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linux/drivers/comedi/drivers/c6xdigio.c
Ian Abbott df0e68c1e9 comedi: Move the main COMEDI headers 
Move the main COMEDI driver headers out of "drivers/comedi/" into new
directory "include/linux/comedi/".  These are "comedidev.h",
"comedilib.h", "comedi_pci.h", "comedi_pcmcia.h", and "comedi_usb.h".
Additionally, move the user-space API header "comedi.h" into
"include/uapi/linux/" and add "WITH Linux-syscall-note" to its
SPDX-License-Identifier.

Update the "COMEDI DRIVERS" section of the MAINTAINERS file to account
for these changes.

Signed-off-by: Ian Abbott <abbotti@mev.co.uk>
Link: https://lore.kernel.org/r/20211117120604.117740-2-abbotti@mev.co.uk
Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>
2021-11-26 16:48:59 +01:00

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// 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 <linux/comedi/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");
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