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/*
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.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
/*
Driver: multiq3
Description: Quanser Consulting MultiQ-3
Author: Anders Blomdell <anders.blomdell@control.lth.se>
Status: works
Devices: [Quanser Consulting] MultiQ-3 (multiq3)
*/
#include "../comedidev.h"
#include <linux/ioport.h>
#define MULTIQ3_SIZE 16
/*
* MULTIQ-3 port offsets
*/
#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
#define MULTIQ3_CONTROL_MUST 0x0600
/*
* flags for STATUS register
*/
#define MULTIQ3_STATUS_EOC 0x008
#define MULTIQ3_STATUS_EOC_I 0x010
/*
* flags for encoder control
*/
#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
static int multiq3_attach(struct comedi_device * dev, struct comedi_devconfig * it);
static int multiq3_detach(struct comedi_device * dev);
static struct comedi_driver driver_multiq3 = {
driver_name:"multiq3",
module:THIS_MODULE,
attach:multiq3_attach,
detach:multiq3_detach,
};
COMEDI_INITCLEANUP(driver_multiq3);
struct multiq3_private {
unsigned int ao_readback[2];
};
#define devpriv ((struct multiq3_private *)dev->private)
static int multiq3_ai_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
struct comedi_insn * insn, unsigned int * data)
{
int i, n;
int chan;
unsigned int hi, lo;
chan = CR_CHAN(insn->chanspec);
outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
dev->iobase + MULTIQ3_CONTROL);
for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC)
break;
}
if (i == MULTIQ3_TIMEOUT)
return -ETIMEDOUT;
for (n = 0; n < insn->n; n++) {
outw(0, dev->iobase + MULTIQ3_AD_CS);
for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
if (inw(dev->iobase +
MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I)
break;
}
if (i == MULTIQ3_TIMEOUT)
return -ETIMEDOUT;
hi = inb(dev->iobase + MULTIQ3_AD_CS);
lo = inb(dev->iobase + MULTIQ3_AD_CS);
data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
}
return n;
}
static int multiq3_ao_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
struct comedi_insn * insn, unsigned int * data)
{
int i;
int chan = CR_CHAN(insn->chanspec);
for (i = 0; i < insn->n; i++) {
data[i] = devpriv->ao_readback[chan];
}
return i;
}
static int multiq3_ao_insn_write(struct comedi_device * dev, struct comedi_subdevice * s,
struct comedi_insn * insn, unsigned int * data)
{
int i;
int chan = CR_CHAN(insn->chanspec);
for (i = 0; i < insn->n; i++) {
outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
dev->iobase + MULTIQ3_CONTROL);
outw(data[i], dev->iobase + MULTIQ3_DAC_DATA);
outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
devpriv->ao_readback[chan] = data[i];
}
return i;
}
static int multiq3_di_insn_bits(struct comedi_device * dev, struct comedi_subdevice * s,
struct comedi_insn * insn, unsigned int * data)
{
if (insn->n != 2)
return -EINVAL;
data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
return 2;
}
static int multiq3_do_insn_bits(struct comedi_device * dev, struct comedi_subdevice * s,
struct comedi_insn * insn, unsigned int * data)
{
if (insn->n != 2)
return -EINVAL;
s->state &= ~data[0];
s->state |= (data[0] & data[1]);
outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
data[1] = s->state;
return 2;
}
static int multiq3_encoder_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
struct comedi_insn * insn, unsigned int * data)
{
int n;
int chan = CR_CHAN(insn->chanspec);
int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
for (n = 0; n < insn->n; n++) {
int value;
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;
}
return n;
}
static void encoder_reset(struct comedi_device * dev)
{
int chan;
for (chan = 0; chan < dev->subdevices[4].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);
}
}
/*
options[0] - I/O port
options[1] - irq
options[2] - number of encoder chips installed
*/
static int multiq3_attach(struct comedi_device * dev, struct comedi_devconfig * it)
{
int result = 0;
unsigned long iobase;
unsigned int irq;
struct comedi_subdevice *s;
iobase = it->options[0];
printk("comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
printk("comedi%d: I/O port conflict\n", dev->minor);
return -EIO;
}
dev->iobase = iobase;
irq = it->options[1];
if (irq) {
printk("comedi%d: irq = %u ignored\n", dev->minor, irq);
} else {
printk("comedi%d: no irq\n", dev->minor);
}
dev->board_name = "multiq3";
result = alloc_subdevices(dev, 5);
if (result < 0)
return result;
result = alloc_private(dev, sizeof(struct multiq3_private));
if (result < 0)
return result;
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 = dev->subdevices + 1;
/* ao subdevice */
s->type = COMEDI_SUBD_AO;
s->subdev_flags = SDF_WRITABLE;
s->n_chan = 8;
s->insn_read = multiq3_ao_insn_read;
s->insn_write = multiq3_ao_insn_write;
s->maxdata = 0xfff;
s->range_table = &range_bipolar5;
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 = 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 = 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;
encoder_reset(dev);
return 0;
}
static int multiq3_detach(struct comedi_device * dev)
{
printk("comedi%d: multiq3: remove\n", dev->minor);
if (dev->iobase) {
release_region(dev->iobase, MULTIQ3_SIZE);
}
if (dev->irq) {
free_irq(dev->irq, dev);
}
return 0;
}
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