/*
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comedi/drivers/ni_670x.c
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Hardware driver for NI 670x devices
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COMEDI - Linux Control and Measurement Device Interface
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Copyright (C) 1997-2001 David A. Schleef <ds@schleef.org>
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*/
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/*
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Driver: ni_670x
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Description: National Instruments 670x
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Author: Bart Joris <bjoris@advalvas.be>
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Updated: Wed, 11 Dec 2002 18:25:35 -0800
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Devices: [National Instruments] PCI-6703 (ni_670x), PCI-6704
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Status: unknown
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Commands are not supported.
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*/
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/*
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Bart Joris <bjoris@advalvas.be> Last updated on 20/08/2001
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Manuals:
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322110a.pdf PCI/PXI-6704 User Manual
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322110b.pdf PCI/PXI-6703/6704 User Manual
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*/
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/*
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* Integration with Xenomai/Analogy layer based on the
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* comedi driver. Adaptation made by
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* Julien Delange <julien.delange@esa.int>
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*/
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#include <linux/interrupt.h>
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#include <linux/slab.h>
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#include <rtdm/analogy/device.h>
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#include "../intel/8255.h"
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#include "ni_mio.h"
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#include "mite.h"
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#define PCIMIO_IRQ_POLARITY 1
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#define AO_VALUE_OFFSET 0x00
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#define AO_CHAN_OFFSET 0x0c
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#define AO_STATUS_OFFSET 0x10
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#define AO_CONTROL_OFFSET 0x10
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#define DIO_PORT0_DIR_OFFSET 0x20
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#define DIO_PORT0_DATA_OFFSET 0x24
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#define DIO_PORT1_DIR_OFFSET 0x28
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#define DIO_PORT1_DATA_OFFSET 0x2c
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#define MISC_STATUS_OFFSET 0x14
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#define MISC_CONTROL_OFFSET 0x14
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/* Board description*/
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struct ni_670x_board {
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unsigned short device_id;
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const char *name;
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unsigned short ao_chans;
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unsigned short ao_bits;
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};
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#define thisboard ((struct ni_670x_board *)dev->board_ptr)
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struct ni_670x_private {
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struct mite_struct *mite;
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int boardtype;
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int dio;
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unsigned int ao_readback[32];
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/*
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* Added when porting to xenomai
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*/
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int irq_polarity;
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int irq_pin;
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int irq;
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struct ni_670x_board *board_ptr;
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/*
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* END OF ADDED when porting to xenomai
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*/
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};
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struct ni_670x_subd_priv {
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int io_bits;
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unsigned int state;
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uint16_t readback[2];
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uint16_t config;
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void* counter;
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};
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static int ni_670x_ao_winsn(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn);
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static int ni_670x_ao_rinsn(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn);
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static int ni_670x_dio_insn_bits(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn);
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static int ni_670x_dio_insn_config(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn);
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static struct a4l_channels_desc ni_670x_desc_dio = {
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.mode = A4L_CHAN_GLOBAL_CHANDESC,
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.length = 8,
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.chans = {
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{A4L_CHAN_AREF_GROUND, 1},
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},
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};
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static struct a4l_channels_desc ni_670x_desc_ao = {
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.mode = A4L_CHAN_GLOBAL_CHANDESC,
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.length = 0, /* initialized later according to the board found */
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.chans = {
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{A4L_CHAN_AREF_GROUND, 16},
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},
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};
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static struct a4l_rngtab range_0_20mA = { 1, {RANGE_mA(0, 20)} };
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static struct a4l_rngtab rng_bipolar10 = { 1, {RANGE_V(-10, 10) }};
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struct a4l_rngtab *range_table_list[32] = {
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&rng_bipolar10, &rng_bipolar10, &rng_bipolar10, &rng_bipolar10,
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&rng_bipolar10, &rng_bipolar10, &rng_bipolar10, &rng_bipolar10,
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&rng_bipolar10, &rng_bipolar10, &rng_bipolar10, &rng_bipolar10,
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&rng_bipolar10, &rng_bipolar10, &rng_bipolar10, &rng_bipolar10,
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&range_0_20mA, &range_0_20mA, &range_0_20mA, &range_0_20mA,
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&range_0_20mA, &range_0_20mA, &range_0_20mA, &range_0_20mA,
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&range_0_20mA, &range_0_20mA, &range_0_20mA, &range_0_20mA,
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&range_0_20mA, &range_0_20mA, &range_0_20mA, &range_0_20mA};
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static A4L_RNGDESC(32) ni670x_ao_desc;
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static void setup_subd_ao(struct a4l_subdevice *subd)
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{
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int i;
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int nchans;
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nchans = ((struct ni_670x_private*)(subd->dev->priv))->board_ptr->ao_chans;
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subd->flags = A4L_SUBD_AO;
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subd->chan_desc = &ni_670x_desc_ao;
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subd->chan_desc->length = nchans;
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if (nchans == 32) {
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subd->rng_desc = (struct a4l_rngdesc*) &ni670x_ao_desc;
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subd->rng_desc->mode = A4L_RNG_PERCHAN_RNGDESC;
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for (i = 0 ; i < 16 ; i++) {
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subd->rng_desc->rngtabs[i] =&rng_bipolar10;
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subd->rng_desc->rngtabs[16+i] =&range_0_20mA;
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}
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} else
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subd->rng_desc = &a4l_range_bipolar10;
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subd->insn_write = &ni_670x_ao_winsn;
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subd->insn_read = &ni_670x_ao_rinsn;
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}
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static void setup_subd_dio(struct a4l_subdevice *s)
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{
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/* Digital i/o subdevice */
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s->flags = A4L_SUBD_DIO;
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s->chan_desc = &ni_670x_desc_dio;
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s->rng_desc = &range_digital;
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s->insn_bits = ni_670x_dio_insn_bits;
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s->insn_config = ni_670x_dio_insn_config;
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}
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struct setup_subd {
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void (*setup_func) (struct a4l_subdevice *);
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int sizeof_priv;
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};
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static struct setup_subd setup_subds[2] = {
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{
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.setup_func = setup_subd_ao,
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.sizeof_priv = sizeof(struct ni_670x_subd_priv),
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},
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{
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.setup_func = setup_subd_dio,
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.sizeof_priv = sizeof(struct ni_670x_subd_priv),
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},
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};
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static const struct ni_670x_board ni_670x_boards[] = {
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{
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.device_id = 0x2c90,
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.name = "PCI-6703",
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.ao_chans = 16,
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.ao_bits = 16,
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},
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{
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.device_id = 0x1920,
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.name = "PXI-6704",
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.ao_chans = 32,
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.ao_bits = 16,
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},
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{
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.device_id = 0x1290,
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.name = "PCI-6704",
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.ao_chans = 32,
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.ao_bits = 16,
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},
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};
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#define n_ni_670x_boards ((sizeof(ni_670x_boards)/sizeof(ni_670x_boards[0])))
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static const struct pci_device_id ni_670x_pci_table[] = {
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{PCI_DEVICE(PCI_VENDOR_ID_NI, 0x2c90)},
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{PCI_DEVICE(PCI_VENDOR_ID_NI, 0x1920)},
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{0}
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};
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MODULE_DEVICE_TABLE(pci, ni_670x_pci_table);
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#define devpriv ((struct ni_670x_private *)dev->priv)
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static inline struct ni_670x_private *private(struct a4l_device *dev)
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{
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return (struct ni_670x_private*) dev->priv;
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}
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static int ni_670x_attach (struct a4l_device *dev, a4l_lnkdesc_t *arg);
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static int ni_670x_detach(struct a4l_device *dev);
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static struct a4l_driver ni_670x_drv = {
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.owner = THIS_MODULE,
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.board_name = "analogy_ni_670x",
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.driver_name = "ni_670x",
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.attach = ni_670x_attach,
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.detach = ni_670x_detach,
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.privdata_size = sizeof(struct ni_670x_private),
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};
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static int __init driver_ni_670x_init_module(void)
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{
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return a4l_register_drv (&ni_670x_drv);
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}
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static void __exit driver_ni_670x_cleanup_module(void)
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{
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a4l_unregister_drv (&ni_670x_drv);
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}
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module_init(driver_ni_670x_init_module);
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module_exit(driver_ni_670x_cleanup_module);
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static int ni_670x_attach (struct a4l_device *dev, a4l_lnkdesc_t *arg)
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{
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int ret, bus, slot, i, irq;
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struct mite_struct *mite;
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struct ni_670x_board* board = NULL;
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int err;
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if(arg->opts == NULL || arg->opts_size == 0)
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bus = slot = 0;
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else {
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bus = arg->opts_size >= sizeof(unsigned long) ?
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((unsigned long *)arg->opts)[0] : 0;
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slot = arg->opts_size >= sizeof(unsigned long) * 2 ?
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((unsigned long *)arg->opts)[1] : 0;
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}
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a4l_info(dev, "ni670x attach procedure started(bus=%d/slot=%d)...\n",
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bus, slot);
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mite = NULL;
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for(i = 0; i < n_ni_670x_boards && mite == NULL; i++) {
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mite = a4l_mite_find_device(bus,
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slot, ni_670x_boards[i].device_id);
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board = (struct ni_670x_board*) &ni_670x_boards[i];
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}
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if(mite == NULL) {
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a4l_err(dev, "%s: cannot find the MITE device\n", __FUNCTION__);
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return -ENOENT;
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}
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a4l_info(dev, "Found device %d %s\n", i, ni_670x_boards[i].name);
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devpriv->irq_polarity = PCIMIO_IRQ_POLARITY;
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devpriv->irq_pin = 0;
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devpriv->mite = mite;
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devpriv->board_ptr = board;
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ret = a4l_mite_setup(devpriv->mite, 0);
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if (ret < 0) {
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a4l_err(dev, "%s: error setting up mite\n", __FUNCTION__);
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return ret;
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}
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irq = mite_irq(devpriv->mite);
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devpriv->irq = irq;
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a4l_info(dev, "found %s board\n", board->name);
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for (i = 0; i < 2; i++) {
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struct a4l_subdevice *subd =
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a4l_alloc_subd(setup_subds[i].sizeof_priv, NULL);
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if (subd == NULL) {
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a4l_err(dev,
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"%s: cannot allocate subdevice\n",
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__FUNCTION__);
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return -ENOMEM;
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}
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err = a4l_add_subd(dev, subd);
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if (err != i) {
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a4l_err(dev,
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"%s: cannot add subdevice\n",
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__FUNCTION__);
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return err;
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}
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setup_subds[i].setup_func (subd);
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}
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/* Config of misc registers */
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writel(0x10, devpriv->mite->daq_io_addr + MISC_CONTROL_OFFSET);
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/* Config of ao registers */
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writel(0x00, devpriv->mite->daq_io_addr + AO_CONTROL_OFFSET);
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a4l_info(dev, "ni670x attached\n");
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return 0;
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}
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static int ni_670x_detach(struct a4l_device *dev)
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{
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a4l_info(dev, "ni670x detach procedure started...\n");
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if(dev->priv != NULL && devpriv->mite != NULL)
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a4l_mite_unsetup(devpriv->mite);
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a4l_info(dev, "ni670x detach procedure succeeded...\n");
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return 0;
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}
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static int ni_670x_dio_insn_config(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn)
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{
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struct a4l_device *dev = subd->dev;
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unsigned int *data = (unsigned int *)insn->data;
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int chan = CR_CHAN(insn->chan_desc);
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struct ni_670x_subd_priv *subdpriv =
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(struct ni_670x_subd_priv *)subd->priv;
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switch (data[0]) {
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case A4L_INSN_CONFIG_DIO_OUTPUT:
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subdpriv->io_bits |= 1 << chan;
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break;
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case A4L_INSN_CONFIG_DIO_INPUT:
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subdpriv->io_bits &= ~(1 << chan);
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break;
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case A4L_INSN_CONFIG_DIO_QUERY:
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data[1] = (subdpriv->io_bits & (1 << chan)) ?
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A4L_OUTPUT : A4L_INPUT;
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return 0;
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break;
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default:
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return -EINVAL;
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break;
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}
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writel(subdpriv->io_bits,
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devpriv->mite->daq_io_addr + DIO_PORT0_DIR_OFFSET);
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return 0;
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}
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static int ni_670x_ao_winsn(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn)
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{
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int i;
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unsigned int tmp;
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unsigned int* dtmp;
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int chan;
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dtmp = (unsigned int*)insn->data;
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chan = CR_CHAN(insn->chan_desc);
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/* Channel number mapping :
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NI 6703/ NI 6704 | NI 6704 Only
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----------------------------------------------------
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vch(0) : 0 | ich(16) : 1
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vch(1) : 2 | ich(17) : 3
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. : . | . .
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. : . | . .
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. : . | . .
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vch(15) : 30 | ich(31) : 31 */
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for (i = 0; i < insn->data_size / sizeof(unsigned int); i++) {
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tmp = dtmp[i];
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/* First write in channel register which channel to use */
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writel(((chan & 15) << 1) | ((chan & 16) >> 4),
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private (subd->dev)->mite->daq_io_addr + AO_CHAN_OFFSET);
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/* write channel value */
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writel(dtmp[i],
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private(subd->dev)->mite->daq_io_addr + AO_VALUE_OFFSET);
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private(subd->dev)->ao_readback[chan] = tmp;
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}
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return 0;
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}
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static int ni_670x_ao_rinsn(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn)
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{
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int i;
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unsigned int* dtmp;
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int chan = CR_CHAN(insn->chan_desc);
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dtmp = (unsigned int*)insn->data;
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for (i = 0; i < insn->data_size / sizeof(unsigned int); i++)
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dtmp[i] = private(subd->dev)->ao_readback[chan];
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return 0;
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}
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static int ni_670x_dio_insn_bits(struct a4l_subdevice *subd, struct a4l_kernel_instruction *insn)
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{
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return -ENOSYS;
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}
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MODULE_DESCRIPTION("Analogy driver for NI670x series cards");
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MODULE_LICENSE("GPL");
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