diff options
Diffstat (limited to 'drivers/staging/comedi/drivers/multiq3.c')
-rw-r--r-- | drivers/staging/comedi/drivers/multiq3.c | 358 |
1 files changed, 205 insertions, 153 deletions
diff --git a/drivers/staging/comedi/drivers/multiq3.c b/drivers/staging/comedi/drivers/multiq3.c index 8471219210b6..b5a26f7b4332 100644 --- a/drivers/staging/comedi/drivers/multiq3.c +++ b/drivers/staging/comedi/drivers/multiq3.c @@ -1,79 +1,91 @@ /* - comedi/drivers/multiq3.c - Hardware driver for Quanser Consulting MultiQ-3 board - - 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. + * multiq3.c + * Hardware driver for Quanser Consulting MultiQ-3 board + * + * 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: multiq3 -Description: Quanser Consulting MultiQ-3 -Author: Anders Blomdell <anders.blomdell@control.lth.se> -Status: works -Devices: [Quanser Consulting] MultiQ-3 (multiq3) - -*/ - -#include <linux/module.h> -#include <linux/interrupt.h> -#include "../comedidev.h" /* - * MULTIQ-3 port offsets + * Driver: multiq3 + * Description: Quanser Consulting MultiQ-3 + * Devices: [Quanser Consulting] MultiQ-3 (multiq3) + * Author: Anders Blomdell <anders.blomdell@control.lth.se> + * Status: works + * + * Configuration Options: + * [0] - I/O port base address + * [1] - IRQ (not used) + * [2] - Number of optional encoder chips installed on board + * 0 = none + * 1 = 2 inputs (Model -2E) + * 2 = 4 inputs (Model -4E) + * 3 = 6 inputs (Model -6E) + * 4 = 8 inputs (Model -8E) */ -#define MULTIQ3_DIGIN_PORT 0 -#define MULTIQ3_DIGOUT_PORT 0 -#define MULTIQ3_DAC_DATA 2 -#define MULTIQ3_AD_DATA 4 -#define MULTIQ3_AD_CS 4 -#define MULTIQ3_STATUS 6 -#define MULTIQ3_CONTROL 6 -#define MULTIQ3_CLK_DATA 8 -#define MULTIQ3_ENC_DATA 12 -#define MULTIQ3_ENC_CONTROL 14 -/* - * flags for CONTROL register - */ -#define MULTIQ3_AD_MUX_EN 0x0040 -#define MULTIQ3_AD_AUTOZ 0x0080 -#define MULTIQ3_AD_AUTOCAL 0x0100 -#define MULTIQ3_AD_SH 0x0200 -#define MULTIQ3_AD_CLOCK_4M 0x0400 -#define MULTIQ3_DA_LOAD 0x1800 +#include <linux/module.h> -#define MULTIQ3_CONTROL_MUST 0x0600 +#include "../comedidev.h" /* - * flags for STATUS register + * Register map */ -#define MULTIQ3_STATUS_EOC 0x008 -#define MULTIQ3_STATUS_EOC_I 0x010 +#define MULTIQ3_DI_REG 0x00 +#define MULTIQ3_DO_REG 0x00 +#define MULTIQ3_AO_REG 0x02 +#define MULTIQ3_AI_REG 0x04 +#define MULTIQ3_AI_CONV_REG 0x04 +#define MULTIQ3_STATUS_REG 0x06 +#define MULTIQ3_STATUS_EOC BIT(3) +#define MULTIQ3_STATUS_EOC_I BIT(4) +#define MULTIQ3_CTRL_REG 0x06 +#define MULTIQ3_CTRL_AO_CHAN(x) (((x) & 0x7) << 0) +#define MULTIQ3_CTRL_RC(x) (((x) & 0x3) << 0) +#define MULTIQ3_CTRL_AI_CHAN(x) (((x) & 0x7) << 3) +#define MULTIQ3_CTRL_E_CHAN(x) (((x) & 0x7) << 3) +#define MULTIQ3_CTRL_EN BIT(6) +#define MULTIQ3_CTRL_AZ BIT(7) +#define MULTIQ3_CTRL_CAL BIT(8) +#define MULTIQ3_CTRL_SH BIT(9) +#define MULTIQ3_CTRL_CLK BIT(10) +#define MULTIQ3_CTRL_LD (3 << 11) +#define MULTIQ3_CLK_REG 0x08 +#define MULTIQ3_ENC_DATA_REG 0x0c +#define MULTIQ3_ENC_CTRL_REG 0x0e /* - * flags for encoder control + * Encoder chip commands (from the programming manual) */ -#define MULTIQ3_CLOCK_DATA 0x00 -#define MULTIQ3_CLOCK_SETUP 0x18 -#define MULTIQ3_INPUT_SETUP 0x41 -#define MULTIQ3_QUAD_X4 0x38 -#define MULTIQ3_BP_RESET 0x01 -#define MULTIQ3_CNTR_RESET 0x02 -#define MULTIQ3_TRSFRPR_CTR 0x08 -#define MULTIQ3_TRSFRCNTR_OL 0x10 -#define MULTIQ3_EFLAG_RESET 0x06 - -#define MULTIQ3_TIMEOUT 30 +#define MULTIQ3_CLOCK_DATA 0x00 /* FCK frequency divider */ +#define MULTIQ3_CLOCK_SETUP 0x18 /* xfer PR0 to PSC */ +#define MULTIQ3_INPUT_SETUP 0x41 /* enable inputs A and B */ +#define MULTIQ3_QUAD_X4 0x38 /* quadrature */ +#define MULTIQ3_BP_RESET 0x01 /* reset byte pointer */ +#define MULTIQ3_CNTR_RESET 0x02 /* reset counter */ +#define MULTIQ3_TRSFRPR_CTR 0x08 /* xfre preset reg to counter */ +#define MULTIQ3_TRSFRCNTR_OL 0x10 /* xfer CNTR to OL (x and y) */ +#define MULTIQ3_EFLAG_RESET 0x06 /* reset E bit of flag reg */ + +static void multiq3_set_ctrl(struct comedi_device *dev, unsigned int bits) +{ + /* + * According to the programming manual, the SH and CLK bits should + * be kept high at all times. + */ + outw(MULTIQ3_CTRL_SH | MULTIQ3_CTRL_CLK | bits, + dev->iobase + MULTIQ3_CTRL_REG); +} static int multiq3_ai_status(struct comedi_device *dev, struct comedi_subdevice *s, @@ -82,7 +94,7 @@ static int multiq3_ai_status(struct comedi_device *dev, { unsigned int status; - status = inw(dev->iobase + MULTIQ3_STATUS); + status = inw(dev->iobase + MULTIQ3_STATUS_REG); if (status & context) return 0; return -EBUSY; @@ -90,36 +102,39 @@ static int multiq3_ai_status(struct comedi_device *dev, static int multiq3_ai_insn_read(struct comedi_device *dev, struct comedi_subdevice *s, - struct comedi_insn *insn, unsigned int *data) + struct comedi_insn *insn, + unsigned int *data) { - int n; - int chan; - unsigned int hi, lo; + unsigned int chan = CR_CHAN(insn->chanspec); + unsigned int val; int ret; + int i; - chan = CR_CHAN(insn->chanspec); - outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3), - dev->iobase + MULTIQ3_CONTROL); + multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | MULTIQ3_CTRL_AI_CHAN(chan)); ret = comedi_timeout(dev, s, insn, multiq3_ai_status, MULTIQ3_STATUS_EOC); if (ret) return ret; - for (n = 0; n < insn->n; n++) { - outw(0, dev->iobase + MULTIQ3_AD_CS); + for (i = 0; i < insn->n; i++) { + outw(0, dev->iobase + MULTIQ3_AI_CONV_REG); ret = comedi_timeout(dev, s, insn, multiq3_ai_status, MULTIQ3_STATUS_EOC_I); if (ret) return ret; - hi = inb(dev->iobase + MULTIQ3_AD_CS); - lo = inb(dev->iobase + MULTIQ3_AD_CS); - data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff; + /* get a 16-bit sample; mask it to the subdevice resolution */ + val = inb(dev->iobase + MULTIQ3_AI_REG) << 8; + val |= inb(dev->iobase + MULTIQ3_AI_REG); + val &= s->maxdata; + + /* munge the 2's complement value to offset binary */ + data[i] = comedi_offset_munge(s, val); } - return n; + return insn->n; } static int multiq3_ao_insn_write(struct comedi_device *dev, @@ -133,10 +148,10 @@ static int multiq3_ao_insn_write(struct comedi_device *dev, for (i = 0; i < insn->n; i++) { val = data[i]; - outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan, - dev->iobase + MULTIQ3_CONTROL); - outw(val, dev->iobase + MULTIQ3_DAC_DATA); - outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL); + multiq3_set_ctrl(dev, MULTIQ3_CTRL_LD | + MULTIQ3_CTRL_AO_CHAN(chan)); + outw(val, dev->iobase + MULTIQ3_AO_REG); + multiq3_set_ctrl(dev, 0); } s->readback[chan] = val; @@ -147,7 +162,7 @@ static int multiq3_di_insn_bits(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { - data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT); + data[1] = inw(dev->iobase + MULTIQ3_DI_REG); return insn->n; } @@ -158,7 +173,7 @@ static int multiq3_do_insn_bits(struct comedi_device *dev, unsigned int *data) { if (comedi_dio_update_state(s, data)) - outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT); + outw(s->state, dev->iobase + MULTIQ3_DO_REG); data[1] = s->state; @@ -170,41 +185,76 @@ static int multiq3_encoder_insn_read(struct comedi_device *dev, struct comedi_insn *insn, unsigned int *data) { - int chan = CR_CHAN(insn->chanspec); - int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3); - int value; - int n; - - for (n = 0; n < insn->n; n++) { - outw(control, dev->iobase + MULTIQ3_CONTROL); - outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); - outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL); - value = inb(dev->iobase + MULTIQ3_ENC_DATA); - value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8); - value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16); - data[n] = (value + 0x800000) & 0xffffff; + unsigned int chan = CR_CHAN(insn->chanspec); + unsigned int val; + int i; + + for (i = 0; i < insn->n; i++) { + /* select encoder channel */ + multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | + MULTIQ3_CTRL_E_CHAN(chan)); + + /* reset the byte pointer */ + outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG); + + /* latch the data */ + outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CTRL_REG); + + /* read the 24-bit encoder data (lsb/mid/msb) */ + val = inb(dev->iobase + MULTIQ3_ENC_DATA_REG); + val |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 8); + val |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 16); + + /* + * Munge the data so that the reset value is in the middle + * of the maxdata range, i.e.: + * + * real value comedi value + * 0xffffff 0x7fffff 1 negative count + * 0x000000 0x800000 reset value + * 0x000001 0x800001 1 positive count + * + * It's possible for the 24-bit counter to overflow but it + * would normally take _quite_ a few turns. A 2000 line + * encoder in quadrature results in 8000 counts/rev. So about + * 1048 turns in either direction can be measured without + * an overflow. + */ + data[i] = (val + ((s->maxdata + 1) >> 1)) & s->maxdata; } - return n; + return insn->n; } -static void encoder_reset(struct comedi_device *dev) +static void multiq3_encoder_reset(struct comedi_device *dev, + unsigned int chan) { - struct comedi_subdevice *s = &dev->subdevices[4]; - int chan; - - for (chan = 0; chan < s->n_chan; chan++) { - int control = - MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3); - outw(control, dev->iobase + MULTIQ3_CONTROL); - outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); - outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); - outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA); - outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL); - outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL); - outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL); - outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL); + multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | MULTIQ3_CTRL_E_CHAN(chan)); + outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG); + outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG); + outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA_REG); + outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CTRL_REG); + outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CTRL_REG); + outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CTRL_REG); + outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG); +} + +static int multiq3_encoder_insn_config(struct comedi_device *dev, + struct comedi_subdevice *s, + struct comedi_insn *insn, + unsigned int *data) +{ + unsigned int chan = CR_CHAN(insn->chanspec); + + switch (data[0]) { + case INSN_CONFIG_RESET: + multiq3_encoder_reset(dev, chan); + break; + default: + return -EINVAL; } + + return insn->n; } static int multiq3_attach(struct comedi_device *dev, @@ -212,6 +262,7 @@ static int multiq3_attach(struct comedi_device *dev, { struct comedi_subdevice *s; int ret; + int i; ret = comedi_request_region(dev, it->options[0], 0x10); if (ret) @@ -221,57 +272,58 @@ static int multiq3_attach(struct comedi_device *dev, if (ret) return ret; + /* Analog Input subdevice */ s = &dev->subdevices[0]; - /* ai subdevice */ - s->type = COMEDI_SUBD_AI; - s->subdev_flags = SDF_READABLE | SDF_GROUND; - s->n_chan = 8; - s->insn_read = multiq3_ai_insn_read; - s->maxdata = 0x1fff; - s->range_table = &range_bipolar5; - + s->type = COMEDI_SUBD_AI; + s->subdev_flags = SDF_READABLE | SDF_GROUND; + s->n_chan = 8; + s->maxdata = 0x1fff; + s->range_table = &range_bipolar5; + s->insn_read = multiq3_ai_insn_read; + + /* Analog Output subdevice */ s = &dev->subdevices[1]; - /* ao subdevice */ - s->type = COMEDI_SUBD_AO; - s->subdev_flags = SDF_WRITABLE; - s->n_chan = 8; - s->maxdata = 0xfff; - s->range_table = &range_bipolar5; - s->insn_write = multiq3_ao_insn_write; + s->type = COMEDI_SUBD_AO; + s->subdev_flags = SDF_WRITABLE; + s->n_chan = 8; + s->maxdata = 0x0fff; + s->range_table = &range_bipolar5; + s->insn_write = multiq3_ao_insn_write; ret = comedi_alloc_subdev_readback(s); if (ret) return ret; + /* Digital Input subdevice */ s = &dev->subdevices[2]; - /* di subdevice */ - s->type = COMEDI_SUBD_DI; - s->subdev_flags = SDF_READABLE; - s->n_chan = 16; - s->insn_bits = multiq3_di_insn_bits; - s->maxdata = 1; - s->range_table = &range_digital; - + s->type = COMEDI_SUBD_DI; + s->subdev_flags = SDF_READABLE; + s->n_chan = 16; + s->maxdata = 1; + s->range_table = &range_digital; + s->insn_bits = multiq3_di_insn_bits; + + /* Digital Output subdevice */ s = &dev->subdevices[3]; - /* do subdevice */ - s->type = COMEDI_SUBD_DO; - s->subdev_flags = SDF_WRITABLE; - s->n_chan = 16; - s->insn_bits = multiq3_do_insn_bits; - s->maxdata = 1; - s->range_table = &range_digital; - s->state = 0; - + s->type = COMEDI_SUBD_DO; + s->subdev_flags = SDF_WRITABLE; + s->n_chan = 16; + s->maxdata = 1; + s->range_table = &range_digital; + s->insn_bits = multiq3_do_insn_bits; + + /* Encoder (Counter) subdevice */ s = &dev->subdevices[4]; - /* encoder (counter) subdevice */ - s->type = COMEDI_SUBD_COUNTER; - s->subdev_flags = SDF_READABLE | SDF_LSAMPL; - s->n_chan = it->options[2] * 2; - s->insn_read = multiq3_encoder_insn_read; - s->maxdata = 0xffffff; - s->range_table = &range_unknown; + s->type = COMEDI_SUBD_COUNTER; + s->subdev_flags = SDF_READABLE | SDF_LSAMPL; + s->n_chan = it->options[2] * 2; + s->maxdata = 0x00ffffff; + s->range_table = &range_unknown; + s->insn_read = multiq3_encoder_insn_read; + s->insn_config = multiq3_encoder_insn_config; - encoder_reset(dev); + for (i = 0; i < s->n_chan; i++) + multiq3_encoder_reset(dev, i); return 0; } @@ -285,5 +337,5 @@ static struct comedi_driver multiq3_driver = { module_comedi_driver(multiq3_driver); MODULE_AUTHOR("Comedi http://www.comedi.org"); -MODULE_DESCRIPTION("Comedi low-level driver"); +MODULE_DESCRIPTION("Comedi driver for Quanser Consulting MultiQ-3 board"); MODULE_LICENSE("GPL"); |