multiq3.c revision 7114a28011f9d5f3d981731ad341177c21f9d948 
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