From 47f1fa37dbd17014724bd22e9e8fba9f538d27d8 Mon Sep 17 00:00:00 2001 From: H Hartley Sweeten Date: Mon, 5 Oct 2015 15:33:17 -0700 Subject: [PATCH] staging: comedi: multiq3: tidy up multiq3_encoder_insn_read() Encoders are not a "normal" subdevice in comedi. For aesthetics, tidy up this function and add a couple comments to clarify the function and explain the strange munging of the data. Signed-off-by: H Hartley Sweeten Signed-off-by: Ian Abbott Signed-off-by: Greg Kroah-Hartman --- drivers/staging/comedi/drivers/multiq3.c | 41 ++++++++++++++++++------ 1 file changed, 32 insertions(+), 9 deletions(-) diff --git a/drivers/staging/comedi/drivers/multiq3.c b/drivers/staging/comedi/drivers/multiq3.c index b5d23540f768..fa63637baa13 100644 --- a/drivers/staging/comedi/drivers/multiq3.c +++ b/drivers/staging/comedi/drivers/multiq3.c @@ -185,22 +185,45 @@ static int multiq3_encoder_insn_read(struct comedi_device *dev, struct comedi_insn *insn, unsigned int *data) { - int chan = CR_CHAN(insn->chanspec); - int value; - int n; + unsigned int chan = CR_CHAN(insn->chanspec); + unsigned int val; + int i; - for (n = 0; n < insn->n; n++) { + 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); - value = inb(dev->iobase + MULTIQ3_ENC_DATA_REG); - value |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 8); - value |= (inb(dev->iobase + MULTIQ3_ENC_DATA_REG) << 16); - data[n] = (value + 0x800000) & 0xffffff; + + /* 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 n; + return insn->n; } static void multiq3_encoder_reset(struct comedi_device *dev, -- 2.20.1