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/module.h>
28 #include <linux/interrupt.h>
29 #include "../comedidev.h"
31 #define MULTIQ3_SIZE 16
34 * MULTIQ-3 port offsets
36 #define MULTIQ3_DIGIN_PORT 0
37 #define MULTIQ3_DIGOUT_PORT 0
38 #define MULTIQ3_DAC_DATA 2
39 #define MULTIQ3_AD_DATA 4
40 #define MULTIQ3_AD_CS 4
41 #define MULTIQ3_STATUS 6
42 #define MULTIQ3_CONTROL 6
43 #define MULTIQ3_CLK_DATA 8
44 #define MULTIQ3_ENC_DATA 12
45 #define MULTIQ3_ENC_CONTROL 14
48 * flags for CONTROL register
50 #define MULTIQ3_AD_MUX_EN 0x0040
51 #define MULTIQ3_AD_AUTOZ 0x0080
52 #define MULTIQ3_AD_AUTOCAL 0x0100
53 #define MULTIQ3_AD_SH 0x0200
54 #define MULTIQ3_AD_CLOCK_4M 0x0400
55 #define MULTIQ3_DA_LOAD 0x1800
57 #define MULTIQ3_CONTROL_MUST 0x0600
60 * flags for STATUS register
62 #define MULTIQ3_STATUS_EOC 0x008
63 #define MULTIQ3_STATUS_EOC_I 0x010
66 * flags for encoder control
68 #define MULTIQ3_CLOCK_DATA 0x00
69 #define MULTIQ3_CLOCK_SETUP 0x18
70 #define MULTIQ3_INPUT_SETUP 0x41
71 #define MULTIQ3_QUAD_X4 0x38
72 #define MULTIQ3_BP_RESET 0x01
73 #define MULTIQ3_CNTR_RESET 0x02
74 #define MULTIQ3_TRSFRPR_CTR 0x08
75 #define MULTIQ3_TRSFRCNTR_OL 0x10
76 #define MULTIQ3_EFLAG_RESET 0x06
78 #define MULTIQ3_TIMEOUT 30
80 struct multiq3_private {
81 unsigned int ao_readback[2];
84 static int multiq3_ai_insn_read(struct comedi_device *dev,
85 struct comedi_subdevice *s,
86 struct comedi_insn *insn, unsigned int *data)
92 chan = CR_CHAN(insn->chanspec);
93 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
94 dev->iobase + MULTIQ3_CONTROL);
96 for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
97 if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC)
100 if (i == MULTIQ3_TIMEOUT)
103 for (n = 0; n < insn->n; n++) {
104 outw(0, dev->iobase + MULTIQ3_AD_CS);
105 for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
106 if (inw(dev->iobase +
107 MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I)
110 if (i == MULTIQ3_TIMEOUT)
113 hi = inb(dev->iobase + MULTIQ3_AD_CS);
114 lo = inb(dev->iobase + MULTIQ3_AD_CS);
115 data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
121 static int multiq3_ao_insn_read(struct comedi_device *dev,
122 struct comedi_subdevice *s,
123 struct comedi_insn *insn, unsigned int *data)
125 struct multiq3_private *devpriv = dev->private;
127 int chan = CR_CHAN(insn->chanspec);
129 for (i = 0; i < insn->n; i++)
130 data[i] = devpriv->ao_readback[chan];
135 static int multiq3_ao_insn_write(struct comedi_device *dev,
136 struct comedi_subdevice *s,
137 struct comedi_insn *insn, unsigned int *data)
139 struct multiq3_private *devpriv = dev->private;
141 int chan = CR_CHAN(insn->chanspec);
143 for (i = 0; i < insn->n; i++) {
144 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
145 dev->iobase + MULTIQ3_CONTROL);
146 outw(data[i], dev->iobase + MULTIQ3_DAC_DATA);
147 outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
149 devpriv->ao_readback[chan] = data[i];
155 static int multiq3_di_insn_bits(struct comedi_device *dev,
156 struct comedi_subdevice *s,
157 struct comedi_insn *insn, unsigned int *data)
159 data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
164 static int multiq3_do_insn_bits(struct comedi_device *dev,
165 struct comedi_subdevice *s,
166 struct comedi_insn *insn,
169 if (comedi_dio_update_state(s, data))
170 outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
177 static int multiq3_encoder_insn_read(struct comedi_device *dev,
178 struct comedi_subdevice *s,
179 struct comedi_insn *insn,
183 int chan = CR_CHAN(insn->chanspec);
184 int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
186 for (n = 0; n < insn->n; n++) {
188 outw(control, dev->iobase + MULTIQ3_CONTROL);
189 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
190 outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL);
191 value = inb(dev->iobase + MULTIQ3_ENC_DATA);
192 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8);
193 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16);
194 data[n] = (value + 0x800000) & 0xffffff;
200 static void encoder_reset(struct comedi_device *dev)
202 struct comedi_subdevice *s = &dev->subdevices[4];
205 for (chan = 0; chan < s->n_chan; chan++) {
207 MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
208 outw(control, dev->iobase + MULTIQ3_CONTROL);
209 outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
210 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
211 outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA);
212 outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
213 outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
214 outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL);
215 outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
219 static int multiq3_attach(struct comedi_device *dev,
220 struct comedi_devconfig *it)
222 struct multiq3_private *devpriv;
223 struct comedi_subdevice *s;
226 ret = comedi_request_region(dev, it->options[0], MULTIQ3_SIZE);
230 ret = comedi_alloc_subdevices(dev, 5);
234 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
238 s = &dev->subdevices[0];
240 s->type = COMEDI_SUBD_AI;
241 s->subdev_flags = SDF_READABLE | SDF_GROUND;
243 s->insn_read = multiq3_ai_insn_read;
245 s->range_table = &range_bipolar5;
247 s = &dev->subdevices[1];
249 s->type = COMEDI_SUBD_AO;
250 s->subdev_flags = SDF_WRITABLE;
252 s->insn_read = multiq3_ao_insn_read;
253 s->insn_write = multiq3_ao_insn_write;
255 s->range_table = &range_bipolar5;
257 s = &dev->subdevices[2];
259 s->type = COMEDI_SUBD_DI;
260 s->subdev_flags = SDF_READABLE;
262 s->insn_bits = multiq3_di_insn_bits;
264 s->range_table = &range_digital;
266 s = &dev->subdevices[3];
268 s->type = COMEDI_SUBD_DO;
269 s->subdev_flags = SDF_WRITABLE;
271 s->insn_bits = multiq3_do_insn_bits;
273 s->range_table = &range_digital;
276 s = &dev->subdevices[4];
277 /* encoder (counter) subdevice */
278 s->type = COMEDI_SUBD_COUNTER;
279 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
280 s->n_chan = it->options[2] * 2;
281 s->insn_read = multiq3_encoder_insn_read;
282 s->maxdata = 0xffffff;
283 s->range_table = &range_unknown;
290 static struct comedi_driver multiq3_driver = {
291 .driver_name = "multiq3",
292 .module = THIS_MODULE,
293 .attach = multiq3_attach,
294 .detach = comedi_legacy_detach,
296 module_comedi_driver(multiq3_driver);
298 MODULE_AUTHOR("Comedi http://www.comedi.org");
299 MODULE_DESCRIPTION("Comedi low-level driver");
300 MODULE_LICENSE("GPL");