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"
32 * MULTIQ-3 port offsets
34 #define MULTIQ3_DIGIN_PORT 0
35 #define MULTIQ3_DIGOUT_PORT 0
36 #define MULTIQ3_DAC_DATA 2
37 #define MULTIQ3_AD_DATA 4
38 #define MULTIQ3_AD_CS 4
39 #define MULTIQ3_STATUS 6
40 #define MULTIQ3_CONTROL 6
41 #define MULTIQ3_CLK_DATA 8
42 #define MULTIQ3_ENC_DATA 12
43 #define MULTIQ3_ENC_CONTROL 14
46 * flags for CONTROL register
48 #define MULTIQ3_AD_MUX_EN 0x0040
49 #define MULTIQ3_AD_AUTOZ 0x0080
50 #define MULTIQ3_AD_AUTOCAL 0x0100
51 #define MULTIQ3_AD_SH 0x0200
52 #define MULTIQ3_AD_CLOCK_4M 0x0400
53 #define MULTIQ3_DA_LOAD 0x1800
55 #define MULTIQ3_CONTROL_MUST 0x0600
58 * flags for STATUS register
60 #define MULTIQ3_STATUS_EOC 0x008
61 #define MULTIQ3_STATUS_EOC_I 0x010
64 * flags for encoder control
66 #define MULTIQ3_CLOCK_DATA 0x00
67 #define MULTIQ3_CLOCK_SETUP 0x18
68 #define MULTIQ3_INPUT_SETUP 0x41
69 #define MULTIQ3_QUAD_X4 0x38
70 #define MULTIQ3_BP_RESET 0x01
71 #define MULTIQ3_CNTR_RESET 0x02
72 #define MULTIQ3_TRSFRPR_CTR 0x08
73 #define MULTIQ3_TRSFRCNTR_OL 0x10
74 #define MULTIQ3_EFLAG_RESET 0x06
76 #define MULTIQ3_TIMEOUT 30
78 static int multiq3_ai_status(struct comedi_device *dev,
79 struct comedi_subdevice *s,
80 struct comedi_insn *insn,
81 unsigned long context)
85 status = inw(dev->iobase + MULTIQ3_STATUS);
91 static int multiq3_ai_insn_read(struct comedi_device *dev,
92 struct comedi_subdevice *s,
93 struct comedi_insn *insn, unsigned int *data)
100 chan = CR_CHAN(insn->chanspec);
101 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
102 dev->iobase + MULTIQ3_CONTROL);
104 ret = comedi_timeout(dev, s, insn, multiq3_ai_status,
109 for (n = 0; n < insn->n; n++) {
110 outw(0, dev->iobase + MULTIQ3_AD_CS);
112 ret = comedi_timeout(dev, s, insn, multiq3_ai_status,
113 MULTIQ3_STATUS_EOC_I);
117 hi = inb(dev->iobase + MULTIQ3_AD_CS);
118 lo = inb(dev->iobase + MULTIQ3_AD_CS);
119 data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
125 static int multiq3_ao_insn_write(struct comedi_device *dev,
126 struct comedi_subdevice *s,
127 struct comedi_insn *insn,
130 unsigned int chan = CR_CHAN(insn->chanspec);
131 unsigned int val = s->readback[chan];
134 for (i = 0; i < insn->n; i++) {
136 outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
137 dev->iobase + MULTIQ3_CONTROL);
138 outw(val, dev->iobase + MULTIQ3_DAC_DATA);
139 outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
141 s->readback[chan] = val;
146 static int multiq3_di_insn_bits(struct comedi_device *dev,
147 struct comedi_subdevice *s,
148 struct comedi_insn *insn, unsigned int *data)
150 data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
155 static int multiq3_do_insn_bits(struct comedi_device *dev,
156 struct comedi_subdevice *s,
157 struct comedi_insn *insn,
160 if (comedi_dio_update_state(s, data))
161 outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
168 static int multiq3_encoder_insn_read(struct comedi_device *dev,
169 struct comedi_subdevice *s,
170 struct comedi_insn *insn,
173 int chan = CR_CHAN(insn->chanspec);
174 int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
178 for (n = 0; n < insn->n; n++) {
179 outw(control, dev->iobase + MULTIQ3_CONTROL);
180 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
181 outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL);
182 value = inb(dev->iobase + MULTIQ3_ENC_DATA);
183 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8);
184 value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16);
185 data[n] = (value + 0x800000) & 0xffffff;
191 static void encoder_reset(struct comedi_device *dev)
193 struct comedi_subdevice *s = &dev->subdevices[4];
196 for (chan = 0; chan < s->n_chan; chan++) {
198 MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
199 outw(control, dev->iobase + MULTIQ3_CONTROL);
200 outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
201 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
202 outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA);
203 outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
204 outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
205 outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL);
206 outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
210 static int multiq3_attach(struct comedi_device *dev,
211 struct comedi_devconfig *it)
213 struct comedi_subdevice *s;
216 ret = comedi_request_region(dev, it->options[0], 0x10);
220 ret = comedi_alloc_subdevices(dev, 5);
224 s = &dev->subdevices[0];
226 s->type = COMEDI_SUBD_AI;
227 s->subdev_flags = SDF_READABLE | SDF_GROUND;
229 s->insn_read = multiq3_ai_insn_read;
231 s->range_table = &range_bipolar5;
233 s = &dev->subdevices[1];
235 s->type = COMEDI_SUBD_AO;
236 s->subdev_flags = SDF_WRITABLE;
239 s->range_table = &range_bipolar5;
240 s->insn_write = multiq3_ao_insn_write;
242 ret = comedi_alloc_subdev_readback(s);
246 s = &dev->subdevices[2];
248 s->type = COMEDI_SUBD_DI;
249 s->subdev_flags = SDF_READABLE;
251 s->insn_bits = multiq3_di_insn_bits;
253 s->range_table = &range_digital;
255 s = &dev->subdevices[3];
257 s->type = COMEDI_SUBD_DO;
258 s->subdev_flags = SDF_WRITABLE;
260 s->insn_bits = multiq3_do_insn_bits;
262 s->range_table = &range_digital;
265 s = &dev->subdevices[4];
266 /* encoder (counter) subdevice */
267 s->type = COMEDI_SUBD_COUNTER;
268 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
269 s->n_chan = it->options[2] * 2;
270 s->insn_read = multiq3_encoder_insn_read;
271 s->maxdata = 0xffffff;
272 s->range_table = &range_unknown;
279 static struct comedi_driver multiq3_driver = {
280 .driver_name = "multiq3",
281 .module = THIS_MODULE,
282 .attach = multiq3_attach,
283 .detach = comedi_legacy_detach,
285 module_comedi_driver(multiq3_driver);
287 MODULE_AUTHOR("Comedi http://www.comedi.org");
288 MODULE_DESCRIPTION("Comedi low-level driver");
289 MODULE_LICENSE("GPL");