multiq3.c

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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 <[email protected]>

   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 <[email protected]>
Status: works
Devices: [Quanser Consulting] MultiQ-3 (multiq3)

*/

#include <linux/interrupt.h>
#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

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)
{
    data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);

    return insn->n;
}

static int multiq3_do_insn_bits(struct comedi_device *dev,
                struct comedi_subdevice *s,
                struct comedi_insn *insn, unsigned int *data)
{
    s->state &= ~data[0];
    s->state |= (data[0] & data[1]);
    outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);

    data[1] = s->state;

    return insn->n;
}

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)
{
    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);
    }
}

/*
   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(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
    if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
        printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor);
        return -EIO;
    }

    dev->iobase = iobase;

    irq = it->options[1];
    if (irq)
        printk(KERN_WARNING "comedi%d: irq = %u ignored\n",
            dev->minor, irq);
    else
        printk(KERN_WARNING "comedi%d: no irq\n", dev->minor);
    dev->board_name = "multiq3";

    result = comedi_alloc_subdevices(dev, 5);
    if (result)
        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 void multiq3_detach(struct comedi_device *dev)
{
    if (dev->iobase)
        release_region(dev->iobase, MULTIQ3_SIZE);
    if (dev->irq)
        free_irq(dev->irq, dev);
}

static struct comedi_driver multiq3_driver = {
    .driver_name    = "multiq3",
    .module     = THIS_MODULE,
    .attach     = multiq3_attach,
    .detach     = multiq3_detach,
};
module_comedi_driver(multiq3_driver);

MODULE_AUTHOR("Comedi http://www.comedi.org");
MODULE_DESCRIPTION("Comedi low-level driver");
MODULE_LICENSE("GPL");