2 * Hardware driver for NI 660x devices
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
17 * Description: National Instruments 660x counter/timer boards
18 * Devices: [National Instruments] PCI-6601 (ni_660x), PCI-6602, PXI-6602,
19 * PXI-6608, PCI-6624, PXI-6624
20 * Author: J.P. Mellor <jpmellor@rose-hulman.edu>,
21 * Herman.Bruyninckx@mech.kuleuven.ac.be,
22 * Wim.Meeussen@mech.kuleuven.ac.be,
23 * Klaas.Gadeyne@mech.kuleuven.ac.be,
24 * Frank Mori Hess <fmhess@users.sourceforge.net>
25 * Updated: Mon, 16 Jan 2017 14:00:43 +0000
26 * Status: experimental
28 * Encoders work. PulseGeneration (both single pulse and pulse train)
29 * works. Buffered commands work for input but not output.
32 * DAQ 660x Register-Level Programmer Manual (NI 370505A-01)
33 * DAQ 6601/6602 User Manual (NI 322137B-01)
36 #include <linux/module.h>
37 #include <linux/interrupt.h>
39 #include "../comedi_pci.h"
44 /* See Register-Level Programmer Manual page 3.1 */
45 enum ni_660x_register {
46 /* see enum ni_gpct_register */
47 NI660X_STC_DIO_PARALLEL_INPUT = NITIO_NUM_REGS,
48 NI660X_STC_DIO_OUTPUT,
49 NI660X_STC_DIO_CONTROL,
50 NI660X_STC_DIO_SERIAL_INPUT,
54 NI660X_GLOBAL_INT_STATUS,
56 NI660X_GLOBAL_INT_CFG,
80 #define NI660X_CLK_CFG_COUNTER_SWAP BIT(21)
82 #define NI660X_GLOBAL_INT_COUNTER0 BIT(8)
83 #define NI660X_GLOBAL_INT_COUNTER1 BIT(9)
84 #define NI660X_GLOBAL_INT_COUNTER2 BIT(10)
85 #define NI660X_GLOBAL_INT_COUNTER3 BIT(11)
86 #define NI660X_GLOBAL_INT_CASCADE BIT(29)
87 #define NI660X_GLOBAL_INT_GLOBAL_POL BIT(30)
88 #define NI660X_GLOBAL_INT_GLOBAL BIT(31)
90 #define NI660X_DMA_CFG_SEL(_c, _s) (((_s) & 0x1f) << (8 * (_c)))
91 #define NI660X_DMA_CFG_SEL_MASK(_c) NI660X_DMA_CFG_SEL((_c), 0x1f)
92 #define NI660X_DMA_CFG_SEL_NONE(_c) NI660X_DMA_CFG_SEL((_c), 0x1f)
93 #define NI660X_DMA_CFG_RESET(_c) NI660X_DMA_CFG_SEL((_c), 0x80)
95 #define NI660X_IO_CFG(x) (NI660X_IO_CFG_0_1 + ((x) / 2))
96 #define NI660X_IO_CFG_OUT_SEL(_c, _s) (((_s) & 0x3) << (((_c) % 2) ? 0 : 8))
97 #define NI660X_IO_CFG_OUT_SEL_MASK(_c) NI660X_IO_CFG_OUT_SEL((_c), 0x3)
98 #define NI660X_IO_CFG_IN_SEL(_c, _s) (((_s) & 0x7) << (((_c) % 2) ? 4 : 12))
99 #define NI660X_IO_CFG_IN_SEL_MASK(_c) NI660X_IO_CFG_IN_SEL((_c), 0x7)
101 struct ni_660x_register_data {
102 int offset; /* Offset from base address from GPCT chip */
103 char size; /* 2 or 4 bytes */
106 static const struct ni_660x_register_data ni_660x_reg_data[NI660X_NUM_REGS] = {
107 [NITIO_G0_INT_ACK] = { 0x004, 2 }, /* write */
108 [NITIO_G0_STATUS] = { 0x004, 2 }, /* read */
109 [NITIO_G1_INT_ACK] = { 0x006, 2 }, /* write */
110 [NITIO_G1_STATUS] = { 0x006, 2 }, /* read */
111 [NITIO_G01_STATUS] = { 0x008, 2 }, /* read */
112 [NITIO_G0_CMD] = { 0x00c, 2 }, /* write */
113 [NI660X_STC_DIO_PARALLEL_INPUT] = { 0x00e, 2 }, /* read */
114 [NITIO_G1_CMD] = { 0x00e, 2 }, /* write */
115 [NITIO_G0_HW_SAVE] = { 0x010, 4 }, /* read */
116 [NITIO_G1_HW_SAVE] = { 0x014, 4 }, /* read */
117 [NI660X_STC_DIO_OUTPUT] = { 0x014, 2 }, /* write */
118 [NI660X_STC_DIO_CONTROL] = { 0x016, 2 }, /* write */
119 [NITIO_G0_SW_SAVE] = { 0x018, 4 }, /* read */
120 [NITIO_G1_SW_SAVE] = { 0x01c, 4 }, /* read */
121 [NITIO_G0_MODE] = { 0x034, 2 }, /* write */
122 [NITIO_G01_STATUS1] = { 0x036, 2 }, /* read */
123 [NITIO_G1_MODE] = { 0x036, 2 }, /* write */
124 [NI660X_STC_DIO_SERIAL_INPUT] = { 0x038, 2 }, /* read */
125 [NITIO_G0_LOADA] = { 0x038, 4 }, /* write */
126 [NITIO_G01_STATUS2] = { 0x03a, 2 }, /* read */
127 [NITIO_G0_LOADB] = { 0x03c, 4 }, /* write */
128 [NITIO_G1_LOADA] = { 0x040, 4 }, /* write */
129 [NITIO_G1_LOADB] = { 0x044, 4 }, /* write */
130 [NITIO_G0_INPUT_SEL] = { 0x048, 2 }, /* write */
131 [NITIO_G1_INPUT_SEL] = { 0x04a, 2 }, /* write */
132 [NITIO_G0_AUTO_INC] = { 0x088, 2 }, /* write */
133 [NITIO_G1_AUTO_INC] = { 0x08a, 2 }, /* write */
134 [NITIO_G01_RESET] = { 0x090, 2 }, /* write */
135 [NITIO_G0_INT_ENA] = { 0x092, 2 }, /* write */
136 [NITIO_G1_INT_ENA] = { 0x096, 2 }, /* write */
137 [NITIO_G0_CNT_MODE] = { 0x0b0, 2 }, /* write */
138 [NITIO_G1_CNT_MODE] = { 0x0b2, 2 }, /* write */
139 [NITIO_G0_GATE2] = { 0x0b4, 2 }, /* write */
140 [NITIO_G1_GATE2] = { 0x0b6, 2 }, /* write */
141 [NITIO_G0_DMA_CFG] = { 0x0b8, 2 }, /* write */
142 [NITIO_G0_DMA_STATUS] = { 0x0b8, 2 }, /* read */
143 [NITIO_G1_DMA_CFG] = { 0x0ba, 2 }, /* write */
144 [NITIO_G1_DMA_STATUS] = { 0x0ba, 2 }, /* read */
145 [NITIO_G2_INT_ACK] = { 0x104, 2 }, /* write */
146 [NITIO_G2_STATUS] = { 0x104, 2 }, /* read */
147 [NITIO_G3_INT_ACK] = { 0x106, 2 }, /* write */
148 [NITIO_G3_STATUS] = { 0x106, 2 }, /* read */
149 [NITIO_G23_STATUS] = { 0x108, 2 }, /* read */
150 [NITIO_G2_CMD] = { 0x10c, 2 }, /* write */
151 [NITIO_G3_CMD] = { 0x10e, 2 }, /* write */
152 [NITIO_G2_HW_SAVE] = { 0x110, 4 }, /* read */
153 [NITIO_G3_HW_SAVE] = { 0x114, 4 }, /* read */
154 [NITIO_G2_SW_SAVE] = { 0x118, 4 }, /* read */
155 [NITIO_G3_SW_SAVE] = { 0x11c, 4 }, /* read */
156 [NITIO_G2_MODE] = { 0x134, 2 }, /* write */
157 [NITIO_G23_STATUS1] = { 0x136, 2 }, /* read */
158 [NITIO_G3_MODE] = { 0x136, 2 }, /* write */
159 [NITIO_G2_LOADA] = { 0x138, 4 }, /* write */
160 [NITIO_G23_STATUS2] = { 0x13a, 2 }, /* read */
161 [NITIO_G2_LOADB] = { 0x13c, 4 }, /* write */
162 [NITIO_G3_LOADA] = { 0x140, 4 }, /* write */
163 [NITIO_G3_LOADB] = { 0x144, 4 }, /* write */
164 [NITIO_G2_INPUT_SEL] = { 0x148, 2 }, /* write */
165 [NITIO_G3_INPUT_SEL] = { 0x14a, 2 }, /* write */
166 [NITIO_G2_AUTO_INC] = { 0x188, 2 }, /* write */
167 [NITIO_G3_AUTO_INC] = { 0x18a, 2 }, /* write */
168 [NITIO_G23_RESET] = { 0x190, 2 }, /* write */
169 [NITIO_G2_INT_ENA] = { 0x192, 2 }, /* write */
170 [NITIO_G3_INT_ENA] = { 0x196, 2 }, /* write */
171 [NITIO_G2_CNT_MODE] = { 0x1b0, 2 }, /* write */
172 [NITIO_G3_CNT_MODE] = { 0x1b2, 2 }, /* write */
173 [NITIO_G2_GATE2] = { 0x1b4, 2 }, /* write */
174 [NITIO_G3_GATE2] = { 0x1b6, 2 }, /* write */
175 [NITIO_G2_DMA_CFG] = { 0x1b8, 2 }, /* write */
176 [NITIO_G2_DMA_STATUS] = { 0x1b8, 2 }, /* read */
177 [NITIO_G3_DMA_CFG] = { 0x1ba, 2 }, /* write */
178 [NITIO_G3_DMA_STATUS] = { 0x1ba, 2 }, /* read */
179 [NI660X_DIO32_INPUT] = { 0x414, 4 }, /* read */
180 [NI660X_DIO32_OUTPUT] = { 0x510, 4 }, /* write */
181 [NI660X_CLK_CFG] = { 0x73c, 4 }, /* write */
182 [NI660X_GLOBAL_INT_STATUS] = { 0x754, 4 }, /* read */
183 [NI660X_DMA_CFG] = { 0x76c, 4 }, /* write */
184 [NI660X_GLOBAL_INT_CFG] = { 0x770, 4 }, /* write */
185 [NI660X_IO_CFG_0_1] = { 0x77c, 2 }, /* read/write */
186 [NI660X_IO_CFG_2_3] = { 0x77e, 2 }, /* read/write */
187 [NI660X_IO_CFG_4_5] = { 0x780, 2 }, /* read/write */
188 [NI660X_IO_CFG_6_7] = { 0x782, 2 }, /* read/write */
189 [NI660X_IO_CFG_8_9] = { 0x784, 2 }, /* read/write */
190 [NI660X_IO_CFG_10_11] = { 0x786, 2 }, /* read/write */
191 [NI660X_IO_CFG_12_13] = { 0x788, 2 }, /* read/write */
192 [NI660X_IO_CFG_14_15] = { 0x78a, 2 }, /* read/write */
193 [NI660X_IO_CFG_16_17] = { 0x78c, 2 }, /* read/write */
194 [NI660X_IO_CFG_18_19] = { 0x78e, 2 }, /* read/write */
195 [NI660X_IO_CFG_20_21] = { 0x790, 2 }, /* read/write */
196 [NI660X_IO_CFG_22_23] = { 0x792, 2 }, /* read/write */
197 [NI660X_IO_CFG_24_25] = { 0x794, 2 }, /* read/write */
198 [NI660X_IO_CFG_26_27] = { 0x796, 2 }, /* read/write */
199 [NI660X_IO_CFG_28_29] = { 0x798, 2 }, /* read/write */
200 [NI660X_IO_CFG_30_31] = { 0x79a, 2 }, /* read/write */
201 [NI660X_IO_CFG_32_33] = { 0x79c, 2 }, /* read/write */
202 [NI660X_IO_CFG_34_35] = { 0x79e, 2 }, /* read/write */
203 [NI660X_IO_CFG_36_37] = { 0x7a0, 2 }, /* read/write */
204 [NI660X_IO_CFG_38_39] = { 0x7a2, 2 } /* read/write */
207 #define NI660X_CHIP_OFFSET 0x800
209 enum ni_660x_boardid {
218 struct ni_660x_board {
220 unsigned int n_chips; /* total number of TIO chips */
223 static const struct ni_660x_board ni_660x_boards[] = {
250 #define NI660X_NUM_PFI_CHANNELS 40
252 /* there are only up to 3 dma channels, but the register layout allows for 4 */
253 #define NI660X_MAX_DMA_CHANNEL 4
255 #define NI660X_COUNTERS_PER_CHIP 4
256 #define NI660X_MAX_CHIPS 2
257 #define NI660X_MAX_COUNTERS (NI660X_MAX_CHIPS * \
258 NI660X_COUNTERS_PER_CHIP)
260 struct ni_660x_private {
262 struct ni_gpct_device *counter_dev;
263 struct mite_ring *ring[NI660X_MAX_CHIPS][NI660X_COUNTERS_PER_CHIP];
264 /* protects mite channel request/release */
265 spinlock_t mite_channel_lock;
266 /* prevents races between interrupt and comedi_poll */
267 spinlock_t interrupt_lock;
268 unsigned int dma_cfg[NI660X_MAX_CHIPS];
269 unsigned int io_cfg[NI660X_NUM_PFI_CHANNELS];
273 static void ni_660x_write(struct comedi_device *dev, unsigned int chip,
274 unsigned int bits, unsigned int reg)
276 unsigned int addr = (chip * NI660X_CHIP_OFFSET) +
277 ni_660x_reg_data[reg].offset;
279 if (ni_660x_reg_data[reg].size == 2)
280 writew(bits, dev->mmio + addr);
282 writel(bits, dev->mmio + addr);
285 static unsigned int ni_660x_read(struct comedi_device *dev,
286 unsigned int chip, unsigned int reg)
288 unsigned int addr = (chip * NI660X_CHIP_OFFSET) +
289 ni_660x_reg_data[reg].offset;
291 if (ni_660x_reg_data[reg].size == 2)
292 return readw(dev->mmio + addr);
293 return readl(dev->mmio + addr);
296 static void ni_660x_gpct_write(struct ni_gpct *counter, unsigned int bits,
297 enum ni_gpct_register reg)
299 struct comedi_device *dev = counter->counter_dev->dev;
301 ni_660x_write(dev, counter->chip_index, bits, reg);
304 static unsigned int ni_660x_gpct_read(struct ni_gpct *counter,
305 enum ni_gpct_register reg)
307 struct comedi_device *dev = counter->counter_dev->dev;
309 return ni_660x_read(dev, counter->chip_index, reg);
312 static inline void ni_660x_set_dma_channel(struct comedi_device *dev,
313 unsigned int mite_channel,
314 struct ni_gpct *counter)
316 struct ni_660x_private *devpriv = dev->private;
317 unsigned int chip = counter->chip_index;
319 devpriv->dma_cfg[chip] &= ~NI660X_DMA_CFG_SEL_MASK(mite_channel);
320 devpriv->dma_cfg[chip] |= NI660X_DMA_CFG_SEL(mite_channel,
321 counter->counter_index);
322 ni_660x_write(dev, chip, devpriv->dma_cfg[chip] |
323 NI660X_DMA_CFG_RESET(mite_channel),
328 static inline void ni_660x_unset_dma_channel(struct comedi_device *dev,
329 unsigned int mite_channel,
330 struct ni_gpct *counter)
332 struct ni_660x_private *devpriv = dev->private;
333 unsigned int chip = counter->chip_index;
335 devpriv->dma_cfg[chip] &= ~NI660X_DMA_CFG_SEL_MASK(mite_channel);
336 devpriv->dma_cfg[chip] |= NI660X_DMA_CFG_SEL_NONE(mite_channel);
337 ni_660x_write(dev, chip, devpriv->dma_cfg[chip], NI660X_DMA_CFG);
341 static int ni_660x_request_mite_channel(struct comedi_device *dev,
342 struct ni_gpct *counter,
343 enum comedi_io_direction direction)
345 struct ni_660x_private *devpriv = dev->private;
346 struct mite_ring *ring;
347 struct mite_channel *mite_chan;
350 spin_lock_irqsave(&devpriv->mite_channel_lock, flags);
351 ring = devpriv->ring[counter->chip_index][counter->counter_index];
352 mite_chan = mite_request_channel(devpriv->mite, ring);
354 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
355 dev_err(dev->class_dev,
356 "failed to reserve mite dma channel for counter\n");
359 mite_chan->dir = direction;
360 ni_tio_set_mite_channel(counter, mite_chan);
361 ni_660x_set_dma_channel(dev, mite_chan->channel, counter);
362 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
366 static void ni_660x_release_mite_channel(struct comedi_device *dev,
367 struct ni_gpct *counter)
369 struct ni_660x_private *devpriv = dev->private;
372 spin_lock_irqsave(&devpriv->mite_channel_lock, flags);
373 if (counter->mite_chan) {
374 struct mite_channel *mite_chan = counter->mite_chan;
376 ni_660x_unset_dma_channel(dev, mite_chan->channel, counter);
377 ni_tio_set_mite_channel(counter, NULL);
378 mite_release_channel(mite_chan);
380 spin_unlock_irqrestore(&devpriv->mite_channel_lock, flags);
383 static int ni_660x_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
385 struct ni_gpct *counter = s->private;
388 retval = ni_660x_request_mite_channel(dev, counter, COMEDI_INPUT);
390 dev_err(dev->class_dev,
391 "no dma channel available for use by counter\n");
394 ni_tio_acknowledge(counter);
396 return ni_tio_cmd(dev, s);
399 static int ni_660x_cancel(struct comedi_device *dev, struct comedi_subdevice *s)
401 struct ni_gpct *counter = s->private;
404 retval = ni_tio_cancel(counter);
405 ni_660x_release_mite_channel(dev, counter);
409 static void set_tio_counterswap(struct comedi_device *dev, int chip)
411 unsigned int bits = 0;
414 * See P. 3.5 of the Register-Level Programming manual.
415 * The CounterSwap bit has to be set on the second chip,
416 * otherwise it will try to use the same pins as the
420 bits = NI660X_CLK_CFG_COUNTER_SWAP;
422 ni_660x_write(dev, chip, bits, NI660X_CLK_CFG);
425 static void ni_660x_handle_gpct_interrupt(struct comedi_device *dev,
426 struct comedi_subdevice *s)
428 struct ni_gpct *counter = s->private;
430 ni_tio_handle_interrupt(counter, s);
431 comedi_handle_events(dev, s);
434 static irqreturn_t ni_660x_interrupt(int irq, void *d)
436 struct comedi_device *dev = d;
437 struct ni_660x_private *devpriv = dev->private;
438 struct comedi_subdevice *s;
444 /* make sure dev->attached is checked before doing anything else */
447 /* lock to avoid race with comedi_poll */
448 spin_lock_irqsave(&devpriv->interrupt_lock, flags);
449 for (i = 0; i < dev->n_subdevices; ++i) {
450 s = &dev->subdevices[i];
451 if (s->type == COMEDI_SUBD_COUNTER)
452 ni_660x_handle_gpct_interrupt(dev, s);
454 spin_unlock_irqrestore(&devpriv->interrupt_lock, flags);
458 static int ni_660x_input_poll(struct comedi_device *dev,
459 struct comedi_subdevice *s)
461 struct ni_660x_private *devpriv = dev->private;
462 struct ni_gpct *counter = s->private;
465 /* lock to avoid race with comedi_poll */
466 spin_lock_irqsave(&devpriv->interrupt_lock, flags);
467 mite_sync_dma(counter->mite_chan, s);
468 spin_unlock_irqrestore(&devpriv->interrupt_lock, flags);
469 return comedi_buf_read_n_available(s);
472 static int ni_660x_buf_change(struct comedi_device *dev,
473 struct comedi_subdevice *s)
475 struct ni_660x_private *devpriv = dev->private;
476 struct ni_gpct *counter = s->private;
477 struct mite_ring *ring;
480 ring = devpriv->ring[counter->chip_index][counter->counter_index];
481 ret = mite_buf_change(ring, s);
488 static int ni_660x_allocate_private(struct comedi_device *dev)
490 struct ni_660x_private *devpriv;
493 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
497 spin_lock_init(&devpriv->mite_channel_lock);
498 spin_lock_init(&devpriv->interrupt_lock);
499 for (i = 0; i < NI660X_NUM_PFI_CHANNELS; ++i)
500 devpriv->io_cfg[i] = NI_660X_PFI_OUTPUT_COUNTER;
505 static int ni_660x_alloc_mite_rings(struct comedi_device *dev)
507 const struct ni_660x_board *board = dev->board_ptr;
508 struct ni_660x_private *devpriv = dev->private;
512 for (i = 0; i < board->n_chips; ++i) {
513 for (j = 0; j < NI660X_COUNTERS_PER_CHIP; ++j) {
514 devpriv->ring[i][j] = mite_alloc_ring(devpriv->mite);
515 if (!devpriv->ring[i][j])
522 static void ni_660x_free_mite_rings(struct comedi_device *dev)
524 const struct ni_660x_board *board = dev->board_ptr;
525 struct ni_660x_private *devpriv = dev->private;
529 for (i = 0; i < board->n_chips; ++i) {
530 for (j = 0; j < NI660X_COUNTERS_PER_CHIP; ++j)
531 mite_free_ring(devpriv->ring[i][j]);
535 static int ni_660x_dio_insn_bits(struct comedi_device *dev,
536 struct comedi_subdevice *s,
537 struct comedi_insn *insn,
540 unsigned int shift = CR_CHAN(insn->chanspec);
541 unsigned int mask = data[0] << shift;
542 unsigned int bits = data[1] << shift;
545 * There are 40 channels in this subdevice but only 32 are usable
546 * as DIO. The shift adjusts the mask/bits to account for the base
547 * channel in insn->chanspec. The state update can then be handled
548 * normally for the 32 usable channels.
552 s->state |= (bits & mask);
553 ni_660x_write(dev, 0, s->state, NI660X_DIO32_OUTPUT);
557 * Return the input channels, shifted back to account for the base
560 data[1] = ni_660x_read(dev, 0, NI660X_DIO32_INPUT) >> shift;
565 static void ni_660x_select_pfi_output(struct comedi_device *dev,
566 unsigned int chan, unsigned int out_sel)
568 const struct ni_660x_board *board = dev->board_ptr;
569 unsigned int active_chip = 0;
570 unsigned int idle_chip = 0;
573 if (board->n_chips > 1) {
574 if (out_sel == NI_660X_PFI_OUTPUT_COUNTER &&
575 chan >= 8 && chan <= 23) {
576 /* counters 4-7 pfi channels */
580 /* counters 0-3 pfi channels */
586 if (idle_chip != active_chip) {
587 /* set the pfi channel to high-z on the inactive chip */
588 bits = ni_660x_read(dev, idle_chip, NI660X_IO_CFG(chan));
589 bits &= ~NI660X_IO_CFG_OUT_SEL_MASK(chan);
590 bits |= NI660X_IO_CFG_OUT_SEL(chan, 0); /* high-z */
591 ni_660x_write(dev, idle_chip, bits, NI660X_IO_CFG(chan));
594 /* set the pfi channel output on the active chip */
595 bits = ni_660x_read(dev, active_chip, NI660X_IO_CFG(chan));
596 bits &= ~NI660X_IO_CFG_OUT_SEL_MASK(chan);
597 bits |= NI660X_IO_CFG_OUT_SEL(chan, out_sel);
598 ni_660x_write(dev, active_chip, bits, NI660X_IO_CFG(chan));
601 static int ni_660x_set_pfi_routing(struct comedi_device *dev,
602 unsigned int chan, unsigned int source)
604 struct ni_660x_private *devpriv = dev->private;
607 case NI_660X_PFI_OUTPUT_COUNTER:
611 case NI_660X_PFI_OUTPUT_DIO:
619 devpriv->io_cfg[chan] = source;
620 if (devpriv->io_dir & (1ULL << chan))
621 ni_660x_select_pfi_output(dev, chan, devpriv->io_cfg[chan]);
625 static int ni_660x_dio_insn_config(struct comedi_device *dev,
626 struct comedi_subdevice *s,
627 struct comedi_insn *insn,
630 struct ni_660x_private *devpriv = dev->private;
631 unsigned int chan = CR_CHAN(insn->chanspec);
632 u64 bit = 1ULL << chan;
637 case INSN_CONFIG_DIO_OUTPUT:
638 devpriv->io_dir |= bit;
639 ni_660x_select_pfi_output(dev, chan, devpriv->io_cfg[chan]);
642 case INSN_CONFIG_DIO_INPUT:
643 devpriv->io_dir &= ~bit;
644 ni_660x_select_pfi_output(dev, chan, 0); /* high-z */
647 case INSN_CONFIG_DIO_QUERY:
648 data[1] = (devpriv->io_dir & bit) ? COMEDI_OUTPUT
652 case INSN_CONFIG_SET_ROUTING:
653 ret = ni_660x_set_pfi_routing(dev, chan, data[1]);
658 case INSN_CONFIG_GET_ROUTING:
659 data[1] = devpriv->io_cfg[chan];
662 case INSN_CONFIG_FILTER:
663 val = ni_660x_read(dev, 0, NI660X_IO_CFG(chan));
664 val &= ~NI660X_IO_CFG_IN_SEL_MASK(chan);
665 val |= NI660X_IO_CFG_IN_SEL(chan, data[1]);
666 ni_660x_write(dev, 0, val, NI660X_IO_CFG(chan));
676 static void ni_660x_init_tio_chips(struct comedi_device *dev,
677 unsigned int n_chips)
679 struct ni_660x_private *devpriv = dev->private;
684 * We use the ioconfig registers to control dio direction, so zero
685 * output enables in stc dio control reg.
687 ni_660x_write(dev, 0, 0, NI660X_STC_DIO_CONTROL);
689 for (chip = 0; chip < n_chips; ++chip) {
690 /* init dma configuration register */
691 devpriv->dma_cfg[chip] = 0;
692 for (chan = 0; chan < NI660X_MAX_DMA_CHANNEL; ++chan)
693 devpriv->dma_cfg[chip] |= NI660X_DMA_CFG_SEL_NONE(chan);
694 ni_660x_write(dev, chip, devpriv->dma_cfg[chip],
697 /* init ioconfig registers */
698 for (chan = 0; chan < NI660X_NUM_PFI_CHANNELS; ++chan)
699 ni_660x_write(dev, chip, 0, NI660X_IO_CFG(chan));
703 static int ni_660x_auto_attach(struct comedi_device *dev,
704 unsigned long context)
706 struct pci_dev *pcidev = comedi_to_pci_dev(dev);
707 const struct ni_660x_board *board = NULL;
708 struct ni_660x_private *devpriv;
709 struct comedi_subdevice *s;
710 struct ni_gpct_device *gpct_dev;
711 unsigned int n_counters;
715 unsigned int global_interrupt_config_bits;
717 if (context < ARRAY_SIZE(ni_660x_boards))
718 board = &ni_660x_boards[context];
721 dev->board_ptr = board;
722 dev->board_name = board->name;
724 ret = comedi_pci_enable(dev);
728 ret = ni_660x_allocate_private(dev);
731 devpriv = dev->private;
733 devpriv->mite = mite_attach(dev, true); /* use win1 */
737 ret = ni_660x_alloc_mite_rings(dev);
741 ni_660x_init_tio_chips(dev, board->n_chips);
743 n_counters = board->n_chips * NI660X_COUNTERS_PER_CHIP;
744 gpct_dev = ni_gpct_device_construct(dev,
747 ni_gpct_variant_660x,
751 devpriv->counter_dev = gpct_dev;
753 ret = comedi_alloc_subdevices(dev, 2 + NI660X_MAX_COUNTERS);
759 s = &dev->subdevices[subdev++];
760 /* Old GENERAL-PURPOSE COUNTER/TIME (GPCT) subdevice, no longer used */
761 s->type = COMEDI_SUBD_UNUSED;
764 * Digital I/O subdevice
766 * There are 40 channels but only the first 32 can be digital I/Os.
767 * The last 8 are dedicated to counters 0 and 1.
769 * Counter 0-3 signals are from the first TIO chip.
770 * Counter 4-7 signals are from the second TIO chip.
773 * PFI Chan DIO Chan Counter Signal
774 * ------- -------- --------------
816 s = &dev->subdevices[subdev++];
817 s->type = COMEDI_SUBD_DIO;
818 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
819 s->n_chan = NI660X_NUM_PFI_CHANNELS;
821 s->range_table = &range_digital;
822 s->insn_bits = ni_660x_dio_insn_bits;
823 s->insn_config = ni_660x_dio_insn_config;
826 * Default the DIO channels as:
827 * chan 0-7: DIO inputs
828 * chan 8-39: counter signal inputs
830 for (i = 0; i < s->n_chan; ++i) {
831 unsigned int source = (i < 8) ? NI_660X_PFI_OUTPUT_DIO
832 : NI_660X_PFI_OUTPUT_COUNTER;
834 ni_660x_set_pfi_routing(dev, i, source);
835 ni_660x_select_pfi_output(dev, i, 0); /* high-z */
838 /* Counter subdevices (4 NI TIO General Purpose Counters per chip) */
839 for (i = 0; i < NI660X_MAX_COUNTERS; ++i) {
840 s = &dev->subdevices[subdev++];
841 if (i < n_counters) {
842 struct ni_gpct *counter = &gpct_dev->counters[i];
844 counter->chip_index = i / NI660X_COUNTERS_PER_CHIP;
845 counter->counter_index = i % NI660X_COUNTERS_PER_CHIP;
847 s->type = COMEDI_SUBD_COUNTER;
848 s->subdev_flags = SDF_READABLE | SDF_WRITABLE |
849 SDF_LSAMPL | SDF_CMD_READ;
851 s->maxdata = 0xffffffff;
852 s->insn_read = ni_tio_insn_read;
853 s->insn_write = ni_tio_insn_write;
854 s->insn_config = ni_tio_insn_config;
856 s->do_cmd = ni_660x_cmd;
857 s->do_cmdtest = ni_tio_cmdtest;
858 s->cancel = ni_660x_cancel;
859 s->poll = ni_660x_input_poll;
860 s->buf_change = ni_660x_buf_change;
861 s->async_dma_dir = DMA_BIDIRECTIONAL;
862 s->private = counter;
864 ni_tio_init_counter(counter);
866 s->type = COMEDI_SUBD_UNUSED;
871 * To be safe, set counterswap bits on tio chips after all the counter
872 * outputs have been set to high impedance mode.
874 for (i = 0; i < board->n_chips; ++i)
875 set_tio_counterswap(dev, i);
877 ret = request_irq(pcidev->irq, ni_660x_interrupt, IRQF_SHARED,
878 dev->board_name, dev);
880 dev_warn(dev->class_dev, " irq not available\n");
883 dev->irq = pcidev->irq;
884 global_interrupt_config_bits = NI660X_GLOBAL_INT_GLOBAL;
885 if (board->n_chips > 1)
886 global_interrupt_config_bits |= NI660X_GLOBAL_INT_CASCADE;
887 ni_660x_write(dev, 0, global_interrupt_config_bits,
888 NI660X_GLOBAL_INT_CFG);
893 static void ni_660x_detach(struct comedi_device *dev)
895 struct ni_660x_private *devpriv = dev->private;
898 ni_660x_write(dev, 0, 0, NI660X_GLOBAL_INT_CFG);
899 free_irq(dev->irq, dev);
902 ni_gpct_device_destroy(devpriv->counter_dev);
903 ni_660x_free_mite_rings(dev);
904 mite_detach(devpriv->mite);
908 comedi_pci_disable(dev);
911 static struct comedi_driver ni_660x_driver = {
912 .driver_name = "ni_660x",
913 .module = THIS_MODULE,
914 .auto_attach = ni_660x_auto_attach,
915 .detach = ni_660x_detach,
918 static int ni_660x_pci_probe(struct pci_dev *dev,
919 const struct pci_device_id *id)
921 return comedi_pci_auto_config(dev, &ni_660x_driver, id->driver_data);
924 static const struct pci_device_id ni_660x_pci_table[] = {
925 { PCI_VDEVICE(NI, 0x1310), BOARD_PCI6602 },
926 { PCI_VDEVICE(NI, 0x1360), BOARD_PXI6602 },
927 { PCI_VDEVICE(NI, 0x2c60), BOARD_PCI6601 },
928 { PCI_VDEVICE(NI, 0x2cc0), BOARD_PXI6608 },
929 { PCI_VDEVICE(NI, 0x1e30), BOARD_PCI6624 },
930 { PCI_VDEVICE(NI, 0x1e40), BOARD_PXI6624 },
933 MODULE_DEVICE_TABLE(pci, ni_660x_pci_table);
935 static struct pci_driver ni_660x_pci_driver = {
937 .id_table = ni_660x_pci_table,
938 .probe = ni_660x_pci_probe,
939 .remove = comedi_pci_auto_unconfig,
941 module_comedi_pci_driver(ni_660x_driver, ni_660x_pci_driver);
943 MODULE_AUTHOR("Comedi http://www.comedi.org");
944 MODULE_DESCRIPTION("Comedi driver for NI 660x counter/timer boards");
945 MODULE_LICENSE("GPL");