473                 if (!urb)
1474                         return -ENOMEM;
1475                 devpriv->ao_urbs[i] = urb;
1476                 urb->dev = usb;
1477                 /* will be filled later with a pointer to the comedi-device */
1478                 /* and ONLY then the urb should be submitted */
1479                 urb->context = NULL;
1480                 urb->pipe = usb_sndisocpipe(usb, 2);
1481                 urb->transfer_flags = URB_ISO_ASAP;
1482                 urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
1483                 if (!urb->transfer_buffer)
1484                         return -ENOMEM;
1485                 urb->complete = usbduxsigma_ao_urb_complete;
1486                 urb->number_of_packets = 1;
1487                 urb->transfer_buffer_length = SIZEOUTBUF;
1488                 urb->iso_frame_desc[0].offset = 0;
1489                 urb->iso_frame_desc[0].length = SIZEOUTBUF;
1490                 if (devpriv->high_speed)
1491                         urb->interval = 8;      /* uframes */
1492                 else
1493                         urb->interval = 1;      /* frames */
1494         }
1495
1496         if (devpriv->pwm_buf_sz) {
1497                 urb = usb_alloc_urb(0, GFP_KERNEL);
1498                 if (!urb)
1499                         return -ENOMEM;
1500                 devpriv->pwm_urb = urb;
1501
1502                 urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
1503                                                GFP_KERNEL);
1504                 if (!urb->transfer_buffer)
1505                         return -ENOMEM;
1506         }
1507
1508         return 0;
1509 }
1510
1511 static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
1512 {
1513         struct usbduxsigma_private *devpriv = dev->private;
1514         struct urb *urb;
1515         int i;
1516
1517         urb = devpriv->pwm_urb;
1518         if (urb) {
1519                 kfree(urb->transfer_buffer);
1520                 usb_free_urb(urb);
1521         }
1522         if (devpriv->ao_urbs) {
1523                 for (i = 0; i < devpriv->n_ao_urbs; i++) {
1524                         urb = devpriv->ao_urbs[i];
1525                         if (urb) {
1526                                 kfree(urb->transfer_buffer);
1527                                 usb_free_urb(urb);
1528                         }
1529                 }
1530                 kfree(devpriv->ao_urbs);
1531         }
1532         if (devpriv->ai_urbs) {
1533                 for (i = 0; i < devpriv->n_ai_urbs; i++) {
1534                         urb = devpriv->ai_urbs[i];
1535                         if (urb) {
1536                                 kfree(urb->transfer_buffer);
1537                                 usb_free_urb(urb);
1538                         }
1539                 }
1540                 kfree(devpriv->ai_urbs);
1541         }
1542         kfree(devpriv->insn_buf);
1543         kfree(devpriv->in_buf);
1544         kfree(devpriv->dux_commands);
1545 }
1546
1547 static int usbduxsigma_auto_attach(struct comedi_device *dev,
1548                                    unsigned long context_unused)
1549 {
1550         struct usb_interface *intf = comedi_to_usb_interface(dev);
1551         struct usb_device *usb = comedi_to_usb_dev(dev);
1552         struct usbduxsigma_private *devpriv;
1553         struct comedi_subdevice *s;
1554         int offset;
1555         int ret;
1556
1557         devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
1558         if (!devpriv)
1559                 return -ENOMEM;
1560
1561         sema_init(&devpriv->sem, 1);
1562
1563         usb_set_intfdata(intf, devpriv);
1564
1565         devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
1566         if (devpriv->high_speed) {
1567                 devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
1568                 devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
1569                 devpriv->pwm_buf_sz = 512;
1570         } else {
1571                 devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
1572                 devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
1573         }
1574
1575         ret = usbduxsigma_alloc_usb_buffers(dev);
1576         if (ret)
1577                 return ret;
1578
1579         /* setting to alternate setting 3: enabling iso ep and bulk ep. */
1580         ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
1581                                 3);
1582         if (ret < 0) {
1583                 dev_err(dev->class_dev,
1584                         "could not set alternate setting 3 in high speed\n");
1585                 return ret;
1586         }
1587
1588         ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
1589                                    usbduxsigma_firmware_upload, 0);
1590         if (ret)
1591                 return ret;
1592
1593         ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3);
1594         if (ret)
1595                 return ret;
1596
1597         /* Analog Input subdevice */
1598         s = &dev->subdevices[0];
1599         dev->read_subdev = s;
1600         s->type         = COMEDI_SUBD_AI;
1601         s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
1602         s->n_chan       = NUMCHANNELS;
1603         s->len_chanlist = NUMCHANNELS;
1604         s->maxdata      = 0x00ffffff;
1605         s->range_table  = &usbduxsigma_ai_range;
1606         s->insn_read    = usbduxsigma_ai_insn_read;
1607         s->do_cmdtest   = usbduxsigma_ai_cmdtest;
1608         s->do_cmd       = usbduxsigma_ai_cmd;
1609         s->cancel       = usbduxsigma_ai_cancel;
1610
1611         /* Analog Output subdevice */
1612         s = &dev->subdevices[1];
1613         dev->write_subdev = s;
1614         s->type         = COMEDI_SUBD_AO;
1615         s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
1616         s->n_chan       = USBDUXSIGMA_NUM_AO_CHAN;
1617         s->len_chanlist = s->n_chan;
1618         s->maxdata      = 0x00ff;
1619         s->range_table  = &range_unipolar2_5;
1620         s->insn_write   = usbduxsigma_ao_insn_write;
1621         s->insn_read    = usbduxsigma_ao_insn_read;
1622         s->do_cmdtest   = usbduxsigma_ao_cmdtest;
1623         s->do_cmd       = usbduxsigma_ao_cmd;
1624         s->cancel       = usbduxsigma_ao_cancel;
1625
1626         /* Digital I/O subdevice */
1627         s = &dev->subdevices[2];
1628         s->type         = COMEDI_SUBD_DIO;
1629         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
1630         s->n_chan       = 24;
1631         s->maxdata      = 1;
1632         s->range_table  = &range_digital;
1633         s->insn_bits    = usbduxsigma_dio_insn_bits;
1634         s->insn_config  = usbduxsigma_dio_insn_config;
1635
1636         if (devpriv->high_speed) {
1637                 /* Timer / pwm subdevice */
1638                 s = &dev->subdevices[3];
1639                 s->type         = COMEDI_SUBD_PWM;
1640                 s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
1641                 s->n_chan       = 8;
1642                 s->maxdata      = devpriv->pwm_buf_sz;
1643                 s->insn_write   = usbduxsigma_pwm_write;
1644                 s->insn_config  = usbduxsigma_pwm_config;
1645
1646                 usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
1647         }
1648
1649         offset = usbduxsigma_getstatusinfo(dev, 0);
1650         if (offset < 0) {
1651                 dev_err(dev->class_dev,
1652                         "Communication to USBDUXSIGMA failed! Check firmware and cabling.\n");
1653                 return offset;
1654         }
1655
1656         dev_info(dev->class_dev, "ADC_zero = %x\n", offset);
1657
1658         return 0;
1659 }
1660
1661 static void usbduxsigma_detach(struct comedi_device *dev)
1662 {
1663         struct usb_interface *intf = comedi_to_usb_interface(dev);
1664         struct usbduxsigma_private *devpriv = dev->private;
1665
1666         usb_set_intfdata(intf, NULL);
1667
1668         if (!devpriv)
1669                 return;
1670
1671         down(&devpriv->sem);
1672
1673         /* force unlink all urbs */
1674         usbduxsigma_ai_stop(dev, 1);
1675         usbduxsigma_ao_stop(dev, 1);
1676         usbduxsigma_pwm_stop(dev, 1);
1677
1678         usbduxsigma_free_usb_buffers(dev);
1679
1680         up(&devpriv->sem);
1681 }
1682
1683 static struct comedi_driver usbduxsigma_driver = {
1684         .driver_name    = "usbduxsigma",
1685         .module         = THIS_MODULE,
1686         .auto_attach    = usbduxsigma_auto_attach,
1687         .detach         = usbduxsigma_detach,
1688 };
1689
1690 static int usbduxsigma_usb_probe(struct usb_interface *intf,
1691                                  const struct usb_device_id *id)
1692 {
1693         return comedi_usb_auto_config(intf, &usbduxsigma_driver, 0);
1694 }
1695
1696 static const struct usb_device_id usbduxsigma_usb_table[] = {
1697         { USB_DEVICE(0x13d8, 0x0020) },
1698         { USB_DEVICE(0x13d8, 0x0021) },
1699         { USB_DEVICE(0x13d8, 0x0022) },
1700         { }
1701 };
1702 MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);
1703
1704 static struct usb_driver usbduxsigma_usb_driver = {
1705         .name           = "usbduxsigma",
1706         .probe          = usbduxsigma_usb_probe,
1707         .disconnect     = comedi_usb_auto_unconfig,
1708         .id_table       = usbduxsigma_usb_table,
1709 };
1710 module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);
1711
1712 MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
1713 MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com");
1714 MODULE_LICENSE("GPL");
1715 MODULE_FIRMWARE(FIRMWARE);