multiq3.c revision 90f703d30dd3e0c16ff80f35e34e511385a05ad5 
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
96COMEDI_INITCLEANUP(driver_multiq3);
97
98struct multiq3_private {
99	unsigned int ao_readback[2];
100};
101#define devpriv ((struct multiq3_private *)dev->private)
102
103static int multiq3_ai_insn_read(struct comedi_device *dev,
104				struct comedi_subdevice *s,
105				struct comedi_insn *insn, unsigned int *data)
106{
107	int i, n;
108	int chan;
109	unsigned int hi, lo;
110
111	chan = CR_CHAN(insn->chanspec);
112	outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
113	     dev->iobase + MULTIQ3_CONTROL);
114
115	for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
116		if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC)
117			break;
118	}
119	if (i == MULTIQ3_TIMEOUT)
120		return -ETIMEDOUT;
121
122	for (n = 0; n < insn->n; n++) {
123		outw(0, dev->iobase + MULTIQ3_AD_CS);
124		for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
125			if (inw(dev->iobase +
126				MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I)
127				break;
128		}
129		if (i == MULTIQ3_TIMEOUT)
130			return -ETIMEDOUT;
131
132		hi = inb(dev->iobase + MULTIQ3_AD_CS);
133		lo = inb(dev->iobase + MULTIQ3_AD_CS);
134		data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
135	}
136
137	return n;
138}
139
140static int multiq3_ao_insn_read(struct comedi_device *dev,
141				struct comedi_subdevice *s,
142				struct comedi_insn *insn, unsigned int *data)
143{
144	int i;
145	int chan = CR_CHAN(insn->chanspec);
146
147	for (i = 0; i < insn->n; i++)
148		data[i] = devpriv->ao_readback[chan];
149
150	return i;
151}
152
153static int multiq3_ao_insn_write(struct comedi_device *dev,
154				 struct comedi_subdevice *s,
155				 struct comedi_insn *insn, unsigned int *data)
156{
157	int i;
158	int chan = CR_CHAN(insn->chanspec);
159
160	for (i = 0; i < insn->n; i++) {
161		outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
162		     dev->iobase + MULTIQ3_CONTROL);
163		outw(data[i], dev->iobase + MULTIQ3_DAC_DATA);
164		outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
165
166		devpriv->ao_readback[chan] = data[i];
167	}
168
169	return i;
170}
171
172static int multiq3_di_insn_bits(struct comedi_device *dev,
173				struct comedi_subdevice *s,
174				struct comedi_insn *insn, unsigned int *data)
175{
176	if (insn->n != 2)
177		return -EINVAL;
178
179	data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
180
181	return 2;
182}
183
184static int multiq3_do_insn_bits(struct comedi_device *dev,
185				struct comedi_subdevice *s,
186				struct comedi_insn *insn, unsigned int *data)
187{
188	if (insn->n != 2)
189		return -EINVAL;
190
191	s->state &= ~data[0];
192	s->state |= (data[0] & data[1]);
193	outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
194
195	data[1] = s->state;
196
197	return 2;
198}
199
200static int multiq3_encoder_insn_read(struct comedi_device *dev,
201				     struct comedi_subdevice *s,
202				     struct comedi_insn *insn,
203				     unsigned int *data)
204{
205	int n;
206	int chan = CR_CHAN(insn->chanspec);
207	int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
208
209	for (n = 0; n < insn->n; n++) {
210		int value;
211		outw(control, dev->iobase + MULTIQ3_CONTROL);
212		outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
213		outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL);
214		value = inb(dev->iobase + MULTIQ3_ENC_DATA);
215		value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8);
216		value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16);
217		data[n] = (value + 0x800000) & 0xffffff;
218	}
219
220	return n;
221}
222
223static void encoder_reset(struct comedi_device *dev)
224{
225	int chan;
226	for (chan = 0; chan < dev->subdevices[4].n_chan; chan++) {
227		int control =
228		    MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
229		outw(control, dev->iobase + MULTIQ3_CONTROL);
230		outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
231		outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
232		outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA);
233		outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
234		outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
235		outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL);
236		outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
237	}
238}
239
240/*
241   options[0] - I/O port
242   options[1] - irq
243   options[2] - number of encoder chips installed
244 */
245
246static int multiq3_attach(struct comedi_device *dev,
247			  struct comedi_devconfig *it)
248{
249	int result = 0;
250	unsigned long iobase;
251	unsigned int irq;
252	struct comedi_subdevice *s;
253
254	iobase = it->options[0];
255	printk(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
256	if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
257		printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor);
258		return -EIO;
259	}
260
261	dev->iobase = iobase;
262
263	irq = it->options[1];
264	if (irq)
265		printk(KERN_WARNING "comedi%d: irq = %u ignored\n",
266			dev->minor, irq);
267	else
268		printk(KERN_WARNING "comedi%d: no irq\n", dev->minor);
269	dev->board_name = "multiq3";
270	result = alloc_subdevices(dev, 5);
271	if (result < 0)
272		return result;
273
274	result = alloc_private(dev, sizeof(struct multiq3_private));
275	if (result < 0)
276		return result;
277
278	s = dev->subdevices + 0;
279	/* ai subdevice */
280	s->type = COMEDI_SUBD_AI;
281	s->subdev_flags = SDF_READABLE | SDF_GROUND;
282	s->n_chan = 8;
283	s->insn_read = multiq3_ai_insn_read;
284	s->maxdata = 0x1fff;
285	s->range_table = &range_bipolar5;
286
287	s = dev->subdevices + 1;
288	/* ao subdevice */
289	s->type = COMEDI_SUBD_AO;
290	s->subdev_flags = SDF_WRITABLE;
291	s->n_chan = 8;
292	s->insn_read = multiq3_ao_insn_read;
293	s->insn_write = multiq3_ao_insn_write;
294	s->maxdata = 0xfff;
295	s->range_table = &range_bipolar5;
296
297	s = dev->subdevices + 2;
298	/* di subdevice */
299	s->type = COMEDI_SUBD_DI;
300	s->subdev_flags = SDF_READABLE;
301	s->n_chan = 16;
302	s->insn_bits = multiq3_di_insn_bits;
303	s->maxdata = 1;
304	s->range_table = &range_digital;
305
306	s = dev->subdevices + 3;
307	/* do subdevice */
308	s->type = COMEDI_SUBD_DO;
309	s->subdev_flags = SDF_WRITABLE;
310	s->n_chan = 16;
311	s->insn_bits = multiq3_do_insn_bits;
312	s->maxdata = 1;
313	s->range_table = &range_digital;
314	s->state = 0;
315
316	s = dev->subdevices + 4;
317	/* encoder (counter) subdevice */
318	s->type = COMEDI_SUBD_COUNTER;
319	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
320	s->n_chan = it->options[2] * 2;
321	s->insn_read = multiq3_encoder_insn_read;
322	s->maxdata = 0xffffff;
323	s->range_table = &range_unknown;
324
325	encoder_reset(dev);
326
327	return 0;
328}
329
330static int multiq3_detach(struct comedi_device *dev)
331{
332	printk(KERN_INFO "comedi%d: multiq3: remove\n", dev->minor);
333
334	if (dev->iobase)
335		release_region(dev->iobase, MULTIQ3_SIZE);
336	if (dev->irq)
337		free_irq(dev->irq, dev);
338
339	return 0;
340}
341
342MODULE_AUTHOR("Comedi http://www.comedi.org");
343MODULE_DESCRIPTION("Comedi low-level driver");
344MODULE_LICENSE("GPL");
345