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Diffstat (limited to 'drivers/staging/comedi/drivers/c6xdigio.c')
-rw-r--r--drivers/staging/comedi/drivers/c6xdigio.c491
1 files changed, 187 insertions, 304 deletions
diff --git a/drivers/staging/comedi/drivers/c6xdigio.c b/drivers/staging/comedi/drivers/c6xdigio.c
index 5034f663eec9..e03dd6e71415 100644
--- a/drivers/staging/comedi/drivers/c6xdigio.c
+++ b/drivers/staging/comedi/drivers/c6xdigio.c
@@ -1,34 +1,33 @@
/*
- 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.
+ * 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
+ *
+ * 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.
*/
-/*
-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/
-*/
+/*
+ * 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>
@@ -43,309 +42,194 @@ http://robot0.ge.uiuc.edu/~spong/mecha/
#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
+ * Register I/O map
*/
-#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_DATA_REG 0x00
+#define C6XDIGIO_DATA_CHAN(x) (((x) + 1) << 4)
+#define C6XDIGIO_DATA_PWM (1 << 5)
+#define C6XDIGIO_DATA_ENCODER (1 << 6)
+#define C6XDIGIO_STATUS_REG 0x01
+#define C6XDIGIO_CTRL_REG 0x02
#define C6XDIGIO_TIME_OUT 20
-static void C6X_pwmInit(unsigned long baseAddr)
+static int c6xdigio_chk_status(struct comedi_device *dev, unsigned long context)
{
+ unsigned int status;
int timeout = 0;
- WriteByteToHwPort(baseAddr, 0x70);
- while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
- && (timeout < C6XDIGIO_TIME_OUT)) {
+ do {
+ status = inb(dev->iobase + C6XDIGIO_STATUS_REG);
+ if ((status & 0x80) != context)
+ return 0;
timeout++;
- }
+ } while (timeout < C6XDIGIO_TIME_OUT);
- WriteByteToHwPort(baseAddr, 0x74);
- timeout = 0;
- while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
- && (timeout < C6XDIGIO_TIME_OUT)) {
- timeout++;
- }
+ return -EBUSY;
+}
- WriteByteToHwPort(baseAddr, 0x70);
- timeout = 0;
- while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x0)
- && (timeout < C6XDIGIO_TIME_OUT)) {
- timeout++;
- }
+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);
+}
- WriteByteToHwPort(baseAddr, 0x0);
- timeout = 0;
- while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
- && (timeout < C6XDIGIO_TIME_OUT)) {
- timeout++;
- }
+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 C6X_pwmOutput(unsigned long baseAddr, unsigned channel, int value)
+static void c6xdigio_pwm_write(struct comedi_device *dev,
+ unsigned int chan, unsigned int val)
{
- unsigned ppcmd;
- union pwmcmdtype pwm;
- int timeout = 0;
- unsigned tmp;
-
- 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++;
- }
+ 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);
+}
- 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++;
- }
+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;
- WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb2);
- tmp = ReadByteFromHwPort(baseAddr + 1);
- while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
- tmp = ReadByteFromHwPort(baseAddr + 1);
- timeout++;
- }
+ c6xdigio_write_data(dev, cmd, 0x00);
- 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++;
- }
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (1 << 2), 0x80);
+ val |= (bits << 0);
- WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb4);
- tmp = ReadByteFromHwPort(baseAddr + 1);
- while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
- tmp = ReadByteFromHwPort(baseAddr + 1);
- timeout++;
- }
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (0 << 2), 0x00);
+ val |= (bits << 3);
- WriteByteToHwPort(baseAddr, 0x0);
- timeout = 0;
- tmp = ReadByteFromHwPort(baseAddr + 1);
- while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
- tmp = ReadByteFromHwPort(baseAddr + 1);
- timeout++;
- }
+ 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);
-static int C6X_encInput(unsigned long baseAddr, unsigned channel)
-{
- unsigned ppcmd;
- union encvaluetype enc;
- int timeout = 0;
- int tmp;
-
- 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++;
- }
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (1 << 2), 0x80);
+ val |= (bits << 12);
- 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++;
- }
+ c6xdigio_get_encoder_bits(dev, &bits, cmd | (0 << 2), 0x00);
+ val |= (bits << 15);
- WriteByteToHwPort(baseAddr, 0x0);
- timeout = 0;
- tmp = ReadByteFromHwPort(baseAddr + 1);
- while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
- tmp = ReadByteFromHwPort(baseAddr + 1);
- timeout++;
- }
+ 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 enc.value ^ 0x800000;
+ return val;
}
-static void C6X_encResetAll(unsigned long baseAddr)
+static int c6xdigio_pwm_insn_write(struct comedi_device *dev,
+ struct comedi_subdevice *s,
+ struct comedi_insn *insn,
+ unsigned int *data)
{
- unsigned timeout = 0;
+ unsigned int chan = CR_CHAN(insn->chanspec);
+ unsigned int val = (s->state >> (16 * chan)) & 0xffff;
+ int i;
- 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++;
+ 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_pwmo_insn_write(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
+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;
- int chan = CR_CHAN(insn->chanspec);
- for (i = 0; i < insn->n; i++) {
- C6X_pwmOutput(dev->iobase, chan, data[i]);
- /* devpriv->ao_readback[chan] = data[i]; */
- }
- return i;
+ val = (s->state >> (16 * chan)) & 0xffff;
+
+ for (i = 0; i < insn->n; i++)
+ data[i] = val;
+
+ return insn->n;
}
-static int c6xdigio_ei_insn_read(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn, unsigned int *data)
+static int c6xdigio_encoder_insn_read(struct comedi_device *dev,
+ struct comedi_subdevice *s,
+ struct comedi_insn *insn,
+ unsigned int *data)
{
- int n;
- int chan = CR_CHAN(insn->chanspec);
+ unsigned int chan = CR_CHAN(insn->chanspec);
+ unsigned int val;
+ int i;
- for (n = 0; n < insn->n; n++)
- data[n] = (C6X_encInput(dev->iobase, chan) & 0xffffff);
+ 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 n;
+ return insn->n;
}
-static void board_init(struct comedi_device *dev)
+static void c6xdigio_init(struct comedi_device *dev)
{
- C6X_pwmInit(dev->iobase);
- C6X_encResetAll(dev->iobase);
+ /* 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[] = {
@@ -367,7 +251,7 @@ static int c6xdigio_attach(struct comedi_device *dev,
struct comedi_subdevice *s;
int ret;
- ret = comedi_request_region(dev, it->options[0], C6XDIGIO_SIZE);
+ ret = comedi_request_region(dev, it->options[0], 0x03);
if (ret)
return ret;
@@ -380,27 +264,26 @@ static int c6xdigio_attach(struct comedi_device *dev,
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_write = c6xdigio_pwmo_insn_write;
- s->maxdata = 500;
- s->range_table = &range_bipolar10; /* A suitable lie */
+ s->type = COMEDI_SUBD_PWM;
+ s->subdev_flags = SDF_WRITEABLE;
+ 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->trig[0] = c6xdigio_ei; */
- s->insn_read = c6xdigio_ei_insn_read;
- s->maxdata = 0xffffff;
- s->range_table = &range_unknown;
+ 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. */
- board_init(dev);
+ c6xdigio_init(dev);
return 0;
}
@@ -420,5 +303,5 @@ static struct comedi_driver c6xdigio_driver = {
module_comedi_driver(c6xdigio_driver);
MODULE_AUTHOR("Comedi http://www.comedi.org");
-MODULE_DESCRIPTION("Comedi low-level driver");
+MODULE_DESCRIPTION("Comedi driver for the C6x_DIGIO DSP daughter card");
MODULE_LICENSE("GPL");
Copyright © 1996 – 2023 Jason A. Donenfeld. All Rights Reverse Engineered.