Commit | Line | Data |
---|---|---|
77e01cdb AB |
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 | ||
25436dc9 | 32 | #include <linux/interrupt.h> |
77e01cdb AB |
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 | ||
0a85b6f0 MT |
86 | static int multiq3_attach(struct comedi_device *dev, |
87 | struct comedi_devconfig *it); | |
da91b269 | 88 | static int multiq3_detach(struct comedi_device *dev); |
139dfbdf | 89 | static struct comedi_driver driver_multiq3 = { |
68c3dbff BP |
90 | .driver_name = "multiq3", |
91 | .module = THIS_MODULE, | |
92 | .attach = multiq3_attach, | |
93 | .detach = multiq3_detach, | |
77e01cdb AB |
94 | }; |
95 | ||
7114a280 AT |
96 | static int __init driver_multiq3_init_module(void) |
97 | { | |
98 | return comedi_driver_register(&driver_multiq3); | |
99 | } | |
100 | ||
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); | |
77e01cdb AB |
108 | |
109 | struct multiq3_private { | |
790c5541 | 110 | unsigned int ao_readback[2]; |
77e01cdb AB |
111 | }; |
112 | #define devpriv ((struct multiq3_private *)dev->private) | |
113 | ||
0a85b6f0 MT |
114 | static int multiq3_ai_insn_read(struct comedi_device *dev, |
115 | struct comedi_subdevice *s, | |
116 | struct comedi_insn *insn, unsigned int *data) | |
77e01cdb AB |
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), | |
0a85b6f0 | 124 | dev->iobase + MULTIQ3_CONTROL); |
77e01cdb AB |
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 + | |
0a85b6f0 | 137 | MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I) |
77e01cdb AB |
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 | ||
0a85b6f0 MT |
151 | static int multiq3_ao_insn_read(struct comedi_device *dev, |
152 | struct comedi_subdevice *s, | |
153 | struct comedi_insn *insn, unsigned int *data) | |
77e01cdb AB |
154 | { |
155 | int i; | |
156 | int chan = CR_CHAN(insn->chanspec); | |
157 | ||
446176a7 | 158 | for (i = 0; i < insn->n; i++) |
77e01cdb | 159 | data[i] = devpriv->ao_readback[chan]; |
77e01cdb AB |
160 | |
161 | return i; | |
162 | } | |
163 | ||
0a85b6f0 MT |
164 | static int multiq3_ao_insn_write(struct comedi_device *dev, |
165 | struct comedi_subdevice *s, | |
166 | struct comedi_insn *insn, unsigned int *data) | |
77e01cdb AB |
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, | |
0a85b6f0 | 173 | dev->iobase + MULTIQ3_CONTROL); |
77e01cdb AB |
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 | ||
0a85b6f0 MT |
183 | static int multiq3_di_insn_bits(struct comedi_device *dev, |
184 | struct comedi_subdevice *s, | |
185 | struct comedi_insn *insn, unsigned int *data) | |
77e01cdb AB |
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 | ||
0a85b6f0 MT |
195 | static int multiq3_do_insn_bits(struct comedi_device *dev, |
196 | struct comedi_subdevice *s, | |
197 | struct comedi_insn *insn, unsigned int *data) | |
77e01cdb AB |
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 | ||
0a85b6f0 MT |
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) | |
77e01cdb AB |
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 | ||
da91b269 | 234 | static void encoder_reset(struct comedi_device *dev) |
77e01cdb AB |
235 | { |
236 | int chan; | |
237 | for (chan = 0; chan < dev->subdevices[4].n_chan; chan++) { | |
238 | int control = | |
0a85b6f0 | 239 | MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3); |
77e01cdb AB |
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 | ||
0a85b6f0 MT |
257 | static int multiq3_attach(struct comedi_device *dev, |
258 | struct comedi_devconfig *it) | |
77e01cdb AB |
259 | { |
260 | int result = 0; | |
261 | unsigned long iobase; | |
262 | unsigned int irq; | |
34c43922 | 263 | struct comedi_subdevice *s; |
77e01cdb AB |
264 | |
265 | iobase = it->options[0]; | |
c5dba43b | 266 | printk(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase); |
77e01cdb | 267 | if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) { |
c5dba43b | 268 | printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor); |
77e01cdb AB |
269 | return -EIO; |
270 | } | |
271 | ||
272 | dev->iobase = iobase; | |
273 | ||
274 | irq = it->options[1]; | |
446176a7 | 275 | if (irq) |
c5dba43b KG |
276 | printk(KERN_WARNING "comedi%d: irq = %u ignored\n", |
277 | dev->minor, irq); | |
446176a7 | 278 | else |
c5dba43b | 279 | printk(KERN_WARNING "comedi%d: no irq\n", dev->minor); |
77e01cdb AB |
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 | ||
da91b269 | 341 | static int multiq3_detach(struct comedi_device *dev) |
77e01cdb | 342 | { |
c5dba43b | 343 | printk(KERN_INFO "comedi%d: multiq3: remove\n", dev->minor); |
77e01cdb | 344 | |
446176a7 | 345 | if (dev->iobase) |
77e01cdb | 346 | release_region(dev->iobase, MULTIQ3_SIZE); |
446176a7 | 347 | if (dev->irq) |
77e01cdb | 348 | free_irq(dev->irq, dev); |
77e01cdb AB |
349 | |
350 | return 0; | |
351 | } | |
90f703d3 AT |
352 | |
353 | MODULE_AUTHOR("Comedi http://www.comedi.org"); | |
354 | MODULE_DESCRIPTION("Comedi low-level driver"); | |
355 | MODULE_LICENSE("GPL"); |