drivers/staging/comedi/drivers/daqboard2000.c

/*
 * comedi/drivers/daqboard2000.c
 * hardware driver for IOtech DAQboard/2000
 *
 * COMEDI - Linux Control and Measurement Device Interface
 * Copyright (C) 1999 Anders Blomdell <anders.blomdell@control.lth.se>
 *
 * 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.
 */
/*
 * Driver: daqboard2000
 * Description: IOTech DAQBoard/2000
 * Author: Anders Blomdell <anders.blomdell@control.lth.se>
 * Status: works
 * Updated: Mon, 14 Apr 2008 15:28:52 +0100
 * Devices: [IOTech] DAQBoard/2000 (daqboard2000)
 *
 * Much of the functionality of this driver was determined from reading
 * the source code for the Windows driver.
 *
 * The FPGA on the board requires fimware, which is available from
 * http://www.comedi.org in the comedi_nonfree_firmware tarball.
 *
 * Configuration options: not applicable, uses PCI auto config
 */
/*
 * This card was obviously never intended to leave the Windows world,
 * since it lacked all kind of hardware documentation (except for cable
 * pinouts, plug and pray has something to catch up with yet).
 *
 * With some help from our swedish distributor, we got the Windows sourcecode
 * for the card, and here are the findings so far.
 *
 * 1. A good document that describes the PCI interface chip is 9080db-106.pdf
 *    available from http://www.plxtech.com/products/io/pci9080
 *
 * 2. The initialization done so far is:
 *      a. program the FPGA (windows code sans a lot of error messages)
 *      b.
 *
 * 3. Analog out seems to work OK with DAC's disabled, if DAC's are enabled,
 *    you have to output values to all enabled DAC's until result appears, I
 *    guess that it has something to do with pacer clocks, but the source
 *    gives me no clues. I'll keep it simple so far.
 *
 * 4. Analog in.
 *    Each channel in the scanlist seems to be controlled by four
 *    control words:
 *
 *	Word0:
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	  ! | | | ! | | | ! | | | ! | | | !
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *
 *	Word1:
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	  ! | | | ! | | | ! | | | ! | | | !
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	   |             |       | | | | |
 *	   +------+------+       | | | | +-- Digital input (??)
 *		  |		 | | | +---- 10 us settling time
 *		  |		 | | +------ Suspend acquisition (last to scan)
 *		  |		 | +-------- Simultaneous sample and hold
 *		  |		 +---------- Signed data format
 *		  +------------------------- Correction offset low
 *
 *	Word2:
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	  ! | | | ! | | | ! | | | ! | | | !
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	   |     | |     | | | | | |     |
 *	   +-----+ +--+--+ +++ +++ +--+--+
 *	      |       |     |   |     +----- Expansion channel
 *	      |       |     |   +----------- Expansion gain
 *	      |       |     +--------------- Channel (low)
 *	      |       +--------------------- Correction offset high
 *	      +----------------------------- Correction gain low
 *	Word3:
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	  ! | | | ! | | | ! | | | ! | | | !
 *	  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 *	   |             | | | |   | | | |
 *	   +------+------+ | | +-+-+ | | +-- Low bank enable
 *		  |	   | |   |   | +---- High bank enable
 *		  |	   | |   |   +------ Hi/low select
 *		  |	   | |   +---------- Gain (1,?,2,4,8,16,32,64)
 *		  |	   | +-------------- differential/single ended
 *		  |	   +---------------- Unipolar
 *		  +------------------------- Correction gain high
 *
 * 999. The card seems to have an incredible amount of capabilities, but
 *      trying to reverse engineer them from the Windows source is beyond my
 *      patience.
 *
 */

#include <linux/module.h>
#include <linux/delay.h>
#include <linux/interrupt.h>

#include "../comedi_pci.h"

#include "8255.h"

#define DAQBOARD2000_FIRMWARE		"daqboard2000_firmware.bin"

#define DAQBOARD2000_SUBSYSTEM_IDS2	0x0002	/* Daqboard/2000 - 2 Dacs */
#define DAQBOARD2000_SUBSYSTEM_IDS4	0x0004	/* Daqboard/2000 - 4 Dacs */

/* Initialization bits for the Serial EEPROM Control Register */
#define DAQBOARD2000_SECRProgPinHi      0x8001767e
#define DAQBOARD2000_SECRProgPinLo      0x8000767e
#define DAQBOARD2000_SECRLocalBusHi     0xc000767e
#define DAQBOARD2000_SECRLocalBusLo     0x8000767e
#define DAQBOARD2000_SECRReloadHi       0xa000767e
#define DAQBOARD2000_SECRReloadLo       0x8000767e

/* SECR status bits */
#define DAQBOARD2000_EEPROM_PRESENT     0x10000000

/* CPLD status bits */
#define DAQBOARD2000_CPLD_INIT		0x0002
#define DAQBOARD2000_CPLD_DONE		0x0004

static const struct comedi_lrange range_daqboard2000_ai = {
	13, {
		BIP_RANGE(10),
		BIP_RANGE(5),
		BIP_RANGE(2.5),
		BIP_RANGE(1.25),
		BIP_RANGE(0.625),
		BIP_RANGE(0.3125),
		BIP_RANGE(0.156),
		UNI_RANGE(10),
		UNI_RANGE(5),
		UNI_RANGE(2.5),
		UNI_RANGE(1.25),
		UNI_RANGE(0.625),
		UNI_RANGE(0.3125)
	}
};

/*
 * Register Memory Map
 */
#define acqControl			0x00		/* u16 */
#define acqScanListFIFO			0x02		/* u16 */
#define acqPacerClockDivLow		0x04		/* u32 */
#define acqScanCounter			0x08		/* u16 */
#define acqPacerClockDivHigh		0x0a		/* u16 */
#define acqTriggerCount			0x0c		/* u16 */
#define acqResultsFIFO			0x10		/* u16 */
#define acqResultsShadow		0x14		/* u16 */
#define acqAdcResult			0x18		/* u16 */
#define dacScanCounter			0x1c		/* u16 */
#define dacControl			0x20		/* u16 */
#define dacFIFO				0x24		/* s16 */
#define dacPacerClockDiv		0x2a		/* u16 */
#define refDacs				0x2c		/* u16 */
#define dioControl			0x30		/* u16 */
#define dioP3hsioData			0x32		/* s16 */
#define dioP3Control			0x34		/* u16 */
#define calEepromControl		0x36		/* u16 */
#define dacSetting(x)			(0x38 + (x)*2)	/* s16 */
#define dioP2ExpansionIO8Bit		0x40		/* s16 */
#define ctrTmrControl			0x80		/* u16 */
#define ctrInput(x)			(0x88 + (x)*2)	/* s16 */
#define timerDivisor(x)			(0xa0 + (x)*2)	/* u16 */
#define dmaControl			0xb0		/* u16 */
#define trigControl			0xb2		/* u16 */
#define calEeprom			0xb8		/* u16 */
#define acqDigitalMark			0xba		/* u16 */
#define trigDacs			0xbc		/* u16 */
#define dioP2ExpansionIO16Bit(x)	(0xc0 + (x)*2)	/* s16 */

/* Scan Sequencer programming */
#define DAQBOARD2000_SeqStartScanList            0x0011
#define DAQBOARD2000_SeqStopScanList             0x0010

/* Prepare for acquisition */
#define DAQBOARD2000_AcqResetScanListFifo        0x0004
#define DAQBOARD2000_AcqResetResultsFifo         0x0002
#define DAQBOARD2000_AcqResetConfigPipe          0x0001

/* Acqusition status bits */
#define DAQBOARD2000_AcqResultsFIFOMore1Sample   0x0001
#define DAQBOARD2000_AcqResultsFIFOHasValidData  0x0002
#define DAQBOARD2000_AcqResultsFIFOOverrun       0x0004
#define DAQBOARD2000_AcqLogicScanning            0x0008
#define DAQBOARD2000_AcqConfigPipeFull           0x0010
#define DAQBOARD2000_AcqScanListFIFOEmpty        0x0020
#define DAQBOARD2000_AcqAdcNotReady              0x0040
#define DAQBOARD2000_ArbitrationFailure          0x0080
#define DAQBOARD2000_AcqPacerOverrun             0x0100
#define DAQBOARD2000_DacPacerOverrun             0x0200
#define DAQBOARD2000_AcqHardwareError            0x01c0

/* Scan Sequencer programming */
#define DAQBOARD2000_SeqStartScanList            0x0011
#define DAQBOARD2000_SeqStopScanList             0x0010

/* Pacer Clock Control */
#define DAQBOARD2000_AdcPacerInternal            0x0030
#define DAQBOARD2000_AdcPacerExternal            0x0032
#define DAQBOARD2000_AdcPacerEnable              0x0031
#define DAQBOARD2000_AdcPacerEnableDacPacer      0x0034
#define DAQBOARD2000_AdcPacerDisable             0x0030
#define DAQBOARD2000_AdcPacerNormalMode          0x0060
#define DAQBOARD2000_AdcPacerCompatibilityMode   0x0061
#define DAQBOARD2000_AdcPacerInternalOutEnable   0x0008
#define DAQBOARD2000_AdcPacerExternalRising      0x0100

/* DAC status */
#define DAQBOARD2000_DacFull                     0x0001
#define DAQBOARD2000_RefBusy                     0x0002
#define DAQBOARD2000_TrgBusy                     0x0004
#define DAQBOARD2000_CalBusy                     0x0008
#define DAQBOARD2000_Dac0Busy                    0x0010
#define DAQBOARD2000_Dac1Busy                    0x0020
#define DAQBOARD2000_Dac2Busy                    0x0040
#define DAQBOARD2000_Dac3Busy                    0x0080

/* DAC control */
#define DAQBOARD2000_Dac0Enable                  0x0021
#define DAQBOARD2000_Dac1Enable                  0x0031
#define DAQBOARD2000_Dac2Enable                  0x0041
#define DAQBOARD2000_Dac3Enable                  0x0051
#define DAQBOARD2000_DacEnableBit                0x0001
#define DAQBOARD2000_Dac0Disable                 0x0020
#define DAQBOARD2000_Dac1Disable                 0x0030
#define DAQBOARD2000_Dac2Disable                 0x0040
#define DAQBOARD2000_Dac3Disable                 0x0050
#define DAQBOARD2000_DacResetFifo                0x0004
#define DAQBOARD2000_DacPatternDisable           0x0060
#define DAQBOARD2000_DacPatternEnable            0x0061
#define DAQBOARD2000_DacSelectSignedData         0x0002
#define DAQBOARD2000_DacSelectUnsignedData       0x0000

/* Trigger Control */
#define DAQBOARD2000_TrigAnalog                  0x0000
#define DAQBOARD2000_TrigTTL                     0x0010
#define DAQBOARD2000_TrigTransHiLo               0x0004
#define DAQBOARD2000_TrigTransLoHi               0x0000
#define DAQBOARD2000_TrigAbove                   0x0000
#define DAQBOARD2000_TrigBelow                   0x0004
#define DAQBOARD2000_TrigLevelSense              0x0002
#define DAQBOARD2000_TrigEdgeSense               0x0000
#define DAQBOARD2000_TrigEnable                  0x0001
#define DAQBOARD2000_TrigDisable                 0x0000

/* Reference Dac Selection */
#define DAQBOARD2000_PosRefDacSelect             0x0100
#define DAQBOARD2000_NegRefDacSelect             0x0000

struct daq200_boardtype {
	const char *name;
	int id;
};
static const struct daq200_boardtype boardtypes[] = {
	{"ids2", DAQBOARD2000_SUBSYSTEM_IDS2},
	{"ids4", DAQBOARD2000_SUBSYSTEM_IDS4},
};

struct daqboard2000_private {
	enum {
		card_daqboard_2000
	} card;
	void __iomem *plx;
};

static void writeAcqScanListEntry(struct comedi_device *dev, u16 entry)
{
	/* udelay(4); */
	writew(entry & 0x00ff, dev->mmio + acqScanListFIFO);
	/* udelay(4); */
	writew((entry >> 8) & 0x00ff, dev->mmio + acqScanListFIFO);
}

static void setup_sampling(struct comedi_device *dev, int chan, int gain)
{
	u16 word0, word1, word2, word3;

	/* Channel 0-7 diff, channel 8-23 single ended */
	word0 = 0;
	word1 = 0x0004;		/* Last scan */
	word2 = (chan << 6) & 0x00c0;
	switch (chan / 4) {
	case 0:
		word3 = 0x0001;
		break;
	case 1:
		word3 = 0x0002;
		break;
	case 2:
		word3 = 0x0005;
		break;
	case 3:
		word3 = 0x0006;
		break;
	case 4:
		word3 = 0x0041;
		break;
	case 5:
		word3 = 0x0042;
		break;
	default:
		word3 = 0;
		break;
	}
/*
  dev->eeprom.correctionDACSE[i][j][k].offset = 0x800;
  dev->eeprom.correctionDACSE[i][j][k].gain = 0xc00;
*/
	/* These should be read from EEPROM */
	word2 |= 0x0800;
	word3 |= 0xc000;
	writeAcqScanListEntry(dev, word0);
	writeAcqScanListEntry(dev, word1);
	writeAcqScanListEntry(dev, word2);
	writeAcqScanListEntry(dev, word3);
}

static int daqboard2000_ai_status(struct comedi_device *dev,
				  struct comedi_subdevice *s,
				  struct comedi_insn *insn,
				  unsigned long context)
{
	unsigned int status;

	status = readw(dev->mmio + acqControl);
	if (status & context)
		return 0;
	return -EBUSY;
}

static int daqboard2000_ai_insn_read(struct comedi_device *dev,
				     struct comedi_subdevice *s,
				     struct comedi_insn *insn,
				     unsigned int *data)
{
	int gain, chan;
	int ret;
	int i;

	writew(DAQBOARD2000_AcqResetScanListFifo |
	       DAQBOARD2000_AcqResetResultsFifo |
	       DAQBOARD2000_AcqResetConfigPipe, dev->mmio + acqControl);

	/*
	 * If pacer clock is not set to some high value (> 10 us), we
	 * risk multiple samples to be put into the result FIFO.
	 */
	/* 1 second, should be long enough */
	writel(1000000, dev->mmio + acqPacerClockDivLow);
	writew(0, dev->mmio + acqPacerClockDivHigh);

	gain = CR_RANGE(insn->chanspec);
	chan = CR_CHAN(insn->chanspec);

	/* This doesn't look efficient.  I decided to take the conservative
	 * approach when I did the insn conversion.  Perhaps it would be
	 * better to have broken it completely, then someone would have been
	 * forced to fix it.  --ds */
	for (i = 0; i < insn->n; i++) {
		setup_sampling(dev, chan, gain);
		/* Enable reading from the scanlist FIFO */
		writew(DAQBOARD2000_SeqStartScanList, dev->mmio + acqControl);

		ret = comedi_timeout(dev, s, insn, daqboard2000_ai_status,
				     DAQBOARD2000_AcqConfigPipeFull);
		if (ret)
			return ret;

		writew(DAQBOARD2000_AdcPacerEnable, dev->mmio + acqControl);

		ret = comedi_timeout(dev, s, insn, daqboard2000_ai_status,
				     DAQBOARD2000_AcqLogicScanning);
		if (ret)
			return ret;

		ret = comedi_timeout(dev, s, insn, daqboard2000_ai_status,
				     DAQBOARD2000_AcqResultsFIFOHasValidData);
		if (ret)
			return ret;

		data[i] = readw(dev->mmio + acqResultsFIFO);
		writew(DAQBOARD2000_AdcPacerDisable, dev->mmio + acqControl);
		writew(DAQBOARD2000_SeqStopScanList, dev->mmio + acqControl);
	}

	return i;
}

static int daqboard2000_ao_eoc(struct comedi_device *dev,
			       struct comedi_subdevice *s,
			       struct comedi_insn *insn,
			       unsigned long context)
{
	unsigned int chan = CR_CHAN(insn->chanspec);
	unsigned int status;

	status = readw(dev->mmio + dacControl);
	if ((status & ((chan + 1) * 0x0010)) == 0)
		return 0;
	return -EBUSY;
}

static int daqboard2000_ao_insn_write(struct comedi_device *dev,
				      struct comedi_subdevice *s,
				      struct comedi_insn *insn,
				      unsigned int *data)
{
	unsigned int chan = CR_CHAN(insn->chanspec);
	int i;

	for (i = 0; i < insn->n; i++) {
		unsigned int val = data[i];
		int ret;

		writew(val, dev->mmio + dacSetting(chan));

		ret = comedi_timeout(dev, s, insn, daqboard2000_ao_eoc, 0);
		if (ret)
			return ret;

		s->readback[chan] = val;
	}

	return insn->n;
}

static void daqboard2000_resetLocalBus(struct comedi_device *dev)
{
	struct daqboard2000_private *devpriv = dev->private;

	writel(DAQBOARD2000_SECRLocalBusHi, devpriv->plx + 0x6c);
	mdelay(10);
	writel(DAQBOARD2000_SECRLocalBusLo, devpriv->plx + 0x6c);
	mdelay(10);
}

static void daqboard2000_reloadPLX(struct comedi_device *dev)
{
	struct daqboard2000_private *devpriv = dev->private;

	writel(DAQBOARD2000_SECRReloadLo, devpriv->plx + 0x6c);
	mdelay(10);
	writel(DAQBOARD2000_SECRReloadHi, devpriv->plx + 0x6c);
	mdelay(10);
	writel(DAQBOARD2000_SECRReloadLo, devpriv->plx + 0x6c);
	mdelay(10);
}

static void daqboard2000_pulseProgPin(struct comedi_device *dev)
{
	struct daqboard2000_private *devpriv = dev->private;

	writel(DAQBOARD2000_SECRProgPinHi, devpriv->plx + 0x6c);
	mdelay(10);
	writel(DAQBOARD2000_SECRProgPinLo, devpriv->plx + 0x6c);
	mdelay(10);	/* Not in the original code, but I like symmetry... */
}

static int daqboard2000_pollCPLD(struct comedi_device *dev, int mask)
{
	int result = 0;
	int i;
	int cpld;

	/* timeout after 50 tries -> 5ms */
	for (i = 0; i < 50; i++) {
		cpld = readw(dev->mmio + 0x1000);
		if ((cpld & mask) == mask) {
			result = 1;
			break;
		}
		udelay(100);
	}
	udelay(5);
	return result;
}

static int daqboard2000_writeCPLD(struct comedi_device *dev, int data)
{
	int result = 0;

	udelay(10);
	writew(data, dev->mmio + 0x1000);
	if ((readw(dev->mmio + 0x1000) & DAQBOARD2000_CPLD_INIT) ==
	    DAQBOARD2000_CPLD_INIT) {
		result = 1;
	}
	return result;
}

static int initialize_daqboard2000(struct comedi_device *dev,
				   const u8 *cpld_array, size_t len,
				   unsigned long context)
{
	struct daqboard2000_private *devpriv = dev->private;
	int result = -EIO;
	/* Read the serial EEPROM control register */
	int secr;
	int retry;
	size_t i;

	/* Check to make sure the serial eeprom is present on the board */
	secr = readl(devpriv->plx + 0x6c);
	if (!(secr & DAQBOARD2000_EEPROM_PRESENT))
		return -EIO;

	for (retry = 0; retry < 3; retry++) {
		daqboard2000_resetLocalBus(dev);
		daqboard2000_reloadPLX(dev);
		daqboard2000_pulseProgPin(dev);
		if (daqboard2000_pollCPLD(dev, DAQBOARD2000_CPLD_INIT)) {
			for (i = 0; i < len; i++) {
				if (cpld_array[i] == 0xff &&
				    cpld_array[i + 1] == 0x20)
					break;
			}
			for (; i < len; i += 2) {
				int data =
				    (cpld_array[i] << 8) + cpld_array[i + 1];
				if (!daqboard2000_writeCPLD(dev, data))
					break;
			}
			if (i >= len) {
				daqboard2000_resetLocalBus(dev);
				daqboard2000_reloadPLX(dev);
				result = 0;
				break;
			}
		}
	}
	return result;
}

static void daqboard2000_adcStopDmaTransfer(struct comedi_device *dev)
{
}

static void daqboard2000_adcDisarm(struct comedi_device *dev)
{
	/* Disable hardware triggers */
	udelay(2);
	writew(DAQBOARD2000_TrigAnalog | DAQBOARD2000_TrigDisable,
	       dev->mmio + trigControl);
	udelay(2);
	writew(DAQBOARD2000_TrigTTL | DAQBOARD2000_TrigDisable,
	       dev->mmio + trigControl);

	/* Stop the scan list FIFO from loading the configuration pipe */
	udelay(2);
	writew(DAQBOARD2000_SeqStopScanList, dev->mmio + acqControl);

	/* Stop the pacer clock */
	udelay(2);
	writew(DAQBOARD2000_AdcPacerDisable, dev->mmio + acqControl);

	/* Stop the input dma (abort channel 1) */
	daqboard2000_adcStopDmaTransfer(dev);
}

static void daqboard2000_activateReferenceDacs(struct comedi_device *dev)
{
	unsigned int val;
	int timeout;

	/*  Set the + reference dac value in the FPGA */
	writew(0x80 | DAQBOARD2000_PosRefDacSelect, dev->mmio + refDacs);
	for (timeout = 0; timeout < 20; timeout++) {
		val = readw(dev->mmio + dacControl);
		if ((val & DAQBOARD2000_RefBusy) == 0)
			break;
		udelay(2);
	}

	/*  Set the - reference dac value in the FPGA */
	writew(0x80 | DAQBOARD2000_NegRefDacSelect, dev->mmio + refDacs);
	for (timeout = 0; timeout < 20; timeout++) {
		val = readw(dev->mmio + dacControl);
		if ((val & DAQBOARD2000_RefBusy) == 0)
			break;
		udelay(2);
	}
}

static void daqboard2000_initializeCtrs(struct comedi_device *dev)
{
}

static void daqboard2000_initializeTmrs(struct comedi_device *dev)
{
}

static void daqboard2000_dacDisarm(struct comedi_device *dev)
{
}

static void daqboard2000_initializeAdc(struct comedi_device *dev)
{
	daqboard2000_adcDisarm(dev);
	daqboard2000_activateReferenceDacs(dev);
	daqboard2000_initializeCtrs(dev);
	daqboard2000_initializeTmrs(dev);
}

static void daqboard2000_initializeDac(struct comedi_device *dev)
{
	daqboard2000_dacDisarm(dev);
}

static int daqboard2000_8255_cb(struct comedi_device *dev,
				int dir, int port, int data,
				unsigned long iobase)
{
	if (dir) {
		writew(data, dev->mmio + iobase + port * 2);
		return 0;
	}
	return readw(dev->mmio + iobase + port * 2);
}

static const void *daqboard2000_find_boardinfo(struct comedi_device *dev,
					       struct pci_dev *pcidev)
{
	const struct daq200_boardtype *board;
	int i;

	if (pcidev->subsystem_device != PCI_VENDOR_ID_IOTECH)
		return NULL;

	for (i = 0; i < ARRAY_SIZE(boardtypes); i++) {
		board = &boardtypes[i];
		if (pcidev->subsystem_device == board->id)
			return board;
	}
	return NULL;
}

static int daqboard2000_auto_attach(struct comedi_device *dev,
				    unsigned long context_unused)
{
	struct pci_dev *pcidev = comedi_to_pci_dev(dev);
	const struct daq200_boardtype *board;
	struct daqboard2000_private *devpriv;
	struct comedi_subdevice *s;
	int result;

	board = daqboard2000_find_boardinfo(dev, pcidev);
	if (!board)
		return -ENODEV;
	dev->board_ptr = board;
	dev->board_name = board->name;

	devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
	if (!devpriv)
		return -ENOMEM;

	result = comedi_pci_enable(dev);
	if (result)
		return result;

	devpriv->plx = pci_ioremap_bar(pcidev, 0);
	dev->mmio = pci_ioremap_bar(pcidev, 2);
	if (!devpriv->plx || !dev->mmio)
		return -ENOMEM;

	result = comedi_alloc_subdevices(dev, 3);
	if (result)
		return result;

	readl(devpriv->plx + 0x6c);

	result = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
				      DAQBOARD2000_FIRMWARE,
				      initialize_daqboard2000, 0);
	if (result < 0)
		return result;

	daqboard2000_initializeAdc(dev);
	daqboard2000_initializeDac(dev);

	s = &dev->subdevices[0];
	/* ai subdevice */
	s->type = COMEDI_SUBD_AI;
	s->subdev_flags = SDF_READABLE | SDF_GROUND;
	s->n_chan = 24;
	s->maxdata = 0xffff;
	s->insn_read = daqboard2000_ai_insn_read;
	s->range_table = &range_daqboard2000_ai;

	s = &dev->subdevices[1];
	/* ao subdevice */
	s->type = COMEDI_SUBD_AO;
	s->subdev_flags = SDF_WRITABLE;
	s->n_chan = 2;
	s->maxdata = 0xffff;
	s->insn_write = daqboard2000_ao_insn_write;
	s->range_table = &range_bipolar10;

	result = comedi_alloc_subdev_readback(s);
	if (result)
		return result;

	s = &dev->subdevices[2];
	result = subdev_8255_init(dev, s, daqboard2000_8255_cb,
				  dioP2ExpansionIO8Bit);
	if (result)
		return result;

	return 0;
}

static void daqboard2000_detach(struct comedi_device *dev)
{
	struct daqboard2000_private *devpriv = dev->private;

	if (devpriv && devpriv->plx)
		iounmap(devpriv->plx);
	comedi_pci_detach(dev);
}

static struct comedi_driver daqboard2000_driver = {
	.driver_name	= "daqboard2000",
	.module		= THIS_MODULE,
	.auto_attach	= daqboard2000_auto_attach,
	.detach		= daqboard2000_detach,
};

static int daqboard2000_pci_probe(struct pci_dev *dev,
				  const struct pci_device_id *id)
{
	return comedi_pci_auto_config(dev, &daqboard2000_driver,
				      id->driver_data);
}

static const struct pci_device_id daqboard2000_pci_table[] = {
	{ PCI_DEVICE(PCI_VENDOR_ID_IOTECH, 0x0409) },
	{ 0 }
};
MODULE_DEVICE_TABLE(pci, daqboard2000_pci_table);

static struct pci_driver daqboard2000_pci_driver = {
	.name		= "daqboard2000",
	.id_table	= daqboard2000_pci_table,
	.probe		= daqboard2000_pci_probe,
	.remove		= comedi_pci_auto_unconfig,
};
module_comedi_pci_driver(daqboard2000_driver, daqboard2000_pci_driver);

MODULE_AUTHOR("Comedi http://www.comedi.org");
MODULE_DESCRIPTION("Comedi low-level driver");
MODULE_LICENSE("GPL");
MODULE_FIRMWARE(DAQBOARD2000_FIRMWARE);