2 comedi/drivers/multiq3.c
3 Hardware driver for Quanser Consulting MultiQ-3 board
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 1999 Anders Blomdell <anders.blomdell@control.lth.se>
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.
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.
20 Description: Quanser Consulting MultiQ-3
21 Author: Anders Blomdell <anders.blomdell@control.lth.se>
23 Devices: [Quanser Consulting] MultiQ-3 (multiq3)
27 #include <linux/interrupt.h>
28 #include "../comedidev.h"
30 #include <linux/ioport.h>
32 #define MULTIQ3_SIZE 16
35 * MULTIQ-3 port offsets
37 #define MULTIQ3_DIGIN_PORT 0
38 #define MULTIQ3_DIGOUT_PORT 0
39 #define MULTIQ3_DAC_DATA 2
40 #define MULTIQ3_AD_DATA 4
41 #define MULTIQ3_AD_CS 4
42 #define MULTIQ3_STATUS 6
43 #define MULTIQ3_CONTROL 6
44 #define MULTIQ3_CLK_DATA 8
45 #define MULTIQ3_ENC_DATA 12
46 #define MULTIQ3_ENC_CONTROL 14
49 * flags for CONTROL register
51 #define MULTIQ3_AD_MUX_EN 0x0040
52 #define MULTIQ3_AD_AUTOZ 0x0080
53 #define MULTIQ3_AD_AUTOCAL 0x0100
54 #define MULTIQ3_AD_SH 0x0200
55 #define MULTIQ3_AD_CLOCK_4M 0x0400
56 #define MULTIQ3_DA_LOAD 0x1800
58 #define MULTIQ3_CONTROL_MUST 0x0600
61 * flags for STATUS register
63 #define MULTIQ3_STATUS_EOC 0x008
64 #define MULTIQ3_STATUS_EOC_I 0x010
67 * flags for encoder control
69 #define MULTIQ3_CLOCK_DATA 0x00
70 #define MULTIQ3_CLOCK_SETUP 0x18
71 #define MULTIQ3_INPUT_SETUP 0x41
72 #define MULTIQ3_QUAD_X4 0x38
73 #define MULTIQ3_BP_RESET 0x01
74 #define MULTIQ3_CNTR_RESET 0x02
75 #define MULTIQ3_TRSFRPR_CTR 0x08
76 #define MULTIQ3_TRSFRCNTR_OL 0x10
77 #define MULTIQ3_EFLAG_RESET 0x06
79 #define MULTIQ3_TIMEOUT 30
81 struct multiq3_private {
82 unsigned int ao_readback[2];
85 static int multiq3_ai_insn_read(struct comedi_device *dev,
86 struct comedi_subdevice *s,
87 struct comedi_insn *insn, unsigned int *data)
93 chan = CR_CHAN(insn->chanspec);
94 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
95 dev->iobase + MULTIQ3_CONTROL);
97 for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
98 if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC)
101 if (i == MULTIQ3_TIMEOUT)
104 for (n = 0; n < insn->n; n++) {
105 outw(0, dev->iobase + MULTIQ3_AD_CS);
106 for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
107 if (inw(dev->iobase +
108 MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I)
111 if (i == MULTIQ3_TIMEOUT)
114 hi = inb(dev->iobase + MULTIQ3_AD_CS);
115 lo = inb(dev->iobase + MULTIQ3_AD_CS);
116 data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
122 static int multiq3_ao_insn_read(struct comedi_device *dev,
123 struct comedi_subdevice *s,
124 struct comedi_insn *insn, unsigned int *data)
126 struct multiq3_private *devpriv = dev->private;
128 int chan = CR_CHAN(insn->chanspec);
130 for (i = 0; i < insn->n; i++)
131 data[i] = devpriv->ao_readback[chan];
136 static int multiq3_ao_insn_write(struct comedi_device *dev,
137 struct comedi_subdevice *s,
138 struct comedi_insn *insn, unsigned int *data)
140 struct multiq3_private *devpriv = dev->private;
142 int chan = CR_CHAN(insn->chanspec);
144 for (i = 0; i < insn->n; i++) {
145 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
146 dev->iobase + MULTIQ3_CONTROL);
147 outw(data[i], dev->iobase + MULTIQ3_DAC_DATA);
148 outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
150 devpriv->ao_readback[chan] = data[i];
156 static int multiq3_di_insn_bits(struct comedi_device *dev,
157 struct comedi_subdevice *s,
158 struct comedi_insn *insn, unsigned int *data)
160 data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
165 static int multiq3_do_insn_bits(struct comedi_device *dev,
166 struct comedi_subdevice *s,
167 struct comedi_insn *insn, unsigned int *data)
169 s->state &= ~data[0];
170 s->state |= (data[0] & data[1]);
171 outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
178 static int multiq3_encoder_insn_read(struct comedi_device *dev,
179 struct comedi_subdevice *s,
180 struct comedi_insn *insn,
184 int chan = CR_CHAN(insn->chanspec);
185 int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
187 for (n = 0; n < insn->n; n++) {
189 outw(control, dev->iobase + MULTIQ3_CONTROL);
190 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
191 outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL);
192 value = inb(dev->iobase + MULTIQ3_ENC_DATA);
193 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8);
194 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16);
195 data[n] = (value + 0x800000) & 0xffffff;
201 static void encoder_reset(struct comedi_device *dev)
203 struct comedi_subdevice *s = &dev->subdevices[4];
206 for (chan = 0; chan < s->n_chan; chan++) {
208 MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
209 outw(control, dev->iobase + MULTIQ3_CONTROL);
210 outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
211 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
212 outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA);
213 outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
214 outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
215 outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL);
216 outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
220 static int multiq3_attach(struct comedi_device *dev,
221 struct comedi_devconfig *it)
223 struct multiq3_private *devpriv;
224 struct comedi_subdevice *s;
227 ret = comedi_request_region(dev, it->options[0], MULTIQ3_SIZE);
231 ret = comedi_alloc_subdevices(dev, 5);
235 devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
238 dev->private = devpriv;
240 s = &dev->subdevices[0];
242 s->type = COMEDI_SUBD_AI;
243 s->subdev_flags = SDF_READABLE | SDF_GROUND;
245 s->insn_read = multiq3_ai_insn_read;
247 s->range_table = &range_bipolar5;
249 s = &dev->subdevices[1];
251 s->type = COMEDI_SUBD_AO;
252 s->subdev_flags = SDF_WRITABLE;
254 s->insn_read = multiq3_ao_insn_read;
255 s->insn_write = multiq3_ao_insn_write;
257 s->range_table = &range_bipolar5;
259 s = &dev->subdevices[2];
261 s->type = COMEDI_SUBD_DI;
262 s->subdev_flags = SDF_READABLE;
264 s->insn_bits = multiq3_di_insn_bits;
266 s->range_table = &range_digital;
268 s = &dev->subdevices[3];
270 s->type = COMEDI_SUBD_DO;
271 s->subdev_flags = SDF_WRITABLE;
273 s->insn_bits = multiq3_do_insn_bits;
275 s->range_table = &range_digital;
278 s = &dev->subdevices[4];
279 /* encoder (counter) subdevice */
280 s->type = COMEDI_SUBD_COUNTER;
281 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
282 s->n_chan = it->options[2] * 2;
283 s->insn_read = multiq3_encoder_insn_read;
284 s->maxdata = 0xffffff;
285 s->range_table = &range_unknown;
292 static struct comedi_driver multiq3_driver = {
293 .driver_name = "multiq3",
294 .module = THIS_MODULE,
295 .attach = multiq3_attach,
296 .detach = comedi_legacy_detach,
298 module_comedi_driver(multiq3_driver);
300 MODULE_AUTHOR("Comedi http://www.comedi.org");
301 MODULE_DESCRIPTION("Comedi low-level driver");
302 MODULE_LICENSE("GPL");