// SPDX-License-Identifier: GPL-2.0+
/*
* multiq3.c
* Hardware driver for Quanser Consulting MultiQ-3 board
*
* COMEDI - Linux Control and Measurement Device Interface
* Copyright (C) 1999 Anders Blomdell <anders.blomdell@control.lth.se>
*/
/*
* Driver: multiq3
* Description: Quanser Consulting MultiQ-3
* Devices: [Quanser Consulting] MultiQ-3 (multiq3)
* Author: Anders Blomdell <anders.blomdell@control.lth.se>
* Status: works
*
* Configuration Options:
* [0] - I/O port base address
* [1] - IRQ (not used)
* [2] - Number of optional encoder chips installed on board
* 0 = none
* 1 = 2 inputs (Model -2E)
* 2 = 4 inputs (Model -4E)
* 3 = 6 inputs (Model -6E)
* 4 = 8 inputs (Model -8E)
*/
#include <linux/module.h>
#include <linux/comedi/comedidev.h>
/*
* Register map
*/
#define MULTIQ3_DI_REG 0x00
#define MULTIQ3_DO_REG 0x00
#define MULTIQ3_AO_REG 0x02
#define MULTIQ3_AI_REG 0x04
#define MULTIQ3_AI_CONV_REG 0x04
#define MULTIQ3_STATUS_REG 0x06
#define MULTIQ3_STATUS_EOC BIT(3)
#define MULTIQ3_STATUS_EOC_I BIT(4)
#define MULTIQ3_CTRL_REG 0x06
#define MULTIQ3_CTRL_AO_CHAN(x) (((x) & 0x7) << 0)
#define MULTIQ3_CTRL_RC(x) (((x) & 0x3) << 0)
#define MULTIQ3_CTRL_AI_CHAN(x) (((x) & 0x7) << 3)
#define MULTIQ3_CTRL_E_CHAN(x) (((x) & 0x7) << 3)
#define MULTIQ3_CTRL_EN BIT(6)
#define MULTIQ3_CTRL_AZ BIT(7)
#define MULTIQ3_CTRL_CAL BIT(8)
#define MULTIQ3_CTRL_SH BIT(9)
#define MULTIQ3_CTRL_CLK BIT(10)
#define MULTIQ3_CTRL_LD (3 << 11)
#define MULTIQ3_CLK_REG 0x08
#define MULTIQ3_ENC_DATA_REG 0x0c
#define MULTIQ3_ENC_CTRL_REG 0x0e
/*
* Encoder chip commands (from the programming manual)
*/
#define MULTIQ3_CLOCK_DATA 0x00
/* FCK frequency divider */
#define MULTIQ3_CLOCK_SETUP 0x18
/* xfer PR0 to PSC */
#define MULTIQ3_INPUT_SETUP 0x41
/* enable inputs A and B */
#define MULTIQ3_QUAD_X4 0x38
/* quadrature */
#define MULTIQ3_BP_RESET 0x01
/* reset byte pointer */
#define MULTIQ3_CNTR_RESET 0x02
/* reset counter */
#define MULTIQ3_TRSFRPR_CTR 0x08
/* xfre preset reg to counter */
#define MULTIQ3_TRSFRCNTR_OL 0x10
/* xfer CNTR to OL (x and y) */
#define MULTIQ3_EFLAG_RESET 0x06
/* reset E bit of flag reg */
static void multiq3_set_ctrl(
struct comedi_device *dev,
unsigned int bits)
{
/*
* According to the programming manual, the SH and CLK bits should
* be kept high at all times.
*/
outw(MULTIQ3_CTRL_SH | MULTIQ3_CTRL_CLK | bits,
dev->iobase + MULTIQ3_CTRL_REG);
}
static int multiq3_ai_status(
struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned long context)
{
unsigned int status;
status = inw(dev->iobase + MULTIQ3_STATUS_REG);
if (status & context)
return 0;
return -EBUSY;
}
static int multiq3_ai_insn_read(
struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
unsigned int chan = CR_CHAN(insn->chanspec);
unsigned int val;
int ret;
int i;
multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | MULTIQ3_CTRL_AI_CHAN(chan));
ret = comedi_timeout(dev, s, insn, multiq3_ai_status,
MULTIQ3_STATUS_EOC);
if (ret)
return ret;
for (i = 0; i < insn->n; i++) {
outw(0, dev->iobase + MULTIQ3_AI_CONV_REG);
ret = comedi_timeout(dev, s, insn, multiq3_ai_status,
MULTIQ3_STATUS_EOC_I);
if (ret)
return ret;
/* get a 16-bit sample; mask it to the subdevice resolution */
val = inb(dev->iobase + MULTIQ3_AI_REG) << 8;
val |= inb(dev->iobase + MULTIQ3_AI_REG);
val &= s->maxdata;
/* munge the 2's complement value to offset binary */
data[i] = comedi_offset_munge(s, val);
}
return insn->n;
}
static int multiq3_ao_insn_write(
struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
unsigned int chan = CR_CHAN(insn->chanspec);
unsigned int val = s->readback[chan];
int i;
for (i = 0; i < insn->n; i++) {
val = data[i];
multiq3_set_ctrl(dev, MULTIQ3_CTRL_LD |
MULTIQ3_CTRL_AO_CHAN(chan));
outw(val, dev->iobase + MULTIQ3_AO_REG);
multiq3_set_ctrl(dev, 0);
}
s->readback[chan] = val;
return insn->n;
}
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_DI_REG);
return insn->n;
}
static int multiq3_do_insn_bits(
struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
if (comedi_dio_update_state(s, data))
outw(s->state, dev->iobase + MULTIQ3_DO_REG);
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)
{
unsigned int chan = CR_CHAN(insn->chanspec);
unsigned int val;
int i;
for (i = 0; i < insn->n; i++) {
/* select encoder channel */
multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN |
MULTIQ3_CTRL_E_CHAN(chan));
/* reset the byte pointer */
outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
/* latch the data */
outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CTRL_REG);
/* read the 24-bit encoder data (lsb/mid/msb) */
val = inb(dev->iobase + MULTIQ3_ENC_DATA_REG);
val |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 8);
val |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 16);
/*
* Munge the data so that the reset value is in the middle
* of the maxdata range, i.e.:
*
* real value comedi value
* 0xffffff 0x7fffff 1 negative count
* 0x000000 0x800000 reset value
* 0x000001 0x800001 1 positive count
*
* It's possible for the 24-bit counter to overflow but it
* would normally take _quite_ a few turns. A 2000 line
* encoder in quadrature results in 8000 counts/rev. So about
* 1048 turns in either direction can be measured without
* an overflow.
*/
data[i] = (val + ((s->maxdata + 1) >> 1)) & s->maxdata;
}
return insn->n;
}
static void multiq3_encoder_reset(
struct comedi_device *dev,
unsigned int chan)
{
multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | MULTIQ3_CTRL_E_CHAN(chan));
outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA_REG);
outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CTRL_REG);
outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CTRL_REG);
outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CTRL_REG);
outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
}
static int multiq3_encoder_insn_config(
struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
unsigned int chan = CR_CHAN(insn->chanspec);
switch (data[0]) {
case INSN_CONFIG_RESET:
multiq3_encoder_reset(dev, chan);
break;
default:
return -EINVAL;
}
return insn->n;
}
static int multiq3_attach(
struct comedi_device *dev,
struct comedi_devconfig *it)
{
struct comedi_subdevice *s;
int ret;
int i;
ret = comedi_request_region(dev, it->options[0], 0x10);
if (ret)
return ret;
ret = comedi_alloc_subdevices(dev, 5);
if (ret)
return ret;
/* Analog Input subdevice */
s = &dev->subdevices[0];
s->type = COMEDI_SUBD_AI;
s->subdev_flags = SDF_READABLE | SDF_GROUND;
s->n_chan = 8;
s->maxdata = 0x1fff;
s->range_table = &range_bipolar5;
s->insn_read = multiq3_ai_insn_read;
/* Analog Output subdevice */
s = &dev->subdevices[1];
s->type = COMEDI_SUBD_AO;
s->subdev_flags = SDF_WRITABLE;
s->n_chan = 8;
s->maxdata = 0x0fff;
s->range_table = &range_bipolar5;
s->insn_write = multiq3_ao_insn_write;
ret = comedi_alloc_subdev_readback(s);
if (ret)
return ret;
/* Digital Input subdevice */
s = &dev->subdevices[2];
s->type = COMEDI_SUBD_DI;
s->subdev_flags = SDF_READABLE;
s->n_chan = 16;
s->maxdata = 1;
s->range_table = &range_digital;
s->insn_bits = multiq3_di_insn_bits;
/* Digital Output subdevice */
s = &dev->subdevices[3];
s->type = COMEDI_SUBD_DO;
s->subdev_flags = SDF_WRITABLE;
s->n_chan = 16;
s->maxdata = 1;
s->range_table = &range_digital;
s->insn_bits = multiq3_do_insn_bits;
/* Encoder (Counter) subdevice */
s = &dev->subdevices[4];
s->type = COMEDI_SUBD_COUNTER;
s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
s->n_chan = it->options[2] * 2;
s->maxdata = 0x00ffffff;
s->range_table = &range_unknown;
s->insn_read = multiq3_encoder_insn_read;
s->insn_config = multiq3_encoder_insn_config;
for (i = 0; i < s->n_chan; i++)
multiq3_encoder_reset(dev, i);
return 0;
}
static struct comedi_driver multiq3_driver = {
.driver_name =
"multiq3",
.module = THIS_MODULE,
.attach = multiq3_attach,
.detach = comedi_legacy_detach,
};
module_comedi_driver(multiq3_driver);
MODULE_AUTHOR(
"Comedi https://www.comedi.org");
MODULE_DESCRIPTION(
"Comedi driver for Quanser Consulting MultiQ-3 board");
MODULE_LICENSE(
"GPL");
