2 * comedi/drivers/ni_usb6501.c
3 * Comedi driver for National Instruments USB-6501
5 * COMEDI - Linux Control and Measurement Device Interface
6 * Copyright (C) 2014 Luca Ellero <luca.ellero@brickedbrain.com>
8 * This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU General Public License for more details.
21 * Description: National Instruments USB-6501 module
22 * Devices: [National Instruments] USB-6501 (ni_usb6501)
23 * Author: Luca Ellero <luca.ellero@brickedbrain.com>
28 * Configuration Options:
33 * NI-6501 - USB PROTOCOL DESCRIPTION
35 * Every command is composed by two USB packets:
39 * Every packet is at least 12 bytes long, here is the meaning of
40 * every field (all values are hex):
45 * byte 3 is the total packet length
48 * byte 5 is the total packet length - 4
50 * byte 7 is the command
52 * byte 8 is 02 (request) or 00 (response)
53 * byte 9 is 00 (response) or 10 (port request) or 20 (counter request)
54 * byte 10 is always 00
55 * byte 11 is 00 (request) or 02 (response)
60 * REQ: 00 01 00 10 00 0C 01 0E 02 10 00 00 00 03 <PORT> 00
61 * RES: 00 01 00 10 00 0C 01 00 00 00 00 02 00 03 <BMAP> 00
64 * REQ: 00 01 00 14 00 10 01 0F 02 10 00 00 00 03 <PORT> 00 03 <BMAP> 00 00
65 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
67 * CMD: 0x12 SET_PORT_DIR (0 = input, 1 = output)
68 * REQ: 00 01 00 18 00 14 01 12 02 10 00 00
69 * 00 05 <PORT 0> <PORT 1> <PORT 2> 00 05 00 00 00 00 00
70 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
74 * CMD 0x9: START_COUNTER
75 * REQ: 00 01 00 0C 00 08 01 09 02 20 00 00
76 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
78 * CMD 0xC: STOP_COUNTER
79 * REQ: 00 01 00 0C 00 08 01 0C 02 20 00 00
80 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
82 * CMD 0xE: READ_COUNTER
83 * REQ: 00 01 00 0C 00 08 01 0E 02 20 00 00
84 * RES: 00 01 00 10 00 0C 01 00 00 00 00 02 <u32 counter value, Big Endian>
86 * CMD 0xF: WRITE_COUNTER
87 * REQ: 00 01 00 10 00 0C 01 0F 02 20 00 00 <u32 counter value, Big Endian>
88 * RES: 00 01 00 0C 00 08 01 00 00 00 00 02
91 * Please visit http://www.brickedbrain.com if you need
92 * additional information or have any questions.
96 #include <linux/kernel.h>
97 #include <linux/module.h>
98 #include <linux/slab.h>
100 #include "../comedi_usb.h"
102 #define NI6501_TIMEOUT 1000
104 /* Port request packets */
105 static const u8 READ_PORT_REQUEST[] = {0x00, 0x01, 0x00, 0x10,
106 0x00, 0x0C, 0x01, 0x0E,
107 0x02, 0x10, 0x00, 0x00,
108 0x00, 0x03, 0x00, 0x00};
110 static const u8 WRITE_PORT_REQUEST[] = {0x00, 0x01, 0x00, 0x14,
111 0x00, 0x10, 0x01, 0x0F,
112 0x02, 0x10, 0x00, 0x00,
113 0x00, 0x03, 0x00, 0x00,
114 0x03, 0x00, 0x00, 0x00};
116 static const u8 SET_PORT_DIR_REQUEST[] = {0x00, 0x01, 0x00, 0x18,
117 0x00, 0x14, 0x01, 0x12,
118 0x02, 0x10, 0x00, 0x00,
119 0x00, 0x05, 0x00, 0x00,
120 0x00, 0x00, 0x05, 0x00,
121 0x00, 0x00, 0x00, 0x00};
123 /* Counter request packets */
124 static const u8 START_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x0C,
125 0x00, 0x08, 0x01, 0x09,
126 0x02, 0x20, 0x00, 0x00};
128 static const u8 STOP_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x0C,
129 0x00, 0x08, 0x01, 0x0C,
130 0x02, 0x20, 0x00, 0x00};
132 static const u8 READ_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x0C,
133 0x00, 0x08, 0x01, 0x0E,
134 0x02, 0x20, 0x00, 0x00};
136 static const u8 WRITE_COUNTER_REQUEST[] = {0x00, 0x01, 0x00, 0x10,
137 0x00, 0x0C, 0x01, 0x0F,
138 0x02, 0x20, 0x00, 0x00,
139 0x00, 0x00, 0x00, 0x00};
141 /* Response packets */
142 static const u8 GENERIC_RESPONSE[] = {0x00, 0x01, 0x00, 0x0C,
143 0x00, 0x08, 0x01, 0x00,
144 0x00, 0x00, 0x00, 0x02};
146 static const u8 READ_PORT_RESPONSE[] = {0x00, 0x01, 0x00, 0x10,
147 0x00, 0x0C, 0x01, 0x00,
148 0x00, 0x00, 0x00, 0x02,
149 0x00, 0x03, 0x00, 0x00};
151 static const u8 READ_COUNTER_RESPONSE[] = {0x00, 0x01, 0x00, 0x10,
152 0x00, 0x0C, 0x01, 0x00,
153 0x00, 0x00, 0x00, 0x02,
154 0x00, 0x00, 0x00, 0x00};
156 /* Largest supported packets */
157 static const size_t TX_MAX_SIZE = sizeof(SET_PORT_DIR_REQUEST);
158 static const size_t RX_MAX_SIZE = sizeof(READ_PORT_RESPONSE);
170 struct ni6501_private {
171 struct usb_endpoint_descriptor *ep_rx;
172 struct usb_endpoint_descriptor *ep_tx;
178 static int ni6501_port_command(struct comedi_device *dev, int command,
179 unsigned int val, u8 *bitmap)
181 struct usb_device *usb = comedi_to_usb_dev(dev);
182 struct ni6501_private *devpriv = dev->private;
183 int request_size, response_size;
184 u8 *tx = devpriv->usb_tx_buf;
187 if (command != SET_PORT_DIR && !bitmap)
190 mutex_lock(&devpriv->mut);
194 request_size = sizeof(READ_PORT_REQUEST);
195 response_size = sizeof(READ_PORT_RESPONSE);
196 memcpy(tx, READ_PORT_REQUEST, request_size);
200 request_size = sizeof(WRITE_PORT_REQUEST);
201 response_size = sizeof(GENERIC_RESPONSE);
202 memcpy(tx, WRITE_PORT_REQUEST, request_size);
207 request_size = sizeof(SET_PORT_DIR_REQUEST);
208 response_size = sizeof(GENERIC_RESPONSE);
209 memcpy(tx, SET_PORT_DIR_REQUEST, request_size);
211 tx[15] = (val >> 8) & 0xff;
212 tx[16] = (val >> 16) & 0xff;
219 ret = usb_bulk_msg(usb,
221 devpriv->ep_tx->bEndpointAddress),
229 ret = usb_bulk_msg(usb,
231 devpriv->ep_rx->bEndpointAddress),
239 /* Check if results are valid */
241 if (command == READ_PORT) {
242 *bitmap = devpriv->usb_rx_buf[14];
243 /* mask bitmap for comparing */
244 devpriv->usb_rx_buf[14] = 0x00;
246 if (memcmp(devpriv->usb_rx_buf, READ_PORT_RESPONSE,
247 sizeof(READ_PORT_RESPONSE))) {
250 } else if (memcmp(devpriv->usb_rx_buf, GENERIC_RESPONSE,
251 sizeof(GENERIC_RESPONSE))) {
255 mutex_unlock(&devpriv->mut);
260 static int ni6501_counter_command(struct comedi_device *dev, int command,
263 struct usb_device *usb = comedi_to_usb_dev(dev);
264 struct ni6501_private *devpriv = dev->private;
265 int request_size, response_size;
266 u8 *tx = devpriv->usb_tx_buf;
269 if ((command == READ_COUNTER || command == WRITE_COUNTER) && !val)
272 mutex_lock(&devpriv->mut);
276 request_size = sizeof(START_COUNTER_REQUEST);
277 response_size = sizeof(GENERIC_RESPONSE);
278 memcpy(tx, START_COUNTER_REQUEST, request_size);
281 request_size = sizeof(STOP_COUNTER_REQUEST);
282 response_size = sizeof(GENERIC_RESPONSE);
283 memcpy(tx, STOP_COUNTER_REQUEST, request_size);
286 request_size = sizeof(READ_COUNTER_REQUEST);
287 response_size = sizeof(READ_COUNTER_RESPONSE);
288 memcpy(tx, READ_COUNTER_REQUEST, request_size);
291 request_size = sizeof(WRITE_COUNTER_REQUEST);
292 response_size = sizeof(GENERIC_RESPONSE);
293 memcpy(tx, WRITE_COUNTER_REQUEST, request_size);
294 /* Setup tx packet: bytes 12,13,14,15 hold the */
295 /* u32 counter value (Big Endian) */
296 *((__be32 *)&tx[12]) = cpu_to_be32(*val);
303 ret = usb_bulk_msg(usb,
305 devpriv->ep_tx->bEndpointAddress),
313 ret = usb_bulk_msg(usb,
315 devpriv->ep_rx->bEndpointAddress),
323 /* Check if results are valid */
325 if (command == READ_COUNTER) {
328 /* Read counter value: bytes 12,13,14,15 of rx packet */
329 /* hold the u32 counter value (Big Endian) */
330 *val = be32_to_cpu(*((__be32 *)&devpriv->usb_rx_buf[12]));
332 /* mask counter value for comparing */
333 for (i = 12; i < sizeof(READ_COUNTER_RESPONSE); ++i)
334 devpriv->usb_rx_buf[i] = 0x00;
336 if (memcmp(devpriv->usb_rx_buf, READ_COUNTER_RESPONSE,
337 sizeof(READ_COUNTER_RESPONSE))) {
340 } else if (memcmp(devpriv->usb_rx_buf, GENERIC_RESPONSE,
341 sizeof(GENERIC_RESPONSE))) {
345 mutex_unlock(&devpriv->mut);
350 static int ni6501_dio_insn_config(struct comedi_device *dev,
351 struct comedi_subdevice *s,
352 struct comedi_insn *insn,
357 ret = comedi_dio_insn_config(dev, s, insn, data, 0);
361 ret = ni6501_port_command(dev, SET_PORT_DIR, s->io_bits, NULL);
368 static int ni6501_dio_insn_bits(struct comedi_device *dev,
369 struct comedi_subdevice *s,
370 struct comedi_insn *insn,
378 mask = comedi_dio_update_state(s, data);
380 for (port = 0; port < 3; port++) {
381 if (mask & (0xFF << port * 8)) {
382 bitmap = (s->state >> port * 8) & 0xFF;
383 ret = ni6501_port_command(dev, WRITE_PORT,
392 for (port = 0; port < 3; port++) {
393 ret = ni6501_port_command(dev, READ_PORT, port, &bitmap);
396 data[1] |= bitmap << port * 8;
402 static int ni6501_cnt_insn_config(struct comedi_device *dev,
403 struct comedi_subdevice *s,
404 struct comedi_insn *insn,
411 case INSN_CONFIG_ARM:
412 ret = ni6501_counter_command(dev, START_COUNTER, NULL);
414 case INSN_CONFIG_DISARM:
415 ret = ni6501_counter_command(dev, STOP_COUNTER, NULL);
417 case INSN_CONFIG_RESET:
418 ret = ni6501_counter_command(dev, STOP_COUNTER, NULL);
421 ret = ni6501_counter_command(dev, WRITE_COUNTER, &val);
427 return ret ? ret : insn->n;
430 static int ni6501_cnt_insn_read(struct comedi_device *dev,
431 struct comedi_subdevice *s,
432 struct comedi_insn *insn,
439 for (i = 0; i < insn->n; i++) {
440 ret = ni6501_counter_command(dev, READ_COUNTER, &val);
449 static int ni6501_cnt_insn_write(struct comedi_device *dev,
450 struct comedi_subdevice *s,
451 struct comedi_insn *insn,
457 u32 val = data[insn->n - 1];
459 ret = ni6501_counter_command(dev, WRITE_COUNTER, &val);
467 static int ni6501_alloc_usb_buffers(struct comedi_device *dev)
469 struct ni6501_private *devpriv = dev->private;
472 size = usb_endpoint_maxp(devpriv->ep_rx);
473 devpriv->usb_rx_buf = kzalloc(size, GFP_KERNEL);
474 if (!devpriv->usb_rx_buf)
477 size = usb_endpoint_maxp(devpriv->ep_tx);
478 devpriv->usb_tx_buf = kzalloc(size, GFP_KERNEL);
479 if (!devpriv->usb_tx_buf)
485 static int ni6501_find_endpoints(struct comedi_device *dev)
487 struct usb_interface *intf = comedi_to_usb_interface(dev);
488 struct ni6501_private *devpriv = dev->private;
489 struct usb_host_interface *iface_desc = intf->cur_altsetting;
490 struct usb_endpoint_descriptor *ep_desc;
493 if (iface_desc->desc.bNumEndpoints != 2) {
494 dev_err(dev->class_dev, "Wrong number of endpoints\n");
498 for (i = 0; i < iface_desc->desc.bNumEndpoints; i++) {
499 ep_desc = &iface_desc->endpoint[i].desc;
501 if (usb_endpoint_is_bulk_in(ep_desc)) {
503 devpriv->ep_rx = ep_desc;
507 if (usb_endpoint_is_bulk_out(ep_desc)) {
509 devpriv->ep_tx = ep_desc;
514 if (!devpriv->ep_rx || !devpriv->ep_tx)
517 if (usb_endpoint_maxp(devpriv->ep_rx) < RX_MAX_SIZE)
520 if (usb_endpoint_maxp(devpriv->ep_tx) < TX_MAX_SIZE)
526 static int ni6501_auto_attach(struct comedi_device *dev,
527 unsigned long context)
529 struct usb_interface *intf = comedi_to_usb_interface(dev);
530 struct ni6501_private *devpriv;
531 struct comedi_subdevice *s;
534 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
538 mutex_init(&devpriv->mut);
539 usb_set_intfdata(intf, devpriv);
541 ret = ni6501_find_endpoints(dev);
545 ret = ni6501_alloc_usb_buffers(dev);
549 ret = comedi_alloc_subdevices(dev, 2);
553 /* Digital Input/Output subdevice */
554 s = &dev->subdevices[0];
555 s->type = COMEDI_SUBD_DIO;
556 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
559 s->range_table = &range_digital;
560 s->insn_bits = ni6501_dio_insn_bits;
561 s->insn_config = ni6501_dio_insn_config;
563 /* Counter subdevice */
564 s = &dev->subdevices[1];
565 s->type = COMEDI_SUBD_COUNTER;
566 s->subdev_flags = SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL;
568 s->maxdata = 0xffffffff;
569 s->insn_read = ni6501_cnt_insn_read;
570 s->insn_write = ni6501_cnt_insn_write;
571 s->insn_config = ni6501_cnt_insn_config;
576 static void ni6501_detach(struct comedi_device *dev)
578 struct usb_interface *intf = comedi_to_usb_interface(dev);
579 struct ni6501_private *devpriv = dev->private;
584 mutex_lock(&devpriv->mut);
586 usb_set_intfdata(intf, NULL);
588 kfree(devpriv->usb_rx_buf);
589 kfree(devpriv->usb_tx_buf);
591 mutex_unlock(&devpriv->mut);
594 static struct comedi_driver ni6501_driver = {
595 .module = THIS_MODULE,
596 .driver_name = "ni6501",
597 .auto_attach = ni6501_auto_attach,
598 .detach = ni6501_detach,
601 static int ni6501_usb_probe(struct usb_interface *intf,
602 const struct usb_device_id *id)
604 return comedi_usb_auto_config(intf, &ni6501_driver, id->driver_info);
607 static const struct usb_device_id ni6501_usb_table[] = {
608 { USB_DEVICE(0x3923, 0x718a) },
611 MODULE_DEVICE_TABLE(usb, ni6501_usb_table);
613 static struct usb_driver ni6501_usb_driver = {
615 .id_table = ni6501_usb_table,
616 .probe = ni6501_usb_probe,
617 .disconnect = comedi_usb_auto_unconfig,
619 module_comedi_usb_driver(ni6501_driver, ni6501_usb_driver);
621 MODULE_AUTHOR("Luca Ellero");
622 MODULE_DESCRIPTION("Comedi driver for National Instruments USB-6501");
623 MODULE_LICENSE("GPL");