1/* 2 comedi/drivers/multiq3.c 3 Hardware driver for Quanser Consulting MultiQ-3 board 4 5 COMEDI - Linux Control and Measurement Device Interface 6 Copyright (C) 1999 Anders Blomdell <anders.blomdell@control.lth.se> 7 8 This program is free software; you can redistribute it and/or modify 9 it under the terms of the GNU General Public License as published by 10 the Free Software Foundation; either version 2 of the License, or 11 (at your option) any later version. 12 13 This program is distributed in the hope that it will be useful, 14 but WITHOUT ANY WARRANTY; without even the implied warranty of 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 16 GNU General Public License for more details. 17 18 You should have received a copy of the GNU General Public License 19 along with this program; if not, write to the Free Software 20 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 21 22 */ 23/* 24Driver: multiq3 25Description: Quanser Consulting MultiQ-3 26Author: Anders Blomdell <anders.blomdell@control.lth.se> 27Status: works 28Devices: [Quanser Consulting] MultiQ-3 (multiq3) 29 30*/ 31 32#include <linux/interrupt.h> 33#include "../comedidev.h" 34 35#include <linux/ioport.h> 36 37#define MULTIQ3_SIZE 16 38 39/* 40 * MULTIQ-3 port offsets 41 */ 42#define MULTIQ3_DIGIN_PORT 0 43#define MULTIQ3_DIGOUT_PORT 0 44#define MULTIQ3_DAC_DATA 2 45#define MULTIQ3_AD_DATA 4 46#define MULTIQ3_AD_CS 4 47#define MULTIQ3_STATUS 6 48#define MULTIQ3_CONTROL 6 49#define MULTIQ3_CLK_DATA 8 50#define MULTIQ3_ENC_DATA 12 51#define MULTIQ3_ENC_CONTROL 14 52 53/* 54 * flags for CONTROL register 55 */ 56#define MULTIQ3_AD_MUX_EN 0x0040 57#define MULTIQ3_AD_AUTOZ 0x0080 58#define MULTIQ3_AD_AUTOCAL 0x0100 59#define MULTIQ3_AD_SH 0x0200 60#define MULTIQ3_AD_CLOCK_4M 0x0400 61#define MULTIQ3_DA_LOAD 0x1800 62 63#define MULTIQ3_CONTROL_MUST 0x0600 64 65/* 66 * flags for STATUS register 67 */ 68#define MULTIQ3_STATUS_EOC 0x008 69#define MULTIQ3_STATUS_EOC_I 0x010 70 71/* 72 * flags for encoder control 73 */ 74#define MULTIQ3_CLOCK_DATA 0x00 75#define MULTIQ3_CLOCK_SETUP 0x18 76#define MULTIQ3_INPUT_SETUP 0x41 77#define MULTIQ3_QUAD_X4 0x38 78#define MULTIQ3_BP_RESET 0x01 79#define MULTIQ3_CNTR_RESET 0x02 80#define MULTIQ3_TRSFRPR_CTR 0x08 81#define MULTIQ3_TRSFRCNTR_OL 0x10 82#define MULTIQ3_EFLAG_RESET 0x06 83 84#define MULTIQ3_TIMEOUT 30 85 86static int multiq3_attach(struct comedi_device *dev, 87 struct comedi_devconfig *it); 88static int multiq3_detach(struct comedi_device *dev); 89static struct comedi_driver driver_multiq3 = { 90 .driver_name = "multiq3", 91 .module = THIS_MODULE, 92 .attach = multiq3_attach, 93 .detach = multiq3_detach, 94}; 95 96static int __init driver_multiq3_init_module(void) 97{ 98 return comedi_driver_register(&driver_multiq3); 99} 100 101static void __exit driver_multiq3_cleanup_module(void) 102{ 103 comedi_driver_unregister(&driver_multiq3); 104} 105 106module_init(driver_multiq3_init_module); 107module_exit(driver_multiq3_cleanup_module); 108 109struct multiq3_private { 110 unsigned int ao_readback[2]; 111}; 112#define devpriv ((struct multiq3_private *)dev->private) 113 114static int multiq3_ai_insn_read(struct comedi_device *dev, 115 struct comedi_subdevice *s, 116 struct comedi_insn *insn, unsigned int *data) 117{ 118 int i, n; 119 int chan; 120 unsigned int hi, lo; 121 122 chan = CR_CHAN(insn->chanspec); 123 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3), 124 dev->iobase + MULTIQ3_CONTROL); 125 126 for (i = 0; i < MULTIQ3_TIMEOUT; i++) { 127 if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC) 128 break; 129 } 130 if (i == MULTIQ3_TIMEOUT) 131 return -ETIMEDOUT; 132 133 for (n = 0; n < insn->n; n++) { 134 outw(0, dev->iobase + MULTIQ3_AD_CS); 135 for (i = 0; i < MULTIQ3_TIMEOUT; i++) { 136 if (inw(dev->iobase + 137 MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I) 138 break; 139 } 140 if (i == MULTIQ3_TIMEOUT) 141 return -ETIMEDOUT; 142 143 hi = inb(dev->iobase + MULTIQ3_AD_CS); 144 lo = inb(dev->iobase + MULTIQ3_AD_CS); 145 data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff; 146 } 147 148 return n; 149} 150 151static int multiq3_ao_insn_read(struct comedi_device *dev, 152 struct comedi_subdevice *s, 153 struct comedi_insn *insn, unsigned int *data) 154{ 155 int i; 156 int chan = CR_CHAN(insn->chanspec); 157 158 for (i = 0; i < insn->n; i++) 159 data[i] = devpriv->ao_readback[chan]; 160 161 return i; 162} 163 164static int multiq3_ao_insn_write(struct comedi_device *dev, 165 struct comedi_subdevice *s, 166 struct comedi_insn *insn, unsigned int *data) 167{ 168 int i; 169 int chan = CR_CHAN(insn->chanspec); 170 171 for (i = 0; i < insn->n; i++) { 172 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan, 173 dev->iobase + MULTIQ3_CONTROL); 174 outw(data[i], dev->iobase + MULTIQ3_DAC_DATA); 175 outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL); 176 177 devpriv->ao_readback[chan] = data[i]; 178 } 179 180 return i; 181} 182 183static int multiq3_di_insn_bits(struct comedi_device *dev, 184 struct comedi_subdevice *s, 185 struct comedi_insn *insn, unsigned int *data) 186{ 187 if (insn->n != 2) 188 return -EINVAL; 189 190 data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT); 191 192 return 2; 193} 194 195static int multiq3_do_insn_bits(struct comedi_device *dev, 196 struct comedi_subdevice *s, 197 struct comedi_insn *insn, unsigned int *data) 198{ 199 if (insn->n != 2) 200 return -EINVAL; 201 202 s->state &= ~data[0]; 203 s->state |= (data[0] & data[1]); 204 outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT); 205 206 data[1] = s->state; 207 208 return 2; 209} 210 211static int multiq3_encoder_insn_read(struct comedi_device *dev, 212 struct comedi_subdevice *s, 213 struct comedi_insn *insn, 214 unsigned int *data) 215{ 216 int n; 217 int chan = CR_CHAN(insn->chanspec); 218 int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3); 219 220 for (n = 0; n < insn->n; n++) { 221 int value; 222 outw(control, dev->iobase + MULTIQ3_CONTROL); 223 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); 224 outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL); 225 value = inb(dev->iobase + MULTIQ3_ENC_DATA); 226 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8); 227 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16); 228 data[n] = (value + 0x800000) & 0xffffff; 229 } 230 231 return n; 232} 233 234static void encoder_reset(struct comedi_device *dev) 235{ 236 int chan; 237 for (chan = 0; chan < dev->subdevices[4].n_chan; chan++) { 238 int control = 239 MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3); 240 outw(control, dev->iobase + MULTIQ3_CONTROL); 241 outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); 242 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); 243 outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA); 244 outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL); 245 outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL); 246 outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL); 247 outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); 248 } 249} 250 251/* 252 options[0] - I/O port 253 options[1] - irq 254 options[2] - number of encoder chips installed 255 */ 256 257static int multiq3_attach(struct comedi_device *dev, 258 struct comedi_devconfig *it) 259{ 260 int result = 0; 261 unsigned long iobase; 262 unsigned int irq; 263 struct comedi_subdevice *s; 264 265 iobase = it->options[0]; 266 printk(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase); 267 if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) { 268 printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor); 269 return -EIO; 270 } 271 272 dev->iobase = iobase; 273 274 irq = it->options[1]; 275 if (irq) 276 printk(KERN_WARNING "comedi%d: irq = %u ignored\n", 277 dev->minor, irq); 278 else 279 printk(KERN_WARNING "comedi%d: no irq\n", dev->minor); 280 dev->board_name = "multiq3"; 281 result = alloc_subdevices(dev, 5); 282 if (result < 0) 283 return result; 284 285 result = alloc_private(dev, sizeof(struct multiq3_private)); 286 if (result < 0) 287 return result; 288 289 s = dev->subdevices + 0; 290 /* ai subdevice */ 291 s->type = COMEDI_SUBD_AI; 292 s->subdev_flags = SDF_READABLE | SDF_GROUND; 293 s->n_chan = 8; 294 s->insn_read = multiq3_ai_insn_read; 295 s->maxdata = 0x1fff; 296 s->range_table = &range_bipolar5; 297 298 s = dev->subdevices + 1; 299 /* ao subdevice */ 300 s->type = COMEDI_SUBD_AO; 301 s->subdev_flags = SDF_WRITABLE; 302 s->n_chan = 8; 303 s->insn_read = multiq3_ao_insn_read; 304 s->insn_write = multiq3_ao_insn_write; 305 s->maxdata = 0xfff; 306 s->range_table = &range_bipolar5; 307 308 s = dev->subdevices + 2; 309 /* di subdevice */ 310 s->type = COMEDI_SUBD_DI; 311 s->subdev_flags = SDF_READABLE; 312 s->n_chan = 16; 313 s->insn_bits = multiq3_di_insn_bits; 314 s->maxdata = 1; 315 s->range_table = &range_digital; 316 317 s = dev->subdevices + 3; 318 /* do subdevice */ 319 s->type = COMEDI_SUBD_DO; 320 s->subdev_flags = SDF_WRITABLE; 321 s->n_chan = 16; 322 s->insn_bits = multiq3_do_insn_bits; 323 s->maxdata = 1; 324 s->range_table = &range_digital; 325 s->state = 0; 326 327 s = dev->subdevices + 4; 328 /* encoder (counter) subdevice */ 329 s->type = COMEDI_SUBD_COUNTER; 330 s->subdev_flags = SDF_READABLE | SDF_LSAMPL; 331 s->n_chan = it->options[2] * 2; 332 s->insn_read = multiq3_encoder_insn_read; 333 s->maxdata = 0xffffff; 334 s->range_table = &range_unknown; 335 336 encoder_reset(dev); 337 338 return 0; 339} 340 341static int multiq3_detach(struct comedi_device *dev) 342{ 343 printk(KERN_INFO "comedi%d: multiq3: remove\n", dev->minor); 344 345 if (dev->iobase) 346 release_region(dev->iobase, MULTIQ3_SIZE); 347 if (dev->irq) 348 free_irq(dev->irq, dev); 349 350 return 0; 351} 352 353MODULE_AUTHOR("Comedi http://www.comedi.org"); 354MODULE_DESCRIPTION("Comedi low-level driver"); 355MODULE_LICENSE("GPL"); 356