1 // SPDX-License-Identifier: GPL-2.0+
2 /*
3 * multiq3.c
4 * Hardware driver for Quanser Consulting MultiQ-3 board
5 *
6 * COMEDI - Linux Control and Measurement Device Interface
7 * Copyright (C) 1999 Anders Blomdell <anders.blomdell@control.lth.se>
8 */
9
10 /*
11 * Driver: multiq3
12 * Description: Quanser Consulting MultiQ-3
13 * Devices: [Quanser Consulting] MultiQ-3 (multiq3)
14 * Author: Anders Blomdell <anders.blomdell@control.lth.se>
15 * Status: works
16 *
17 * Configuration Options:
18 * [0] - I/O port base address
19 * [1] - IRQ (not used)
20 * [2] - Number of optional encoder chips installed on board
21 * 0 = none
22 * 1 = 2 inputs (Model -2E)
23 * 2 = 4 inputs (Model -4E)
24 * 3 = 6 inputs (Model -6E)
25 * 4 = 8 inputs (Model -8E)
26 */
27
28 #include <linux/module.h>
29 #include <linux/comedi/comedidev.h>
30
31 /*
32 * Register map
33 */
34 #define MULTIQ3_DI_REG 0x00
35 #define MULTIQ3_DO_REG 0x00
36 #define MULTIQ3_AO_REG 0x02
37 #define MULTIQ3_AI_REG 0x04
38 #define MULTIQ3_AI_CONV_REG 0x04
39 #define MULTIQ3_STATUS_REG 0x06
40 #define MULTIQ3_STATUS_EOC BIT(3)
41 #define MULTIQ3_STATUS_EOC_I BIT(4)
42 #define MULTIQ3_CTRL_REG 0x06
43 #define MULTIQ3_CTRL_AO_CHAN(x) (((x) & 0x7) << 0)
44 #define MULTIQ3_CTRL_RC(x) (((x) & 0x3) << 0)
45 #define MULTIQ3_CTRL_AI_CHAN(x) (((x) & 0x7) << 3)
46 #define MULTIQ3_CTRL_E_CHAN(x) (((x) & 0x7) << 3)
47 #define MULTIQ3_CTRL_EN BIT(6)
48 #define MULTIQ3_CTRL_AZ BIT(7)
49 #define MULTIQ3_CTRL_CAL BIT(8)
50 #define MULTIQ3_CTRL_SH BIT(9)
51 #define MULTIQ3_CTRL_CLK BIT(10)
52 #define MULTIQ3_CTRL_LD (3 << 11)
53 #define MULTIQ3_CLK_REG 0x08
54 #define MULTIQ3_ENC_DATA_REG 0x0c
55 #define MULTIQ3_ENC_CTRL_REG 0x0e
56
57 /*
58 * Encoder chip commands (from the programming manual)
59 */
60 #define MULTIQ3_CLOCK_DATA 0x00 /* FCK frequency divider */
61 #define MULTIQ3_CLOCK_SETUP 0x18 /* xfer PR0 to PSC */
62 #define MULTIQ3_INPUT_SETUP 0x41 /* enable inputs A and B */
63 #define MULTIQ3_QUAD_X4 0x38 /* quadrature */
64 #define MULTIQ3_BP_RESET 0x01 /* reset byte pointer */
65 #define MULTIQ3_CNTR_RESET 0x02 /* reset counter */
66 #define MULTIQ3_TRSFRPR_CTR 0x08 /* xfre preset reg to counter */
67 #define MULTIQ3_TRSFRCNTR_OL 0x10 /* xfer CNTR to OL (x and y) */
68 #define MULTIQ3_EFLAG_RESET 0x06 /* reset E bit of flag reg */
69
multiq3_set_ctrl(struct comedi_device * dev,unsigned int bits)70 static void multiq3_set_ctrl(struct comedi_device *dev, unsigned int bits)
71 {
72 /*
73 * According to the programming manual, the SH and CLK bits should
74 * be kept high at all times.
75 */
76 outw(MULTIQ3_CTRL_SH | MULTIQ3_CTRL_CLK | bits,
77 dev->iobase + MULTIQ3_CTRL_REG);
78 }
79
multiq3_ai_status(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned long context)80 static int multiq3_ai_status(struct comedi_device *dev,
81 struct comedi_subdevice *s,
82 struct comedi_insn *insn,
83 unsigned long context)
84 {
85 unsigned int status;
86
87 status = inw(dev->iobase + MULTIQ3_STATUS_REG);
88 if (status & context)
89 return 0;
90 return -EBUSY;
91 }
92
multiq3_ai_insn_read(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)93 static int multiq3_ai_insn_read(struct comedi_device *dev,
94 struct comedi_subdevice *s,
95 struct comedi_insn *insn,
96 unsigned int *data)
97 {
98 unsigned int chan = CR_CHAN(insn->chanspec);
99 unsigned int val;
100 int ret;
101 int i;
102
103 multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | MULTIQ3_CTRL_AI_CHAN(chan));
104
105 ret = comedi_timeout(dev, s, insn, multiq3_ai_status,
106 MULTIQ3_STATUS_EOC);
107 if (ret)
108 return ret;
109
110 for (i = 0; i < insn->n; i++) {
111 outw(0, dev->iobase + MULTIQ3_AI_CONV_REG);
112
113 ret = comedi_timeout(dev, s, insn, multiq3_ai_status,
114 MULTIQ3_STATUS_EOC_I);
115 if (ret)
116 return ret;
117
118 /* get a 16-bit sample; mask it to the subdevice resolution */
119 val = inb(dev->iobase + MULTIQ3_AI_REG) << 8;
120 val |= inb(dev->iobase + MULTIQ3_AI_REG);
121 val &= s->maxdata;
122
123 /* munge the 2's complement value to offset binary */
124 data[i] = comedi_offset_munge(s, val);
125 }
126
127 return insn->n;
128 }
129
multiq3_ao_insn_write(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)130 static int multiq3_ao_insn_write(struct comedi_device *dev,
131 struct comedi_subdevice *s,
132 struct comedi_insn *insn,
133 unsigned int *data)
134 {
135 unsigned int chan = CR_CHAN(insn->chanspec);
136 unsigned int val = s->readback[chan];
137 int i;
138
139 for (i = 0; i < insn->n; i++) {
140 val = data[i];
141 multiq3_set_ctrl(dev, MULTIQ3_CTRL_LD |
142 MULTIQ3_CTRL_AO_CHAN(chan));
143 outw(val, dev->iobase + MULTIQ3_AO_REG);
144 multiq3_set_ctrl(dev, 0);
145 }
146 s->readback[chan] = val;
147
148 return insn->n;
149 }
150
multiq3_di_insn_bits(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)151 static int multiq3_di_insn_bits(struct comedi_device *dev,
152 struct comedi_subdevice *s,
153 struct comedi_insn *insn, unsigned int *data)
154 {
155 data[1] = inw(dev->iobase + MULTIQ3_DI_REG);
156
157 return insn->n;
158 }
159
multiq3_do_insn_bits(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)160 static int multiq3_do_insn_bits(struct comedi_device *dev,
161 struct comedi_subdevice *s,
162 struct comedi_insn *insn,
163 unsigned int *data)
164 {
165 if (comedi_dio_update_state(s, data))
166 outw(s->state, dev->iobase + MULTIQ3_DO_REG);
167
168 data[1] = s->state;
169
170 return insn->n;
171 }
172
multiq3_encoder_insn_read(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)173 static int multiq3_encoder_insn_read(struct comedi_device *dev,
174 struct comedi_subdevice *s,
175 struct comedi_insn *insn,
176 unsigned int *data)
177 {
178 unsigned int chan = CR_CHAN(insn->chanspec);
179 unsigned int val;
180 int i;
181
182 for (i = 0; i < insn->n; i++) {
183 /* select encoder channel */
184 multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN |
185 MULTIQ3_CTRL_E_CHAN(chan));
186
187 /* reset the byte pointer */
188 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
189
190 /* latch the data */
191 outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CTRL_REG);
192
193 /* read the 24-bit encoder data (lsb/mid/msb) */
194 val = inb(dev->iobase + MULTIQ3_ENC_DATA_REG);
195 val |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 8);
196 val |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 16);
197
198 /*
199 * Munge the data so that the reset value is in the middle
200 * of the maxdata range, i.e.:
201 *
202 * real value comedi value
203 * 0xffffff 0x7fffff 1 negative count
204 * 0x000000 0x800000 reset value
205 * 0x000001 0x800001 1 positive count
206 *
207 * It's possible for the 24-bit counter to overflow but it
208 * would normally take _quite_ a few turns. A 2000 line
209 * encoder in quadrature results in 8000 counts/rev. So about
210 * 1048 turns in either direction can be measured without
211 * an overflow.
212 */
213 data[i] = (val + ((s->maxdata + 1) >> 1)) & s->maxdata;
214 }
215
216 return insn->n;
217 }
218
multiq3_encoder_reset(struct comedi_device * dev,unsigned int chan)219 static void multiq3_encoder_reset(struct comedi_device *dev,
220 unsigned int chan)
221 {
222 multiq3_set_ctrl(dev, MULTIQ3_CTRL_EN | MULTIQ3_CTRL_E_CHAN(chan));
223 outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
224 outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
225 outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA_REG);
226 outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CTRL_REG);
227 outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CTRL_REG);
228 outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CTRL_REG);
229 outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CTRL_REG);
230 }
231
multiq3_encoder_insn_config(struct comedi_device * dev,struct comedi_subdevice * s,struct comedi_insn * insn,unsigned int * data)232 static int multiq3_encoder_insn_config(struct comedi_device *dev,
233 struct comedi_subdevice *s,
234 struct comedi_insn *insn,
235 unsigned int *data)
236 {
237 unsigned int chan = CR_CHAN(insn->chanspec);
238
239 switch (data[0]) {
240 case INSN_CONFIG_RESET:
241 multiq3_encoder_reset(dev, chan);
242 break;
243 default:
244 return -EINVAL;
245 }
246
247 return insn->n;
248 }
249
multiq3_attach(struct comedi_device * dev,struct comedi_devconfig * it)250 static int multiq3_attach(struct comedi_device *dev,
251 struct comedi_devconfig *it)
252 {
253 struct comedi_subdevice *s;
254 int ret;
255 int i;
256
257 ret = comedi_request_region(dev, it->options[0], 0x10);
258 if (ret)
259 return ret;
260
261 ret = comedi_alloc_subdevices(dev, 5);
262 if (ret)
263 return ret;
264
265 /* Analog Input subdevice */
266 s = &dev->subdevices[0];
267 s->type = COMEDI_SUBD_AI;
268 s->subdev_flags = SDF_READABLE | SDF_GROUND;
269 s->n_chan = 8;
270 s->maxdata = 0x1fff;
271 s->range_table = &range_bipolar5;
272 s->insn_read = multiq3_ai_insn_read;
273
274 /* Analog Output subdevice */
275 s = &dev->subdevices[1];
276 s->type = COMEDI_SUBD_AO;
277 s->subdev_flags = SDF_WRITABLE;
278 s->n_chan = 8;
279 s->maxdata = 0x0fff;
280 s->range_table = &range_bipolar5;
281 s->insn_write = multiq3_ao_insn_write;
282
283 ret = comedi_alloc_subdev_readback(s);
284 if (ret)
285 return ret;
286
287 /* Digital Input subdevice */
288 s = &dev->subdevices[2];
289 s->type = COMEDI_SUBD_DI;
290 s->subdev_flags = SDF_READABLE;
291 s->n_chan = 16;
292 s->maxdata = 1;
293 s->range_table = &range_digital;
294 s->insn_bits = multiq3_di_insn_bits;
295
296 /* Digital Output subdevice */
297 s = &dev->subdevices[3];
298 s->type = COMEDI_SUBD_DO;
299 s->subdev_flags = SDF_WRITABLE;
300 s->n_chan = 16;
301 s->maxdata = 1;
302 s->range_table = &range_digital;
303 s->insn_bits = multiq3_do_insn_bits;
304
305 /* Encoder (Counter) subdevice */
306 s = &dev->subdevices[4];
307 s->type = COMEDI_SUBD_COUNTER;
308 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
309 s->n_chan = it->options[2] * 2;
310 s->maxdata = 0x00ffffff;
311 s->range_table = &range_unknown;
312 s->insn_read = multiq3_encoder_insn_read;
313 s->insn_config = multiq3_encoder_insn_config;
314
315 for (i = 0; i < s->n_chan; i++)
316 multiq3_encoder_reset(dev, i);
317
318 return 0;
319 }
320
321 static struct comedi_driver multiq3_driver = {
322 .driver_name = "multiq3",
323 .module = THIS_MODULE,
324 .attach = multiq3_attach,
325 .detach = comedi_legacy_detach,
326 };
327 module_comedi_driver(multiq3_driver);
328
329 MODULE_AUTHOR("Comedi https://www.comedi.org");
330 MODULE_DESCRIPTION("Comedi driver for Quanser Consulting MultiQ-3 board");
331 MODULE_LICENSE("GPL");
332