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