JustOS/linux-6.13/drivers/comedi/drivers/multiq3.c

// 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");