1 // SPDX-License-Identifier: GPL-2.0+
3 * comedi/drivers/ni_usb6501.c
4 * Comedi driver for National Instruments USB-6501
6 * COMEDI - Linux Control and Measurement Device Interface
7 * Copyright (C) 2014 Luca Ellero <luca.ellero@brickedbrain.com>
12 * Description: National Instruments USB-6501 module
13 * Devices: [National Instruments] USB-6501 (ni_usb6501)
14 * Author: Luca Ellero <luca.ellero@brickedbrain.com>
19 * Configuration Options:
24 * NI-6501 - USB PROTOCOL DESCRIPTION
26 * Every command is composed by two USB packets:
30 * Every packet is at least 12 bytes long, here is the meaning of
31 * every field (all values are hex):
36 * byte 3 is the total packet length
39 * byte 5 is the total packet length - 4
41 * byte 7 is the command
43 * byte 8 is 02 (request) or 00 (response)
44 * byte 9 is 00 (response) or 10 (port request) or 20 (counter request)
45 * byte 10 is always 00
46 * byte 11 is 00 (request) or 02 (response)
51 * REQ: 00 01 00 10 00 0C 01 0E 02 10 00 00 00 03 <PORT> 00
52 * RES: 00 01 00 10 00 0C 01 00 00 00 00 02 00 03 <BMAP> 00
55 * REQ: 00 01 00 14 00 10 01 0F 02 10 00 00 00 03 <PORT> 00 03 <BMAP> 00 00
56 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
58 * CMD: 0x12 SET_PORT_DIR (0 = input, 1 = output)
59 * REQ: 00 01 00 18 00 14 01 12 02 10 00 00
60 * 00 05 <PORT 0> <PORT 1> <PORT 2> 00 05 00 00 00 00 00
61 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
65 * CMD 0x9: START_COUNTER
66 * REQ: 00 01 00 0C 00 08 01 09 02 20 00 00
67 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
69 * CMD 0xC: STOP_COUNTER
70 * REQ: 00 01 00 0C 00 08 01 0C 02 20 00 00
71 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
73 * CMD 0xE: READ_COUNTER
74 * REQ: 00 01 00 0C 00 08 01 0E 02 20 00 00
75 * RES: 00 01 00 10 00 0C 01 00 00 00 00 02 <u32 counter value, Big Endian>
77 * CMD 0xF: WRITE_COUNTER
78 * REQ: 00 01 00 10 00 0C 01 0F 02 20 00 00 <u32 counter value, Big Endian>
79 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
82 * Please visit https://www.brickedbrain.com if you need
83 * additional information or have any questions.
87 #include <linux/kernel.h>
88 #include <linux/module.h>
89 #include <linux/slab.h>
90 #include <linux/comedi/comedi_usb.h>
92 #define NI6501_TIMEOUT 1000
94 /* Port request packets */
95 static const u8 READ_PORT_REQUEST[] = {0x00, 0x01, 0x00, 0x10,
96 0x00, 0x0C, 0x01, 0x0E,
97 0x02, 0x10, 0x00, 0x00,
98 0x00, 0x03, 0x00, 0x00};
100 static const u8 WRITE_PORT_REQUEST[] = {0x00, 0x01, 0x00, 0x14,
101 0x00, 0x10, 0x01, 0x0F,
102 0x02, 0x10, 0x00, 0x00,
103 0x00, 0x03, 0x00, 0x00,
104 0x03, 0x00, 0x00, 0x00};
106 static const u8 SET_PORT_DIR_REQUEST[] = {0x00, 0x01, 0x00, 0x18,
107 0x00, 0x14, 0x01, 0x12,
108 0x02, 0x10, 0x00, 0x00,
109 0x00, 0x05, 0x00, 0x00,
110 0x00, 0x00, 0x05, 0x00,
111 0x00, 0x00, 0x00, 0x00};
113 /* Counter request packets */
114 static const u8 START_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x0C,
115 0x00, 0x08, 0x01, 0x09,
116 0x02, 0x20, 0x00, 0x00};
118 static const u8 STOP_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x0C,
119 0x00, 0x08, 0x01, 0x0C,
120 0x02, 0x20, 0x00, 0x00};
122 static const u8 READ_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x0C,
123 0x00, 0x08, 0x01, 0x0E,
124 0x02, 0x20, 0x00, 0x00};
126 static const u8 WRITE_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x10,
127 0x00, 0x0C, 0x01, 0x0F,
128 0x02, 0x20, 0x00, 0x00,
129 0x00, 0x00, 0x00, 0x00};
131 /* Response packets */
132 static const u8 GENERIC_RESPONSE[] = {0x00, 0x01, 0x00, 0x0C,
133 0x00, 0x08, 0x01, 0x00,
134 0x00, 0x00, 0x00, 0x02};
136 static const u8 READ_PORT_RESPONSE[] = {0x00, 0x01, 0x00, 0x10,
137 0x00, 0x0C, 0x01, 0x00,
138 0x00, 0x00, 0x00, 0x02,
139 0x00, 0x03, 0x00, 0x00};
141 static const u8 READ_COUNTER_RESPONSE[] = {0x00, 0x01, 0x00, 0x10,
142 0x00, 0x0C, 0x01, 0x00,
143 0x00, 0x00, 0x00, 0x02,
144 0x00, 0x00, 0x00, 0x00};
146 /* Largest supported packets */
147 static const size_t TX_MAX_SIZE = sizeof(SET_PORT_DIR_REQUEST);
148 static const size_t RX_MAX_SIZE = sizeof(READ_PORT_RESPONSE);
160 struct ni6501_private {
161 struct usb_endpoint_descriptor *ep_rx;
162 struct usb_endpoint_descriptor *ep_tx;
168 static int ni6501_port_command(struct comedi_device *dev, int command,
169 unsigned int val, u8 *bitmap)
171 struct usb_device *usb = comedi_to_usb_dev(dev);
172 struct ni6501_private *devpriv = dev->private;
173 int request_size, response_size;
174 u8 *tx = devpriv->usb_tx_buf;
177 if (command != SET_PORT_DIR && !bitmap)
180 mutex_lock(&devpriv->mut);
184 request_size = sizeof(READ_PORT_REQUEST);
185 response_size = sizeof(READ_PORT_RESPONSE);
186 memcpy(tx, READ_PORT_REQUEST, request_size);
190 request_size = sizeof(WRITE_PORT_REQUEST);
191 response_size = sizeof(GENERIC_RESPONSE);
192 memcpy(tx, WRITE_PORT_REQUEST, request_size);
197 request_size = sizeof(SET_PORT_DIR_REQUEST);
198 response_size = sizeof(GENERIC_RESPONSE);
199 memcpy(tx, SET_PORT_DIR_REQUEST, request_size);
201 tx[15] = (val >> 8) & 0xff;
202 tx[16] = (val >> 16) & 0xff;
209 ret = usb_bulk_msg(usb,
211 devpriv->ep_tx->bEndpointAddress),
219 ret = usb_bulk_msg(usb,
221 devpriv->ep_rx->bEndpointAddress),
229 /* Check if results are valid */
231 if (command == READ_PORT) {
232 *bitmap = devpriv->usb_rx_buf[14];
233 /* mask bitmap for comparing */
234 devpriv->usb_rx_buf[14] = 0x00;
236 if (memcmp(devpriv->usb_rx_buf, READ_PORT_RESPONSE,
237 sizeof(READ_PORT_RESPONSE))) {
240 } else if (memcmp(devpriv->usb_rx_buf, GENERIC_RESPONSE,
241 sizeof(GENERIC_RESPONSE))) {
245 mutex_unlock(&devpriv->mut);
250 static int ni6501_counter_command(struct comedi_device *dev, int command,
253 struct usb_device *usb = comedi_to_usb_dev(dev);
254 struct ni6501_private *devpriv = dev->private;
255 int request_size, response_size;
256 u8 *tx = devpriv->usb_tx_buf;
259 if ((command == READ_COUNTER || command == WRITE_COUNTER) && !val)
262 mutex_lock(&devpriv->mut);
266 request_size = sizeof(START_COUNTER_REQUEST);
267 response_size = sizeof(GENERIC_RESPONSE);
268 memcpy(tx, START_COUNTER_REQUEST, request_size);
271 request_size = sizeof(STOP_COUNTER_REQUEST);
272 response_size = sizeof(GENERIC_RESPONSE);
273 memcpy(tx, STOP_COUNTER_REQUEST, request_size);
276 request_size = sizeof(READ_COUNTER_REQUEST);
277 response_size = sizeof(READ_COUNTER_RESPONSE);
278 memcpy(tx, READ_COUNTER_REQUEST, request_size);
281 request_size = sizeof(WRITE_COUNTER_REQUEST);
282 response_size = sizeof(GENERIC_RESPONSE);
283 memcpy(tx, WRITE_COUNTER_REQUEST, request_size);
284 /* Setup tx packet: bytes 12,13,14,15 hold the */
285 /* u32 counter value (Big Endian) */
286 *((__be32 *)&tx[12]) = cpu_to_be32(*val);
293 ret = usb_bulk_msg(usb,
295 devpriv->ep_tx->bEndpointAddress),
303 ret = usb_bulk_msg(usb,
305 devpriv->ep_rx->bEndpointAddress),
313 /* Check if results are valid */
315 if (command == READ_COUNTER) {
318 /* Read counter value: bytes 12,13,14,15 of rx packet */
319 /* hold the u32 counter value (Big Endian) */
320 *val = be32_to_cpu(*((__be32 *)&devpriv->usb_rx_buf[12]));
322 /* mask counter value for comparing */
323 for (i = 12; i < sizeof(READ_COUNTER_RESPONSE); ++i)
324 devpriv->usb_rx_buf[i] = 0x00;
326 if (memcmp(devpriv->usb_rx_buf, READ_COUNTER_RESPONSE,
327 sizeof(READ_COUNTER_RESPONSE))) {
330 } else if (memcmp(devpriv->usb_rx_buf, GENERIC_RESPONSE,
331 sizeof(GENERIC_RESPONSE))) {
335 mutex_unlock(&devpriv->mut);
340 static int ni6501_dio_insn_config(struct comedi_device *dev,
341 struct comedi_subdevice *s,
342 struct comedi_insn *insn,
347 ret = comedi_dio_insn_config(dev, s, insn, data, 0);
351 ret = ni6501_port_command(dev, SET_PORT_DIR, s->io_bits, NULL);
358 static int ni6501_dio_insn_bits(struct comedi_device *dev,
359 struct comedi_subdevice *s,
360 struct comedi_insn *insn,
368 mask = comedi_dio_update_state(s, data);
370 for (port = 0; port < 3; port++) {
371 if (mask & (0xFF << port * 8)) {
372 bitmap = (s->state >> port * 8) & 0xFF;
373 ret = ni6501_port_command(dev, WRITE_PORT,
382 for (port = 0; port < 3; port++) {
383 ret = ni6501_port_command(dev, READ_PORT, port, &bitmap);
386 data[1] |= bitmap << port * 8;
392 static int ni6501_cnt_insn_config(struct comedi_device *dev,
393 struct comedi_subdevice *s,
394 struct comedi_insn *insn,
401 case INSN_CONFIG_ARM:
402 ret = ni6501_counter_command(dev, START_COUNTER, NULL);
404 case INSN_CONFIG_DISARM:
405 ret = ni6501_counter_command(dev, STOP_COUNTER, NULL);
407 case INSN_CONFIG_RESET:
408 ret = ni6501_counter_command(dev, STOP_COUNTER, NULL);
411 ret = ni6501_counter_command(dev, WRITE_COUNTER, &val);
417 return ret ? ret : insn->n;
420 static int ni6501_cnt_insn_read(struct comedi_device *dev,
421 struct comedi_subdevice *s,
422 struct comedi_insn *insn,
429 for (i = 0; i < insn->n; i++) {
430 ret = ni6501_counter_command(dev, READ_COUNTER, &val);
439 static int ni6501_cnt_insn_write(struct comedi_device *dev,
440 struct comedi_subdevice *s,
441 struct comedi_insn *insn,
447 u32 val = data[insn->n - 1];
449 ret = ni6501_counter_command(dev, WRITE_COUNTER, &val);
457 static int ni6501_alloc_usb_buffers(struct comedi_device *dev)
459 struct ni6501_private *devpriv = dev->private;
462 size = usb_endpoint_maxp(devpriv->ep_rx);
463 devpriv->usb_rx_buf = kzalloc(size, GFP_KERNEL);
464 if (!devpriv->usb_rx_buf)
467 size = usb_endpoint_maxp(devpriv->ep_tx);
468 devpriv->usb_tx_buf = kzalloc(size, GFP_KERNEL);
469 if (!devpriv->usb_tx_buf)
475 static int ni6501_find_endpoints(struct comedi_device *dev)
477 struct usb_interface *intf = comedi_to_usb_interface(dev);
478 struct ni6501_private *devpriv = dev->private;
479 struct usb_host_interface *iface_desc = intf->cur_altsetting;
480 struct usb_endpoint_descriptor *ep_desc;
483 if (iface_desc->desc.bNumEndpoints != 2) {
484 dev_err(dev->class_dev, "Wrong number of endpoints\n");
488 for (i = 0; i < iface_desc->desc.bNumEndpoints; i++) {
489 ep_desc = &iface_desc->endpoint[i].desc;
491 if (usb_endpoint_is_bulk_in(ep_desc)) {
493 devpriv->ep_rx = ep_desc;
497 if (usb_endpoint_is_bulk_out(ep_desc)) {
499 devpriv->ep_tx = ep_desc;
504 if (!devpriv->ep_rx || !devpriv->ep_tx)
507 if (usb_endpoint_maxp(devpriv->ep_rx) < RX_MAX_SIZE)
510 if (usb_endpoint_maxp(devpriv->ep_tx) < TX_MAX_SIZE)
516 static int ni6501_auto_attach(struct comedi_device *dev,
517 unsigned long context)
519 struct usb_interface *intf = comedi_to_usb_interface(dev);
520 struct ni6501_private *devpriv;
521 struct comedi_subdevice *s;
524 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
528 mutex_init(&devpriv->mut);
529 usb_set_intfdata(intf, devpriv);
531 ret = ni6501_find_endpoints(dev);
535 ret = ni6501_alloc_usb_buffers(dev);
539 ret = comedi_alloc_subdevices(dev, 2);
543 /* Digital Input/Output subdevice */
544 s = &dev->subdevices[0];
545 s->type = COMEDI_SUBD_DIO;
546 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
549 s->range_table = &range_digital;
550 s->insn_bits = ni6501_dio_insn_bits;
551 s->insn_config = ni6501_dio_insn_config;
553 /* Counter subdevice */
554 s = &dev->subdevices[1];
555 s->type = COMEDI_SUBD_COUNTER;
556 s->subdev_flags = SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL;
558 s->maxdata = 0xffffffff;
559 s->insn_read = ni6501_cnt_insn_read;
560 s->insn_write = ni6501_cnt_insn_write;
561 s->insn_config = ni6501_cnt_insn_config;
566 static void ni6501_detach(struct comedi_device *dev)
568 struct usb_interface *intf = comedi_to_usb_interface(dev);
569 struct ni6501_private *devpriv = dev->private;
574 mutex_destroy(&devpriv->mut);
576 usb_set_intfdata(intf, NULL);
578 kfree(devpriv->usb_rx_buf);
579 kfree(devpriv->usb_tx_buf);
582 static struct comedi_driver ni6501_driver = {
583 .module = THIS_MODULE,
584 .driver_name = "ni6501",
585 .auto_attach = ni6501_auto_attach,
586 .detach = ni6501_detach,
589 static int ni6501_usb_probe(struct usb_interface *intf,
590 const struct usb_device_id *id)
592 return comedi_usb_auto_config(intf, &ni6501_driver, id->driver_info);
595 static const struct usb_device_id ni6501_usb_table[] = {
596 { USB_DEVICE(0x3923, 0x718a) },
599 MODULE_DEVICE_TABLE(usb, ni6501_usb_table);
601 static struct usb_driver ni6501_usb_driver = {
603 .id_table = ni6501_usb_table,
604 .probe = ni6501_usb_probe,
605 .disconnect = comedi_usb_auto_unconfig,
607 module_comedi_usb_driver(ni6501_driver, ni6501_usb_driver);
609 MODULE_AUTHOR("Luca Ellero");
610 MODULE_DESCRIPTION("Comedi driver for National Instruments USB-6501");
611 MODULE_LICENSE("GPL");