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>
This commit is contained in:
Greg Kroah-Hartman
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1 changed files with 517 additions and 0 deletions
517
drivers/staging/comedi/drivers/c6xdigio.c
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drivers/staging/comedi/drivers/c6xdigio.c
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/*
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comedi/drivers/c6xdigio.c
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Hardware driver for Mechatronic Systems Inc. C6x_DIGIO DSP daughter card.
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(http://robot0.ge.uiuc.edu/~spong/mecha/)
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COMEDI - Linux Control and Measurement Device Interface
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Copyright (C) 1999 Dan Block
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*/
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/*
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Driver: c6xdigio
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Description: Mechatronic Systems Inc. C6x_DIGIO DSP daughter card
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Author: Dan Block
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Status: unknown
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Devices: [Mechatronic Systems Inc.] C6x_DIGIO DSP daughter card (c6xdigio)
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Updated: Sun Nov 20 20:18:34 EST 2005
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This driver will not work with a 2.4 kernel.
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http://robot0.ge.uiuc.edu/~spong/mecha/
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/sched.h>
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#include <linux/mm.h>
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#include <linux/errno.h>
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#include <linux/ioport.h>
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#include <linux/delay.h>
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#include <linux/interrupt.h>
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#include <linux/timex.h>
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#include <linux/timer.h>
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#include <asm/io.h>
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#include <linux/pnp.h>
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#include "../comedidev.h"
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static u8 ReadByteFromHwPort(unsigned long addr)
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{
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u8 result = inb(addr);
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return result;
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}
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static void WriteByteToHwPort(unsigned long addr, u8 val)
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{
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outb_p(val, addr);
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}
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#define C6XDIGIO_SIZE 3
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/*
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* port offsets
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*/
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#define C6XDIGIO_PARALLEL_DATA 0
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#define C6XDIGIO_PARALLEL_STATUS 1
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#define C6XDIGIO_PARALLEL_CONTROL 2
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struct pwmbitstype {
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unsigned sb0:2;
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unsigned sb1:2;
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unsigned sb2:2;
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unsigned sb3:2;
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unsigned sb4:2;
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};
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union pwmcmdtype {
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unsigned cmd; // assuming here that int is 32bit
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struct pwmbitstype bits;
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};
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struct encbitstype {
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unsigned sb0:3;
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unsigned sb1:3;
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unsigned sb2:3;
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unsigned sb3:3;
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unsigned sb4:3;
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unsigned sb5:3;
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unsigned sb6:3;
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unsigned sb7:3;
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};
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union encvaluetype {
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unsigned value;
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struct encbitstype bits;
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};
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#define C6XDIGIO_TIME_OUT 20
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static int c6xdigio_attach(comedi_device * dev, comedi_devconfig * it);
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static int c6xdigio_detach(comedi_device * dev);
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comedi_driver driver_c6xdigio = {
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driver_name:"c6xdigio",
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module:THIS_MODULE,
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attach:c6xdigio_attach,
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detach:c6xdigio_detach,
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};
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static void C6X_pwmInit(unsigned long baseAddr)
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{
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int timeout = 0;
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//printk("Inside C6X_pwmInit\n");
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WriteByteToHwPort(baseAddr, 0x70);
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x74);
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timeout = 0;
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x70);
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timeout = 0;
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x0)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x0);
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timeout = 0;
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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}
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static void C6X_pwmOutput(unsigned long baseAddr, unsigned channel, int value)
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{
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unsigned ppcmd;
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union pwmcmdtype pwm;
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int timeout = 0;
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unsigned tmp;
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//printk("Inside C6X_pwmOutput\n");
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pwm.cmd = value;
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if (pwm.cmd > 498)
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pwm.cmd = 498;
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if (pwm.cmd < 2)
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pwm.cmd = 2;
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if (channel == 0) {
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ppcmd = 0x28;
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} else { // if channel == 1
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ppcmd = 0x30;
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} /* endif */
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WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb0);
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb1 + 0x4);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb2);
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb3 + 0x4);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb4);
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x0);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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}
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static int C6X_encInput(unsigned long baseAddr, unsigned channel)
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{
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unsigned ppcmd;
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union encvaluetype enc;
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int timeout = 0;
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int tmp;
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//printk("Inside C6X_encInput\n");
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enc.value = 0;
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if (channel == 0) {
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ppcmd = 0x48;
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} else {
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ppcmd = 0x50;
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}
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WriteByteToHwPort(baseAddr, ppcmd);
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb0 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd + 0x4);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb1 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb2 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd + 0x4);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb3 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb4 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd + 0x4);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb5 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb6 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd + 0x4);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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enc.bits.sb7 = ((ReadByteFromHwPort(baseAddr + 1) >> 3) & 0x7);
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WriteByteToHwPort(baseAddr, ppcmd);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x0) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x0);
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timeout = 0;
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tmp = ReadByteFromHwPort(baseAddr + 1);
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while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
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tmp = ReadByteFromHwPort(baseAddr + 1);
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timeout++;
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}
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return (enc.value ^ 0x800000);
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}
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static void C6X_encResetAll(unsigned long baseAddr)
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{
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unsigned timeout = 0;
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//printk("Inside C6X_encResetAll\n");
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WriteByteToHwPort(baseAddr, 0x68);
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x6C);
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timeout = 0;
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x68);
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timeout = 0;
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x0)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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WriteByteToHwPort(baseAddr, 0x0);
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timeout = 0;
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while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
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&& (timeout < C6XDIGIO_TIME_OUT)) {
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timeout++;
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}
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}
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static int c6xdigio_pwmo_insn_read(comedi_device * dev,
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comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
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{
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printk("c6xdigio_pwmo_insn_read %x\n", insn->n);
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return insn->n;
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}
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static int c6xdigio_pwmo_insn_write(comedi_device * dev,
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comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
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{
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int i;
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int chan = CR_CHAN(insn->chanspec);
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// printk("c6xdigio_pwmo_insn_write %x\n", insn->n);
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for (i = 0; i < insn->n; i++) {
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C6X_pwmOutput(dev->iobase, chan, data[i]);
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/* devpriv->ao_readback[chan] = data[i]; */
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}
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return i;
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}
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//static int c6xdigio_ei_init_insn_read(comedi_device *dev,
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// comedi_subdevice *s,
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// comedi_insn *insn,
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// lsampl_t *data)
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//{
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// printk("c6xdigio_ei_init_insn_read %x\n", insn->n);
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// return insn->n;
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//}
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//static int c6xdigio_ei_init_insn_write(comedi_device *dev,
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// comedi_subdevice *s,
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// comedi_insn *insn,
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// lsampl_t *data)
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//{
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// int i;
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// int chan = CR_CHAN(insn->chanspec);
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//
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// C6X_encResetAll( dev->iobase );
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//
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// return insn->n;
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//}
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static int c6xdigio_ei_insn_read(comedi_device * dev,
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comedi_subdevice * s, comedi_insn * insn, lsampl_t * data)
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{
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// printk("c6xdigio_ei__insn_read %x\n", insn->n);
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int n;
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int chan = CR_CHAN(insn->chanspec);
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for (n = 0; n < insn->n; n++) {
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data[n] = (C6X_encInput(dev->iobase, chan) & 0xffffff);
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}
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return n;
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}
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static void board_init(comedi_device * dev)
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{
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//printk("Inside board_init\n");
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C6X_pwmInit(dev->iobase);
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C6X_encResetAll(dev->iobase);
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}
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//static void board_halt(comedi_device *dev) {
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// C6X_pwmInit(dev->iobase);
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//}
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/*
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options[0] - I/O port
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options[1] - irq
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options[2] - number of encoder chips installed
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*/
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static const struct pnp_device_id c6xdigio_pnp_tbl[] = {
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/* Standard LPT Printer Port */
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{.id = "PNP0400",.driver_data = 0},
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/* ECP Printer Port */
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{.id = "PNP0401",.driver_data = 0},
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{}
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};
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static struct pnp_driver c6xdigio_pnp_driver = {
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.name = "c6xdigio",
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.id_table = c6xdigio_pnp_tbl,
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};
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static int c6xdigio_attach(comedi_device * dev, comedi_devconfig * it)
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{
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int result = 0;
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unsigned long iobase;
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unsigned int irq;
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comedi_subdevice *s;
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iobase = it->options[0];
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printk("comedi%d: c6xdigio: 0x%04lx\n", dev->minor, iobase);
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if (!request_region(iobase, C6XDIGIO_SIZE, "c6xdigio")) {
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printk("comedi%d: I/O port conflict\n", dev->minor);
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return -EIO;
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}
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dev->iobase = iobase;
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dev->board_name = "c6xdigio";
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result = alloc_subdevices(dev, 2); // 3 with encoder_init write
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if (result < 0)
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return result;
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// 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);
|
||||
Loading…
Reference in a new issue