[deliverable/linux.git] / drivers / staging / comedi / drivers / s526.c

/*
    comedi/drivers/s526.c
    Sensoray s526 Comedi driver

    COMEDI - Linux Control and Measurement Device Interface
    Copyright (C) 2000 David A. Schleef <ds@schleef.org>

    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: s526
Description: Sensoray 526 driver
Devices: [Sensoray] 526 (s526)
Author: Richie
	Everett Wang <everett.wang@everteq.com>
Updated: Thu, 14 Sep. 2006
Status: experimental

Encoder works
Analog input works
Analog output works
PWM output works
Commands are not supported yet.

Configuration Options:

comedi_config /dev/comedi0 s526 0x2C0,0x3

*/

#include "../comedidev.h"
#include <linux/ioport.h>
#include <asm/byteorder.h>

#define S526_SIZE 64

#define S526_START_AI_CONV	0
#define S526_AI_READ		0

/* Ports */
#define S526_IOSIZE 0x40
#define S526_NUM_PORTS 27

/* registers */
#define REG_TCR 0x00
#define REG_WDC 0x02
#define REG_DAC 0x04
#define REG_ADC 0x06
#define REG_ADD 0x08
#define REG_DIO 0x0A
#define REG_IER 0x0C
#define REG_ISR 0x0E
#define REG_MSC 0x10
#define REG_C0L 0x12
#define REG_C0H 0x14
#define REG_C0M 0x16
#define REG_C0C 0x18
#define REG_C1L 0x1A
#define REG_C1H 0x1C
#define REG_C1M 0x1E
#define REG_C1C 0x20
#define REG_C2L 0x22
#define REG_C2H 0x24
#define REG_C2M 0x26
#define REG_C2C 0x28
#define REG_C3L 0x2A
#define REG_C3H 0x2C
#define REG_C3M 0x2E
#define REG_C3C 0x30
#define REG_EED 0x32
#define REG_EEC 0x34

struct counter_mode_register_t {
#if defined(__LITTLE_ENDIAN_BITFIELD)
	unsigned short coutSource:1;
	unsigned short coutPolarity:1;
	unsigned short autoLoadResetRcap:3;
	unsigned short hwCtEnableSource:2;
	unsigned short ctEnableCtrl:2;
	unsigned short clockSource:2;
	unsigned short countDir:1;
	unsigned short countDirCtrl:1;
	unsigned short outputRegLatchCtrl:1;
	unsigned short preloadRegSel:1;
	unsigned short reserved:1;
 #elif defined(__BIG_ENDIAN_BITFIELD)
	unsigned short reserved:1;
	unsigned short preloadRegSel:1;
	unsigned short outputRegLatchCtrl:1;
	unsigned short countDirCtrl:1;
	unsigned short countDir:1;
	unsigned short clockSource:2;
	unsigned short ctEnableCtrl:2;
	unsigned short hwCtEnableSource:2;
	unsigned short autoLoadResetRcap:3;
	unsigned short coutPolarity:1;
	unsigned short coutSource:1;
#else
#error Unknown bit field order
#endif
};

union cmReg {
	struct counter_mode_register_t reg;
	unsigned short value;
};

#define MAX_GPCT_CONFIG_DATA 6

/* Different Application Classes for GPCT Subdevices */
/* The list is not exhaustive and needs discussion! */
enum S526_GPCT_APP_CLASS {
	CountingAndTimeMeasurement,
	SinglePulseGeneration,
	PulseTrainGeneration,
	PositionMeasurement,
	Miscellaneous
};

/* Config struct for different GPCT subdevice Application Classes and
   their options
*/
struct s526GPCTConfig {
	enum S526_GPCT_APP_CLASS app;
	int data[MAX_GPCT_CONFIG_DATA];
};

struct s526_private {
	unsigned int ao_readback[2];
	struct s526GPCTConfig s526_gpct_config[4];
	unsigned short s526_ai_config;
};

static int s526_gpct_rinsn(struct comedi_device *dev,
			   struct comedi_subdevice *s,
			   struct comedi_insn *insn,
			   unsigned int *data)
{
	unsigned int chan = CR_CHAN(insn->chanspec);
	unsigned long chan_iobase = dev->iobase + chan * 8;
	unsigned int lo;
	unsigned int hi;
	int i;

	for (i = 0; i < insn->n; i++) {
		/* Read the low word first */
		lo = inw(chan_iobase + REG_C0L) & 0xffff;
		hi = inw(chan_iobase + REG_C0H) & 0xff;

		data[i] = (hi << 16) | lo;
	}

	return insn->n;
}

static int s526_gpct_insn_config(struct comedi_device *dev,
				 struct comedi_subdevice *s,
				 struct comedi_insn *insn, unsigned int *data)
{
	struct s526_private *devpriv = dev->private;
	unsigned int chan = CR_CHAN(insn->chanspec);
	int i;
	short value;
	union cmReg cmReg;

	for (i = 0; i < MAX_GPCT_CONFIG_DATA; i++)
		devpriv->s526_gpct_config[chan].data[i] = data[i];

	/*  Check what type of Counter the user requested, data[0] contains */
	/*  the Application type */
	switch (data[0]) {
	case INSN_CONFIG_GPCT_QUADRATURE_ENCODER:
		/*
		   data[0]: Application Type
		   data[1]: Counter Mode Register Value
		   data[2]: Pre-load Register Value
		   data[3]: Conter Control Register
		 */
		devpriv->s526_gpct_config[chan].app = PositionMeasurement;

#if 0
		/*  Example of Counter Application */
		/* One-shot (software trigger) */
		cmReg.reg.coutSource = 0;	/*  out RCAP */
		cmReg.reg.coutPolarity = 1;	/*  Polarity inverted */
		cmReg.reg.autoLoadResetRcap = 0;/*  Auto load disabled */
		cmReg.reg.hwCtEnableSource = 3;	/*  NOT RCAP */
		cmReg.reg.ctEnableCtrl = 2;	/*  Hardware */
		cmReg.reg.clockSource = 2;	/*  Internal */
		cmReg.reg.countDir = 1;	/*  Down */
		cmReg.reg.countDirCtrl = 1;	/*  Software */
		cmReg.reg.outputRegLatchCtrl = 0;	/*  latch on read */
		cmReg.reg.preloadRegSel = 0;	/*  PR0 */
		cmReg.reg.reserved = 0;

		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		outw(0x0001, dev->iobase + REG_C0H + chan * 8);
		outw(0x3C68, dev->iobase + REG_C0L + chan * 8);

		/*  Reset the counter */
		outw(0x8000, dev->iobase + REG_C0C + chan * 8);
		/*  Load the counter from PR0 */
		outw(0x4000, dev->iobase + REG_C0C + chan * 8);

		/*  Reset RCAP (fires one-shot) */
		outw(0x0008, dev->iobase +  REG_C0C + chan * 8);

#endif

#if 1
		/*  Set Counter Mode Register */
		cmReg.value = data[1] & 0xFFFF;
		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		/*  Reset the counter if it is software preload */
		if (cmReg.reg.autoLoadResetRcap == 0) {
			/*  Reset the counter */
			outw(0x8000, dev->iobase + REG_C0C + chan * 8);
			/* Load the counter from PR0
			 * outw(0x4000, dev->iobase + REG_C0C + chan * 8);
			 */
		}
#else
		/*  0 quadrature, 1 software control */
		cmReg.reg.countDirCtrl = 0;

		/*  data[1] contains GPCT_X1, GPCT_X2 or GPCT_X4 */
		if (data[1] == GPCT_X2)
			cmReg.reg.clockSource = 1;
		else if (data[1] == GPCT_X4)
			cmReg.reg.clockSource = 2;
		else
			cmReg.reg.clockSource = 0;

		/*  When to take into account the indexpulse: */
		/*if (data[2] == GPCT_IndexPhaseLowLow) {
		} else if (data[2] == GPCT_IndexPhaseLowHigh) {
		} else if (data[2] == GPCT_IndexPhaseHighLow) {
		} else if (data[2] == GPCT_IndexPhaseHighHigh) {
		}*/
		/*  Take into account the index pulse? */
		if (data[3] == GPCT_RESET_COUNTER_ON_INDEX)
			/*  Auto load with INDEX^ */
			cmReg.reg.autoLoadResetRcap = 4;

		/*  Set Counter Mode Register */
		cmReg.value = (short)(data[1] & 0xFFFF);
		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		/*  Load the pre-load register high word */
		value = (short)((data[2] >> 16) & 0xFFFF);
		outw(value, dev->iobase + REG_C0H + chan * 8);

		/*  Load the pre-load register low word */
		value = (short)(data[2] & 0xFFFF);
		outw(value, dev->iobase + REG_C0L + chan * 8);

		/*  Write the Counter Control Register */
		if (data[3] != 0) {
			value = (short)(data[3] & 0xFFFF);
			outw(value, dev->iobase + REG_C0C + chan * 8);
		}
		/*  Reset the counter if it is software preload */
		if (cmReg.reg.autoLoadResetRcap == 0) {
			/*  Reset the counter */
			outw(0x8000, dev->iobase + REG_C0C + chan * 8);
			/*  Load the counter from PR0 */
			outw(0x4000, dev->iobase + REG_C0C + chan * 8);
		}
#endif
		break;

	case INSN_CONFIG_GPCT_SINGLE_PULSE_GENERATOR:
		/*
		   data[0]: Application Type
		   data[1]: Counter Mode Register Value
		   data[2]: Pre-load Register 0 Value
		   data[3]: Pre-load Register 1 Value
		   data[4]: Conter Control Register
		 */
		devpriv->s526_gpct_config[chan].app = SinglePulseGeneration;

		/*  Set Counter Mode Register */
		cmReg.value = (short)(data[1] & 0xFFFF);
		cmReg.reg.preloadRegSel = 0;	/*  PR0 */
		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		/*  Load the pre-load register 0 high word */
		value = (short)((data[2] >> 16) & 0xFFFF);
		outw(value, dev->iobase + REG_C0H + chan * 8);

		/*  Load the pre-load register 0 low word */
		value = (short)(data[2] & 0xFFFF);
		outw(value, dev->iobase + REG_C0L + chan * 8);

		/*  Set Counter Mode Register */
		cmReg.value = (short)(data[1] & 0xFFFF);
		cmReg.reg.preloadRegSel = 1;	/*  PR1 */
		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		/*  Load the pre-load register 1 high word */
		value = (short)((data[3] >> 16) & 0xFFFF);
		outw(value, dev->iobase + REG_C0H + chan * 8);

		/*  Load the pre-load register 1 low word */
		value = (short)(data[3] & 0xFFFF);
		outw(value, dev->iobase + REG_C0L + chan * 8);

		/*  Write the Counter Control Register */
		if (data[4] != 0) {
			value = (short)(data[4] & 0xFFFF);
			outw(value, dev->iobase + REG_C0C + chan * 8);
		}
		break;

	case INSN_CONFIG_GPCT_PULSE_TRAIN_GENERATOR:
		/*
		   data[0]: Application Type
		   data[1]: Counter Mode Register Value
		   data[2]: Pre-load Register 0 Value
		   data[3]: Pre-load Register 1 Value
		   data[4]: Conter Control Register
		 */
		devpriv->s526_gpct_config[chan].app = PulseTrainGeneration;

		/*  Set Counter Mode Register */
		cmReg.value = (short)(data[1] & 0xFFFF);
		cmReg.reg.preloadRegSel = 0;	/*  PR0 */
		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		/*  Load the pre-load register 0 high word */
		value = (short)((data[2] >> 16) & 0xFFFF);
		outw(value, dev->iobase + REG_C0H + chan * 8);

		/*  Load the pre-load register 0 low word */
		value = (short)(data[2] & 0xFFFF);
		outw(value, dev->iobase + REG_C0L + chan * 8);

		/*  Set Counter Mode Register */
		cmReg.value = (short)(data[1] & 0xFFFF);
		cmReg.reg.preloadRegSel = 1;	/*  PR1 */
		outw(cmReg.value, dev->iobase + REG_C0M + chan * 8);

		/*  Load the pre-load register 1 high word */
		value = (short)((data[3] >> 16) & 0xFFFF);
		outw(value, dev->iobase + REG_C0H + chan * 8);

		/*  Load the pre-load register 1 low word */
		value = (short)(data[3] & 0xFFFF);
		outw(value, dev->iobase + REG_C0L + chan * 8);

		/*  Write the Counter Control Register */
		if (data[4] != 0) {
			value = (short)(data[4] & 0xFFFF);
			outw(value, dev->iobase + REG_C0C + chan * 8);
		}
		break;

	default:
		return -EINVAL;
		break;
	}

	return insn->n;
}

static int s526_gpct_winsn(struct comedi_device *dev,
			   struct comedi_subdevice *s, struct comedi_insn *insn,
			   unsigned int *data)
{
	struct s526_private *devpriv = dev->private;
	unsigned int chan = CR_CHAN(insn->chanspec);
	short value;
	union cmReg cmReg;

	cmReg.value = inw(dev->iobase + REG_C0M + chan * 8);
	/*  Check what Application of Counter this channel is configured for */
	switch (devpriv->s526_gpct_config[chan].app) {
	case PositionMeasurement:
		outw(0xFFFF & ((*data) >> 16), dev->iobase + REG_C0H + chan * 8);
		outw(0xFFFF & (*data), dev->iobase + REG_C0L + chan * 8);
		break;

	case SinglePulseGeneration:
		outw(0xFFFF & ((*data) >> 16), dev->iobase + REG_C0H + chan * 8);
		outw(0xFFFF & (*data), dev->iobase + REG_C0L + chan * 8);
		break;

	case PulseTrainGeneration:
		/* data[0] contains the PULSE_WIDTH
		   data[1] contains the PULSE_PERIOD
		   @pre PULSE_PERIOD > PULSE_WIDTH > 0
		   The above periods must be expressed as a multiple of the
		   pulse frequency on the selected source
		 */
		if ((data[1] > data[0]) && (data[0] > 0)) {
			(devpriv->s526_gpct_config[chan]).data[0] = data[0];
			(devpriv->s526_gpct_config[chan]).data[1] = data[1];
		} else {
			return -EINVAL;
		}

		value = (short)((*data >> 16) & 0xFFFF);
		outw(value, dev->iobase + REG_C0H + chan * 8);
		value = (short)(*data & 0xFFFF);
		outw(value, dev->iobase + REG_C0L + chan * 8);
		break;
	default:		/*  Impossible */
		return -EINVAL;
		break;
	}
	/*  return the number of samples written */
	return insn->n;
}

#define ISR_ADC_DONE 0x4
static int s526_ai_insn_config(struct comedi_device *dev,
			       struct comedi_subdevice *s,
			       struct comedi_insn *insn, unsigned int *data)
{
	struct s526_private *devpriv = dev->private;
	int result = -EINVAL;

	if (insn->n < 1)
		return result;

	result = insn->n;

	/* data[0] : channels was set in relevant bits.
	   data[1] : delay
	 */
	/* COMMENT: abbotti 2008-07-24: I don't know why you'd want to
	 * enable channels here.  The channel should be enabled in the
	 * INSN_READ handler. */

	/*  Enable ADC interrupt */
	outw(ISR_ADC_DONE, dev->iobase + REG_IER);
	devpriv->s526_ai_config = (data[0] & 0x3FF) << 5;
	if (data[1] > 0)
		devpriv->s526_ai_config |= 0x8000;	/* set the delay */

	devpriv->s526_ai_config |= 0x0001;	/*  ADC start bit. */

	return result;
}

static int s526_ai_rinsn(struct comedi_device *dev, struct comedi_subdevice *s,
			 struct comedi_insn *insn, unsigned int *data)
{
	struct s526_private *devpriv = dev->private;
	unsigned int chan = CR_CHAN(insn->chanspec);
	int n, i;
	unsigned short value;
	unsigned int d;
	unsigned int status;

	/* Set configured delay, enable channel for this channel only,
	 * select "ADC read" channel, set "ADC start" bit. */
	value = (devpriv->s526_ai_config & 0x8000) |
	    ((1 << 5) << chan) | (chan << 1) | 0x0001;

	/* convert n samples */
	for (n = 0; n < insn->n; n++) {
		/* trigger conversion */
		outw(value, dev->iobase + REG_ADC);

#define TIMEOUT 100
		/* wait for conversion to end */
		for (i = 0; i < TIMEOUT; i++) {
			status = inw(dev->iobase + REG_ISR);
			if (status & ISR_ADC_DONE) {
				outw(ISR_ADC_DONE, dev->iobase + REG_ISR);
				break;
			}
		}
		if (i == TIMEOUT)
			return -ETIMEDOUT;

		/* read data */
		d = inw(dev->iobase + REG_ADD);

		/* munge data */
		data[n] = d ^ 0x8000;
	}

	/* return the number of samples read/written */
	return n;
}

static int s526_ao_winsn(struct comedi_device *dev, struct comedi_subdevice *s,
			 struct comedi_insn *insn, unsigned int *data)
{
	struct s526_private *devpriv = dev->private;
	unsigned int chan = CR_CHAN(insn->chanspec);
	unsigned short val;
	int i;

	val = chan << 1;
	outw(val, dev->iobase + REG_DAC);

	for (i = 0; i < insn->n; i++) {
		outw(data[i], dev->iobase + REG_ADD);
		devpriv->ao_readback[chan] = data[i];
		/* starts the D/A conversion */
		outw(val + 1, dev->iobase + REG_DAC);
	}

	return i;
}

static int s526_ao_rinsn(struct comedi_device *dev, struct comedi_subdevice *s,
			 struct comedi_insn *insn, unsigned int *data)
{
	struct s526_private *devpriv = dev->private;
	unsigned int chan = CR_CHAN(insn->chanspec);
	int i;

	for (i = 0; i < insn->n; i++)
		data[i] = devpriv->ao_readback[chan];

	return i;
}

static int s526_dio_insn_bits(struct comedi_device *dev,
			      struct comedi_subdevice *s,
			      struct comedi_insn *insn, unsigned int *data)
{
	if (data[0]) {
		s->state &= ~data[0];
		s->state |= data[0] & data[1];

		outw(s->state, dev->iobase + REG_DIO);
	}

	data[1] = inw(dev->iobase + REG_DIO) & 0xff;

	return insn->n;
}

static int s526_dio_insn_config(struct comedi_device *dev,
				struct comedi_subdevice *s,
				struct comedi_insn *insn, unsigned int *data)
{
	unsigned int chan = CR_CHAN(insn->chanspec);
	int group, mask;

	group = chan >> 2;
	mask = 0xF << (group << 2);
	switch (data[0]) {
	case INSN_CONFIG_DIO_OUTPUT:
		/* bit 10/11 set the group 1/2's mode */
		s->state |= 1 << (group + 10);
		s->io_bits |= mask;
		break;
	case INSN_CONFIG_DIO_INPUT:
		s->state &= ~(1 << (group + 10)); /* 1 is output, 0 is input. */
		s->io_bits &= ~mask;
		break;
	case INSN_CONFIG_DIO_QUERY:
		data[1] = (s->io_bits & mask) ? COMEDI_OUTPUT : COMEDI_INPUT;
		return insn->n;
	default:
		return -EINVAL;
	}
	outw(s->state, dev->iobase + REG_DIO);

	return 1;
}

static int s526_attach(struct comedi_device *dev, struct comedi_devconfig *it)
{
	struct s526_private *devpriv;
	struct comedi_subdevice *s;
	int iobase;
	int ret;

	dev->board_name = dev->driver->driver_name;

	iobase = it->options[0];
	if (!iobase || !request_region(iobase, S526_IOSIZE, dev->board_name)) {
		comedi_error(dev, "I/O port conflict");
		return -EIO;
	}
	dev->iobase = iobase;

	ret = alloc_private(dev, sizeof(*devpriv));
	if (ret)
		return ret;
	devpriv = dev->private;

	ret = comedi_alloc_subdevices(dev, 4);
	if (ret)
		return ret;

	s = &dev->subdevices[0];
	/* GENERAL-PURPOSE COUNTER/TIME (GPCT) */
	s->type = COMEDI_SUBD_COUNTER;
	s->subdev_flags = SDF_READABLE | SDF_WRITABLE | SDF_LSAMPL;
	s->n_chan = 4;
	s->maxdata = 0x00ffffff;	/* 24 bit counter */
	s->insn_read = s526_gpct_rinsn;
	s->insn_config = s526_gpct_insn_config;
	s->insn_write = s526_gpct_winsn;

	s = &dev->subdevices[1];
	/* analog input subdevice */
	s->type = COMEDI_SUBD_AI;
	s->subdev_flags = SDF_READABLE | SDF_DIFF;
	/* channels 0 to 7 are the regular differential inputs */
	/* channel 8 is "reference 0" (+10V), channel 9 is "reference 1" (0V) */
	s->n_chan = 10;
	s->maxdata = 0xffff;
	s->range_table = &range_bipolar10;
	s->len_chanlist = 16;
	s->insn_read = s526_ai_rinsn;
	s->insn_config = s526_ai_insn_config;

	s = &dev->subdevices[2];
	/* analog output subdevice */
	s->type = COMEDI_SUBD_AO;
	s->subdev_flags = SDF_WRITABLE;
	s->n_chan = 4;
	s->maxdata = 0xffff;
	s->range_table = &range_bipolar10;
	s->insn_write = s526_ao_winsn;
	s->insn_read = s526_ao_rinsn;

	s = &dev->subdevices[3];
	/* digital i/o subdevice */
	s->type = COMEDI_SUBD_DIO;
	s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
	s->n_chan = 8;
	s->maxdata = 1;
	s->range_table = &range_digital;
	s->insn_bits = s526_dio_insn_bits;
	s->insn_config = s526_dio_insn_config;

	dev_info(dev->class_dev, "%s attached\n", dev->board_name);

	return 1;
}

static void s526_detach(struct comedi_device *dev)
{
	if (dev->iobase > 0)
		release_region(dev->iobase, S526_IOSIZE);
}

static struct comedi_driver s526_driver = {
	.driver_name	= "s526",
	.module		= THIS_MODULE,
	.attach		= s526_attach,
	.detach		= s526_detach,
};
module_comedi_driver(s526_driver);

MODULE_AUTHOR("Comedi http://www.comedi.org");
MODULE_DESCRIPTION("Comedi low-level driver");
MODULE_LICENSE("GPL");