multiq3.c revision 71b5f4f11971dea972832ad63a994c7e5b45db6b 
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 "../comedidev.h"
33
34#include <linux/ioport.h>
35
36#define MULTIQ3_SIZE 16
37
38/*
39 * MULTIQ-3 port offsets
40 */
41#define MULTIQ3_DIGIN_PORT 0
42#define MULTIQ3_DIGOUT_PORT 0
43#define MULTIQ3_DAC_DATA 2
44#define MULTIQ3_AD_DATA 4
45#define MULTIQ3_AD_CS 4
46#define MULTIQ3_STATUS 6
47#define MULTIQ3_CONTROL 6
48#define MULTIQ3_CLK_DATA 8
49#define MULTIQ3_ENC_DATA 12
50#define MULTIQ3_ENC_CONTROL 14
51
52/*
53 * flags for CONTROL register
54 */
55#define MULTIQ3_AD_MUX_EN      0x0040
56#define MULTIQ3_AD_AUTOZ       0x0080
57#define MULTIQ3_AD_AUTOCAL     0x0100
58#define MULTIQ3_AD_SH          0x0200
59#define MULTIQ3_AD_CLOCK_4M    0x0400
60#define MULTIQ3_DA_LOAD                0x1800
61
62#define MULTIQ3_CONTROL_MUST    0x0600
63
64/*
65 * flags for STATUS register
66 */
67#define MULTIQ3_STATUS_EOC      0x008
68#define MULTIQ3_STATUS_EOC_I    0x010
69
70/*
71 * flags for encoder control
72 */
73#define MULTIQ3_CLOCK_DATA      0x00
74#define MULTIQ3_CLOCK_SETUP     0x18
75#define MULTIQ3_INPUT_SETUP     0x41
76#define MULTIQ3_QUAD_X4         0x38
77#define MULTIQ3_BP_RESET        0x01
78#define MULTIQ3_CNTR_RESET      0x02
79#define MULTIQ3_TRSFRPR_CTR     0x08
80#define MULTIQ3_TRSFRCNTR_OL    0x10
81#define MULTIQ3_EFLAG_RESET     0x06
82
83#define MULTIQ3_TIMEOUT 30
84
85static int multiq3_attach(struct comedi_device * dev, comedi_devconfig * it);
86static int multiq3_detach(struct comedi_device * dev);
87static comedi_driver driver_multiq3 = {
88      driver_name:"multiq3",
89      module:THIS_MODULE,
90      attach:multiq3_attach,
91      detach:multiq3_detach,
92};
93
94COMEDI_INITCLEANUP(driver_multiq3);
95
96struct multiq3_private {
97	unsigned int ao_readback[2];
98};
99#define devpriv ((struct multiq3_private *)dev->private)
100
101static int multiq3_ai_insn_read(struct comedi_device * dev, comedi_subdevice * s,
102	comedi_insn * insn, unsigned int * data)
103{
104	int i, n;
105	int chan;
106	unsigned int hi, lo;
107
108	chan = CR_CHAN(insn->chanspec);
109	outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
110		dev->iobase + MULTIQ3_CONTROL);
111
112	for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
113		if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC)
114			break;
115	}
116	if (i == MULTIQ3_TIMEOUT)
117		return -ETIMEDOUT;
118
119	for (n = 0; n < insn->n; n++) {
120		outw(0, dev->iobase + MULTIQ3_AD_CS);
121		for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
122			if (inw(dev->iobase +
123					MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I)
124				break;
125		}
126		if (i == MULTIQ3_TIMEOUT)
127			return -ETIMEDOUT;
128
129		hi = inb(dev->iobase + MULTIQ3_AD_CS);
130		lo = inb(dev->iobase + MULTIQ3_AD_CS);
131		data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
132	}
133
134	return n;
135}
136
137static int multiq3_ao_insn_read(struct comedi_device * dev, comedi_subdevice * s,
138	comedi_insn * insn, unsigned int * data)
139{
140	int i;
141	int chan = CR_CHAN(insn->chanspec);
142
143	for (i = 0; i < insn->n; i++) {
144		data[i] = devpriv->ao_readback[chan];
145	}
146
147	return i;
148}
149
150static int multiq3_ao_insn_write(struct comedi_device * dev, comedi_subdevice * s,
151	comedi_insn * insn, unsigned int * data)
152{
153	int i;
154	int chan = CR_CHAN(insn->chanspec);
155
156	for (i = 0; i < insn->n; i++) {
157		outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
158			dev->iobase + MULTIQ3_CONTROL);
159		outw(data[i], dev->iobase + MULTIQ3_DAC_DATA);
160		outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
161
162		devpriv->ao_readback[chan] = data[i];
163	}
164
165	return i;
166}
167
168static int multiq3_di_insn_bits(struct comedi_device * dev, comedi_subdevice * s,
169	comedi_insn * insn, unsigned int * data)
170{
171	if (insn->n != 2)
172		return -EINVAL;
173
174	data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
175
176	return 2;
177}
178
179static int multiq3_do_insn_bits(struct comedi_device * dev, comedi_subdevice * s,
180	comedi_insn * insn, unsigned int * data)
181{
182	if (insn->n != 2)
183		return -EINVAL;
184
185	s->state &= ~data[0];
186	s->state |= (data[0] & data[1]);
187	outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
188
189	data[1] = s->state;
190
191	return 2;
192}
193
194static int multiq3_encoder_insn_read(struct comedi_device * dev, comedi_subdevice * s,
195	comedi_insn * insn, unsigned int * data)
196{
197	int n;
198	int chan = CR_CHAN(insn->chanspec);
199	int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
200
201	for (n = 0; n < insn->n; n++) {
202		int value;
203		outw(control, dev->iobase + MULTIQ3_CONTROL);
204		outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
205		outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL);
206		value = inb(dev->iobase + MULTIQ3_ENC_DATA);
207		value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8);
208		value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16);
209		data[n] = (value + 0x800000) & 0xffffff;
210	}
211
212	return n;
213}
214
215static void encoder_reset(struct comedi_device * dev)
216{
217	int chan;
218	for (chan = 0; chan < dev->subdevices[4].n_chan; chan++) {
219		int control =
220			MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
221		outw(control, dev->iobase + MULTIQ3_CONTROL);
222		outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
223		outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
224		outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA);
225		outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
226		outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
227		outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL);
228		outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
229	}
230}
231
232/*
233   options[0] - I/O port
234   options[1] - irq
235   options[2] - number of encoder chips installed
236 */
237
238static int multiq3_attach(struct comedi_device * dev, comedi_devconfig * it)
239{
240	int result = 0;
241	unsigned long iobase;
242	unsigned int irq;
243	comedi_subdevice *s;
244
245	iobase = it->options[0];
246	printk("comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
247	if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
248		printk("comedi%d: I/O port conflict\n", dev->minor);
249		return -EIO;
250	}
251
252	dev->iobase = iobase;
253
254	irq = it->options[1];
255	if (irq) {
256		printk("comedi%d: irq = %u ignored\n", dev->minor, irq);
257	} else {
258		printk("comedi%d: no irq\n", dev->minor);
259	}
260	dev->board_name = "multiq3";
261	result = alloc_subdevices(dev, 5);
262	if (result < 0)
263		return result;
264
265	result = alloc_private(dev, sizeof(struct multiq3_private));
266	if (result < 0)
267		return result;
268
269	s = dev->subdevices + 0;
270	/* ai subdevice */
271	s->type = COMEDI_SUBD_AI;
272	s->subdev_flags = SDF_READABLE | SDF_GROUND;
273	s->n_chan = 8;
274	s->insn_read = multiq3_ai_insn_read;
275	s->maxdata = 0x1fff;
276	s->range_table = &range_bipolar5;
277
278	s = dev->subdevices + 1;
279	/* ao subdevice */
280	s->type = COMEDI_SUBD_AO;
281	s->subdev_flags = SDF_WRITABLE;
282	s->n_chan = 8;
283	s->insn_read = multiq3_ao_insn_read;
284	s->insn_write = multiq3_ao_insn_write;
285	s->maxdata = 0xfff;
286	s->range_table = &range_bipolar5;
287
288	s = dev->subdevices + 2;
289	/* di subdevice */
290	s->type = COMEDI_SUBD_DI;
291	s->subdev_flags = SDF_READABLE;
292	s->n_chan = 16;
293	s->insn_bits = multiq3_di_insn_bits;
294	s->maxdata = 1;
295	s->range_table = &range_digital;
296
297	s = dev->subdevices + 3;
298	/* do subdevice */
299	s->type = COMEDI_SUBD_DO;
300	s->subdev_flags = SDF_WRITABLE;
301	s->n_chan = 16;
302	s->insn_bits = multiq3_do_insn_bits;
303	s->maxdata = 1;
304	s->range_table = &range_digital;
305	s->state = 0;
306
307	s = dev->subdevices + 4;
308	/* encoder (counter) subdevice */
309	s->type = COMEDI_SUBD_COUNTER;
310	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
311	s->n_chan = it->options[2] * 2;
312	s->insn_read = multiq3_encoder_insn_read;
313	s->maxdata = 0xffffff;
314	s->range_table = &range_unknown;
315
316	encoder_reset(dev);
317
318	return 0;
319}
320
321static int multiq3_detach(struct comedi_device * dev)
322{
323	printk("comedi%d: multiq3: remove\n", dev->minor);
324
325	if (dev->iobase) {
326		release_region(dev->iobase, MULTIQ3_SIZE);
327	}
328	if (dev->irq) {
329		free_irq(dev->irq, dev);
330	}
331
332	return 0;
333}
334