1 | // SPDX-License-Identifier: GPL-2.0+ |
2 | /* |
3 | * c6xdigio.c |
4 | * Hardware driver for Mechatronic Systems Inc. C6x_DIGIO DSP daughter card. |
5 | * http://web.archive.org/web/%2A/http://robot0.ge.uiuc.edu/~spong/mecha/ |
6 | * |
7 | * COMEDI - Linux Control and Measurement Device Interface |
8 | * Copyright (C) 1999 Dan Block |
9 | */ |
10 | |
11 | /* |
12 | * Driver: c6xdigio |
13 | * Description: Mechatronic Systems Inc. C6x_DIGIO DSP daughter card |
14 | * Author: Dan Block |
15 | * Status: unknown |
16 | * Devices: [Mechatronic Systems Inc.] C6x_DIGIO DSP daughter card (c6xdigio) |
17 | * Updated: Sun Nov 20 20:18:34 EST 2005 |
18 | * |
19 | * Configuration Options: |
20 | * [0] - base address |
21 | */ |
22 | |
23 | #include <linux/kernel.h> |
24 | #include <linux/module.h> |
25 | #include <linux/sched.h> |
26 | #include <linux/mm.h> |
27 | #include <linux/errno.h> |
28 | #include <linux/interrupt.h> |
29 | #include <linux/timex.h> |
30 | #include <linux/timer.h> |
31 | #include <linux/io.h> |
32 | #include <linux/pnp.h> |
33 | #include <linux/comedi/comedidev.h> |
34 | |
35 | /* |
36 | * Register I/O map |
37 | */ |
38 | #define C6XDIGIO_DATA_REG 0x00 |
39 | #define C6XDIGIO_DATA_CHAN(x) (((x) + 1) << 4) |
40 | #define C6XDIGIO_DATA_PWM BIT(5) |
41 | #define C6XDIGIO_DATA_ENCODER BIT(6) |
42 | #define C6XDIGIO_STATUS_REG 0x01 |
43 | #define C6XDIGIO_CTRL_REG 0x02 |
44 | |
45 | #define C6XDIGIO_TIME_OUT 20 |
46 | |
47 | static int c6xdigio_chk_status(struct comedi_device *dev, unsigned long context) |
48 | { |
49 | unsigned int status; |
50 | int timeout = 0; |
51 | |
52 | do { |
53 | status = inb(port: dev->iobase + C6XDIGIO_STATUS_REG); |
54 | if ((status & 0x80) != context) |
55 | return 0; |
56 | timeout++; |
57 | } while (timeout < C6XDIGIO_TIME_OUT); |
58 | |
59 | return -EBUSY; |
60 | } |
61 | |
62 | static int c6xdigio_write_data(struct comedi_device *dev, |
63 | unsigned int val, unsigned int status) |
64 | { |
65 | outb_p(value: val, port: dev->iobase + C6XDIGIO_DATA_REG); |
66 | return c6xdigio_chk_status(dev, context: status); |
67 | } |
68 | |
69 | static int c6xdigio_get_encoder_bits(struct comedi_device *dev, |
70 | unsigned int *bits, |
71 | unsigned int cmd, |
72 | unsigned int status) |
73 | { |
74 | unsigned int val; |
75 | |
76 | val = inb(port: dev->iobase + C6XDIGIO_STATUS_REG); |
77 | val >>= 3; |
78 | val &= 0x07; |
79 | |
80 | *bits = val; |
81 | |
82 | return c6xdigio_write_data(dev, val: cmd, status); |
83 | } |
84 | |
85 | static void c6xdigio_pwm_write(struct comedi_device *dev, |
86 | unsigned int chan, unsigned int val) |
87 | { |
88 | unsigned int cmd = C6XDIGIO_DATA_PWM | C6XDIGIO_DATA_CHAN(chan); |
89 | unsigned int bits; |
90 | |
91 | if (val > 498) |
92 | val = 498; |
93 | if (val < 2) |
94 | val = 2; |
95 | |
96 | bits = (val >> 0) & 0x03; |
97 | c6xdigio_write_data(dev, val: cmd | bits | (0 << 2), status: 0x00); |
98 | bits = (val >> 2) & 0x03; |
99 | c6xdigio_write_data(dev, val: cmd | bits | (1 << 2), status: 0x80); |
100 | bits = (val >> 4) & 0x03; |
101 | c6xdigio_write_data(dev, val: cmd | bits | (0 << 2), status: 0x00); |
102 | bits = (val >> 6) & 0x03; |
103 | c6xdigio_write_data(dev, val: cmd | bits | (1 << 2), status: 0x80); |
104 | bits = (val >> 8) & 0x03; |
105 | c6xdigio_write_data(dev, val: cmd | bits | (0 << 2), status: 0x00); |
106 | |
107 | c6xdigio_write_data(dev, val: 0x00, status: 0x80); |
108 | } |
109 | |
110 | static int c6xdigio_encoder_read(struct comedi_device *dev, |
111 | unsigned int chan) |
112 | { |
113 | unsigned int cmd = C6XDIGIO_DATA_ENCODER | C6XDIGIO_DATA_CHAN(chan); |
114 | unsigned int val = 0; |
115 | unsigned int bits; |
116 | |
117 | c6xdigio_write_data(dev, val: cmd, status: 0x00); |
118 | |
119 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (1 << 2), status: 0x80); |
120 | val |= (bits << 0); |
121 | |
122 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (0 << 2), status: 0x00); |
123 | val |= (bits << 3); |
124 | |
125 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (1 << 2), status: 0x80); |
126 | val |= (bits << 6); |
127 | |
128 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (0 << 2), status: 0x00); |
129 | val |= (bits << 9); |
130 | |
131 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (1 << 2), status: 0x80); |
132 | val |= (bits << 12); |
133 | |
134 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (0 << 2), status: 0x00); |
135 | val |= (bits << 15); |
136 | |
137 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (1 << 2), status: 0x80); |
138 | val |= (bits << 18); |
139 | |
140 | c6xdigio_get_encoder_bits(dev, bits: &bits, cmd: cmd | (0 << 2), status: 0x00); |
141 | val |= (bits << 21); |
142 | |
143 | c6xdigio_write_data(dev, val: 0x00, status: 0x80); |
144 | |
145 | return val; |
146 | } |
147 | |
148 | static int c6xdigio_pwm_insn_write(struct comedi_device *dev, |
149 | struct comedi_subdevice *s, |
150 | struct comedi_insn *insn, |
151 | unsigned int *data) |
152 | { |
153 | unsigned int chan = CR_CHAN(insn->chanspec); |
154 | unsigned int val = (s->state >> (16 * chan)) & 0xffff; |
155 | int i; |
156 | |
157 | for (i = 0; i < insn->n; i++) { |
158 | val = data[i]; |
159 | c6xdigio_pwm_write(dev, chan, val); |
160 | } |
161 | |
162 | /* |
163 | * There are only 2 PWM channels and they have a maxdata of 500. |
164 | * Instead of allocating private data to save the values in for |
165 | * readback this driver just packs the values for the two channels |
166 | * in the s->state. |
167 | */ |
168 | s->state &= (0xffff << (16 * chan)); |
169 | s->state |= (val << (16 * chan)); |
170 | |
171 | return insn->n; |
172 | } |
173 | |
174 | static int c6xdigio_pwm_insn_read(struct comedi_device *dev, |
175 | struct comedi_subdevice *s, |
176 | struct comedi_insn *insn, |
177 | unsigned int *data) |
178 | { |
179 | unsigned int chan = CR_CHAN(insn->chanspec); |
180 | unsigned int val; |
181 | int i; |
182 | |
183 | val = (s->state >> (16 * chan)) & 0xffff; |
184 | |
185 | for (i = 0; i < insn->n; i++) |
186 | data[i] = val; |
187 | |
188 | return insn->n; |
189 | } |
190 | |
191 | static int c6xdigio_encoder_insn_read(struct comedi_device *dev, |
192 | struct comedi_subdevice *s, |
193 | struct comedi_insn *insn, |
194 | unsigned int *data) |
195 | { |
196 | unsigned int chan = CR_CHAN(insn->chanspec); |
197 | unsigned int val; |
198 | int i; |
199 | |
200 | for (i = 0; i < insn->n; i++) { |
201 | val = c6xdigio_encoder_read(dev, chan); |
202 | |
203 | /* munge two's complement value to offset binary */ |
204 | data[i] = comedi_offset_munge(s, val); |
205 | } |
206 | |
207 | return insn->n; |
208 | } |
209 | |
210 | static void c6xdigio_init(struct comedi_device *dev) |
211 | { |
212 | /* Initialize the PWM */ |
213 | c6xdigio_write_data(dev, val: 0x70, status: 0x00); |
214 | c6xdigio_write_data(dev, val: 0x74, status: 0x80); |
215 | c6xdigio_write_data(dev, val: 0x70, status: 0x00); |
216 | c6xdigio_write_data(dev, val: 0x00, status: 0x80); |
217 | |
218 | /* Reset the encoders */ |
219 | c6xdigio_write_data(dev, val: 0x68, status: 0x00); |
220 | c6xdigio_write_data(dev, val: 0x6c, status: 0x80); |
221 | c6xdigio_write_data(dev, val: 0x68, status: 0x00); |
222 | c6xdigio_write_data(dev, val: 0x00, status: 0x80); |
223 | } |
224 | |
225 | static const struct pnp_device_id c6xdigio_pnp_tbl[] = { |
226 | /* Standard LPT Printer Port */ |
227 | {.id = "PNP0400" , .driver_data = 0}, |
228 | /* ECP Printer Port */ |
229 | {.id = "PNP0401" , .driver_data = 0}, |
230 | {} |
231 | }; |
232 | |
233 | static struct pnp_driver c6xdigio_pnp_driver = { |
234 | .name = "c6xdigio" , |
235 | .id_table = c6xdigio_pnp_tbl, |
236 | }; |
237 | |
238 | static int c6xdigio_attach(struct comedi_device *dev, |
239 | struct comedi_devconfig *it) |
240 | { |
241 | struct comedi_subdevice *s; |
242 | int ret; |
243 | |
244 | ret = comedi_request_region(dev, start: it->options[0], len: 0x03); |
245 | if (ret) |
246 | return ret; |
247 | |
248 | ret = comedi_alloc_subdevices(dev, num_subdevices: 2); |
249 | if (ret) |
250 | return ret; |
251 | |
252 | /* Make sure that PnP ports get activated */ |
253 | pnp_register_driver(drv: &c6xdigio_pnp_driver); |
254 | |
255 | s = &dev->subdevices[0]; |
256 | /* pwm output subdevice */ |
257 | s->type = COMEDI_SUBD_PWM; |
258 | s->subdev_flags = SDF_WRITABLE; |
259 | s->n_chan = 2; |
260 | s->maxdata = 500; |
261 | s->range_table = &range_unknown; |
262 | s->insn_write = c6xdigio_pwm_insn_write; |
263 | s->insn_read = c6xdigio_pwm_insn_read; |
264 | |
265 | s = &dev->subdevices[1]; |
266 | /* encoder (counter) subdevice */ |
267 | s->type = COMEDI_SUBD_COUNTER; |
268 | s->subdev_flags = SDF_READABLE | SDF_LSAMPL; |
269 | s->n_chan = 2; |
270 | s->maxdata = 0xffffff; |
271 | s->range_table = &range_unknown; |
272 | s->insn_read = c6xdigio_encoder_insn_read; |
273 | |
274 | /* I will call this init anyway but more than likely the DSP board */ |
275 | /* will not be connected when device driver is loaded. */ |
276 | c6xdigio_init(dev); |
277 | |
278 | return 0; |
279 | } |
280 | |
281 | static void c6xdigio_detach(struct comedi_device *dev) |
282 | { |
283 | comedi_legacy_detach(dev); |
284 | pnp_unregister_driver(drv: &c6xdigio_pnp_driver); |
285 | } |
286 | |
287 | static struct comedi_driver c6xdigio_driver = { |
288 | .driver_name = "c6xdigio" , |
289 | .module = THIS_MODULE, |
290 | .attach = c6xdigio_attach, |
291 | .detach = c6xdigio_detach, |
292 | }; |
293 | module_comedi_driver(c6xdigio_driver); |
294 | |
295 | MODULE_AUTHOR("Comedi https://www.comedi.org" ); |
296 | MODULE_DESCRIPTION("Comedi driver for the C6x_DIGIO DSP daughter card" ); |
297 | MODULE_LICENSE("GPL" ); |
298 | |