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