Staging: comedi: add multiq3 driver

Hardware driver for Quanser Consulting MultiQ-3 board

From: Anders Blomdell <anders.blomdell@control.lth.se>
Cc: David Schleef <ds@schleef.org>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Cc: Ian Abbott <abbotti@mev.co.uk>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/comedi/drivers/multiq3.c

+/*
+   comedi/drivers/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>
+
+   This program is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program; if not, write to the Free Software
+   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ */
+/*
+Driver: multiq3
+Description: Quanser Consulting MultiQ-3
+Author: Anders Blomdell <anders.blomdell@control.lth.se>
+Status: works
+Devices: [Quanser Consulting] MultiQ-3 (multiq3)
+
+*/
+
+#include "../comedidev.h"
+
+#include <linux/ioport.h>
+
+#define MULTIQ3_SIZE 16
+
+/*
+ * MULTIQ-3 port offsets
+ */
+#define MULTIQ3_DIGIN_PORT 0
+#define MULTIQ3_DIGOUT_PORT 0
+#define MULTIQ3_DAC_DATA 2
+#define MULTIQ3_AD_DATA 4
+#define MULTIQ3_AD_CS 4
+#define MULTIQ3_STATUS 6
+#define MULTIQ3_CONTROL 6
+#define MULTIQ3_CLK_DATA 8
+#define MULTIQ3_ENC_DATA 12
+#define MULTIQ3_ENC_CONTROL 14
+
+/*
+ * flags for CONTROL register
+ */
+#define MULTIQ3_AD_MUX_EN      0x0040
+#define MULTIQ3_AD_AUTOZ       0x0080
+#define MULTIQ3_AD_AUTOCAL     0x0100
+#define MULTIQ3_AD_SH          0x0200
+#define MULTIQ3_AD_CLOCK_4M    0x0400
+#define MULTIQ3_DA_LOAD                0x1800
+
+#define MULTIQ3_CONTROL_MUST    0x0600
+
+/*
+ * flags for STATUS register
+ */
+#define MULTIQ3_STATUS_EOC      0x008
+#define MULTIQ3_STATUS_EOC_I    0x010
+
+/*
+ * flags for encoder control
+ */
+#define MULTIQ3_CLOCK_DATA      0x00
+#define MULTIQ3_CLOCK_SETUP     0x18
+#define MULTIQ3_INPUT_SETUP     0x41
+#define MULTIQ3_QUAD_X4         0x38
+#define MULTIQ3_BP_RESET        0x01
+#define MULTIQ3_CNTR_RESET      0x02
+#define MULTIQ3_TRSFRPR_CTR     0x08
+#define MULTIQ3_TRSFRCNTR_OL    0x10
+#define MULTIQ3_EFLAG_RESET     0x06
+
+#define MULTIQ3_TIMEOUT 30
+
+static int multiq3_attach(comedi_device * dev, comedi_devconfig * it);
+static int multiq3_detach(comedi_device * dev);
+static comedi_driver driver_multiq3 = {
+      driver_name:"multiq3",
+      module:THIS_MODULE,
+      attach:multiq3_attach,
+      detach:multiq3_detach,
+};
+
+COMEDI_INITCLEANUP(driver_multiq3);
+
+struct multiq3_private {
+	lsampl_t ao_readback[2];
+};
+#define devpriv ((struct multiq3_private *)dev->private)
+
+static int multiq3_ai_insn_read(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i, n;
+	int chan;
+	unsigned int hi, lo;
+
+	chan = CR_CHAN(insn->chanspec);
+	outw(MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3),
+		dev->iobase + MULTIQ3_CONTROL);
+
+	for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
+		if (inw(dev->iobase + MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC)
+			break;
+	}
+	if (i == MULTIQ3_TIMEOUT)
+		return -ETIMEDOUT;
+
+	for (n = 0; n < insn->n; n++) {
+		outw(0, dev->iobase + MULTIQ3_AD_CS);
+		for (i = 0; i < MULTIQ3_TIMEOUT; i++) {
+			if (inw(dev->iobase +
+					MULTIQ3_STATUS) & MULTIQ3_STATUS_EOC_I)
+				break;
+		}
+		if (i == MULTIQ3_TIMEOUT)
+			return -ETIMEDOUT;
+
+		hi = inb(dev->iobase + MULTIQ3_AD_CS);
+		lo = inb(dev->iobase + MULTIQ3_AD_CS);
+		data[n] = (((hi << 8) | lo) + 0x1000) & 0x1fff;
+	}
+
+	return n;
+}
+
+static int multiq3_ao_insn_read(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	int chan = CR_CHAN(insn->chanspec);
+
+	for (i = 0; i < insn->n; i++) {
+		data[i] = devpriv->ao_readback[chan];
+	}
+
+	return i;
+}
+
+static int multiq3_ao_insn_write(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	int chan = CR_CHAN(insn->chanspec);
+
+	for (i = 0; i < insn->n; i++) {
+		outw(MULTIQ3_CONTROL_MUST | MULTIQ3_DA_LOAD | chan,
+			dev->iobase + MULTIQ3_CONTROL);
+		outw(data[i], dev->iobase + MULTIQ3_DAC_DATA);
+		outw(MULTIQ3_CONTROL_MUST, dev->iobase + MULTIQ3_CONTROL);
+
+		devpriv->ao_readback[chan] = data[i];
+	}
+
+	return i;
+}
+
+static int multiq3_di_insn_bits(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	if (insn->n != 2)
+		return -EINVAL;
+
+	data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);
+
+	return 2;
+}
+
+static int multiq3_do_insn_bits(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	if (insn->n != 2)
+		return -EINVAL;
+
+	s->state &= ~data[0];
+	s->state |= (data[0] & data[1]);
+	outw(s->state, dev->iobase + MULTIQ3_DIGOUT_PORT);
+
+	data[1] = s->state;
+
+	return 2;
+}
+
+static int multiq3_encoder_insn_read(comedi_device * dev, comedi_subdevice * s,
+	comedi_insn * insn, lsampl_t * data)
+{
+	int n;
+	int chan = CR_CHAN(insn->chanspec);
+	int control = MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
+
+	for (n = 0; n < insn->n; n++) {
+		int value;
+		outw(control, dev->iobase + MULTIQ3_CONTROL);
+		outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
+		outb(MULTIQ3_TRSFRCNTR_OL, dev->iobase + MULTIQ3_ENC_CONTROL);
+		value = inb(dev->iobase + MULTIQ3_ENC_DATA);
+		value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 8);
+		value |= (inb(dev->iobase + MULTIQ3_ENC_DATA) << 16);
+		data[n] = (value + 0x800000) & 0xffffff;
+	}
+
+	return n;
+}
+
+static void encoder_reset(comedi_device * dev)
+{
+	int chan;
+	for (chan = 0; chan < dev->subdevices[4].n_chan; chan++) {
+		int control =
+			MULTIQ3_CONTROL_MUST | MULTIQ3_AD_MUX_EN | (chan << 3);
+		outw(control, dev->iobase + MULTIQ3_CONTROL);
+		outb(MULTIQ3_EFLAG_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
+		outb(MULTIQ3_BP_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
+		outb(MULTIQ3_CLOCK_DATA, dev->iobase + MULTIQ3_ENC_DATA);
+		outb(MULTIQ3_CLOCK_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
+		outb(MULTIQ3_INPUT_SETUP, dev->iobase + MULTIQ3_ENC_CONTROL);
+		outb(MULTIQ3_QUAD_X4, dev->iobase + MULTIQ3_ENC_CONTROL);
+		outb(MULTIQ3_CNTR_RESET, dev->iobase + MULTIQ3_ENC_CONTROL);
+	}
+}
+
+/*
+   options[0] - I/O port
+   options[1] - irq
+   options[2] - number of encoder chips installed
+ */
+
+static int multiq3_attach(comedi_device * dev, comedi_devconfig * it)
+{
+	int result = 0;
+	unsigned long iobase;
+	unsigned int irq;
+	comedi_subdevice *s;
+
+	iobase = it->options[0];
+	printk("comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
+	if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
+		printk("comedi%d: I/O port conflict\n", dev->minor);
+		return -EIO;
+	}
+
+	dev->iobase = iobase;
+
+	irq = it->options[1];
+	if (irq) {
+		printk("comedi%d: irq = %u ignored\n", dev->minor, irq);
+	} else {
+		printk("comedi%d: no irq\n", dev->minor);
+	}
+	dev->board_name = "multiq3";
+	result = alloc_subdevices(dev, 5);
+	if (result < 0)
+		return result;
+
+	result = alloc_private(dev, sizeof(struct multiq3_private));
+	if (result < 0)
+		return result;
+
+	s = dev->subdevices + 0;
+	/* ai subdevice */
+	s->type = COMEDI_SUBD_AI;
+	s->subdev_flags = SDF_READABLE | SDF_GROUND;
+	s->n_chan = 8;
+	s->insn_read = multiq3_ai_insn_read;
+	s->maxdata = 0x1fff;
+	s->range_table = &range_bipolar5;
+
+	s = dev->subdevices + 1;
+	/* ao subdevice */
+	s->type = COMEDI_SUBD_AO;
+	s->subdev_flags = SDF_WRITABLE;
+	s->n_chan = 8;
+	s->insn_read = multiq3_ao_insn_read;
+	s->insn_write = multiq3_ao_insn_write;
+	s->maxdata = 0xfff;
+	s->range_table = &range_bipolar5;
+
+	s = dev->subdevices + 2;
+	/* di subdevice */
+	s->type = COMEDI_SUBD_DI;
+	s->subdev_flags = SDF_READABLE;
+	s->n_chan = 16;
+	s->insn_bits = multiq3_di_insn_bits;
+	s->maxdata = 1;
+	s->range_table = &range_digital;
+
+	s = dev->subdevices + 3;
+	/* do subdevice */
+	s->type = COMEDI_SUBD_DO;
+	s->subdev_flags = SDF_WRITABLE;
+	s->n_chan = 16;
+	s->insn_bits = multiq3_do_insn_bits;
+	s->maxdata = 1;
+	s->range_table = &range_digital;
+	s->state = 0;
+
+	s = dev->subdevices + 4;
+	/* encoder (counter) subdevice */
+	s->type = COMEDI_SUBD_COUNTER;
+	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
+	s->n_chan = it->options[2] * 2;
+	s->insn_read = multiq3_encoder_insn_read;
+	s->maxdata = 0xffffff;
+	s->range_table = &range_unknown;
+
+	encoder_reset(dev);
+
+	return 0;
+}
+
+static int multiq3_detach(comedi_device * dev)
+{
+	printk("comedi%d: multiq3: remove\n", dev->minor);
+
+	if (dev->iobase) {
+		release_region(dev->iobase, MULTIQ3_SIZE);
+	}
+	if (dev->irq) {
+		free_irq(dev->irq, dev);
+	}
+
+	return 0;
+}