--- /dev/null
+/*
+ * c6xdigio.c
+ * Hardware driver for Mechatronic Systems Inc. C6x_DIGIO DSP daughter card.
+ * http://web.archive.org/web/%2A/http://robot0.ge.uiuc.edu/~spong/mecha/
+ *
+ * COMEDI - Linux Control and Measurement Device Interface
+ * Copyright (C) 1999 Dan Block
+ *
+ * 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.
+ */
+
+/*
+ * Driver: c6xdigio
+ * Description: Mechatronic Systems Inc. C6x_DIGIO DSP daughter card
+ * Author: Dan Block
+ * Status: unknown
+ * Devices: [Mechatronic Systems Inc.] C6x_DIGIO DSP daughter card (c6xdigio)
+ * Updated: Sun Nov 20 20:18:34 EST 2005
+ *
+ * Configuration Options:
+ * [0] - base address
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/sched.h>
+#include <linux/mm.h>
+#include <linux/errno.h>
+#include <linux/interrupt.h>
+#include <linux/timex.h>
+#include <linux/timer.h>
+#include <linux/io.h>
+#include <linux/pnp.h>
+
+#include "../comedidev.h"
+
+/*
+ * Register I/O map
+ */
+#define C6XDIGIO_DATA_REG 0x00
+#define C6XDIGIO_DATA_CHAN(x) (((x) + 1) << 4)
+#define C6XDIGIO_DATA_PWM (1 << 5)
+#define C6XDIGIO_DATA_ENCODER (1 << 6)
+#define C6XDIGIO_STATUS_REG 0x01
+#define C6XDIGIO_CTRL_REG 0x02
+
+#define C6XDIGIO_TIME_OUT 20
+
+static int c6xdigio_chk_status(struct comedi_device *dev, unsigned long context)
+{
+ unsigned int status;
+ int timeout = 0;
+
+ do {
+ status = inb(dev->iobase + C6XDIGIO_STATUS_REG);
+ if ((status & 0x80) != context)
+ return 0;
+ timeout++;
+ } while (timeout < C6XDIGIO_TIME_OUT);
+
+ return -EBUSY;
+}
+
+static int c6xdigio_write_data(struct comedi_device *dev,
+ unsigned int val, unsigned int status)
+{
+ outb_p(val, dev->iobase + C6XDIGIO_DATA_REG);
+ return c6xdigio_chk_status(dev, status);
+}
+
+static int c6xdigio_get_encoder_bits(struct comedi_device *dev,
+ unsigned int *bits,
+ unsigned int cmd,
+ unsigned int status)
+{
+ unsigned int val;
+
+ val = inb(dev->iobase + C6XDIGIO_STATUS_REG);
+ val >>= 3;
+ val &= 0x07;
+
+ *bits = val;
+
+ return c6xdigio_write_data(dev, cmd, status);
+}
+
+static void c6xdigio_pwm_write(struct comedi_device *dev,
+ unsigned int chan, unsigned int val)
+{
+ unsigned int cmd = C6XDIGIO_DATA_PWM | C6XDIGIO_DATA_CHAN(chan);
+ unsigned int bits;
+
+ if (val > 498)
+ val = 498;
+ if (val < 2)
+ val = 2;
+
+ bits = (val >> 0) & 0x03;
+ c6xdigio_write_data(dev, cmd | bits | (0 << 2), 0x00);
+ bits = (val >> 2) & 0x03;
+ c6xdigio_write_data(dev, cmd | bits | (1 << 2), 0x80);
+ bits = (val >> 4) & 0x03;
+ c6xdigio_write_data(dev, cmd | bits | (0 << 2), 0x00);
+ bits = (val >> 6) & 0x03;
+ c6xdigio_write_data(dev, cmd | bits | (1 << 2), 0x80);
+ bits = (val >> 8) & 0x03;
+ c6xdigio_write_data(dev, cmd | bits | (0 << 2), 0x00);
+
+ c6xdigio_write_data(dev, 0x00, 0x80);
+}
+
+static int c6xdigio_encoder_read(struct comedi_device *dev,
+ unsigned int chan)
+{
+ unsigned int cmd = C6XDIGIO_DATA_ENCODER | C6XDIGIO_DATA_CHAN(chan);
+ unsigned int val = 0;
+ unsigned int bits;
+
+ c6xdigio_write_data(dev, cmd, 0x00);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (1 << 2), 0x80);
+ val |= (bits << 0);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (0 << 2), 0x00);
+ val |= (bits << 3);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (1 << 2), 0x80);
+ val |= (bits << 6);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (0 << 2), 0x00);
+ val |= (bits << 9);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (1 << 2), 0x80);
+ val |= (bits << 12);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (0 << 2), 0x00);
+ val |= (bits << 15);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (1 << 2), 0x80);
+ val |= (bits << 18);
+
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (0 << 2), 0x00);
+ val |= (bits << 21);
+
+ c6xdigio_write_data(dev, 0x00, 0x80);
+
+ return val;
+}
+
+static int c6xdigio_pwm_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->state >> (16 * chan)) & 0xffff;
+ int i;
+
+ for (i = 0; i < insn->n; i++) {
+ val = data[i];
+ c6xdigio_pwm_write(dev, chan, val);
+ }
+
+ /*
+ * There are only 2 PWM channels and they have a maxdata of 500.
+ * Instead of allocating private data to save the values in for
+ * readback this driver just packs the values for the two channels
+ * in the s->state.
+ */
+ s->state &= (0xffff << (16 * chan));
+ s->state |= (val << (16 * chan));
+
+ return insn->n;
+}
+
+static int c6xdigio_pwm_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;
+
+ val = (s->state >> (16 * chan)) & 0xffff;
+
+ for (i = 0; i < insn->n; i++)
+ data[i] = val;
+
+ return insn->n;
+}
+
+static int c6xdigio_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++) {
+ val = c6xdigio_encoder_read(dev, chan);
+
+ /* munge two's complement value to offset binary */
+ data[i] = comedi_offset_munge(s, val);
+ }
+
+ return insn->n;
+}
+
+static void c6xdigio_init(struct comedi_device *dev)
+{
+ /* Initialize the PWM */
+ c6xdigio_write_data(dev, 0x70, 0x00);
+ c6xdigio_write_data(dev, 0x74, 0x80);
+ c6xdigio_write_data(dev, 0x70, 0x00);
+ c6xdigio_write_data(dev, 0x00, 0x80);
+
+ /* Reset the encoders */
+ c6xdigio_write_data(dev, 0x68, 0x00);
+ c6xdigio_write_data(dev, 0x6c, 0x80);
+ c6xdigio_write_data(dev, 0x68, 0x00);
+ c6xdigio_write_data(dev, 0x00, 0x80);
+}
+
+static const struct pnp_device_id c6xdigio_pnp_tbl[] = {
+ /* Standard LPT Printer Port */
+ {.id = "PNP0400", .driver_data = 0},
+ /* ECP Printer Port */
+ {.id = "PNP0401", .driver_data = 0},
+ {}
+};
+
+static struct pnp_driver c6xdigio_pnp_driver = {
+ .name = "c6xdigio",
+ .id_table = c6xdigio_pnp_tbl,
+};
+
+static int c6xdigio_attach(struct comedi_device *dev,
+ struct comedi_devconfig *it)
+{
+ struct comedi_subdevice *s;
+ int ret;
+
+ ret = comedi_request_region(dev, it->options[0], 0x03);
+ if (ret)
+ return ret;
+
+ ret = comedi_alloc_subdevices(dev, 2);
+ if (ret)
+ return ret;
+
+ /* Make sure that PnP ports get activated */
+ pnp_register_driver(&c6xdigio_pnp_driver);
+
+ s = &dev->subdevices[0];
+ /* pwm output subdevice */
+ s->type = COMEDI_SUBD_PWM;
+ s->subdev_flags = SDF_WRITABLE;
+ s->n_chan = 2;
+ s->maxdata = 500;
+ s->range_table = &range_unknown;
+ s->insn_write = c6xdigio_pwm_insn_write;
+ s->insn_read = c6xdigio_pwm_insn_read;
+
+ s = &dev->subdevices[1];
+ /* encoder (counter) subdevice */
+ s->type = COMEDI_SUBD_COUNTER;
+ s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
+ s->n_chan = 2;
+ s->maxdata = 0xffffff;
+ s->range_table = &range_unknown;
+ s->insn_read = c6xdigio_encoder_insn_read;
+
+ /* I will call this init anyway but more than likely the DSP board */
+ /* will not be connected when device driver is loaded. */
+ c6xdigio_init(dev);
+
+ return 0;
+}
+
+static void c6xdigio_detach(struct comedi_device *dev)
+{
+ comedi_legacy_detach(dev);
+ pnp_unregister_driver(&c6xdigio_pnp_driver);
+}
+
+static struct comedi_driver c6xdigio_driver = {
+ .driver_name = "c6xdigio",
+ .module = THIS_MODULE,
+ .attach = c6xdigio_attach,
+ .detach = c6xdigio_detach,
+};
+module_comedi_driver(c6xdigio_driver);
+
+MODULE_AUTHOR("Comedi http://www.comedi.org");
+MODULE_DESCRIPTION("Comedi driver for the C6x_DIGIO DSP daughter card");
+MODULE_LICENSE("GPL");
Code Review / kvmfornfv.git / blobdiff