Staging: comedi: add s526 driver

For Sensoray 526 devices

From: Everett Wang <everett.wang@everteq.com>
Cc: David Schleef <ds@schleef.org>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Cc: Ian Abbott <abbotti@mev.co.uk>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/comedi/drivers/s526.c

+/*
+    comedi/drivers/s526.c
+    Sensoray s526 Comedi driver
+
+    COMEDI - Linux Control and Measurement Device Interface
+    Copyright (C) 2000 David A. Schleef <ds@schleef.org>
+
+    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: s526
+Description: Sensoray 526 driver
+Devices: [Sensoray] 526 (s526)
+Author: Richie
+	Everett Wang <everett.wang@everteq.com>
+Updated: Thu, 14 Sep. 2006
+Status: experimental
+
+Encoder works
+Analog input works
+Analog output works
+PWM output works
+Commands are not supported yet.
+
+Configuration Options:
+
+comedi_config /dev/comedi0 s526 0x2C0,0x3
+
+*/
+
+#include "../comedidev.h"
+#include <linux/ioport.h>
+
+#define S526_SIZE 64
+
+#define S526_START_AI_CONV	0
+#define S526_AI_READ		0
+
+/* Ports */
+#define S526_IOSIZE 0x40
+#define S526_NUM_PORTS 27
+
+/* registers */
+#define REG_TCR 0x00
+#define REG_WDC 0x02
+#define REG_DAC 0x04
+#define REG_ADC 0x06
+#define REG_ADD 0x08
+#define REG_DIO 0x0A
+#define REG_IER 0x0C
+#define REG_ISR 0x0E
+#define REG_MSC 0x10
+#define REG_C0L 0x12
+#define REG_C0H 0x14
+#define REG_C0M 0x16
+#define REG_C0C 0x18
+#define REG_C1L 0x1A
+#define REG_C1H 0x1C
+#define REG_C1M 0x1E
+#define REG_C1C 0x20
+#define REG_C2L 0x22
+#define REG_C2H 0x24
+#define REG_C2M 0x26
+#define REG_C2C 0x28
+#define REG_C3L 0x2A
+#define REG_C3H 0x2C
+#define REG_C3M 0x2E
+#define REG_C3C 0x30
+#define REG_EED 0x32
+#define REG_EEC 0x34
+
+static const int s526_ports[] = {
+	REG_TCR,
+	REG_WDC,
+	REG_DAC,
+	REG_ADC,
+	REG_ADD,
+	REG_DIO,
+	REG_IER,
+	REG_ISR,
+	REG_MSC,
+	REG_C0L,
+	REG_C0H,
+	REG_C0M,
+	REG_C0C,
+	REG_C1L,
+	REG_C1H,
+	REG_C1M,
+	REG_C1C,
+	REG_C2L,
+	REG_C2H,
+	REG_C2M,
+	REG_C2C,
+	REG_C3L,
+	REG_C3H,
+	REG_C3M,
+	REG_C3C,
+	REG_EED,
+	REG_EEC
+};
+
+typedef struct {
+	unsigned short coutSource:1;
+	unsigned short coutPolarity:1;
+	unsigned short autoLoadResetRcap:3;
+	unsigned short hwCtEnableSource:2;
+	unsigned short ctEnableCtrl:2;
+	unsigned short clockSource:2;
+	unsigned short countDir:1;
+	unsigned short countDirCtrl:1;
+	unsigned short outputRegLatchCtrl:1;
+	unsigned short preloadRegSel:1;
+	unsigned short reserved:1;
+} counter_mode_register_t;
+
+union {
+	counter_mode_register_t reg;
+	unsigned short value;
+} cmReg;
+
+#define MAX_GPCT_CONFIG_DATA 6
+
+/* Different Application Classes for GPCT Subdevices */
+/* The list is not exhaustive and needs discussion! */
+typedef enum {
+	CountingAndTimeMeasurement,
+	SinglePulseGeneration,
+	PulseTrainGeneration,
+	PositionMeasurement,
+	Miscellaneous
+} S526_GPCT_APP_CLASS;
+
+/* Config struct for different GPCT subdevice Application Classes and
+   their options
+*/
+typedef struct s526GPCTConfig {
+	S526_GPCT_APP_CLASS app;
+	int data[MAX_GPCT_CONFIG_DATA];
+} s526_gpct_config_t;
+
+/*
+ * Board descriptions for two imaginary boards.  Describing the
+ * boards in this way is optional, and completely driver-dependent.
+ * Some drivers use arrays such as this, other do not.
+ */
+typedef struct s526_board_struct {
+	const char *name;
+	int gpct_chans;
+	int gpct_bits;
+	int ad_chans;
+	int ad_bits;
+	int da_chans;
+	int da_bits;
+	int have_dio;
+} s526_board;
+
+static const s526_board s526_boards[] = {
+	{
+	      name:	"s526",
+	      gpct_chans:4,
+	      gpct_bits:24,
+	      ad_chans:8,
+	      ad_bits:	16,
+	      da_chans:4,
+	      da_bits:	16,
+	      have_dio:1,
+		}
+};
+
+#define ADDR_REG(reg) (dev->iobase + (reg))
+#define ADDR_CHAN_REG(reg, chan) (dev->iobase + (reg) + (chan) * 8)
+
+/*
+ * Useful for shorthand access to the particular board structure
+ */
+#define thisboard ((const s526_board *)dev->board_ptr)
+
+/* this structure is for data unique to this hardware driver.  If
+   several hardware drivers keep similar information in this structure,
+   feel free to suggest moving the variable to the comedi_device struct.  */
+typedef struct {
+	int data;
+
+	/* would be useful for a PCI device */
+	struct pci_dev *pci_dev;
+
+	/* Used for AO readback */
+	lsampl_t ao_readback[2];
+
+	s526_gpct_config_t s526_gpct_config[4];
+	unsigned short s526_ai_config;
+} s526_private;
+/*
+ * most drivers define the following macro to make it easy to
+ * access the private structure.
+ */
+#define devpriv ((s526_private *)dev->private)
+
+/*
+ * The comedi_driver structure tells the Comedi core module
+ * which functions to call to configure/deconfigure (attach/detach)
+ * the board, and also about the kernel module that contains
+ * the device code.
+ */
+static int s526_attach(comedi_device * dev, comedi_devconfig * it);
+static int s526_detach(comedi_device * dev);
+static comedi_driver driver_s526 = {
+      driver_name:"s526",
+      module:THIS_MODULE,
+      attach:s526_attach,
+      detach:s526_detach,
+/* It is not necessary to implement the following members if you are
+ * writing a driver for a ISA PnP or PCI card */
+	/* Most drivers will support multiple types of boards by
+	 * having an array of board structures.  These were defined
+	 * in s526_boards[] above.  Note that the element 'name'
+	 * was first in the structure -- Comedi uses this fact to
+	 * extract the name of the board without knowing any details
+	 * about the structure except for its length.
+	 * When a device is attached (by comedi_config), the name
+	 * of the device is given to Comedi, and Comedi tries to
+	 * match it by going through the list of board names.  If
+	 * there is a match, the address of the pointer is put
+	 * into dev->board_ptr and driver->attach() is called.
+	 *
+	 * Note that these are not necessary if you can determine
+	 * the type of board in software.  ISA PnP, PCI, and PCMCIA
+	 * devices are such boards.
+	 */
+      board_name:&s526_boards[0].name,
+      offset:sizeof(s526_board),
+      num_names:sizeof(s526_boards) / sizeof(s526_board),
+};
+
+static int s526_gpct_rinsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_gpct_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_gpct_winsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_ai_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_ai_rinsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_ao_winsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_ao_rinsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_dio_insn_bits(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+static int s526_dio_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data);
+
+/*
+ * Attach is called by the Comedi core to configure the driver
+ * for a particular board.  If you specified a board_name array
+ * in the driver structure, dev->board_ptr contains that
+ * address.
+ */
+static int s526_attach(comedi_device * dev, comedi_devconfig * it)
+{
+	comedi_subdevice *s;
+	int iobase;
+	int i, n;
+//      sampl_t value;
+//      int subdev_channel = 0;
+
+	printk("comedi%d: s526: ", dev->minor);
+
+	iobase = it->options[0];
+	if (!iobase || !request_region(iobase, S526_IOSIZE, thisboard->name)) {
+		comedi_error(dev, "I/O port conflict");
+		return -EIO;
+	}
+	dev->iobase = iobase;
+
+	printk("iobase=0x%lx\n", dev->iobase);
+
+	/*** make it a little quieter, exw, 8/29/06
+	for (i = 0; i < S526_NUM_PORTS; i++) {
+		printk("0x%02x: 0x%04x\n", ADDR_REG(s526_ports[i]), inw(ADDR_REG(s526_ports[i])));
+	}
+	***/
+
+/*
+ * Initialize dev->board_name.  Note that we can use the "thisboard"
+ * macro now, since we just initialized it in the last line.
+ */
+	dev->board_ptr = &s526_boards[0];
+
+	dev->board_name = thisboard->name;
+
+/*
+ * Allocate the private structure area.  alloc_private() is a
+ * convenient macro defined in comedidev.h.
+ */
+	if (alloc_private(dev, sizeof(s526_private)) < 0)
+		return -ENOMEM;
+
+/*
+ * Allocate the subdevice structures.  alloc_subdevice() is a
+ * convenient macro defined in comedidev.h.
+ */
+	dev->n_subdevices = 4;
+	if (alloc_subdevices(dev, dev->n_subdevices) < 0)
+		return -ENOMEM;
+
+	s = dev->subdevices + 0;
+	/* GENERAL-PURPOSE COUNTER/TIME (GPCT) */
+	s->type = COMEDI_SUBD_COUNTER;
+	s->subdev_flags = SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL;
+	/* KG: What does SDF_LSAMPL (see multiq3.c) mean? */
+	s->n_chan = thisboard->gpct_chans;
+	s->maxdata = 0x00ffffff;	/* 24 bit counter */
+	s->insn_read = s526_gpct_rinsn;
+	s->insn_config = s526_gpct_insn_config;
+	s->insn_write = s526_gpct_winsn;
+
+	/* Command are not implemented yet, however they are necessary to
+	   allocate the necessary memory for the comedi_async struct (used
+	   to trigger the GPCT in case of pulsegenerator function */
+	//s->do_cmd = s526_gpct_cmd;
+	//s->do_cmdtest = s526_gpct_cmdtest;
+	//s->cancel = s526_gpct_cancel;
+
+	s = dev->subdevices + 1;
+	//dev->read_subdev=s;
+	/* analog input subdevice */
+	s->type = COMEDI_SUBD_AI;
+	/* we support differential */
+	s->subdev_flags = SDF_READABLE | SDF_DIFF;
+	/* channels 0 to 7 are the regular differential inputs */
+	/* channel 8 is "reference 0" (+10V), channel 9 is "reference 1" (0V) */
+	s->n_chan = 10;
+	s->maxdata = 0xffff;
+	s->range_table = &range_bipolar10;
+	s->len_chanlist = 16;	/* This is the maximum chanlist length that
+				   the board can handle */
+	s->insn_read = s526_ai_rinsn;
+	s->insn_config = s526_ai_insn_config;
+
+	s = dev->subdevices + 2;
+	/* analog output subdevice */
+	s->type = COMEDI_SUBD_AO;
+	s->subdev_flags = SDF_WRITABLE;
+	s->n_chan = 4;
+	s->maxdata = 0xffff;
+	s->range_table = &range_bipolar10;
+	s->insn_write = s526_ao_winsn;
+	s->insn_read = s526_ao_rinsn;
+
+	s = dev->subdevices + 3;
+	/* digital i/o subdevice */
+	if (thisboard->have_dio) {
+		s->type = COMEDI_SUBD_DIO;
+		s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
+		s->n_chan = 2;
+		s->maxdata = 1;
+		s->range_table = &range_digital;
+		s->insn_bits = s526_dio_insn_bits;
+		s->insn_config = s526_dio_insn_config;
+	} else {
+		s->type = COMEDI_SUBD_UNUSED;
+	}
+
+	printk("attached\n");
+
+	return 1;
+
+#if 0
+	// Example of Counter Application
+	//One-shot (software trigger)
+	cmReg.reg.coutSource = 0;	// out RCAP
+	cmReg.reg.coutPolarity = 1;	// Polarity inverted
+	cmReg.reg.autoLoadResetRcap = 1;	// Auto load 0:disabled, 1:enabled
+	cmReg.reg.hwCtEnableSource = 3;	// NOT RCAP
+	cmReg.reg.ctEnableCtrl = 2;	// Hardware
+	cmReg.reg.clockSource = 2;	// Internal
+	cmReg.reg.countDir = 1;	// Down
+	cmReg.reg.countDirCtrl = 1;	// Software
+	cmReg.reg.outputRegLatchCtrl = 0;	// latch on read
+	cmReg.reg.preloadRegSel = 0;	// PR0
+	cmReg.reg.reserved = 0;
+
+	outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+	outw(0x0001, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+	outw(0x3C68, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+	outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Reset the counter
+	outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Load the counter from PR0
+
+	outw(0x0008, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Reset RCAP (fires one-shot)
+
+#else
+
+	// Set Counter Mode Register
+	cmReg.reg.coutSource = 0;	// out RCAP
+	cmReg.reg.coutPolarity = 0;	// Polarity inverted
+	cmReg.reg.autoLoadResetRcap = 0;	// Auto load disabled
+	cmReg.reg.hwCtEnableSource = 2;	// NOT RCAP
+	cmReg.reg.ctEnableCtrl = 1;	// 1: Software,  >1 : Hardware
+	cmReg.reg.clockSource = 3;	// x4
+	cmReg.reg.countDir = 0;	// up
+	cmReg.reg.countDirCtrl = 0;	// quadrature
+	cmReg.reg.outputRegLatchCtrl = 0;	// latch on read
+	cmReg.reg.preloadRegSel = 0;	// PR0
+	cmReg.reg.reserved = 0;
+
+	n = 0;
+	printk("Mode reg=0x%04x, 0x%04lx\n", cmReg.value, ADDR_CHAN_REG(REG_C0M,
+			n));
+	outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, n));
+	udelay(1000);
+	printk("Read back mode reg=0x%04x\n", inw(ADDR_CHAN_REG(REG_C0M, n)));
+
+	// Load the pre-laod register high word
+//                      value = (sampl_t) (0x55);
+//                      outw(value, ADDR_CHAN_REG(REG_C0H, n));
+
+	// Load the pre-laod register low word
+//                      value = (sampl_t)(0xaa55);
+//                      outw(value, ADDR_CHAN_REG(REG_C0L, n));
+
+	// Write the Counter Control Register
+//                      outw(value, ADDR_CHAN_REG(REG_C0C, 0));
+
+	// Reset the counter if it is software preload
+	if (cmReg.reg.autoLoadResetRcap == 0) {
+		outw(0x8000, ADDR_CHAN_REG(REG_C0C, n));	// Reset the counter
+		outw(0x4000, ADDR_CHAN_REG(REG_C0C, n));	// Load the counter from PR0
+	}
+
+	outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, n));
+	udelay(1000);
+	printk("Read back mode reg=0x%04x\n", inw(ADDR_CHAN_REG(REG_C0M, n)));
+
+#endif
+	printk("Current registres:\n");
+
+	for (i = 0; i < S526_NUM_PORTS; i++) {
+		printk("0x%02lx: 0x%04x\n", ADDR_REG(s526_ports[i]),
+			inw(ADDR_REG(s526_ports[i])));
+	}
+	return 1;
+}
+
+/*
+ * _detach is called to deconfigure a device.  It should deallocate
+ * resources.
+ * This function is also called when _attach() fails, so it should be
+ * careful not to release resources that were not necessarily
+ * allocated by _attach().  dev->private and dev->subdevices are
+ * deallocated automatically by the core.
+ */
+static int s526_detach(comedi_device * dev)
+{
+	printk("comedi%d: s526: remove\n", dev->minor);
+
+	if (dev->iobase > 0)
+		release_region(dev->iobase, S526_IOSIZE);
+
+	return 0;
+}
+
+static int s526_gpct_rinsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;			// counts the Data
+	int counter_channel = CR_CHAN(insn->chanspec);
+	unsigned short datalow;
+	unsigned short datahigh;
+
+	// Check if (n > 0)
+	if (insn->n <= 0) {
+		printk("s526: INSN_READ: n should be > 0\n");
+		return -EINVAL;
+	}
+	// Read the low word first
+	for (i = 0; i < insn->n; i++) {
+		datalow = inw(ADDR_CHAN_REG(REG_C0L, counter_channel));
+		datahigh = inw(ADDR_CHAN_REG(REG_C0H, counter_channel));
+		data[i] = (int)(datahigh & 0x00FF);
+		data[i] = (data[i] << 16) | (datalow & 0xFFFF);
+//              printk("s526 GPCT[%d]: %x(0x%04x, 0x%04x)\n", counter_channel, data[i], datahigh, datalow);
+	}
+	return i;
+}
+
+static int s526_gpct_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int subdev_channel = CR_CHAN(insn->chanspec);	// Unpack chanspec
+	int i;
+	sampl_t value;
+
+//        printk("s526: GPCT_INSN_CONFIG: Configuring Channel %d\n", subdev_channel);
+
+	for (i = 0; i < MAX_GPCT_CONFIG_DATA; i++) {
+		devpriv->s526_gpct_config[subdev_channel].data[i] =
+			insn->data[i];
+//              printk("data[%d]=%x\n", i, insn->data[i]);
+	}
+
+	// Check what type of Counter the user requested, data[0] contains
+	// the Application type
+	switch (insn->data[0]) {
+	case INSN_CONFIG_GPCT_QUADRATURE_ENCODER:
+		/*
+		   data[0]: Application Type
+		   data[1]: Counter Mode Register Value
+		   data[2]: Pre-load Register Value
+		   data[3]: Conter Control Register
+		 */
+		printk("s526: GPCT_INSN_CONFIG: Configuring Encoder\n");
+		devpriv->s526_gpct_config[subdev_channel].app =
+			PositionMeasurement;
+
+/*
+			// Example of Counter Application
+			//One-shot (software trigger)
+			cmReg.reg.coutSource		= 0; // out RCAP
+			cmReg.reg.coutPolarity		= 1; // Polarity inverted
+			cmReg.reg.autoLoadResetRcap	= 0; // Auto load disabled
+			cmReg.reg.hwCtEnableSource	= 3; // NOT RCAP
+			cmReg.reg.ctEnableCtrl		= 2; // Hardware
+			cmReg.reg.clockSource		= 2; // Internal
+			cmReg.reg.countDir		= 1; // Down
+			cmReg.reg.countDirCtrl		= 1; // Software
+			cmReg.reg.outputRegLatchCtrl	= 0; // latch on read
+			cmReg.reg.preloadRegSel		= 0; // PR0
+			cmReg.reg.reserved		= 0;
+
+			outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+			outw(0x0001, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+			outw(0x3C68, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+			outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Reset the counter
+			outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Load the counter from PR0
+
+			outw(0x0008, ADDR_CHAN_REG(REG_C0C, subdev_channel));  // Reset RCAP (fires one-shot)
+
+*/
+
+#if 1
+		// Set Counter Mode Register
+		cmReg.reg.coutSource = 0;	// out RCAP
+		cmReg.reg.coutPolarity = 0;	// Polarity inverted
+		cmReg.reg.autoLoadResetRcap = 0;	// Auto load disabled
+		cmReg.reg.hwCtEnableSource = 2;	// NOT RCAP
+		cmReg.reg.ctEnableCtrl = 1;	// 1: Software,  >1 : Hardware
+		cmReg.reg.clockSource = 3;	// x4
+		cmReg.reg.countDir = 0;	// up
+		cmReg.reg.countDirCtrl = 0;	// quadrature
+		cmReg.reg.outputRegLatchCtrl = 0;	// latch on read
+		cmReg.reg.preloadRegSel = 0;	// PR0
+		cmReg.reg.reserved = 0;
+
+		// Set Counter Mode Register
+//                      printk("s526: Counter Mode register=%x\n", cmReg.value);
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		// Reset the counter if it is software preload
+		if (cmReg.reg.autoLoadResetRcap == 0) {
+			outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Reset the counter
+//                              outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));   // Load the counter from PR0
+		}
+#else
+		cmReg.reg.countDirCtrl = 0;	// 0 quadrature, 1 software control
+
+		// data[1] contains GPCT_X1, GPCT_X2 or GPCT_X4
+		if (insn->data[1] == GPCT_X2) {
+			cmReg.reg.clockSource = 1;
+		} else if (insn->data[1] == GPCT_X4) {
+			cmReg.reg.clockSource = 2;
+		} else {
+			cmReg.reg.clockSource = 0;
+		}
+
+		// When to take into account the indexpulse:
+		if (insn->data[2] == GPCT_IndexPhaseLowLow) {
+		} else if (insn->data[2] == GPCT_IndexPhaseLowHigh) {
+		} else if (insn->data[2] == GPCT_IndexPhaseHighLow) {
+		} else if (insn->data[2] == GPCT_IndexPhaseHighHigh) {
+		}
+		// Take into account the index pulse?
+		if (insn->data[3] == GPCT_RESET_COUNTER_ON_INDEX)
+			cmReg.reg.autoLoadResetRcap = 4;	// Auto load with INDEX^
+
+		// Set Counter Mode Register
+		cmReg.value = (sampl_t) (insn->data[1] & 0xFFFF);
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		// Load the pre-laod register high word
+		value = (sampl_t) ((insn->data[2] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		// Load the pre-laod register low word
+		value = (sampl_t) (insn->data[2] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		// Write the Counter Control Register
+		if (insn->data[3] != 0) {
+			value = (sampl_t) (insn->data[3] & 0xFFFF);
+			outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel));
+		}
+		// Reset the counter if it is software preload
+		if (cmReg.reg.autoLoadResetRcap == 0) {
+			outw(0x8000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Reset the counter
+			outw(0x4000, ADDR_CHAN_REG(REG_C0C, subdev_channel));	// Load the counter from PR0
+		}
+#endif
+		break;
+
+	case INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR:
+		/*
+		   data[0]: Application Type
+		   data[1]: Counter Mode Register Value
+		   data[2]: Pre-load Register 0 Value
+		   data[3]: Pre-load Register 1 Value
+		   data[4]: Conter Control Register
+		 */
+		printk("s526: GPCT_INSN_CONFIG: Configuring SPG\n");
+		devpriv->s526_gpct_config[subdev_channel].app =
+			SinglePulseGeneration;
+
+		// Set Counter Mode Register
+		cmReg.value = (sampl_t) (insn->data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 0;	// PR0
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		// Load the pre-laod register 0 high word
+		value = (sampl_t) ((insn->data[2] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		// Load the pre-laod register 0 low word
+		value = (sampl_t) (insn->data[2] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		// Set Counter Mode Register
+		cmReg.value = (sampl_t) (insn->data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 1;	// PR1
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		// Load the pre-laod register 1 high word
+		value = (sampl_t) ((insn->data[3] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		// Load the pre-laod register 1 low word
+		value = (sampl_t) (insn->data[3] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		// Write the Counter Control Register
+		if (insn->data[3] != 0) {
+			value = (sampl_t) (insn->data[3] & 0xFFFF);
+			outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel));
+		}
+		break;
+
+	case INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR:
+		/*
+		   data[0]: Application Type
+		   data[1]: Counter Mode Register Value
+		   data[2]: Pre-load Register 0 Value
+		   data[3]: Pre-load Register 1 Value
+		   data[4]: Conter Control Register
+		 */
+		printk("s526: GPCT_INSN_CONFIG: Configuring PTG\n");
+		devpriv->s526_gpct_config[subdev_channel].app =
+			PulseTrainGeneration;
+
+		// Set Counter Mode Register
+		cmReg.value = (sampl_t) (insn->data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 0;	// PR0
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		// Load the pre-laod register 0 high word
+		value = (sampl_t) ((insn->data[2] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		// Load the pre-laod register 0 low word
+		value = (sampl_t) (insn->data[2] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		// Set Counter Mode Register
+		cmReg.value = (sampl_t) (insn->data[1] & 0xFFFF);
+		cmReg.reg.preloadRegSel = 1;	// PR1
+		outw(cmReg.value, ADDR_CHAN_REG(REG_C0M, subdev_channel));
+
+		// Load the pre-laod register 1 high word
+		value = (sampl_t) ((insn->data[3] >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+
+		// Load the pre-laod register 1 low word
+		value = (sampl_t) (insn->data[3] & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+
+		// Write the Counter Control Register
+		if (insn->data[3] != 0) {
+			value = (sampl_t) (insn->data[3] & 0xFFFF);
+			outw(value, ADDR_CHAN_REG(REG_C0C, subdev_channel));
+		}
+		break;
+
+	default:
+		printk("s526: unsupported GPCT_insn_config\n");
+		return -EINVAL;
+		break;
+	}
+
+	return insn->n;
+}
+
+static int s526_gpct_winsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int subdev_channel = CR_CHAN(insn->chanspec);	// Unpack chanspec
+	sampl_t value;
+
+	printk("s526: GPCT_INSN_WRITE on channel %d\n", subdev_channel);
+	cmReg.value = inw(ADDR_CHAN_REG(REG_C0M, subdev_channel));
+	printk("s526: Counter Mode Register: %x\n", cmReg.value);
+	// Check what Application of Counter this channel is configured for
+	switch (devpriv->s526_gpct_config[subdev_channel].app) {
+	case PositionMeasurement:
+		printk("S526: INSN_WRITE: PM\n");
+		outw(0xFFFF & ((*data) >> 16), ADDR_CHAN_REG(REG_C0H,
+				subdev_channel));
+		outw(0xFFFF & (*data), ADDR_CHAN_REG(REG_C0L, subdev_channel));
+		break;
+
+	case SinglePulseGeneration:
+		printk("S526: INSN_WRITE: SPG\n");
+		outw(0xFFFF & ((*data) >> 16), ADDR_CHAN_REG(REG_C0H,
+				subdev_channel));
+		outw(0xFFFF & (*data), ADDR_CHAN_REG(REG_C0L, subdev_channel));
+		break;
+
+	case PulseTrainGeneration:
+		/* data[0] contains the PULSE_WIDTH
+		   data[1] contains the PULSE_PERIOD
+		   @pre PULSE_PERIOD > PULSE_WIDTH > 0
+		   The above periods must be expressed as a multiple of the
+		   pulse frequency on the selected source
+		 */
+		printk("S526: INSN_WRITE: PTG\n");
+		if ((insn->data[1] > insn->data[0]) && (insn->data[0] > 0)) {
+			(devpriv->s526_gpct_config[subdev_channel]).data[0] =
+				insn->data[0];
+			(devpriv->s526_gpct_config[subdev_channel]).data[1] =
+				insn->data[1];
+		} else {
+			printk("%d \t %d\n", insn->data[1], insn->data[2]);
+			printk("s526: INSN_WRITE: PTG: Problem with Pulse params\n");
+			return -EINVAL;
+		}
+
+		value = (sampl_t) ((*data >> 16) & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0H, subdev_channel));
+		value = (sampl_t) (*data & 0xFFFF);
+		outw(value, ADDR_CHAN_REG(REG_C0L, subdev_channel));
+		break;
+	default:		// Impossible
+		printk("s526: INSN_WRITE: Functionality %d not implemented yet\n", devpriv->s526_gpct_config[subdev_channel].app);
+		return -EINVAL;
+		break;
+	}
+	// return the number of samples written
+	return insn->n;
+}
+
+#define ISR_ADC_DONE 0x4
+static int s526_ai_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int result = -EINVAL;
+
+	if (insn->n < 1)
+		return result;
+
+	result = insn->n;
+
+	/* data[0] : channels was set in relevant bits.
+	   data[1] : delay
+	 */
+	/* COMMENT: abbotti 2008-07-24: I don't know why you'd want to
+	 * enable channels here.  The channel should be enabled in the
+	 * INSN_READ handler. */
+
+	// Enable ADC interrupt
+	outw(ISR_ADC_DONE, ADDR_REG(REG_IER));
+//      printk("s526: ADC current value: 0x%04x\n", inw(ADDR_REG(REG_ADC)));
+	devpriv->s526_ai_config = (data[0] & 0x3FF) << 5;
+	if (data[1] > 0)
+		devpriv->s526_ai_config |= 0x8000;	//set the delay
+
+	devpriv->s526_ai_config |= 0x0001;	// ADC start bit.
+
+	return result;
+}
+
+/*
+ * "instructions" read/write data in "one-shot" or "software-triggered"
+ * mode.
+ */
+static int s526_ai_rinsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int n, i;
+	int chan = CR_CHAN(insn->chanspec);
+	unsigned short value;
+	unsigned int d;
+	unsigned int status;
+
+	/* Set configured delay, enable channel for this channel only,
+	 * select "ADC read" channel, set "ADC start" bit. */
+	value = (devpriv->s526_ai_config & 0x8000) |
+		((1 << 5) << chan) | (chan << 1) | 0x0001;
+
+	/* convert n samples */
+	for (n = 0; n < insn->n; n++) {
+		/* trigger conversion */
+		outw(value, ADDR_REG(REG_ADC));
+//              printk("s526: Wrote 0x%04x to ADC\n", value);
+//              printk("s526: ADC reg=0x%04x\n", inw(ADDR_REG(REG_ADC)));
+
+#define TIMEOUT 100
+		/* wait for conversion to end */
+		for (i = 0; i < TIMEOUT; i++) {
+			status = inw(ADDR_REG(REG_ISR));
+			if (status & ISR_ADC_DONE) {
+				outw(ISR_ADC_DONE, ADDR_REG(REG_ISR));
+				break;
+			}
+		}
+		if (i == TIMEOUT) {
+			/* rt_printk() should be used instead of printk()
+			 * whenever the code can be called from real-time. */
+			rt_printk("s526: ADC(0x%04x) timeout\n",
+				inw(ADDR_REG(REG_ISR)));
+			return -ETIMEDOUT;
+		}
+
+		/* read data */
+		d = inw(ADDR_REG(REG_ADD));
+//              printk("AI[%d]=0x%04x\n", n, (unsigned short)(d & 0xFFFF));
+
+		/* munge data */
+		data[n] = d ^ 0x8000;
+	}
+
+	/* return the number of samples read/written */
+	return n;
+}
+
+static int s526_ao_winsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	int chan = CR_CHAN(insn->chanspec);
+	unsigned short val;
+
+//      printk("s526_ao_winsn\n");
+	val = chan << 1;
+//      outw(val, dev->iobase + REG_DAC);
+	outw(val, ADDR_REG(REG_DAC));
+
+	/* Writing a list of values to an AO channel is probably not
+	 * very useful, but that's how the interface is defined. */
+	for (i = 0; i < insn->n; i++) {
+		/* a typical programming sequence */
+//              outw(data[i], dev->iobase + REG_ADD);  // write the data to preload register
+		outw(data[i], ADDR_REG(REG_ADD));	// write the data to preload register
+		devpriv->ao_readback[chan] = data[i];
+//              outw(val + 1, dev->iobase + REG_DAC); // starts the D/A conversion.
+		outw(val + 1, ADDR_REG(REG_DAC));	// starts the D/A conversion.
+	}
+
+	/* return the number of samples read/written */
+	return i;
+}
+
+/* AO subdevices should have a read insn as well as a write insn.
+ * Usually this means copying a value stored in devpriv. */
+static int s526_ao_rinsn(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	int chan = CR_CHAN(insn->chanspec);
+
+	for (i = 0; i < insn->n; i++)
+		data[i] = devpriv->ao_readback[chan];
+
+	return i;
+}
+
+/* DIO devices are slightly special.  Although it is possible to
+ * implement the insn_read/insn_write interface, it is much more
+ * useful to applications if you implement the insn_bits interface.
+ * This allows packed reading/writing of the DIO channels.  The
+ * comedi core can convert between insn_bits and insn_read/write */
+static int s526_dio_insn_bits(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	if (insn->n != 2)
+		return -EINVAL;
+
+	/* The insn data is a mask in data[0] and the new data
+	 * in data[1], each channel cooresponding to a bit. */
+	if (data[0]) {
+		s->state &= ~data[0];
+		s->state |= data[0] & data[1];
+		/* Write out the new digital output lines */
+		outw(s->state, ADDR_REG(REG_DIO));
+	}
+
+	/* on return, data[1] contains the value of the digital
+	 * input and output lines. */
+	data[1] = inw(ADDR_REG(REG_DIO)) & 0xFF;	// low 8 bits are the data
+	/* or we could just return the software copy of the output values if
+	 * it was a purely digital output subdevice */
+	//data[1]=s->state;
+
+	return 2;
+}
+
+static int s526_dio_insn_config(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int chan = CR_CHAN(insn->chanspec);
+	sampl_t value;
+
+	printk("S526 DIO insn_config\n");
+
+	if (insn->n != 1)
+		return -EINVAL;
+
+	value = inw(ADDR_REG(REG_DIO));
+
+	/* The input or output configuration of each digital line is
+	 * configured by a special insn_config instruction.  chanspec
+	 * contains the channel to be changed, and data[0] contains the
+	 * value COMEDI_INPUT or COMEDI_OUTPUT. */
+
+	if (data[0] == COMEDI_OUTPUT) {
+		value |= 1 << (chan + 10);	// bit 10/11 set the group 1/2's mode
+		s->io_bits |= (0xF << chan);
+	} else {
+		value &= ~(1 << (chan + 10));	// 1 is output, 0 is input.
+		s->io_bits &= ~(0xF << chan);
+	}
+	outw(value, ADDR_REG(REG_DIO));
+
+	return 1;
+}
+
+/*
+ * A convenient macro that defines init_module() and cleanup_module(),
+ * as necessary.
+ */
+COMEDI_INITCLEANUP(driver_s526);