// 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");