Staging: comedi: add ni_at_atmio16d driver
authorChris R. Baugher <baugher@enteract.com>
Thu, 19 Feb 2009 18:03:23 +0000 (10:03 -0800)
committerGreg Kroah-Hartman <gregkh@suse.de>
Fri, 3 Apr 2009 21:53:49 +0000 (14:53 -0700)
Driver for National Instruments AT-MIO16D board

From: Chris R. Baugher <baugher@enteract.com>
Cc: David Schleef <ds@schleef.org>
Cc: Ian Abbott <abbotti@mev.co.uk>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
drivers/staging/comedi/drivers/ni_atmio16d.c [new file with mode: 0644]

diff --git a/drivers/staging/comedi/drivers/ni_atmio16d.c b/drivers/staging/comedi/drivers/ni_atmio16d.c
new file mode 100644 (file)
index 0000000..cdd9ee8
--- /dev/null
@@ -0,0 +1,858 @@
+/*
+   comedi/drivers/ni_atmio16d.c
+   Hardware driver for National Instruments AT-MIO16D board
+   Copyright (C) 2000 Chris R. Baugher <baugher@enteract.com>
+
+   This program is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program; if not, write to the Free Software
+   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ */
+/*
+Driver: ni_atmio16d
+Description: National Instruments AT-MIO-16D
+Author: Chris R. Baugher <baugher@enteract.com>
+Status: unknown
+Devices: [National Instruments] AT-MIO-16 (atmio16), AT-MIO-16D (atmio16d)
+*/
+/*
+ * I must give credit here to Michal Dobes <dobes@tesnet.cz> who
+ * wrote the driver for Advantec's pcl812 boards. I used the interrupt
+ * handling code from his driver as an example for this one.
+ *
+ * Chris Baugher
+ * 5/1/2000
+ *
+ */
+
+#include "../comedidev.h"
+
+#include <linux/ioport.h>
+
+#include "8255.h"
+
+/* Configuration and Status Registers */
+#define COM_REG_1      0x00    /* wo 16 */
+#define STAT_REG       0x00    /* ro 16 */
+#define COM_REG_2      0x02    /* wo 16 */
+/* Event Strobe Registers */
+#define START_CONVERT_REG      0x08    /* wo 16 */
+#define START_DAQ_REG          0x0A    /* wo 16 */
+#define AD_CLEAR_REG           0x0C    /* wo 16 */
+#define EXT_STROBE_REG         0x0E    /* wo 16 */
+/* Analog Output Registers */
+#define DAC0_REG               0x10    /* wo 16 */
+#define DAC1_REG               0x12    /* wo 16 */
+#define INT2CLR_REG            0x14    /* wo 16 */
+/* Analog Input Registers */
+#define MUX_CNTR_REG           0x04    /* wo 16 */
+#define MUX_GAIN_REG           0x06    /* wo 16 */
+#define AD_FIFO_REG            0x16    /* ro 16 */
+#define DMA_TC_INT_CLR_REG     0x16    /* wo 16 */
+/* AM9513A Counter/Timer Registers */
+#define AM9513A_DATA_REG       0x18    /* rw 16 */
+#define AM9513A_COM_REG                0x1A    /* wo 16 */
+#define AM9513A_STAT_REG       0x1A    /* ro 16 */
+/* MIO-16 Digital I/O Registers */
+#define MIO_16_DIG_IN_REG      0x1C    /* ro 16 */
+#define MIO_16_DIG_OUT_REG     0x1C    /* wo 16 */
+/* RTSI Switch Registers */
+#define RTSI_SW_SHIFT_REG      0x1E    /* wo 8 */
+#define RTSI_SW_STROBE_REG     0x1F    /* wo 8 */
+/* DIO-24 Registers */
+#define DIO_24_PORTA_REG       0x00    /* rw 8 */
+#define DIO_24_PORTB_REG       0x01    /* rw 8 */
+#define DIO_24_PORTC_REG       0x02    /* rw 8 */
+#define DIO_24_CNFG_REG                0x03    /* wo 8 */
+
+/* Command Register bits */
+#define COMREG1_2SCADC         0x0001
+#define COMREG1_1632CNT                0x0002
+#define COMREG1_SCANEN         0x0008
+#define COMREG1_DAQEN          0x0010
+#define COMREG1_DMAEN          0x0020
+#define COMREG1_CONVINTEN      0x0080
+#define COMREG2_SCN2           0x0010
+#define COMREG2_INTEN          0x0080
+#define COMREG2_DOUTEN0                0x0100
+#define COMREG2_DOUTEN1                0x0200
+/* Status Register bits */
+#define STAT_AD_OVERRUN                0x0100
+#define STAT_AD_OVERFLOW       0x0200
+#define STAT_AD_DAQPROG                0x0800
+#define STAT_AD_CONVAVAIL      0x2000
+#define STAT_AD_DAQSTOPINT     0x4000
+/* AM9513A Counter/Timer defines */
+#define CLOCK_1_MHZ            0x8B25
+#define CLOCK_100_KHZ  0x8C25
+#define CLOCK_10_KHZ   0x8D25
+#define CLOCK_1_KHZ            0x8E25
+#define CLOCK_100_HZ   0x8F25
+/* Other miscellaneous defines */
+#define ATMIO16D_SIZE  32      /* bus address range */
+#define devpriv ((atmio16d_private *)dev->private)
+#define ATMIO16D_TIMEOUT 10
+
+typedef struct {
+       const char *name;
+       int has_8255;
+} atmio16_board_t;
+static const atmio16_board_t atmio16_boards[] = {
+       {
+             name:     "atmio16",
+             has_8255:0,
+               },
+       {
+             name:     "atmio16d",
+             has_8255:1,
+               },
+};
+
+#define n_atmio16_boards sizeof(atmio16_boards)/sizeof(atmio16_boards[0])
+
+#define boardtype ((const atmio16_board_t *)dev->board_ptr)
+
+/* function prototypes */
+static int atmio16d_attach(comedi_device * dev, comedi_devconfig * it);
+static int atmio16d_detach(comedi_device * dev);
+static irqreturn_t atmio16d_interrupt(int irq, void *d PT_REGS_ARG);
+static int atmio16d_ai_cmdtest(comedi_device * dev, comedi_subdevice * s,
+       comedi_cmd * cmd);
+static int atmio16d_ai_cmd(comedi_device * dev, comedi_subdevice * s);
+static int atmio16d_ai_cancel(comedi_device * dev, comedi_subdevice * s);
+static void reset_counters(comedi_device * dev);
+static void reset_atmio16d(comedi_device * dev);
+
+/* main driver struct */
+static comedi_driver driver_atmio16d = {
+      driver_name:"atmio16",
+      module:THIS_MODULE,
+      attach:atmio16d_attach,
+      detach:atmio16d_detach,
+      board_name:&atmio16_boards[0].name,
+      num_names:n_atmio16_boards,
+      offset:sizeof(atmio16_board_t),
+};
+
+COMEDI_INITCLEANUP(driver_atmio16d);
+
+/* range structs */
+static const comedi_lrange range_atmio16d_ai_10_bipolar = { 4, {
+                       BIP_RANGE(10),
+                       BIP_RANGE(1),
+                       BIP_RANGE(0.1),
+                       BIP_RANGE(0.02)
+       }
+};
+
+static const comedi_lrange range_atmio16d_ai_5_bipolar = { 4, {
+                       BIP_RANGE(5),
+                       BIP_RANGE(0.5),
+                       BIP_RANGE(0.05),
+                       BIP_RANGE(0.01)
+       }
+};
+
+static const comedi_lrange range_atmio16d_ai_unipolar = { 4, {
+                       UNI_RANGE(10),
+                       UNI_RANGE(1),
+                       UNI_RANGE(0.1),
+                       UNI_RANGE(0.02)
+       }
+};
+
+/* private data struct */
+typedef struct {
+       enum { adc_diff, adc_singleended } adc_mux;
+       enum { adc_bipolar10, adc_bipolar5, adc_unipolar10 } adc_range;
+       enum { adc_2comp, adc_straight } adc_coding;
+       enum { dac_bipolar, dac_unipolar } dac0_range, dac1_range;
+       enum { dac_internal, dac_external } dac0_reference, dac1_reference;
+       enum { dac_2comp, dac_straight } dac0_coding, dac1_coding;
+       const comedi_lrange *ao_range_type_list[2];
+       lsampl_t ao_readback[2];
+       unsigned int com_reg_1_state;   /* current state of command register 1 */
+       unsigned int com_reg_2_state;   /* current state of command register 2 */
+} atmio16d_private;
+
+static void reset_counters(comedi_device * dev)
+{
+       /* Counter 2 */
+       outw(0xFFC2, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF02, dev->iobase + AM9513A_COM_REG);
+       outw(0x4, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF0A, dev->iobase + AM9513A_COM_REG);
+       outw(0x3, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF42, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF42, dev->iobase + AM9513A_COM_REG);
+       /* Counter 3 */
+       outw(0xFFC4, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF03, dev->iobase + AM9513A_COM_REG);
+       outw(0x4, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF0B, dev->iobase + AM9513A_COM_REG);
+       outw(0x3, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF44, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF44, dev->iobase + AM9513A_COM_REG);
+       /* Counter 4 */
+       outw(0xFFC8, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF04, dev->iobase + AM9513A_COM_REG);
+       outw(0x4, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF0C, dev->iobase + AM9513A_COM_REG);
+       outw(0x3, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF48, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF48, dev->iobase + AM9513A_COM_REG);
+       /* Counter 5 */
+       outw(0xFFD0, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF05, dev->iobase + AM9513A_COM_REG);
+       outw(0x4, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF0D, dev->iobase + AM9513A_COM_REG);
+       outw(0x3, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF50, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF50, dev->iobase + AM9513A_COM_REG);
+
+       outw(0, dev->iobase + AD_CLEAR_REG);
+}
+
+static void reset_atmio16d(comedi_device * dev)
+{
+       int i;
+
+       /* now we need to initialize the board */
+       outw(0, dev->iobase + COM_REG_1);
+       outw(0, dev->iobase + COM_REG_2);
+       outw(0, dev->iobase + MUX_GAIN_REG);
+       /* init AM9513A timer */
+       outw(0xFFFF, dev->iobase + AM9513A_COM_REG);
+       outw(0xFFEF, dev->iobase + AM9513A_COM_REG);
+       outw(0xFF17, dev->iobase + AM9513A_COM_REG);
+       outw(0xF000, dev->iobase + AM9513A_DATA_REG);
+       for (i = 1; i <= 5; ++i) {
+               outw(0xFF00 + i, dev->iobase + AM9513A_COM_REG);
+               outw(0x0004, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF08 + i, dev->iobase + AM9513A_COM_REG);
+               outw(0x3, dev->iobase + AM9513A_DATA_REG);
+       }
+       outw(0xFF5F, dev->iobase + AM9513A_COM_REG);
+       /* timer init done */
+       outw(0, dev->iobase + AD_CLEAR_REG);
+       outw(0, dev->iobase + INT2CLR_REG);
+       /* select straight binary mode for Analog Input */
+       devpriv->com_reg_1_state |= 1;
+       outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+       devpriv->adc_coding = adc_straight;
+       /* zero the analog outputs */
+       outw(2048, dev->iobase + DAC0_REG);
+       outw(2048, dev->iobase + DAC1_REG);
+}
+
+static irqreturn_t atmio16d_interrupt(int irq, void *d PT_REGS_ARG)
+{
+       comedi_device *dev = d;
+       comedi_subdevice *s = dev->subdevices + 0;
+
+//      printk("atmio16d_interrupt!\n");
+
+       comedi_buf_put(s->async, inw(dev->iobase + AD_FIFO_REG));
+
+       comedi_event(dev, s);
+       return IRQ_HANDLED;
+}
+
+static int atmio16d_ai_cmdtest(comedi_device * dev, comedi_subdevice * s,
+       comedi_cmd * cmd)
+{
+       int err = 0, tmp;
+#ifdef DEBUG1
+       printk("atmio16d_ai_cmdtest\n");
+#endif
+       /* make sure triggers are valid */
+       tmp = cmd->start_src;
+       cmd->start_src &= TRIG_NOW;
+       if (!cmd->start_src || tmp != cmd->start_src)
+               err++;
+
+       tmp = cmd->scan_begin_src;
+       cmd->scan_begin_src &= TRIG_FOLLOW | TRIG_TIMER;
+       if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+               err++;
+
+       tmp = cmd->convert_src;
+       cmd->convert_src &= TRIG_TIMER;
+       if (!cmd->convert_src || tmp != cmd->convert_src)
+               err++;
+
+       tmp = cmd->scan_end_src;
+       cmd->scan_end_src &= TRIG_COUNT;
+       if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+               err++;
+
+       tmp = cmd->stop_src;
+       cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+       if (!cmd->stop_src || tmp != cmd->stop_src)
+               err++;
+
+       if (err)
+               return 1;
+
+       /* step 2: make sure trigger sources are unique and mutually compatible */
+       /* note that mutual compatiblity is not an issue here */
+       if (cmd->scan_begin_src != TRIG_FOLLOW &&
+               cmd->scan_begin_src != TRIG_EXT &&
+               cmd->scan_begin_src != TRIG_TIMER)
+               err++;
+       if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+               err++;
+
+       if (err)
+               return 2;
+
+       /* step 3: make sure arguments are trivially compatible */
+
+       if (cmd->start_arg != 0) {
+               cmd->start_arg = 0;
+               err++;
+       }
+       if (cmd->scan_begin_src == TRIG_FOLLOW) {
+               /* internal trigger */
+               if (cmd->scan_begin_arg != 0) {
+                       cmd->scan_begin_arg = 0;
+                       err++;
+               }
+       } else {
+#if 0
+               /* external trigger */
+               /* should be level/edge, hi/lo specification here */
+               if (cmd->scan_begin_arg != 0) {
+                       cmd->scan_begin_arg = 0;
+                       err++;
+               }
+#endif
+       }
+
+       if (cmd->convert_arg < 10000) {
+               cmd->convert_arg = 10000;
+               err++;
+       }
+#if 0
+       if (cmd->convert_arg > SLOWEST_TIMER) {
+               cmd->convert_arg = SLOWEST_TIMER;
+               err++;
+       }
+#endif
+       if (cmd->scan_end_arg != cmd->chanlist_len) {
+               cmd->scan_end_arg = cmd->chanlist_len;
+               err++;
+       }
+       if (cmd->stop_src == TRIG_COUNT) {
+               /* any count is allowed */
+       } else {
+               /* TRIG_NONE */
+               if (cmd->stop_arg != 0) {
+                       cmd->stop_arg = 0;
+                       err++;
+               }
+       }
+
+       if (err)
+               return 3;
+
+       return 0;
+}
+
+static int atmio16d_ai_cmd(comedi_device * dev, comedi_subdevice * s)
+{
+       comedi_cmd *cmd = &s->async->cmd;
+       unsigned int timer, base_clock;
+       unsigned int sample_count, tmp, chan, gain;
+       int i;
+#ifdef DEBUG1
+       printk("atmio16d_ai_cmd\n");
+#endif
+       /* This is slowly becoming a working command interface. *
+        * It is still uber-experimental */
+
+       reset_counters(dev);
+       s->async->cur_chan = 0;
+
+       /* check if scanning multiple channels */
+       if (cmd->chanlist_len < 2) {
+               devpriv->com_reg_1_state &= ~COMREG1_SCANEN;
+               outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+       } else {
+               devpriv->com_reg_1_state |= COMREG1_SCANEN;
+               devpriv->com_reg_2_state |= COMREG2_SCN2;
+               outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+               outw(devpriv->com_reg_2_state, dev->iobase + COM_REG_2);
+       }
+
+       /* Setup the Mux-Gain Counter */
+       for (i = 0; i < cmd->chanlist_len; ++i) {
+               chan = CR_CHAN(cmd->chanlist[i]);
+               gain = CR_RANGE(cmd->chanlist[i]);
+               outw(i, dev->iobase + MUX_CNTR_REG);
+               tmp = chan | (gain << 6);
+               if (i == cmd->scan_end_arg - 1)
+                       tmp |= 0x0010;  /* set LASTONE bit */
+               outw(tmp, dev->iobase + MUX_GAIN_REG);
+       }
+
+       /* Now program the sample interval timer */
+       /* Figure out which clock to use then get an
+        * appropriate timer value */
+       if (cmd->convert_arg < 65536000) {
+               base_clock = CLOCK_1_MHZ;
+               timer = cmd->convert_arg / 1000;
+       } else if (cmd->convert_arg < 655360000) {
+               base_clock = CLOCK_100_KHZ;
+               timer = cmd->convert_arg / 10000;
+       } else if (cmd->convert_arg <= 0xffffffff /* 6553600000 */ ) {
+               base_clock = CLOCK_10_KHZ;
+               timer = cmd->convert_arg / 100000;
+       } else if (cmd->convert_arg <= 0xffffffff /* 65536000000 */ ) {
+               base_clock = CLOCK_1_KHZ;
+               timer = cmd->convert_arg / 1000000;
+       }
+       outw(0xFF03, dev->iobase + AM9513A_COM_REG);
+       outw(base_clock, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF0B, dev->iobase + AM9513A_COM_REG);
+       outw(0x2, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF44, dev->iobase + AM9513A_COM_REG);
+       outw(0xFFF3, dev->iobase + AM9513A_COM_REG);
+       outw(timer, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF24, dev->iobase + AM9513A_COM_REG);
+
+       /* Now figure out how many samples to get */
+       /* and program the sample counter */
+       sample_count = cmd->stop_arg * cmd->scan_end_arg;
+       outw(0xFF04, dev->iobase + AM9513A_COM_REG);
+       outw(0x1025, dev->iobase + AM9513A_DATA_REG);
+       outw(0xFF0C, dev->iobase + AM9513A_COM_REG);
+       if (sample_count < 65536) {
+               /* use only Counter 4 */
+               outw(sample_count, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF48, dev->iobase + AM9513A_COM_REG);
+               outw(0xFFF4, dev->iobase + AM9513A_COM_REG);
+               outw(0xFF28, dev->iobase + AM9513A_COM_REG);
+               devpriv->com_reg_1_state &= ~COMREG1_1632CNT;
+               outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+       } else {
+               /* Counter 4 and 5 are needed */
+               if ((tmp = sample_count & 0xFFFF)) {
+                       outw(tmp - 1, dev->iobase + AM9513A_DATA_REG);
+               } else {
+                       outw(0xFFFF, dev->iobase + AM9513A_DATA_REG);
+               }
+               outw(0xFF48, dev->iobase + AM9513A_COM_REG);
+               outw(0, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF28, dev->iobase + AM9513A_COM_REG);
+               outw(0xFF05, dev->iobase + AM9513A_COM_REG);
+               outw(0x25, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF0D, dev->iobase + AM9513A_COM_REG);
+               tmp = sample_count & 0xFFFF;
+               if ((tmp == 0) || (tmp == 1)) {
+                       outw((sample_count >> 16) & 0xFFFF,
+                               dev->iobase + AM9513A_DATA_REG);
+               } else {
+                       outw(((sample_count >> 16) & 0xFFFF) + 1,
+                               dev->iobase + AM9513A_DATA_REG);
+               }
+               outw(0xFF70, dev->iobase + AM9513A_COM_REG);
+               devpriv->com_reg_1_state |= COMREG1_1632CNT;
+               outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+       }
+
+       /* Program the scan interval timer ONLY IF SCANNING IS ENABLED */
+       /* Figure out which clock to use then get an
+        * appropriate timer value */
+       if (cmd->chanlist_len > 1) {
+               if (cmd->scan_begin_arg < 65536000) {
+                       base_clock = CLOCK_1_MHZ;
+                       timer = cmd->scan_begin_arg / 1000;
+               } else if (cmd->scan_begin_arg < 655360000) {
+                       base_clock = CLOCK_100_KHZ;
+                       timer = cmd->scan_begin_arg / 10000;
+               } else if (cmd->scan_begin_arg < 0xffffffff /* 6553600000 */ ) {
+                       base_clock = CLOCK_10_KHZ;
+                       timer = cmd->scan_begin_arg / 100000;
+               } else if (cmd->scan_begin_arg < 0xffffffff /* 65536000000 */ ) {
+                       base_clock = CLOCK_1_KHZ;
+                       timer = cmd->scan_begin_arg / 1000000;
+               }
+               outw(0xFF02, dev->iobase + AM9513A_COM_REG);
+               outw(base_clock, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF0A, dev->iobase + AM9513A_COM_REG);
+               outw(0x2, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF42, dev->iobase + AM9513A_COM_REG);
+               outw(0xFFF2, dev->iobase + AM9513A_COM_REG);
+               outw(timer, dev->iobase + AM9513A_DATA_REG);
+               outw(0xFF22, dev->iobase + AM9513A_COM_REG);
+       }
+
+       /* Clear the A/D FIFO and reset the MUX counter */
+       outw(0, dev->iobase + AD_CLEAR_REG);
+       outw(0, dev->iobase + MUX_CNTR_REG);
+       outw(0, dev->iobase + INT2CLR_REG);
+       /* enable this acquisition operation */
+       devpriv->com_reg_1_state |= COMREG1_DAQEN;
+       outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+       /* enable interrupts for conversion completion */
+       devpriv->com_reg_1_state |= COMREG1_CONVINTEN;
+       devpriv->com_reg_2_state |= COMREG2_INTEN;
+       outw(devpriv->com_reg_1_state, dev->iobase + COM_REG_1);
+       outw(devpriv->com_reg_2_state, dev->iobase + COM_REG_2);
+       /* apply a trigger. this starts the counters! */
+       outw(0, dev->iobase + START_DAQ_REG);
+
+       return 0;
+}
+
+/* This will cancel a running acquisition operation */
+static int atmio16d_ai_cancel(comedi_device * dev, comedi_subdevice * s)
+{
+       reset_atmio16d(dev);
+
+       return 0;
+}
+
+/* Mode 0 is used to get a single conversion on demand */
+static int atmio16d_ai_insn_read(comedi_device * dev, comedi_subdevice * s,
+       comedi_insn * insn, lsampl_t * data)
+{
+       int i, t;
+       int chan;
+       int gain;
+       int status;
+
+#ifdef DEBUG1
+       printk("atmio16d_ai_insn_read\n");
+#endif
+       chan = CR_CHAN(insn->chanspec);
+       gain = CR_RANGE(insn->chanspec);
+
+       /* reset the Analog input circuitry */
+       //outw( 0, dev->iobase+AD_CLEAR_REG );
+       /* reset the Analog Input MUX Counter to 0 */
+       //outw( 0, dev->iobase+MUX_CNTR_REG );
+
+       /* set the Input MUX gain */
+       outw(chan | (gain << 6), dev->iobase + MUX_GAIN_REG);
+
+       for (i = 0; i < insn->n; i++) {
+               /* start the conversion */
+               outw(0, dev->iobase + START_CONVERT_REG);
+               /* wait for it to finish */
+               for (t = 0; t < ATMIO16D_TIMEOUT; t++) {
+                       /* check conversion status */
+                       status = inw(dev->iobase + STAT_REG);
+#ifdef DEBUG1
+                       printk("status=%x\n", status);
+#endif
+                       if (status & STAT_AD_CONVAVAIL) {
+                               /* read the data now */
+                               data[i] = inw(dev->iobase + AD_FIFO_REG);
+                               /* change to two's complement if need be */
+                               if (devpriv->adc_coding == adc_2comp) {
+                                       data[i] ^= 0x800;
+                               }
+                               break;
+                       }
+                       if (status & STAT_AD_OVERFLOW) {
+                               printk("atmio16d: a/d FIFO overflow\n");
+                               outw(0, dev->iobase + AD_CLEAR_REG);
+
+                               return -ETIME;
+                       }
+               }
+               /* end waiting, now check if it timed out */
+               if (t == ATMIO16D_TIMEOUT) {
+                       rt_printk("atmio16d: timeout\n");
+
+                       return -ETIME;
+               }
+       }
+
+       return i;
+}
+
+static int atmio16d_ao_insn_read(comedi_device * dev, comedi_subdevice * s,
+       comedi_insn * insn, lsampl_t * data)
+{
+       int i;
+#ifdef DEBUG1
+       printk("atmio16d_ao_insn_read\n");
+#endif
+
+       for (i = 0; i < insn->n; i++) {
+               data[i] = devpriv->ao_readback[CR_CHAN(insn->chanspec)];
+       }
+
+       return i;
+}
+
+static int atmio16d_ao_insn_write(comedi_device * dev, comedi_subdevice * s,
+       comedi_insn * insn, lsampl_t * data)
+{
+       int i;
+       int chan;
+       int d;
+#ifdef DEBUG1
+       printk("atmio16d_ao_insn_write\n");
+#endif
+
+       chan = CR_CHAN(insn->chanspec);
+
+       for (i = 0; i < insn->n; i++) {
+               d = data[i];
+               switch (chan) {
+               case 0:
+                       if (devpriv->dac0_coding == dac_2comp) {
+                               d ^= 0x800;
+                       }
+                       outw(d, dev->iobase + DAC0_REG);
+                       break;
+               case 1:
+                       if (devpriv->dac1_coding == dac_2comp) {
+                               d ^= 0x800;
+                       }
+                       outw(d, dev->iobase + DAC1_REG);
+                       break;
+               default:
+                       return -EINVAL;
+               }
+               devpriv->ao_readback[chan] = data[i];
+       }
+       return i;
+}
+
+static int atmio16d_dio_insn_bits(comedi_device * dev, comedi_subdevice * s,
+       comedi_insn * insn, lsampl_t * data)
+{
+       if (insn->n != 2)
+               return -EINVAL;
+
+       if (data[0]) {
+               s->state &= ~data[0];
+               s->state |= (data[0] | data[1]);
+               outw(s->state, dev->iobase + MIO_16_DIG_OUT_REG);
+       }
+       data[1] = inw(dev->iobase + MIO_16_DIG_IN_REG);
+
+       return 2;
+}
+
+static int atmio16d_dio_insn_config(comedi_device * dev, comedi_subdevice * s,
+       comedi_insn * insn, lsampl_t * data)
+{
+       int i;
+       int mask;
+
+       for (i = 0; i < insn->n; i++) {
+               mask = (CR_CHAN(insn->chanspec) < 4) ? 0x0f : 0xf0;
+               s->io_bits &= ~mask;
+               if (data[i])
+                       s->io_bits |= mask;
+       }
+       devpriv->com_reg_2_state &= ~(COMREG2_DOUTEN0 | COMREG2_DOUTEN1);
+       if (s->io_bits & 0x0f)
+               devpriv->com_reg_2_state |= COMREG2_DOUTEN0;
+       if (s->io_bits & 0xf0)
+               devpriv->com_reg_2_state |= COMREG2_DOUTEN1;
+       outw(devpriv->com_reg_2_state, dev->iobase + COM_REG_2);
+
+       return i;
+}
+
+/*
+   options[0] - I/O port
+   options[1] - MIO irq
+                0 == no irq
+                N == irq N {3,4,5,6,7,9,10,11,12,14,15}
+   options[2] - DIO irq
+                0 == no irq
+                N == irq N {3,4,5,6,7,9}
+   options[3] - DMA1 channel
+                0 == no DMA
+                N == DMA N {5,6,7}
+   options[4] - DMA2 channel
+                0 == no DMA
+                N == DMA N {5,6,7}
+
+   options[5] - a/d mux
+       0=differential, 1=single
+   options[6] - a/d range
+       0=bipolar10, 1=bipolar5, 2=unipolar10
+
+   options[7] - dac0 range
+       0=bipolar, 1=unipolar
+   options[8] - dac0 reference
+    0=internal, 1=external
+   options[9] - dac0 coding
+       0=2's comp, 1=straight binary
+
+   options[10] - dac1 range
+   options[11] - dac1 reference
+   options[12] - dac1 coding
+ */
+
+static int atmio16d_attach(comedi_device * dev, comedi_devconfig * it)
+{
+       unsigned int irq;
+       unsigned long iobase;
+       int ret;
+
+       comedi_subdevice *s;
+
+       /* make sure the address range is free and allocate it */
+       iobase = it->options[0];
+       printk("comedi%d: atmio16d: 0x%04lx ", dev->minor, iobase);
+       if (!request_region(iobase, ATMIO16D_SIZE, "ni_atmio16d")) {
+               printk("I/O port conflict\n");
+               return -EIO;
+       }
+       dev->iobase = iobase;
+
+       /* board name */
+       dev->board_name = boardtype->name;
+
+       if ((ret = alloc_subdevices(dev, 4)) < 0)
+               return ret;
+       if ((ret = alloc_private(dev, sizeof(atmio16d_private))) < 0)
+               return ret;
+
+       /* reset the atmio16d hardware */
+       reset_atmio16d(dev);
+
+       /* check if our interrupt is available and get it */
+       irq = it->options[1];
+       if (irq) {
+               if ((ret = comedi_request_irq(irq, atmio16d_interrupt,
+                                       0, "atmio16d", dev)) < 0) {
+                       printk("failed to allocate irq %u\n", irq);
+                       return ret;
+               }
+               dev->irq = irq;
+               printk("( irq = %u )\n", irq);
+       } else {
+               printk("( no irq )");
+       }
+
+       /* set device options */
+       devpriv->adc_mux = it->options[5];
+       devpriv->adc_range = it->options[6];
+
+       devpriv->dac0_range = it->options[7];
+       devpriv->dac0_reference = it->options[8];
+       devpriv->dac0_coding = it->options[9];
+       devpriv->dac1_range = it->options[10];
+       devpriv->dac1_reference = it->options[11];
+       devpriv->dac1_coding = it->options[12];
+
+       /* setup sub-devices */
+       s = dev->subdevices + 0;
+       dev->read_subdev = s;
+       /* ai subdevice */
+       s->type = COMEDI_SUBD_AI;
+       s->subdev_flags = SDF_READABLE | SDF_GROUND | SDF_CMD_READ;
+       s->n_chan = (devpriv->adc_mux ? 16 : 8);
+       s->len_chanlist = 16;
+       s->insn_read = atmio16d_ai_insn_read;
+       s->do_cmdtest = atmio16d_ai_cmdtest;
+       s->do_cmd = atmio16d_ai_cmd;
+       s->cancel = atmio16d_ai_cancel;
+       s->maxdata = 0xfff;     /* 4095 decimal */
+       switch (devpriv->adc_range) {
+       case adc_bipolar10:
+               s->range_table = &range_atmio16d_ai_10_bipolar;
+               break;
+       case adc_bipolar5:
+               s->range_table = &range_atmio16d_ai_5_bipolar;
+               break;
+       case adc_unipolar10:
+               s->range_table = &range_atmio16d_ai_unipolar;
+               break;
+       }
+
+       /* ao subdevice */
+       s++;
+       s->type = COMEDI_SUBD_AO;
+       s->subdev_flags = SDF_WRITABLE;
+       s->n_chan = 2;
+       s->insn_read = atmio16d_ao_insn_read;
+       s->insn_write = atmio16d_ao_insn_write;
+       s->maxdata = 0xfff;     /* 4095 decimal */
+       s->range_table_list = devpriv->ao_range_type_list;
+       switch (devpriv->dac0_range) {
+       case dac_bipolar:
+               devpriv->ao_range_type_list[0] = &range_bipolar10;
+               break;
+       case dac_unipolar:
+               devpriv->ao_range_type_list[0] = &range_unipolar10;
+               break;
+       }
+       switch (devpriv->dac1_range) {
+       case dac_bipolar:
+               devpriv->ao_range_type_list[1] = &range_bipolar10;
+               break;
+       case dac_unipolar:
+               devpriv->ao_range_type_list[1] = &range_unipolar10;
+               break;
+       }
+
+       /* Digital I/O */
+       s++;
+       s->type = COMEDI_SUBD_DIO;
+       s->subdev_flags = SDF_WRITABLE | SDF_READABLE;
+       s->n_chan = 8;
+       s->insn_bits = atmio16d_dio_insn_bits;
+       s->insn_config = atmio16d_dio_insn_config;
+       s->maxdata = 1;
+       s->range_table = &range_digital;
+
+       /* 8255 subdevice */
+       s++;
+       if (boardtype->has_8255) {
+               subdev_8255_init(dev, s, NULL, dev->iobase);
+       } else {
+               s->type = COMEDI_SUBD_UNUSED;
+       }
+
+/* don't yet know how to deal with counter/timers */
+#if 0
+       s++;
+       /* do */
+       s->type = COMEDI_SUBD_TIMER;
+       s->n_chan = 0;
+       s->maxdata = 0
+#endif
+               printk("\n");
+
+       return 0;
+}
+
+static int atmio16d_detach(comedi_device * dev)
+{
+       printk("comedi%d: atmio16d: remove\n", dev->minor);
+
+       if (dev->subdevices && boardtype->has_8255)
+               subdev_8255_cleanup(dev, dev->subdevices + 3);
+
+       if (dev->irq)
+               comedi_free_irq(dev->irq, dev);
+
+       reset_atmio16d(dev);
+
+       if (dev->iobase)
+               release_region(dev->iobase, ATMIO16D_SIZE);
+
+       return 0;
+}