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 /*
24 Driver: multiq3
25 Description: Quanser Consulting MultiQ-3
26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
27 Status: works
28 Devices: [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
86 static int multiq3_attach(struct comedi_device *dev,
87 struct comedi_devconfig *it);
88 static int multiq3_detach(struct comedi_device *dev);
89 static struct comedi_driver driver_multiq3 = {
90 .driver_name = "multiq3",
91 .module = THIS_MODULE,
92 .attach = multiq3_attach,
93 .detach = multiq3_detach,
94 };
95
driver_multiq3_init_module(void)96 static int __init driver_multiq3_init_module(void)
97 {
98 return comedi_driver_register(&driver_multiq3);
99 }
100
driver_multiq3_cleanup_module(void)101 static void __exit driver_multiq3_cleanup_module(void)
102 {
103 comedi_driver_unregister(&driver_multiq3);
104 }
105
106 module_init(driver_multiq3_init_module);
107 module_exit(driver_multiq3_cleanup_module);
108
109 struct multiq3_private {
110 unsigned int ao_readback[2];
111 };
112 #define devpriv ((struct multiq3_private *)dev->private)
113
multiq3_ai_insn_read(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)114 static 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
multiq3_ao_insn_read(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)151 static 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
multiq3_ao_insn_write(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)164 static 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
multiq3_di_insn_bits(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)183 static 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
multiq3_do_insn_bits(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)195 static 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
multiq3_encoder_insn_read(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)211 static 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
encoder_reset(struct comedi_device * dev)234 static 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
multiq3_attach(struct comedi_device * dev,struct comedi_devconfig * it)257 static 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
multiq3_detach(struct comedi_device * dev)341 static 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
353 MODULE_AUTHOR("Comedi http://www.comedi.org");
354 MODULE_DESCRIPTION("Comedi low-level driver");
355 MODULE_LICENSE("GPL");
356