linux/drivers/staging/comedi/drivers/multiq3.c - nest-guard/1.0/linux - Git at Google

 /*
    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 <linux/interrupt.h>
 #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(struct comedi_device *dev,
 			  struct comedi_devconfig *it);
 static int multiq3_detach(struct comedi_device *dev);
 static struct comedi_driver driver_multiq3 = {
 	.driver_name = "multiq3",
 	.module = THIS_MODULE,
 	.attach = multiq3_attach,
 	.detach = multiq3_detach,
 };

 static int __init driver_multiq3_init_module(void)
 {
 	return comedi_driver_register(&driver_multiq3);
 }

 static void __exit driver_multiq3_cleanup_module(void)
 {
 	comedi_driver_unregister(&driver_multiq3);
 }

 module_init(driver_multiq3_init_module);
 module_exit(driver_multiq3_cleanup_module);

 struct multiq3_private {
 	unsigned int ao_readback[2];
 };
 #define devpriv ((struct multiq3_private *)dev->private)

 static int multiq3_ai_insn_read(struct comedi_device *dev,
 				struct comedi_subdevice *s,
 				struct comedi_insn *insn, unsigned int *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(struct comedi_device *dev,
 				struct comedi_subdevice *s,
 				struct comedi_insn *insn, unsigned int *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(struct comedi_device *dev,
 				 struct comedi_subdevice *s,
 				 struct comedi_insn *insn, unsigned int *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(struct comedi_device *dev,
 				struct comedi_subdevice *s,
 				struct comedi_insn *insn, unsigned int *data)
 {
 	if (insn->n != 2)
 		return -EINVAL;

 	data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);

 	return 2;
 }

 static int multiq3_do_insn_bits(struct comedi_device *dev,
 				struct comedi_subdevice *s,
 				struct comedi_insn *insn, unsigned int *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(struct comedi_device *dev,
 				     struct comedi_subdevice *s,
 				     struct comedi_insn *insn,
 				     unsigned int *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(struct 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(struct comedi_device *dev,
 			  struct comedi_devconfig *it)
 {
 	int result = 0;
 	unsigned long iobase;
 	unsigned int irq;
 	struct comedi_subdevice *s;

 	iobase = it->options[0];
 	printk(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
 	if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
 		printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor);
 		return -EIO;
 	}

 	dev->iobase = iobase;

 	irq = it->options[1];
 	if (irq)
 		printk(KERN_WARNING "comedi%d: irq = %u ignored\n",
 			dev->minor, irq);
 	else
 		printk(KERN_WARNING "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(struct comedi_device *dev)
 {
 	printk(KERN_INFO "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;
 }

 MODULE_AUTHOR("Comedi http://www.comedi.org");
 MODULE_DESCRIPTION("Comedi low-level driver");
 MODULE_LICENSE("GPL");
	/*
	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 <linux/interrupt.h>
	#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(struct comedi_device *dev,
	struct comedi_devconfig *it);
	static int multiq3_detach(struct comedi_device *dev);
	static struct comedi_driver driver_multiq3 = {
	.driver_name = "multiq3",
	.module = THIS_MODULE,
	.attach = multiq3_attach,
	.detach = multiq3_detach,
	};

	static int __init driver_multiq3_init_module(void)
	{
	return comedi_driver_register(&driver_multiq3);
	}

	static void __exit driver_multiq3_cleanup_module(void)
	{
	comedi_driver_unregister(&driver_multiq3);
	}

	module_init(driver_multiq3_init_module);
	module_exit(driver_multiq3_cleanup_module);

	struct multiq3_private {
	unsigned int ao_readback[2];
	};
	#define devpriv ((struct multiq3_private *)dev->private)

	static int multiq3_ai_insn_read(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int 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(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int 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(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int 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(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int data)
	{
	if (insn->n != 2)
	return -EINVAL;

	data[1] = inw(dev->iobase + MULTIQ3_DIGIN_PORT);

	return 2;
	}

	static int multiq3_do_insn_bits(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int 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(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *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(struct 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(struct comedi_device *dev,
	struct comedi_devconfig *it)
	{
	int result = 0;
	unsigned long iobase;
	unsigned int irq;
	struct comedi_subdevice *s;

	iobase = it->options[0];
	printk(KERN_INFO "comedi%d: multiq3: 0x%04lx ", dev->minor, iobase);
	if (!request_region(iobase, MULTIQ3_SIZE, "multiq3")) {
	printk(KERN_ERR "comedi%d: I/O port conflict\n", dev->minor);
	return -EIO;
	}

	dev->iobase = iobase;

	irq = it->options[1];
	if (irq)
	printk(KERN_WARNING "comedi%d: irq = %u ignored\n",
	dev->minor, irq);
	else
	printk(KERN_WARNING "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(struct comedi_device *dev)
	{
	printk(KERN_INFO "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;
	}

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