Staging: comedi: add c6xdigio driver

Driver for Mechatronic Systems Inc. C6x_DIGIO DSP daughter card

Written by Dan Block, email address unknown

Cc: David Schleef <ds@schleef.org>
Cc: Ian Abbott <abbotti@mev.co.uk>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/comedi/drivers/c6xdigio.c

+/*
+   comedi/drivers/c6xdigio.c
+
+   Hardware driver for Mechatronic Systems Inc. C6x_DIGIO DSP daughter card.
+   (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.
+
+   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: 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
+
+This driver will not work with a 2.4 kernel.
+http://robot0.ge.uiuc.edu/~spong/mecha/
+
+*/
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/sched.h>
+#include <linux/mm.h>
+#include <linux/errno.h>
+#include <linux/ioport.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/timex.h>
+#include <linux/timer.h>
+#include <asm/io.h>
+#include <linux/pnp.h>
+
+#include "../comedidev.h"
+
+static u8 ReadByteFromHwPort(unsigned long addr)
+{
+	u8 result = inb(addr);
+	return result;
+}
+
+static void WriteByteToHwPort(unsigned long addr, u8 val)
+{
+	outb_p(val, addr);
+}
+
+#define C6XDIGIO_SIZE 3
+
+/*
+ * port offsets
+ */
+#define C6XDIGIO_PARALLEL_DATA 0
+#define C6XDIGIO_PARALLEL_STATUS 1
+#define C6XDIGIO_PARALLEL_CONTROL 2
+struct pwmbitstype {
+	unsigned sb0:2;
+	unsigned sb1:2;
+	unsigned sb2:2;
+	unsigned sb3:2;
+	unsigned sb4:2;
+};
+union pwmcmdtype {
+	unsigned cmd;		// assuming here that int is 32bit
+	struct pwmbitstype bits;
+};
+struct encbitstype {
+	unsigned sb0:3;
+	unsigned sb1:3;
+	unsigned sb2:3;
+	unsigned sb3:3;
+	unsigned sb4:3;
+	unsigned sb5:3;
+	unsigned sb6:3;
+	unsigned sb7:3;
+};
+union encvaluetype {
+	unsigned value;
+	struct encbitstype bits;
+};
+
+#define C6XDIGIO_TIME_OUT 20
+
+static int c6xdigio_attach(comedi_device * dev, comedi_devconfig * it);
+static int c6xdigio_detach(comedi_device * dev);
+comedi_driver driver_c6xdigio = {
+      driver_name:"c6xdigio",
+      module:THIS_MODULE,
+      attach:c6xdigio_attach,
+      detach:c6xdigio_detach,
+};
+
+static void C6X_pwmInit(unsigned long baseAddr)
+{
+	int timeout = 0;
+
+//printk("Inside C6X_pwmInit\n");
+
+	WriteByteToHwPort(baseAddr, 0x70);
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, 0x74);
+	timeout = 0;
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, 0x70);
+	timeout = 0;
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x0)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, 0x0);
+	timeout = 0;
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+
+}
+
+static void C6X_pwmOutput(unsigned long baseAddr, unsigned channel, int value)
+{
+	unsigned ppcmd;
+	union pwmcmdtype pwm;
+	int timeout = 0;
+	unsigned tmp;
+
+	//printk("Inside C6X_pwmOutput\n");
+
+	pwm.cmd = value;
+	if (pwm.cmd > 498)
+		pwm.cmd = 498;
+	if (pwm.cmd < 2)
+		pwm.cmd = 2;
+
+	if (channel == 0) {
+		ppcmd = 0x28;
+	} else {		// if channel == 1
+		ppcmd = 0x30;
+	}			/* endif */
+
+	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb0);
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb1 + 0x4);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb2);
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb3 + 0x4);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb4);
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, 0x0);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+}
+
+static int C6X_encInput(unsigned long baseAddr, unsigned channel)
+{
+	unsigned ppcmd;
+	union encvaluetype enc;
+	int timeout = 0;
+	int tmp;
+
+	//printk("Inside C6X_encInput\n");
+
+	enc.value = 0;
+	if (channel == 0) {
+		ppcmd = 0x48;
+	} else {
+		ppcmd = 0x50;
+	}
+	WriteByteToHwPort(baseAddr, ppcmd);
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	enc.bits.sb0 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd + 0x4);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb1 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb2 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd + 0x4);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb3 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb4 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd + 0x4);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb5 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb6 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd + 0x4);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+	enc.bits.sb7 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
+	WriteByteToHwPort(baseAddr, ppcmd);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x0) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	WriteByteToHwPort(baseAddr, 0x0);
+	timeout = 0;
+	tmp = ReadByteFromHwPort(baseAddr + 1);
+	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
+		tmp = ReadByteFromHwPort(baseAddr + 1);
+		timeout++;
+	}
+
+	return (enc.value ^ 0x800000);
+}
+
+static void C6X_encResetAll(unsigned long baseAddr)
+{
+	unsigned timeout = 0;
+
+//printk("Inside C6X_encResetAll\n");
+
+	WriteByteToHwPort(baseAddr, 0x68);
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+	WriteByteToHwPort(baseAddr, 0x6C);
+	timeout = 0;
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+	WriteByteToHwPort(baseAddr, 0x68);
+	timeout = 0;
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x0)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+	WriteByteToHwPort(baseAddr, 0x0);
+	timeout = 0;
+	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
+		&& (timeout < C6XDIGIO_TIME_OUT)) {
+		timeout++;
+	}
+}
+
+static int c6xdigio_pwmo_insn_read(comedi_device * dev,
+	comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
+{
+	printk("c6xdigio_pwmo_insn_read %x\n", insn->n);
+	return insn->n;
+}
+
+static int c6xdigio_pwmo_insn_write(comedi_device * dev,
+	comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
+{
+	int i;
+	int chan = CR_CHAN(insn->chanspec);
+
+	//  printk("c6xdigio_pwmo_insn_write %x\n", insn->n);
+	for (i = 0; i < insn->n; i++) {
+		C6X_pwmOutput(dev->iobase, chan, data[i]);
+		/*    devpriv->ao_readback[chan] = data[i]; */
+	}
+	return i;
+}
+
+//static int c6xdigio_ei_init_insn_read(comedi_device *dev,
+//                                 comedi_subdevice *s,
+//                                 comedi_insn *insn,
+//                                 lsampl_t *data)
+//{
+//  printk("c6xdigio_ei_init_insn_read %x\n", insn->n);
+//  return insn->n;
+//}
+
+//static int c6xdigio_ei_init_insn_write(comedi_device *dev,
+//                                 comedi_subdevice *s,
+//                                 comedi_insn *insn,
+//                                 lsampl_t *data)
+//{
+//  int i;
+//  int chan = CR_CHAN(insn->chanspec);
+//
+//  C6X_encResetAll( dev->iobase );
+//
+//  return insn->n;
+//}
+
+static int c6xdigio_ei_insn_read(comedi_device * dev,
+	comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
+{
+	//  printk("c6xdigio_ei__insn_read %x\n", insn->n);
+	int n;
+	int chan = CR_CHAN(insn->chanspec);
+
+	for (n = 0; n < insn->n; n++) {
+		data[n] = (C6X_encInput(dev->iobase, chan) & 0xffffff);
+	}
+
+	return n;
+}
+
+static void board_init(comedi_device * dev)
+{
+
+	//printk("Inside board_init\n");
+
+	C6X_pwmInit(dev->iobase);
+	C6X_encResetAll(dev->iobase);
+
+}
+
+//static void board_halt(comedi_device *dev) {
+//  C6X_pwmInit(dev->iobase);
+//}
+
+/*
+   options[0] - I/O port
+   options[1] - irq
+   options[2] - number of encoder chips installed
+ */
+
+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(comedi_device * dev, comedi_devconfig * it)
+{
+	int result = 0;
+	unsigned long iobase;
+	unsigned int irq;
+	comedi_subdevice *s;
+
+	iobase = it->options[0];
+	printk("comedi%d: c6xdigio: 0x%04lx\n", dev->minor, iobase);
+	if (!request_region(iobase, C6XDIGIO_SIZE, "c6xdigio")) {
+		printk("comedi%d: I/O port conflict\n", dev->minor);
+		return -EIO;
+	}
+	dev->iobase = iobase;
+	dev->board_name = "c6xdigio";
+
+	result = alloc_subdevices(dev, 2);	// 3 with encoder_init write
+	if (result < 0)
+		return result;
+
+	// Make sure that PnP ports gets activated
+	pnp_register_driver(&c6xdigio_pnp_driver);
+
+	irq = it->options[1];
+	if (irq > 0) {
+		printk("comedi%d: irq = %u ignored\n", dev->minor, irq);
+	} else if (irq == 0) {
+		printk("comedi%d: no irq\n", dev->minor);
+	}
+
+	s = dev->subdevices + 0;
+	/* pwm output subdevice */
+	s->type = COMEDI_SUBD_AO;	// Not sure what to put here
+	s->subdev_flags = SDF_WRITEABLE;
+	s->n_chan = 2;
+	/*      s->trig[0] = c6xdigio_pwmo; */
+	s->insn_read = c6xdigio_pwmo_insn_read;
+	s->insn_write = c6xdigio_pwmo_insn_write;
+	s->maxdata = 500;
+	s->range_table = &range_bipolar10;	// A suitable lie
+
+	s = dev->subdevices + 1;
+	/* encoder (counter) subdevice */
+	s->type = COMEDI_SUBD_COUNTER;
+	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
+	s->n_chan = 2;
+	/* s->trig[0] = c6xdigio_ei; */
+	s->insn_read = c6xdigio_ei_insn_read;
+	s->maxdata = 0xffffff;
+	s->range_table = &range_unknown;
+
+	//          s = dev->subdevices + 2;
+	//      /* pwm output subdevice */
+	//      s->type = COMEDI_SUBD_COUNTER;  // Not sure what to put here
+	//      s->subdev_flags = SDF_WRITEABLE;
+	//      s->n_chan = 1;
+	//      /* s->trig[0] = c6xdigio_ei_init; */
+	//      s->insn_read = c6xdigio_ei_init_insn_read;
+	//      s->insn_write = c6xdigio_ei_init_insn_write;
+	//      s->maxdata = 0xFFFF;  // Really just a don't care
+	//      s->range_table = &range_unknown; // Not sure what to put here
+
+	// I will call this init anyway but more than likely the DSP board will not be connect
+	// when device driver is loaded.
+	board_init(dev);
+
+	return 0;
+}
+
+static int c6xdigio_detach(comedi_device * dev)
+{
+//  board_halt(dev);  // may not need this
+
+	printk("comedi%d: c6xdigio: remove\n", dev->minor);
+
+	if (dev->iobase) {
+		release_region(dev->iobase, C6XDIGIO_SIZE);
+	}
+	if (dev->irq) {
+		free_irq(dev->irq, dev);
+	}			// Not using IRQ so I am not sure if I need this
+	pnp_unregister_driver(&c6xdigio_pnp_driver);
+
+	return 0;
+}
+
+COMEDI_INITCLEANUP(driver_c6xdigio);