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   1 /*
   2   comedi/drivers/ni_tiocmd.c
   3   Command support for NI general purpose counters
   4
   5   Copyright (C) 2006 Frank Mori Hess <fmhess@users.sourceforge.net>
   6
   7   This program is free software; you can redistribute it and/or modify
   8   it under the terms of the GNU General Public License as published by
   9   the Free Software Foundation; either version 2 of the License, or
  10   (at your option) any later version.
  11
  12   This program is distributed in the hope that it will be useful,
  13   but WITHOUT ANY WARRANTY; without even the implied warranty of
  14   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15   GNU General Public License for more details.
  16
  17   You should have received a copy of the GNU General Public License
  18   along with this program; if not, write to the Free Software
  19   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 */
  21
  22 /*
  23 Driver: ni_tiocmd
  24 Description: National Instruments general purpose counters command support
  25 Devices:
  26 Author: J.P. Mellor <jpmellor@rose-hulman.edu>,
  27         Herman.Bruyninckx@mech.kuleuven.ac.be,
  28         Wim.Meeussen@mech.kuleuven.ac.be,
  29         Klaas.Gadeyne@mech.kuleuven.ac.be,
  30         Frank Mori Hess <fmhess@users.sourceforge.net>
  31 Updated: Fri, 11 Apr 2008 12:32:35 +0100
  32 Status: works
  33
  34 This module is not used directly by end-users.  Rather, it
  35 is used by other drivers (for example ni_660x and ni_pcimio)
  36 to provide command support for NI's general purpose counters.
  37 It was originally split out of ni_tio.c to stop the 'ni_tio'
  38 module depending on the 'mite' module.
  39
  40 References:
  41 DAQ 660x Register-Level Programmer Manual  (NI 370505A-01)
  42 DAQ 6601/6602 User Manual (NI 322137B-01)
  43 340934b.pdf  DAQ-STC reference manual
  44
  45 */
  46 /*
  47 TODO:
  48         Support use of both banks X and Y
  49 */
  50
  51 #include "ni_tio_internal.h"
  52 #include "mite.h"
  53
  54 MODULE_AUTHOR("Comedi <comedi@comedi.org>");
  55 MODULE_DESCRIPTION("Comedi command support for NI general-purpose counters");
  56 MODULE_LICENSE("GPL");
  57
  58 static void ni_tio_configure_dma(struct ni_gpct *counter, short enable,
  59         short read_not_write)
  60 {
  61         struct ni_gpct_device *counter_dev = counter->counter_dev;
  62         unsigned input_select_bits = 0;
  63
  64         if (enable) {
  65                 if (read_not_write) {
  66                         input_select_bits |= Gi_Read_Acknowledges_Irq;
  67                 } else {
  68                         input_select_bits |= Gi_Write_Acknowledges_Irq;
  69                 }
  70         }
  71         ni_tio_set_bits(counter,
  72                 NITIO_Gi_Input_Select_Reg(counter->counter_index),
  73                 Gi_Read_Acknowledges_Irq | Gi_Write_Acknowledges_Irq,
  74                 input_select_bits);
  75         switch (counter_dev->variant) {
  76         case ni_gpct_variant_e_series:
  77                 break;
  78         case ni_gpct_variant_m_series:
  79         case ni_gpct_variant_660x:
  80                 {
  81                         unsigned gi_dma_config_bits = 0;
  82
  83                         if (enable) {
  84                                 gi_dma_config_bits |= Gi_DMA_Enable_Bit;
  85                                 gi_dma_config_bits |= Gi_DMA_Int_Bit;
  86                         }
  87                         if (read_not_write == 0) {
  88                                 gi_dma_config_bits |= Gi_DMA_Write_Bit;
  89                         }
  90                         ni_tio_set_bits(counter,
  91                                 NITIO_Gi_DMA_Config_Reg(counter->counter_index),
  92                                 Gi_DMA_Enable_Bit | Gi_DMA_Int_Bit |
  93                                 Gi_DMA_Write_Bit, gi_dma_config_bits);
  94                 }
  95                 break;
  96         }
  97 }
  98
  99 static int ni_tio_input_inttrig(struct comedi_device * dev, comedi_subdevice * s,
 100         unsigned int trignum)
 101 {
 102         unsigned long flags;
 103         int retval = 0;
 104         struct ni_gpct *counter = s->private;
 105
 106         BUG_ON(counter == NULL);
 107         if (trignum != 0)
 108                 return -EINVAL;
 109
 110         comedi_spin_lock_irqsave(&counter->lock, flags);
 111         if (counter->mite_chan)
 112                 mite_dma_arm(counter->mite_chan);
 113         else
 114                 retval = -EIO;
 115         comedi_spin_unlock_irqrestore(&counter->lock, flags);
 116         if (retval < 0)
 117                 return retval;
 118         retval = ni_tio_arm(counter, 1, NI_GPCT_ARM_IMMEDIATE);
 119         s->async->inttrig = NULL;
 120
 121         return retval;
 122 }
 123
 124 static int ni_tio_input_cmd(struct ni_gpct *counter, comedi_async * async)
 125 {
 126         struct ni_gpct_device *counter_dev = counter->counter_dev;
 127         comedi_cmd *cmd = &async->cmd;
 128         int retval = 0;
 129
 130         /* write alloc the entire buffer */
 131         comedi_buf_write_alloc(async, async->prealloc_bufsz);
 132         counter->mite_chan->dir = COMEDI_INPUT;
 133         switch (counter_dev->variant) {
 134         case ni_gpct_variant_m_series:
 135         case ni_gpct_variant_660x:
 136                 mite_prep_dma(counter->mite_chan, 32, 32);
 137                 break;
 138         case ni_gpct_variant_e_series:
 139                 mite_prep_dma(counter->mite_chan, 16, 32);
 140                 break;
 141         default:
 142                 BUG();
 143                 break;
 144         }
 145         ni_tio_set_bits(counter, NITIO_Gi_Command_Reg(counter->counter_index),
 146                 Gi_Save_Trace_Bit, 0);
 147         ni_tio_configure_dma(counter, 1, 1);
 148         switch (cmd->start_src) {
 149         case TRIG_NOW:
 150                 async->inttrig = NULL;
 151                 mite_dma_arm(counter->mite_chan);
 152                 retval = ni_tio_arm(counter, 1, NI_GPCT_ARM_IMMEDIATE);
 153                 break;
 154         case TRIG_INT:
 155                 async->inttrig = &ni_tio_input_inttrig;
 156                 break;
 157         case TRIG_EXT:
 158                 async->inttrig = NULL;
 159                 mite_dma_arm(counter->mite_chan);
 160                 retval = ni_tio_arm(counter, 1, cmd->start_arg);
 161         case TRIG_OTHER:
 162                 async->inttrig = NULL;
 163                 mite_dma_arm(counter->mite_chan);
 164                 break;
 165         default:
 166                 BUG();
 167                 break;
 168         }
 169         return retval;
 170 }
 171
 172 static int ni_tio_output_cmd(struct ni_gpct *counter, comedi_async * async)
 173 {
 174         rt_printk("ni_tio: output commands not yet implemented.\n");
 175         return -ENOTSUPP;
 176
 177         counter->mite_chan->dir = COMEDI_OUTPUT;
 178         mite_prep_dma(counter->mite_chan, 32, 32);
 179         ni_tio_configure_dma(counter, 1, 0);
 180         mite_dma_arm(counter->mite_chan);
 181         return ni_tio_arm(counter, 1, NI_GPCT_ARM_IMMEDIATE);
 182 }
 183
 184 static int ni_tio_cmd_setup(struct ni_gpct *counter, comedi_async * async)
 185 {
 186         comedi_cmd *cmd = &async->cmd;
 187         int set_gate_source = 0;
 188         unsigned gate_source;
 189         int retval = 0;
 190
 191         if (cmd->scan_begin_src == TRIG_EXT) {
 192                 set_gate_source = 1;
 193                 gate_source = cmd->scan_begin_arg;
 194         } else if (cmd->convert_src == TRIG_EXT) {
 195                 set_gate_source = 1;
 196                 gate_source = cmd->convert_arg;
 197         }
 198         if (set_gate_source) {
 199                 retval = ni_tio_set_gate_src(counter, 0, gate_source);
 200         }
 201         if (cmd->flags & TRIG_WAKE_EOS) {
 202                 ni_tio_set_bits(counter,
 203                         NITIO_Gi_Interrupt_Enable_Reg(counter->counter_index),
 204                         Gi_Gate_Interrupt_Enable_Bit(counter->counter_index),
 205                         Gi_Gate_Interrupt_Enable_Bit(counter->counter_index));
 206         }
 207         return retval;
 208 }
 209
 210 int ni_tio_cmd(struct ni_gpct *counter, comedi_async * async)
 211 {
 212         comedi_cmd *cmd = &async->cmd;
 213         int retval = 0;
 214         unsigned long flags;
 215
 216         comedi_spin_lock_irqsave(&counter->lock, flags);
 217         if (counter->mite_chan == NULL) {
 218                 rt_printk
 219                         ("ni_tio: commands only supported with DMA.  Interrupt-driven commands not yet implemented.\n");
 220                 retval = -EIO;
 221         } else {
 222                 retval = ni_tio_cmd_setup(counter, async);
 223                 if (retval == 0) {
 224                         if (cmd->flags & CMDF_WRITE) {
 225                                 retval = ni_tio_output_cmd(counter, async);
 226                         } else {
 227                                 retval = ni_tio_input_cmd(counter, async);
 228                         }
 229                 }
 230         }
 231         comedi_spin_unlock_irqrestore(&counter->lock, flags);
 232         return retval;
 233 }
 234
 235 int ni_tio_cmdtest(struct ni_gpct *counter, comedi_cmd * cmd)
 236 {
 237         int err = 0;
 238         int tmp;
 239         int sources;
 240
 241         /* step 1: make sure trigger sources are trivially valid */
 242
 243         tmp = cmd->start_src;
 244         sources = TRIG_NOW | TRIG_INT | TRIG_OTHER;
 245         if (ni_tio_counting_mode_registers_present(counter->counter_dev))
 246                 sources |= TRIG_EXT;
 247         cmd->start_src &= sources;
 248         if (!cmd->start_src || tmp != cmd->start_src)
 249                 err++;
 250
 251         tmp = cmd->scan_begin_src;
 252         cmd->scan_begin_src &= TRIG_FOLLOW | TRIG_EXT | TRIG_OTHER;
 253         if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
 254                 err++;
 255
 256         tmp = cmd->convert_src;
 257         sources = TRIG_NOW | TRIG_EXT | TRIG_OTHER;
 258         cmd->convert_src &= sources;
 259         if (!cmd->convert_src || tmp != cmd->convert_src)
 260                 err++;
 261
 262         tmp = cmd->scan_end_src;
 263         cmd->scan_end_src &= TRIG_COUNT;
 264         if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
 265                 err++;
 266
 267         tmp = cmd->stop_src;
 268         cmd->stop_src &= TRIG_NONE;
 269         if (!cmd->stop_src || tmp != cmd->stop_src)
 270                 err++;
 271
 272         if (err)
 273                 return 1;
 274
 275         /* step 2: make sure trigger sources are unique... */
 276
 277         if (cmd->start_src != TRIG_NOW &&
 278                 cmd->start_src != TRIG_INT &&
 279                 cmd->start_src != TRIG_EXT && cmd->start_src != TRIG_OTHER)
 280                 err++;
 281         if (cmd->scan_begin_src != TRIG_FOLLOW &&
 282                 cmd->scan_begin_src != TRIG_EXT &&
 283                 cmd->scan_begin_src != TRIG_OTHER)
 284                 err++;
 285         if (cmd->convert_src != TRIG_OTHER &&
 286                 cmd->convert_src != TRIG_EXT && cmd->convert_src != TRIG_NOW)
 287                 err++;
 288         if (cmd->stop_src != TRIG_NONE)
 289                 err++;
 290         /* ... and mutually compatible */
 291         if (cmd->convert_src != TRIG_NOW && cmd->scan_begin_src != TRIG_FOLLOW)
 292                 err++;
 293
 294         if (err)
 295                 return 2;
 296
 297         /* step 3: make sure arguments are trivially compatible */
 298         if (cmd->start_src != TRIG_EXT) {
 299                 if (cmd->start_arg != 0) {
 300                         cmd->start_arg = 0;
 301                         err++;
 302                 }
 303         }
 304         if (cmd->scan_begin_src != TRIG_EXT) {
 305                 if (cmd->scan_begin_arg) {
 306                         cmd->scan_begin_arg = 0;
 307                         err++;
 308                 }
 309         }
 310         if (cmd->convert_src != TRIG_EXT) {
 311                 if (cmd->convert_arg) {
 312                         cmd->convert_arg = 0;
 313                         err++;
 314                 }
 315         }
 316
 317         if (cmd->scan_end_arg != cmd->chanlist_len) {
 318                 cmd->scan_end_arg = cmd->chanlist_len;
 319                 err++;
 320         }
 321
 322         if (cmd->stop_src == TRIG_NONE) {
 323                 if (cmd->stop_arg != 0) {
 324                         cmd->stop_arg = 0;
 325                         err++;
 326                 }
 327         }
 328
 329         if (err)
 330                 return 3;
 331
 332         /* step 4: fix up any arguments */
 333
 334         if (err)
 335                 return 4;
 336
 337         return 0;
 338 }
 339
 340 int ni_tio_cancel(struct ni_gpct *counter)
 341 {
 342         unsigned long flags;
 343
 344         ni_tio_arm(counter, 0, 0);
 345         comedi_spin_lock_irqsave(&counter->lock, flags);
 346         if (counter->mite_chan) {
 347                 mite_dma_disarm(counter->mite_chan);
 348         }
 349         comedi_spin_unlock_irqrestore(&counter->lock, flags);
 350         ni_tio_configure_dma(counter, 0, 0);
 351
 352         ni_tio_set_bits(counter,
 353                 NITIO_Gi_Interrupt_Enable_Reg(counter->counter_index),
 354                 Gi_Gate_Interrupt_Enable_Bit(counter->counter_index), 0x0);
 355         return 0;
 356 }
 357
 358         /* During buffered input counter operation for e-series, the gate interrupt is acked
 359            automatically by the dma controller, due to the Gi_Read/Write_Acknowledges_IRQ bits
 360            in the input select register.  */
 361 static int should_ack_gate(struct ni_gpct *counter)
 362 {
 363         unsigned long flags;
 364         int retval = 0;
 365
 366         switch (counter->counter_dev->variant) {
 367         case ni_gpct_variant_m_series:
 368         case ni_gpct_variant_660x:      // not sure if 660x really supports gate interrupts (the bits are not listed in register-level manual)
 369                 return 1;
 370                 break;
 371         case ni_gpct_variant_e_series:
 372                 comedi_spin_lock_irqsave(&counter->lock, flags);
 373                 {
 374                         if (counter->mite_chan == NULL ||
 375                                 counter->mite_chan->dir != COMEDI_INPUT ||
 376                                 (mite_done(counter->mite_chan))) {
 377                                 retval = 1;
 378                         }
 379                 }
 380                 comedi_spin_unlock_irqrestore(&counter->lock, flags);
 381                 break;
 382         }
 383         return retval;
 384 }
 385
 386 void ni_tio_acknowledge_and_confirm(struct ni_gpct *counter, int *gate_error,
 387         int *tc_error, int *perm_stale_data, int *stale_data)
 388 {
 389         const unsigned short gxx_status = read_register(counter,
 390                 NITIO_Gxx_Status_Reg(counter->counter_index));
 391         const unsigned short gi_status = read_register(counter,
 392                 NITIO_Gi_Status_Reg(counter->counter_index));
 393         unsigned ack = 0;
 394
 395         if (gate_error)
 396                 *gate_error = 0;
 397         if (tc_error)
 398                 *tc_error = 0;
 399         if (perm_stale_data)
 400                 *perm_stale_data = 0;
 401         if (stale_data)
 402                 *stale_data = 0;
 403
 404         if (gxx_status & Gi_Gate_Error_Bit(counter->counter_index)) {
 405                 ack |= Gi_Gate_Error_Confirm_Bit(counter->counter_index);
 406                 if (gate_error) {
 407                         /*660x don't support automatic acknowledgement of gate interrupt via dma read/write
 408                            and report bogus gate errors */
 409                         if (counter->counter_dev->variant !=
 410                                 ni_gpct_variant_660x) {
 411                                 *gate_error = 1;
 412                         }
 413                 }
 414         }
 415         if (gxx_status & Gi_TC_Error_Bit(counter->counter_index)) {
 416                 ack |= Gi_TC_Error_Confirm_Bit(counter->counter_index);
 417                 if (tc_error)
 418                         *tc_error = 1;
 419         }
 420         if (gi_status & Gi_TC_Bit) {
 421                 ack |= Gi_TC_Interrupt_Ack_Bit;
 422         }
 423         if (gi_status & Gi_Gate_Interrupt_Bit) {
 424                 if (should_ack_gate(counter))
 425                         ack |= Gi_Gate_Interrupt_Ack_Bit;
 426         }
 427         if (ack)
 428                 write_register(counter, ack,
 429                         NITIO_Gi_Interrupt_Acknowledge_Reg(counter->
 430                                 counter_index));
 431         if (ni_tio_get_soft_copy(counter,
 432                         NITIO_Gi_Mode_Reg(counter->
 433                                 counter_index)) & Gi_Loading_On_Gate_Bit) {
 434                 if (gxx_status & Gi_Stale_Data_Bit(counter->counter_index)) {
 435                         if (stale_data)
 436                                 *stale_data = 1;
 437                 }
 438                 if (read_register(counter,
 439                                 NITIO_Gxx_Joint_Status2_Reg(counter->
 440                                         counter_index)) &
 441                         Gi_Permanent_Stale_Bit(counter->counter_index)) {
 442                         rt_printk("%s: Gi_Permanent_Stale_Data detected.\n",
 443                                 __FUNCTION__);
 444                         if (perm_stale_data)
 445                                 *perm_stale_data = 1;
 446                 }
 447         }
 448 }
 449
 450 void ni_tio_handle_interrupt(struct ni_gpct *counter, comedi_subdevice * s)
 451 {
 452         unsigned gpct_mite_status;
 453         unsigned long flags;
 454         int gate_error;
 455         int tc_error;
 456         int perm_stale_data;
 457
 458         ni_tio_acknowledge_and_confirm(counter, &gate_error, &tc_error,
 459                 &perm_stale_data, NULL);
 460         if (gate_error) {
 461                 rt_printk("%s: Gi_Gate_Error detected.\n", __FUNCTION__);
 462                 s->async->events |= COMEDI_CB_OVERFLOW;
 463         }
 464         if (perm_stale_data) {
 465                 s->async->events |= COMEDI_CB_ERROR;
 466         }
 467         switch (counter->counter_dev->variant) {
 468         case ni_gpct_variant_m_series:
 469         case ni_gpct_variant_660x:
 470                 if (read_register(counter,
 471                                 NITIO_Gi_DMA_Status_Reg(counter->
 472                                         counter_index)) & Gi_DRQ_Error_Bit) {
 473                         rt_printk("%s: Gi_DRQ_Error detected.\n", __FUNCTION__);
 474                         s->async->events |= COMEDI_CB_OVERFLOW;
 475                 }
 476                 break;
 477         case ni_gpct_variant_e_series:
 478                 break;
 479         }
 480         comedi_spin_lock_irqsave(&counter->lock, flags);
 481         if (counter->mite_chan == NULL) {
 482                 comedi_spin_unlock_irqrestore(&counter->lock, flags);
 483                 return;
 484         }
 485         gpct_mite_status = mite_get_status(counter->mite_chan);
 486         if (gpct_mite_status & CHSR_LINKC) {
 487                 writel(CHOR_CLRLC,
 488                         counter->mite_chan->mite->mite_io_addr +
 489                         MITE_CHOR(counter->mite_chan->channel));
 490         }
 491         mite_sync_input_dma(counter->mite_chan, s->async);
 492         comedi_spin_unlock_irqrestore(&counter->lock, flags);
 493 }
 494
 495 void ni_tio_set_mite_channel(struct ni_gpct *counter,
 496         struct mite_channel *mite_chan)
 497 {
 498         unsigned long flags;
 499
 500         comedi_spin_lock_irqsave(&counter->lock, flags);
 501         counter->mite_chan = mite_chan;
 502         comedi_spin_unlock_irqrestore(&counter->lock, flags);
 503 }
 504
 505 static int __init ni_tiocmd_init_module(void)
 506 {
 507         return 0;
 508 }
 509
 510 module_init(ni_tiocmd_init_module);
 511
 512 static void __exit ni_tiocmd_cleanup_module(void)
 513 {
 514 }
 515
 516 module_exit(ni_tiocmd_cleanup_module);
 517
 518 EXPORT_SYMBOL_GPL(ni_tio_cmd);
 519 EXPORT_SYMBOL_GPL(ni_tio_cmdtest);
 520 EXPORT_SYMBOL_GPL(ni_tio_cancel);
 521 EXPORT_SYMBOL_GPL(ni_tio_handle_interrupt);
 522 EXPORT_SYMBOL_GPL(ni_tio_set_mite_channel);
 523 EXPORT_SYMBOL_GPL(ni_tio_acknowledge_and_confirm);