drivers/staging/comedi/drivers/c6xdigio.c - kernel/skids - Git at Google

 /*
    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.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

  */
 /*
 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/

 */

 #include <linux/kernel.h>
 #include <linux/module.h>
 #include <linux/sched.h>
 #include <linux/mm.h>
 #include <linux/errno.h>
 #include <linux/ioport.h>
 #include <linux/delay.h>
 #include <linux/interrupt.h>
 #include <linux/timex.h>
 #include <linux/timer.h>
 #include <linux/io.h>
 #include <linux/pnp.h>

 #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
  */
 #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_TIME_OUT 20

 static int c6xdigio_attach(struct comedi_device *dev,
 			   struct comedi_devconfig *it);
 static int c6xdigio_detach(struct comedi_device *dev);
 struct comedi_driver driver_c6xdigio = {
 	.driver_name = "c6xdigio",
 	.module = THIS_MODULE,
 	.attach = c6xdigio_attach,
 	.detach = c6xdigio_detach,
 };

 static void C6X_pwmInit(unsigned long baseAddr)
 {
 	int timeout = 0;

 /* printk("Inside C6X_pwmInit\n"); */

 	WriteByteToHwPort(baseAddr, 0x70);
 	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
 	       && (timeout < C6XDIGIO_TIME_OUT)) {
 		timeout++;
 	}

 	WriteByteToHwPort(baseAddr, 0x74);
 	timeout = 0;
 	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
 	       && (timeout < C6XDIGIO_TIME_OUT)) {
 		timeout++;
 	}

 	WriteByteToHwPort(baseAddr, 0x70);
 	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++;
 	}

 }

 static void C6X_pwmOutput(unsigned long baseAddr, unsigned channel, int value)
 {
 	unsigned ppcmd;
 	union pwmcmdtype pwm;
 	int timeout = 0;
 	unsigned tmp;

 	/* printk("Inside C6X_pwmOutput\n"); */

 	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++;
 	}

 	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++;
 	}

 	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb2);
 	tmp = ReadByteFromHwPort(baseAddr + 1);
 	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
 		tmp = ReadByteFromHwPort(baseAddr + 1);
 		timeout++;
 	}

 	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++;
 	}

 	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb4);
 	tmp = ReadByteFromHwPort(baseAddr + 1);
 	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
 		tmp = ReadByteFromHwPort(baseAddr + 1);
 		timeout++;
 	}

 	WriteByteToHwPort(baseAddr, 0x0);
 	timeout = 0;
 	tmp = ReadByteFromHwPort(baseAddr + 1);
 	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
 		tmp = ReadByteFromHwPort(baseAddr + 1);
 		timeout++;
 	}

 }

 static int C6X_encInput(unsigned long baseAddr, unsigned channel)
 {
 	unsigned ppcmd;
 	union encvaluetype enc;
 	int timeout = 0;
 	int tmp;

 	/* printk("Inside C6X_encInput\n"); */

 	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++;
 	}

 	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++;
 	}

 	WriteByteToHwPort(baseAddr, 0x0);
 	timeout = 0;
 	tmp = ReadByteFromHwPort(baseAddr + 1);
 	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
 		tmp = ReadByteFromHwPort(baseAddr + 1);
 		timeout++;
 	}

 	return enc.value ^ 0x800000;
 }

 static void C6X_encResetAll(unsigned long baseAddr)
 {
 	unsigned timeout = 0;

 /* printk("Inside C6X_encResetAll\n"); */

 	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++;
 	}
 }

 static int c6xdigio_pwmo_insn_read(struct comedi_device *dev,
 				   struct comedi_subdevice *s,
 				   struct comedi_insn *insn, unsigned int *data)
 {
 	printk("c6xdigio_pwmo_insn_read %x\n", insn->n);
 	return insn->n;
 }

 static int c6xdigio_pwmo_insn_write(struct comedi_device *dev,
 				    struct comedi_subdevice *s,
 				    struct comedi_insn *insn,
 				    unsigned int *data)
 {
 	int i;
 	int chan = CR_CHAN(insn->chanspec);

 	/*   printk("c6xdigio_pwmo_insn_write %x\n", insn->n); */
 	for (i = 0; i < insn->n; i++) {
 		C6X_pwmOutput(dev->iobase, chan, data[i]);
 		/*    devpriv->ao_readback[chan] = data[i]; */
 	}
 	return i;
 }

 /* static int c6xdigio_ei_init_insn_read(struct comedi_device *dev, */
 /* struct comedi_subdevice *s, */
 /* struct comedi_insn *insn, */
 /* unsigned int *data) */
 /* { */
 /* printk("c6xdigio_ei_init_insn_read %x\n", insn->n); */
 /* return insn->n; */
 /* } */

 /* static int c6xdigio_ei_init_insn_write(struct comedi_device *dev, */
 /* struct comedi_subdevice *s, */
 /* struct comedi_insn *insn, */
 /* unsigned int *data) */
 /* { */
 /* int i; */
 /* int chan = CR_CHAN(insn->chanspec); */
       /*  *//* C6X_encResetAll( dev->iobase ); */
       /*  *//* return insn->n; */
 /* } */

 static int c6xdigio_ei_insn_read(struct comedi_device *dev,
 				 struct comedi_subdevice *s,
 				 struct comedi_insn *insn, unsigned int *data)
 {
 	/*   printk("c6xdigio_ei__insn_read %x\n", insn->n); */
 	int n;
 	int chan = CR_CHAN(insn->chanspec);

 	for (n = 0; n < insn->n; n++)
 		data[n] = (C6X_encInput(dev->iobase, chan) & 0xffffff);

 	return n;
 }

 static void board_init(struct comedi_device *dev)
 {

 	/* printk("Inside board_init\n"); */

 	C6X_pwmInit(dev->iobase);
 	C6X_encResetAll(dev->iobase);

 }

 /* static void board_halt(struct comedi_device *dev) { */
 /* C6X_pwmInit(dev->iobase); */
 /* } */

 /*
    options[0] - I/O port
    options[1] - irq
    options[2] - number of encoder chips installed
  */

 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)
 {
 	int result = 0;
 	unsigned long iobase;
 	unsigned int irq;
 	struct comedi_subdevice *s;

 	iobase = it->options[0];
 	printk("comedi%d: c6xdigio: 0x%04lx\n", dev->minor, iobase);
 	if (!request_region(iobase, C6XDIGIO_SIZE, "c6xdigio")) {
 		printk("comedi%d: I/O port conflict\n", dev->minor);
 		return -EIO;
 	}
 	dev->iobase = iobase;
 	dev->board_name = "c6xdigio";

 	result = alloc_subdevices(dev, 2);	/*  3 with encoder_init write */
 	if (result < 0)
 		return result;

 	/*  Make sure that PnP ports get 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 connected when device driver is loaded. */
 	board_init(dev);

 	return 0;
 }

 static int c6xdigio_detach(struct 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);

 	/*  Not using IRQ so I am not sure if I need this */
 	if (dev->irq)
 		free_irq(dev->irq, dev);

 	pnp_unregister_driver(&c6xdigio_pnp_driver);

 	return 0;
 }

 COMEDI_INITCLEANUP(driver_c6xdigio);
	/*
	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.

	You should have received a copy of the GNU General Public License
	along with this program; if not, write to the Free Software
	Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

	*/
	/*
	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/

	*/

	#include <linux/kernel.h>
	#include <linux/module.h>
	#include <linux/sched.h>
	#include <linux/mm.h>
	#include <linux/errno.h>
	#include <linux/ioport.h>
	#include <linux/delay.h>
	#include <linux/interrupt.h>
	#include <linux/timex.h>
	#include <linux/timer.h>
	#include <linux/io.h>
	#include <linux/pnp.h>

	#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
	*/
	#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_TIME_OUT 20

	static int c6xdigio_attach(struct comedi_device *dev,
	struct comedi_devconfig *it);
	static int c6xdigio_detach(struct comedi_device *dev);
	struct comedi_driver driver_c6xdigio = {
	.driver_name = "c6xdigio",
	.module = THIS_MODULE,
	.attach = c6xdigio_attach,
	.detach = c6xdigio_detach,
	};

	static void C6X_pwmInit(unsigned long baseAddr)
	{
	int timeout = 0;

	/* printk("Inside C6X_pwmInit\n"); */

	WriteByteToHwPort(baseAddr, 0x70);
	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0)
	&& (timeout < C6XDIGIO_TIME_OUT)) {
	timeout++;
	}

	WriteByteToHwPort(baseAddr, 0x74);
	timeout = 0;
	while (((ReadByteFromHwPort(baseAddr + 1) & 0x80) == 0x80)
	&& (timeout < C6XDIGIO_TIME_OUT)) {
	timeout++;
	}

	WriteByteToHwPort(baseAddr, 0x70);
	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++;
	}

	}

	static void C6X_pwmOutput(unsigned long baseAddr, unsigned channel, int value)
	{
	unsigned ppcmd;
	union pwmcmdtype pwm;
	int timeout = 0;
	unsigned tmp;

	/* printk("Inside C6X_pwmOutput\n"); */

	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++;
	}

	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++;
	}

	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb2);
	tmp = ReadByteFromHwPort(baseAddr + 1);
	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
	tmp = ReadByteFromHwPort(baseAddr + 1);
	timeout++;
	}

	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++;
	}

	WriteByteToHwPort(baseAddr, ppcmd + pwm.bits.sb4);
	tmp = ReadByteFromHwPort(baseAddr + 1);
	while (((tmp & 0x80) == 0) && (timeout < C6XDIGIO_TIME_OUT)) {
	tmp = ReadByteFromHwPort(baseAddr + 1);
	timeout++;
	}

	WriteByteToHwPort(baseAddr, 0x0);
	timeout = 0;
	tmp = ReadByteFromHwPort(baseAddr + 1);
	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
	tmp = ReadByteFromHwPort(baseAddr + 1);
	timeout++;
	}

	}

	static int C6X_encInput(unsigned long baseAddr, unsigned channel)
	{
	unsigned ppcmd;
	union encvaluetype enc;
	int timeout = 0;
	int tmp;

	/* printk("Inside C6X_encInput\n"); */

	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++;
	}

	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++;
	}

	WriteByteToHwPort(baseAddr, 0x0);
	timeout = 0;
	tmp = ReadByteFromHwPort(baseAddr + 1);
	while (((tmp & 0x80) == 0x80) && (timeout < C6XDIGIO_TIME_OUT)) {
	tmp = ReadByteFromHwPort(baseAddr + 1);
	timeout++;
	}

	return enc.value ^ 0x800000;
	}

	static void C6X_encResetAll(unsigned long baseAddr)
	{
	unsigned timeout = 0;

	/* printk("Inside C6X_encResetAll\n"); */

	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++;
	}
	}

	static int c6xdigio_pwmo_insn_read(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int data)
	{
	printk("c6xdigio_pwmo_insn_read %x\n", insn->n);
	return insn->n;
	}

	static int c6xdigio_pwmo_insn_write(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data)
	{
	int i;
	int chan = CR_CHAN(insn->chanspec);

	/* printk("c6xdigio_pwmo_insn_write %x\n", insn->n); */
	for (i = 0; i < insn->n; i++) {
	C6X_pwmOutput(dev->iobase, chan, data[i]);
	/* devpriv->ao_readback[chan] = data[i]; */
	}
	return i;
	}

	/* static int c6xdigio_ei_init_insn_read(struct comedi_device dev, /
	/* struct comedi_subdevice s, /
	/* struct comedi_insn insn, /
	/* unsigned int data) /
	/* { */
	/* printk("c6xdigio_ei_init_insn_read %x\n", insn->n); */
	/* return insn->n; */
	/* } */

	/* static int c6xdigio_ei_init_insn_write(struct comedi_device dev, /
	/* struct comedi_subdevice s, /
	/* struct comedi_insn insn, /
	/* unsigned int data) /
	/* { */
	/* int i; */
	/* int chan = CR_CHAN(insn->chanspec); */
	/* // C6X_encResetAll( dev->iobase ); */
	/* // return insn->n; */
	/* } */

	static int c6xdigio_ei_insn_read(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn insn, unsigned int data)
	{
	/* printk("c6xdigio_ei__insn_read %x\n", insn->n); */
	int n;
	int chan = CR_CHAN(insn->chanspec);

	for (n = 0; n < insn->n; n++)
	data[n] = (C6X_encInput(dev->iobase, chan) & 0xffffff);

	return n;
	}

	static void board_init(struct comedi_device *dev)
	{

	/* printk("Inside board_init\n"); */

	C6X_pwmInit(dev->iobase);
	C6X_encResetAll(dev->iobase);

	}

	/* static void board_halt(struct comedi_device dev) { /
	/* C6X_pwmInit(dev->iobase); */
	/* } */

	/*
	options[0] - I/O port
	options[1] - irq
	options[2] - number of encoder chips installed
	*/

	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)
	{
	int result = 0;
	unsigned long iobase;
	unsigned int irq;
	struct comedi_subdevice *s;

	iobase = it->options[0];
	printk("comedi%d: c6xdigio: 0x%04lx\n", dev->minor, iobase);
	if (!request_region(iobase, C6XDIGIO_SIZE, "c6xdigio")) {
	printk("comedi%d: I/O port conflict\n", dev->minor);
	return -EIO;
	}
	dev->iobase = iobase;
	dev->board_name = "c6xdigio";

	result = alloc_subdevices(dev, 2); /* 3 with encoder_init write */
	if (result < 0)
	return result;

	/* Make sure that PnP ports get 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 connected when device driver is loaded. */
	board_init(dev);

	return 0;
	}

	static int c6xdigio_detach(struct 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);

	/* Not using IRQ so I am not sure if I need this */
	if (dev->irq)
	free_irq(dev->irq, dev);

	pnp_unregister_driver(&c6xdigio_pnp_driver);

	return 0;
	}

	COMEDI_INITCLEANUP(driver_c6xdigio);