1 files changed, 298 insertions, 0 deletions
diff --git a/drivers/comedi/drivers/c6xdigio.c b/drivers/comedi/drivers/c6xdigio.c
new file mode 100644
index 000000000000..786fd15698df
--- /dev/null
+++ b/drivers/comedi/drivers/c6xdigio.c
@@ -0,0 +1,298 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * 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
+ */
+
+/*
+ * 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	BIT(5)
+#define C6XDIGIO_DATA_ENCODER	BIT(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 https://www.comedi.org");
+MODULE_DESCRIPTION("Comedi driver for the C6x_DIGIO DSP daughter card");
+MODULE_LICENSE("GPL");