gumstix utils: add char-driver, gpio-event, i2c and microwindows

5 files changed, 1233 insertions, 0 deletions

diff --git a/packages/robostix-module/files/Makefile b/packages/robostix-module/files/Makefile
new file mode 100644
index 0000000000..e242da4feb
--- /dev/null
+++ b/packages/robostix-module/files/Makefile
@@ -0,0 +1,19 @@
+#############################################################################
+#
+#	Makefile for building the robostix module
+#
+#############################################################################
+
+obj-m = robostix.o
+
+PWD = $(shell pwd)
+KBUILD_FLAGS = -C $(KERNEL_PATH) M=$(PWD) KERNELRELEASE=$(KERNELRELEASE)
+
+default: modules
+
+modules:
+	$(MAKE) $(KBUILD_FLAGS) modules
+
+clean:
+	rm -rf *.o *~ *.ko *.mod.c
+
diff --git a/packages/robostix-module/files/robostix.c b/packages/robostix-module/files/robostix.c
new file mode 100644
index 0000000000..1b3adac577
--- /dev/null
+++ b/packages/robostix-module/files/robostix.c
@@ -0,0 +1,1011 @@
+/****************************************************************************
+*
+*   Copyright (c) 2006 Dave Hylands     <dhylands@gmail.com>
+*
+*   This program is free software; you can redistribute it and/or modify
+*   it under the terms of the GNU General Public License version 2 as
+*   published by the Free Software Foundation.
+*
+*   Alternatively, this software may be distributed under the terms of BSD
+*   license.
+*
+*   See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+*  robostix.c
+*
+*  PURPOSE:
+*
+*   This implements a driver for using the robostix from the gumstix
+*
+*   Initially, this contains the required support to emulate enough of the
+*   parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+/* ---- Include Files ---------------------------------------------------- */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/fs.h>
+
+#include <linux/parport.h>
+#include <linux/ppdev.h>
+#include <linux/sysctl.h>
+#include <linux/cdev.h>
+#include <linux/device.h>
+#include <linux/version.h>
+
+#include <asm/delay.h>
+#include <asm/uaccess.h>
+
+#include <asm/arch/hardware.h>
+#include <asm/arch/pxa-regs.h>
+
+#include "robostix.h"
+
+/****************************************************************************
+*
+*   This driver assumes that the robostix uses the following GPIO pins:
+*
+*   Robostix gumstix    ATmega 
+*   Symbol     GPIO Dir Symbol          Description
+*   ---------- ---- --- --------------  -------------------------------------
+*   IR_RXD      46  in  ATM_TX0 PE1     Acts as PDO or MISO for programming
+*   IR_TXD      47  out ATM_RX0 PE0     Acts as PDI or MOSI for programming
+*
+*   L_DD11      69  in  ATM_IRQ PE2     IRQ from ATmega128 to gumstix
+*   L_DD12      70  out                 Enable for Vcc5 and AVCC for the ATMega
+*   L_DD14      72  out                 Active low enable for the 245's
+*   L_DD15      73  out ATM_RESET       Resets the processor
+*
+* The following shows the mapping of the SPI port for the gumstix:
+*
+*   NSSPCLK     81  out ATM_SCK         Acts as SCK for SPI use
+*   NSSPFRAME   82  out ATM_SS          Acts as SS for SPI use
+*   X_MOSI      83  out ATM_MOSI        Acts as MOSI for SPI use
+*   X_MISO      84  in  ATM_MISO        Acts as MISO for SPI use
+*
+* On the verdex, the mapping for the SPI port is slightly different:
+*
+*   SSPCLK2     19  out ATM_SCK         Acts as SCK for SPI use
+*   SSPSFRM2    14  out ATM_SS          Acts as SS for SPI use
+*   SSPTXD2     13  out ATM_MOSI        Acts as MOSI for SPI use
+*   SSPRXD2     11  in  ATM_MISO        Acts as MISO for SPI use   
+*
+*   X_SCL       -   i/o ATM_SCL         i2c clock
+*   X_SDA       -   i/o ATM_SDA         i2c data
+*
+*****************************************************************************/
+
+//---------------------------------------------------------------------------
+//
+//  This was extracted from avrdude, and it gives the pin configuration for
+//  AVR Dude's default programmer. UISP calls it "BSD"
+//  This is what I've chosen for this driver to implement.
+
+#if 0
+programmer
+  id    = "bsd";
+  desc  = "Brian Dean's Programmer, http://www.bsdhome.com/avrdude/";
+  type  = par;
+  vcc   = 2, 3, 4, 5;
+  reset = 7;
+  sck   = 8;
+  mosi  = 9;
+  miso  = 10;
+;
+#endif
+//---------------------------------------------------------------------------
+//
+//  The following was extracted from avrdude. It basically gives the pin
+//  number to register mapping that is in effect for the parallel port.
+//
+//  I added the comments on the right which shows pin usage for the default
+//  programmer.
+//
+//  From this, we can glean that the Control register is never used, and none
+//  of the signals which are used are inverted.
+//
+//  Furthermore, all of the Data accesses are writes and all of the Status
+//  accesses are reads.
+
+#if 0
+struct ppipins_t {
+  int pin;
+  int reg;
+  int bit;
+  int inverted;
+};
+
+static struct ppipins_t pins[] = {
+  {  1, PPICTRL,   0x01, 1 },
+  {  2, PPIDATA,   0x01, 0 },   // Vcc
+  {  3, PPIDATA,   0x02, 0 },   // Vcc
+  {  4, PPIDATA,   0x04, 0 },   // Vcc
+  {  5, PPIDATA,   0x08, 0 },   // Vcc
+  {  6, PPIDATA,   0x10, 0 },
+  {  7, PPIDATA,   0x20, 0 },   // Reset
+  {  8, PPIDATA,   0x40, 0 },   // SCK
+  {  9, PPIDATA,   0x80, 0 },   // MOSI
+  { 10, PPISTATUS, 0x40, 0 },   // MISO
+  { 11, PPISTATUS, 0x80, 1 },
+  { 12, PPISTATUS, 0x20, 0 },
+  { 13, PPISTATUS, 0x10, 0 },
+  { 14, PPICTRL,   0x02, 1 }, 
+  { 15, PPISTATUS, 0x08, 0 },
+  { 16, PPICTRL,   0x04, 0 }, 
+  { 17, PPICTRL,   0x08, 1 }
+};
+
+#endif
+
+#define PPI_DATA_VCC_MASK       ( 0x01 | 0x02 | 0x04 | 0x08 )
+#define PPI_DATA_RESET_MASK     ( 0x20 )
+#define PPI_DATA_SCK_MASK       ( 0x40 )
+#define PPI_DATA_MOSI_MASK      ( 0x80 )
+
+#define PPI_STATUS_MISO_MASK    ( 0x40 )
+
+/* ---- Public Variables ------------------------------------------------- */
+/* ---- Private Constants and Types -------------------------------------- */
+
+#define USE_SYSCTL  1
+
+#if 1
+#   if USE_SYSCTL
+#       define ROBO_DEBUG( flag, fmt, args... ) do { if ( gDebug ## flag ) printk( "%s: " fmt, __FUNCTION__ , ## args ); } while (0)
+#   else
+#       define ROBO_DEBUG( flag, fmt, args... ) printk( "%s: " fmt, __FUNCTION__ , ## args )
+#   endif
+#else
+#   define ROBO_DEBUG( flag, fmt, args... )
+#endif
+
+#define SET_GPIO( pin, val )    do { if ( val ) { GPSR( pin ) = GPIO_bit( pin ); } else { GPCR( pin ) = GPIO_bit( pin ); }} while(0)
+#define GET_GPIO( pin )         (( GPLR( pin ) & GPIO_bit( pin )) != 0 )
+
+// The Alternate function register is 2 bits per pin, so we can't use the
+// GPIO_bit macro.
+
+#define GPIO_AF_shift(x)        (((x) & 0x0F ) << 1 )
+#define GPIO_AF_mask(x)         ( 3 << GPIO_AF_shift( x ))
+
+/*
+ * Define the mappings between various GPIO pins and functions on the robostix
+ * board.
+ */
+
+#define ROBOSTIX_GPIO_ATM_IRQ       GPIO69_LDD_11
+#define ROBOSTIX_GPIO_VCC5_ENABLE   GPIO70_LDD_12
+#define ROBOSTIX_GPIO_245_ENABLE    GPIO72_LDD_14
+#define ROBOSTIX_GPIO_ATM_RESET     GPIO73_LDD_15
+
+#ifdef CONFIG_PXA27x
+#   define ROBOSTIX_GPIO_ATM_SCK    ( 19 | GPIO_ALT_FN_1_OUT )
+#   define ROBOSTIX_GPIO_ATM_SS     ( 14 | GPIO_ALT_FN_2_OUT )
+#   define ROBOSTIX_GPIO_ATM_MOSI   ( 13 | GPIO_ALT_FN_1_OUT )
+#   define ROBOSTIX_GPIO_ATM_MISO   ( 11 | GPIO_ALT_FN_2_IN )
+#else
+#   define ROBOSTIX_GPIO_ATM_SCK    GPIO81_NSCLK
+#   define ROBOSTIX_GPIO_ATM_SS     GPIO82_NSFRM
+#   define ROBOSTIX_GPIO_ATM_MOSI   GPIO83_NSTXD
+#   define ROBOSTIX_GPIO_ATM_MISO   GPIO84_NSRXD
+#endif
+
+#define ROBOSTIX_GPIO_IR_RXD_5V     GPIO46_STRXD
+#define ROBOSTIX_GPIO_IR_TXD_5V     GPIO47_STTXD
+
+// Since IR TxD/RxD behave like MOSI/MISO during programming, we define a
+// couple of aliases
+
+#define ROBOSTIX_GPIO_ATM_PGM_MOSI  ROBOSTIX_GPIO_IR_TXD_5V
+#define ROBOSTIX_GPIO_ATM_PGM_MISO  ROBOSTIX_GPIO_IR_RXD_5V
+
+
+typedef enum
+{
+    RoboStixGpioIn,
+    RoboStixGpioOut,
+} PinMode_e;
+
+typedef struct
+{
+    unsigned    grer;
+    unsigned    gfer;
+    unsigned    gafr;
+    unsigned    gpdr;
+    unsigned    gplr;
+
+} PinConfig_t;
+
+/* ---- Private Variables ------------------------------------------------ */
+
+#define ROBOSTIX_DEV_NAME   "robostix"
+
+static char gBanner[] __initdata = KERN_INFO "Robostix Driver Compiled: " __DATE__ " at " __TIME__ "\n";
+
+static  PinConfig_t gIrTxdConfig;
+static  PinConfig_t gIrRxdConfig;
+
+dev_t           gRobostixDevNum;
+struct  cdev    gRobostixCDev;
+struct  class  *gRobostixClass;
+
+#if USE_SYSCTL
+
+static  int gDebugTrace = 0;
+static  int gDebugIoctl = 0;
+static  int gDebugError = 1;
+
+static  struct ctl_table_header    *gSysCtlHeader;
+
+static struct ctl_table gSysCtlRobostix[] =
+{
+    {
+        .ctl_name       = CTL_ROBOSTIX_DEBUG_TRACE,     
+        .procname       = "debug-trace",
+        .data           = &gDebugTrace,
+        .maxlen         = sizeof( int ), 
+        .mode           = 0644,
+        .proc_handler   = &proc_dointvec 
+    },
+    { 
+        .ctl_name       = CTL_ROBOSTIX_DEBUG_IOCTL,     
+        .procname       = "debug-ioctl",  
+        .data           = &gDebugIoctl,
+        .maxlen         = sizeof( int ),
+        .mode           = 0644,
+        .proc_handler   = &proc_dointvec
+    },
+    {
+        .ctl_name       = CTL_ROBOSTIX_DEBUG_ERROR,
+        .procname       = "debug-error", 
+        .data           = &gDebugError,
+        .maxlen         = sizeof( int ), 
+        .mode           = 0644,
+        .proc_handler   = &proc_dointvec
+    },
+    { 0 }
+};
+
+static struct ctl_table gSysCtl[] =
+{
+    {
+        .ctl_name       = CTL_ROBOSTIX, 
+        .procname       = "robostix", 
+        .mode           = 0555, 
+        .child          = gSysCtlRobostix
+    },
+    { 0 }
+};
+
+#endif  // USE_SYSCTL
+
+/* ---- Private Function Prototypes -------------------------------------- */
+
+static  void    robostix_configure_pin( int pin, PinMode_e pinMode );
+static  void    robostix_get_pin_config( int pin, PinConfig_t *pinConfig );
+static  void    robostix_set_pin_config( int pin, const PinConfig_t *pinConfig );
+
+static  void    robostix_exit( void );
+static  int     robostix_init( void );
+static  int     robostix_ioctl( struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg );
+static  int     robostix_open( struct inode *inode, struct file *file );
+static  int     robostix_release( struct inode *inode, struct file *file );
+
+/****************************************************************************
+*
+*   File Operations (these are the device driver entry points)
+*
+*****************************************************************************/
+
+static struct file_operations robostix_fops =
+{
+    owner:      THIS_MODULE,
+    ioctl:      robostix_ioctl,
+    open:       robostix_open,
+    release:    robostix_release,
+};
+
+/* ---- Functions -------------------------------------------------------- */
+
+/****************************************************************************
+*
+*   robostix_configure_pin
+*
+*   Configures a GPIO pin for use with the RoboStix.
+*
+*****************************************************************************/
+
+void robostix_configure_pin( int pin, PinMode_e pinMode )
+{
+    // Make sure that interrupts on rising/falling edges are turned off. This
+    // is a bit paranoid, but might as well be sure.
+
+    GRER( pin ) &= ~GPIO_bit( pin );
+    GFER( pin ) &= ~GPIO_bit( pin );
+
+    // Set the pin to be a GPIO pin
+
+    GAFR( pin ) &= ~GPIO_AF_mask( pin );    // AF = 0 is GPIO
+
+    // Reprogram the direction of the pin.
+
+    if ( pinMode == RoboStixGpioIn )
+    {
+        GPDR( pin ) &= ~GPIO_bit( pin );    // in
+    }
+    else
+    {
+        GPDR( pin ) |= GPIO_bit( pin );     // out
+    }
+
+} // robostix_configure_pin
+
+/****************************************************************************
+*
+*   robostix_get_pin_config
+*
+*   Retrieves the current pin configuration and stores it in @a pinConfig.
+*
+*****************************************************************************/
+
+void robostix_get_pin_config( int pin, PinConfig_t *pinConfig )
+{
+    pinConfig->grer = GRER( pin ) & GPIO_bit( pin );
+    pinConfig->gfer = GFER( pin ) & GPIO_bit( pin );
+    pinConfig->gafr = GAFR( pin ) & GPIO_AF_mask( pin );
+    pinConfig->gpdr = GPDR( pin ) & GPIO_bit( pin );
+    pinConfig->gplr = GPLR( pin ) & GPIO_bit( pin );
+
+} // robostix_get_pin_config
+
+/****************************************************************************
+*
+*   robostix_set_pin_config
+*
+*   Restores the pin configuration to a previously saved comfiguration.
+*
+*****************************************************************************/
+
+void robostix_set_pin_config( int pin, const PinConfig_t *pinConfig )
+{
+    GRER( pin ) = ( GRER( pin ) & ~GPIO_bit( pin )) | ( pinConfig->grer & GPIO_bit( pin ));
+    GFER( pin ) = ( GFER( pin ) & ~GPIO_bit( pin )) | ( pinConfig->gfer & GPIO_bit( pin ));
+    GPDR( pin ) = ( GPDR( pin ) & ~GPIO_bit( pin )) | ( pinConfig->gpdr & GPIO_bit( pin ));
+    GAFR( pin ) = ( GAFR( pin ) & ~GPIO_AF_mask( pin )) | ( pinConfig->gafr & GPIO_AF_mask( pin ));
+
+    if (( pinConfig->gplr & GPIO_bit( pin )) == 0 )
+    {
+        GPSR( pin ) |= GPIO_bit( pin );
+    }
+    else
+    {
+        GPCR( pin ) |= GPIO_bit( pin );
+    }
+    
+} // robostix_set_pin_config
+
+/****************************************************************************
+*
+*   robostix_exit
+*
+*   Called to perform module cleanup when the module is unloaded.
+*
+*****************************************************************************/
+
+void robostix_exit( void )
+{
+    ROBO_DEBUG( Trace, "called\n" );
+
+    class_device_destroy( gRobostixClass, gRobostixDevNum );
+    class_destroy( gRobostixClass );
+
+    cdev_del( &gRobostixCDev );
+
+#if USE_SYSCTL
+    if ( gSysCtlHeader != NULL )
+    {
+        unregister_sysctl_table( gSysCtlHeader );
+    }
+#endif
+
+    unregister_chrdev_region( gRobostixDevNum, 1 );
+
+#if 0
+    unregister_chrdev( ROBOSTIX_MAJOR, ROBOSTIX_DEV_NAME );
+#endif
+
+} // robostix_exit
+
+/****************************************************************************
+*
+*   robostix_init
+*
+*   Called to perform module initialization when the module is loaded.
+*
+*****************************************************************************/
+
+int __init robostix_init( void )
+{
+    int rc;
+
+    ROBO_DEBUG( Trace, "called\n" );
+
+    printk( gBanner);
+
+#if 0
+    // Register our device with Linux
+
+    if (( rc = register_chrdev( ROBOSTIX_MAJOR, ROBOSTIX_DEV_NAME, &robostix_fops )) < 0 )
+    {
+        printk( KERN_WARNING "robostix: register_chrdev failed for major %d\n", ROBOSTIX_MAJOR ); 
+        return rc;
+    }
+#endif
+
+    if (( rc = alloc_chrdev_region( &gRobostixDevNum, 0, 1, ROBOSTIX_DEV_NAME )) < 0 )
+    {
+        printk( KERN_WARNING "robostix: Unable to allocate major, err: %d\n", rc );
+        return rc;
+    }
+
+#if USE_SYSCTL
+    #if ( LINUX_VERSION_CODE <= KERNEL_VERSION( 2, 6, 20 ))
+        gSysCtlHeader = register_sysctl_table( gSysCtl, 0 );
+        if ( gSysCtlHeader != NULL )
+        {
+            gSysCtlHeader->ctl_table->child->de->owner = THIS_MODULE;
+        }
+    #else
+        gSysCtlHeader = register_sysctl_table( gSysCtl );
+    #endif
+#endif
+
+    // Initialize the various GPIO pins that control the Robostix.
+    //
+    //  IR_RXD      46  in  ATM_TX0 PE1     Acts as PDO or MISO for programming
+    //  IR_TXD      47  out ATM_RX0 PE0     Acts as PDI or MOSI for programming
+    //
+    //  L_DD11      69  in  ATM_IRQ PE2     IRQ from ATmega128 to gumstix
+    //  L_DD12      70  out                 Enable for Vcc5 and AVCC for the ATMega
+    //  L_DD14      72  out                 Active low enable for the 245's
+    //  L_DD15      73  out ATM_RESET       Resets the processor
+    //
+    //  NSSPCLK     81  out ATM_SCK         Acts as SCK for SPI use
+    //  NSSPFRAME   82  out ATM_SS          Acts as SS for SPI use
+    //  X_MOSI      83  out ATM_MOSI        Acts as MOSI for SPI use
+    //  X_MISO      84  in  ATM_MISO        Acts as MISO for SPI use
+    //
+    // For now, we initialize things so that they continue on the way that 
+    // they were when the gumstix boots:
+    //
+    //  245 is enabled
+    //  voltage regulators are enabled
+    //  Robostix is held in Reset
+    //
+    // I'd like to either see the voltage regulators in a disabled state 
+    // or see the robostix not be held in reset so that we don't have sensors 
+    // and motors and stuff going wild while the gumstix boots.
+    //
+    // The gumstix console runs through the '245 so we make sure to leave
+    // it enabled.
+
+    // The first thing to do is configure the input pins.
+
+    robostix_configure_pin( ROBOSTIX_GPIO_ATM_MISO,     RoboStixGpioIn );
+
+    // TODO: Set ATM_IRQ line to generate an interrupt
+
+//    printk( "IRQ\n" );
+//    robostix_configure_pin( ROBOSTIX_GPIO_ATM_IRQ,      RoboStixGpioIn );
+
+    // Configure the output pins. We set the GPIO value register before
+    // setting configuring it as a GPIO so that we don't create a glitch.
+
+    SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, 1 );   // Voltage regulator on (active high)
+    robostix_configure_pin( ROBOSTIX_GPIO_VCC5_ENABLE,  RoboStixGpioOut );
+
+    SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 );     // AVR held in Reset (active low)
+    robostix_configure_pin( ROBOSTIX_GPIO_ATM_RESET,    RoboStixGpioOut );
+
+    // The values of these pins don't really matter.
+
+    robostix_configure_pin( ROBOSTIX_GPIO_ATM_SCK,      RoboStixGpioOut );
+    robostix_configure_pin( ROBOSTIX_GPIO_ATM_SS,       RoboStixGpioOut );
+    robostix_configure_pin( ROBOSTIX_GPIO_ATM_MOSI,     RoboStixGpioOut );
+
+    // Finally enable the '245
+
+    SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, 0 );    // '245 enabled (active low)
+    robostix_configure_pin( ROBOSTIX_GPIO_245_ENABLE,   RoboStixGpioOut );
+
+    // Don't change the configuration of the IR TxD/RxD here. Instead we
+    // save/restore using the PPCLAIM/PPRELEASE which brackets when avrdude
+    // is doing the actual programming.
+
+    // TODO: Probably configure IR TxD as UART
+
+    // Register our device. The device becomes "active" as soon as cdev_add 
+    // is called.
+
+    cdev_init( &gRobostixCDev, &robostix_fops );
+    gRobostixCDev.owner = THIS_MODULE;
+
+    if (( rc = cdev_add( &gRobostixCDev, gRobostixDevNum, 1 )) != 0 )
+    {
+        printk( KERN_WARNING "robostix: cdev_add failed: %d\n", rc );
+        return rc;
+    }
+
+    gRobostixClass = class_create( THIS_MODULE, ROBOSTIX_DEV_NAME );
+    if ( IS_ERR( gRobostixClass ))
+    {
+        printk( KERN_WARNING "robostix: Unable to create class\n" );
+        return -1;
+    }
+
+    class_device_create( gRobostixClass, NULL, gRobostixDevNum, NULL, ROBOSTIX_DEV_NAME );
+
+    return 0;
+
+} // robostix_init
+
+/****************************************************************************
+*
+*   robostix_ioctl
+*
+*   Called to process ioctl requests
+*
+*****************************************************************************/
+
+int robostix_ioctl( struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg )
+{
+    int err;
+    int userVal;
+
+    ROBO_DEBUG( Trace, "type: '%c' cmd: 0x%x\n", _IOC_TYPE( cmd ), _IOC_NR( cmd ));
+
+    if (( _IOC_TYPE( cmd ) != ROBOSTIX_IOCTL_MAGIC )
+    ||  ( _IOC_NR( cmd ) < ROBOSTIX_CMD_FIRST )
+    ||  ( _IOC_NR( cmd ) >= ROBOSTIX_CMD_LAST ))
+    {
+        // Since we emulate some of the parallel port commands, we need to allow
+        // those as well.
+
+        if (( _IOC_TYPE( cmd ) != PP_IOCTL )
+        ||  ( _IOC_NR( cmd ) < 0x80 )
+        ||  ( _IOC_NR( cmd ) >= 0x9b ))
+        {
+            return -ENOTTY;
+        }
+    }
+
+    // Note that _IOC_DIR Read/Write is from the perspective of userland. access_ok
+    // is from the perspective of kernelland.
+
+    err = 0;
+    if (( _IOC_DIR( cmd ) & _IOC_READ ) != 0 )
+    {
+        err |= !access_ok( VERIFY_WRITE, (void *)arg, _IOC_SIZE( cmd ));
+    }
+    if (( _IOC_DIR( cmd ) & _IOC_WRITE ) != 0 )
+    {
+        err |= !access_ok( VERIFY_READ, (void *)arg, _IOC_SIZE( cmd ));
+    }
+    if ( err )
+    {
+        ROBO_DEBUG( Error, "arg pointer is invalid\n" );
+        return -EFAULT;
+    }
+
+    switch ( cmd )
+    {
+        case ROBOSTIX_IOCTL_POWER_VCC5:
+        {
+            ROBO_DEBUG( Ioctl, "Power: %ld\n", arg );
+
+#if 1
+            // Until I figure something else out, the only way I can get the
+            // power to really go off is to also turn off the '245. This means
+            // that we'll lose the console, so you better be turning things
+            // back on real soon now
+
+            SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !arg );    // '245 is active low
+
+            // Also - I noticed that the Console connector on the Robostix has
+            // Vcc5 going to it, which means that if a TTL <=> RS232 converter
+            // is being powered off the robostix, we'll lose our console as
+            // soon as the voltage regulator (which generates Vcc5) gets 
+            // turned off.
+
+#else
+            // In order to truly power off the robostix, we need to turn off
+            // the voltage regulator. We assume that the '245 stays on so we
+            // continue to get our console. This also means that we need to
+            // take all of the GPIO lines low to eliminate any leak-thru 
+            // current.
+
+            if ( arg )
+            {
+                // Powering on - Configure I/O pins in "typical" manner.
+
+                // TODO: Probably set MOSI/SCK/SS back to NSSP
+                // TODO: Probably set IR TxD back to UART
+            }
+            else
+            {
+                // Powering off. Make them all GPIO's so that we can force
+                // them low.
+
+                SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 );
+                SET_GPIO( ROBOSTIX_GPIO_ATM_MOSI,  0 );
+                SET_GPIO( ROBOSTIX_GPIO_ATM_SCK,   0 );
+                SET_GPIO( ROBOSTIX_GPIO_ATM_SS,    0 );
+                SET_GPIO( ROBOSTIX_GPIO_IR_TXD_5V, 0 );
+
+                robostix_configure_pin( ROBOSTIX_GPIO_ATM_RESET, RoboStixGpioOut );
+                robostix_configure_pin( ROBOSTIX_GPIO_ATM_MOSI,  RoboStixGpioOut );
+                robostix_configure_pin( ROBOSTIX_GPIO_ATM_SCK,   RoboStixGpioOut );
+                robostix_configure_pin( ROBOSTIX_GPIO_ATM_SS,    RoboStixGpioOut );
+                robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+
+                // Grr - ATM_SCL and ATM_SDA are both pulled up to V_BATT,
+                // so we probably need to make these go low too, which effectively
+                // means that we lose the i2c bus.
+            }
+#endif
+
+            SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, arg ); // Voltage regulator is active high
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_RESET:
+        {
+            if ( arg == ROBOSTIX_PIN_PULSE )
+            {
+                // The ATMega128 datasheet says that the reset pulse needs
+                // to have a minimum pulse width of 1.5 usec.
+
+                ROBO_DEBUG( Ioctl, "Reset: %ld (pulse)\n", arg );
+
+                SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 0 ); // Reset is active low
+                udelay( 3 );
+                SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, 1 );
+            }
+            else
+            {
+                // Reset is active low, so "on" means low
+
+                ROBO_DEBUG( Ioctl, "Reset: %ld\n", arg );
+
+                SET_GPIO( ROBOSTIX_GPIO_ATM_RESET, !arg );
+            }
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_245_ENABLE:
+        {
+            // The 245 is active low, so we invert the sense of on/off
+
+            ROBO_DEBUG( Ioctl, "245 Enable: %ld\n", arg );
+
+            if ( arg != 0 )
+            {
+                printk( KERN_WARNING "Robostix: Warning turning '245 off - console may become inactive\n" );
+
+                // Allow some time for the above warning to get printed on the
+                // console before we turn it off.
+
+                set_current_state( TASK_INTERRUPTIBLE );
+                schedule_timeout( 2 );
+            }
+
+            SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !arg );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_SET_SCK:    // out
+        {
+            ROBO_DEBUG( Ioctl, "Set SCK: %ld\n", arg );
+
+            SET_GPIO( ROBOSTIX_GPIO_ATM_SCK, arg );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_SET_SS:     // out
+        {
+            ROBO_DEBUG( Ioctl, "Set SS: %ld\n", arg );
+
+            SET_GPIO( ROBOSTIX_GPIO_ATM_SS, arg );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_SET_IR_TXD: // out
+        {
+            // This particular ioctl should only ever be called as part of 
+            // somebody testing something. We assume that they'll be smart
+            // enough to reconfigure when they're done.
+
+            ROBO_DEBUG( Ioctl, "Set IR TxD: %ld\n", arg );
+
+            robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+
+            SET_GPIO( ROBOSTIX_GPIO_IR_TXD_5V, arg );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_GET_IR_RXD: // in
+        {
+            // This particular ioctl should only ever be called as part of 
+            // somebody testing something. We assume that they'll be smart
+            // enough to reconfigure when they're done.
+
+            robostix_configure_pin( ROBOSTIX_GPIO_IR_RXD_5V, RoboStixGpioIn );
+
+            userVal = GET_GPIO( ROBOSTIX_GPIO_IR_RXD_5V );
+            if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+            {
+                return -EFAULT;
+            }
+
+            ROBO_DEBUG( Ioctl, "Get IR RxD: %d\n", userVal );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_SET_MOSI:   // out
+        {
+            ROBO_DEBUG( Ioctl, "Set MOSI: %ld\n", arg );
+
+            SET_GPIO( ROBOSTIX_GPIO_ATM_MOSI, arg );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_GET_MISO:   // in
+        {
+            userVal = GET_GPIO( ROBOSTIX_GPIO_ATM_MISO );
+            if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+            {
+                return -EFAULT;
+            }
+            ROBO_DEBUG( Ioctl, "Get MISO: %d\n", userVal );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_GET_IRQ:    // in
+        {
+            userVal = GET_GPIO( ROBOSTIX_GPIO_ATM_IRQ );
+            if ( copy_to_user( (int *)arg, &userVal, sizeof( userVal )) != 0 )
+            {
+                return -EFAULT;
+            }
+            ROBO_DEBUG( Ioctl, "Get IRQ: %d\n", userVal );
+            break;
+        }
+
+        case ROBOSTIX_IOCTL_DELAY_USEC:
+        {
+            ROBO_DEBUG( Ioctl, "Delay: %ld usecs\n", arg );
+
+            udelay( arg );
+            break;
+        }
+
+        //-------------------------------------------------------------------
+        //
+        // Parallel port interface. Some documentation on these ioctls can
+        // be found here: 
+        //  http://www.kernelnewbies.org/documents/kdoc/parportbook/x623.html
+        //
+
+        case PPRSTATUS:     // Read status register
+        {
+            unsigned char   statusReg = 0;
+            int             miso;
+
+            // The only thing mapped into the status register, is MISO.
+
+            miso = GET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MISO );
+
+
+            if ( miso )
+            {
+                statusReg |= PPI_STATUS_MISO_MASK;
+            }
+
+            ROBO_DEBUG( Ioctl, "PPRSTATUS: 0x%02x miso:%d\n", statusReg, miso ); 
+
+            if ( copy_to_user( (unsigned char *)arg, &statusReg, sizeof( statusReg )) != 0 )
+            {
+                return -EFAULT;
+            }
+            break;
+        }
+
+        case PPRCONTROL:    // Read control register
+        {
+            // Called once to initialize avrdude's shadow registers
+
+            unsigned char controlReg = 0;
+
+            ROBO_DEBUG( Ioctl, "PPRCONTROL: 0x%02x\n", controlReg ); 
+
+            if ( copy_to_user( (unsigned char *)arg, &controlReg, sizeof( controlReg )) != 0 )
+            {
+                return -EFAULT;
+            }
+            break;
+        }
+
+        case PPWCONTROL:    // Write control register
+        {
+            unsigned char controlReg = 0;
+
+            if ( copy_from_user( &controlReg, (unsigned char *)arg, sizeof( controlReg )) != 0 )
+            {
+                return -EFAULT;
+            }
+
+            ROBO_DEBUG( Ioctl, "PPWCONTROL: 0x%02x\n", controlReg ); 
+            break;
+        }
+
+        case PPRDATA:   // Read data register
+        {
+            // Called once to initialize avrdude's shadow registers
+
+            unsigned char   dataReg = 0;
+            int             power, sck, reset, mosi;
+
+            power = GET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE );
+            sck   = GET_GPIO( ROBOSTIX_GPIO_ATM_SCK );
+            reset = GET_GPIO( ROBOSTIX_GPIO_ATM_RESET );
+            mosi  = GET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MOSI );
+
+            if ( power )
+            {
+                dataReg |= PPI_DATA_VCC_MASK;
+            }
+            if ( reset )
+            {
+                dataReg |= PPI_DATA_RESET_MASK;
+            }
+            if ( sck )
+            {
+                dataReg |= PPI_DATA_SCK_MASK;
+            }
+            if ( mosi )
+            {
+                dataReg |= PPI_DATA_MOSI_MASK;
+            }
+
+            ROBO_DEBUG( Ioctl, "PPRDATA: 0x%02x pow:%d reset:%d sck:%d mosi: %d\n", dataReg, power, reset, sck, mosi ); 
+
+            if ( copy_to_user( (unsigned char *)arg, &dataReg, sizeof( dataReg )) != 0 )
+            {
+                return -EFAULT;
+            }
+            break;
+        }
+
+        case PPWDATA:   // Write data register
+        {
+            unsigned char   dataReg = 0;
+            int             power, sck, reset, mosi;
+            
+            if ( copy_from_user( &dataReg, (unsigned char *)arg, sizeof( dataReg )) != 0 )
+            {
+                return -EFAULT;
+            }
+
+            power = ( dataReg & PPI_DATA_VCC_MASK ) != 0;
+            sck   = ( dataReg & PPI_DATA_SCK_MASK ) != 0;
+            reset = ( dataReg & PPI_DATA_RESET_MASK ) != 0;
+            mosi  = ( dataReg & PPI_DATA_MOSI_MASK ) != 0;
+
+            ROBO_DEBUG( Ioctl, "PPWDATA: 0x%02x pow:%d reset:%d sck:%d mosi: %d\n", dataReg, power, reset, sck, mosi ); 
+
+            SET_GPIO( ROBOSTIX_GPIO_VCC5_ENABLE, power );
+            SET_GPIO( ROBOSTIX_GPIO_245_ENABLE, !power );   // 245 is active low
+
+            SET_GPIO( ROBOSTIX_GPIO_ATM_SCK,      sck );
+            SET_GPIO( ROBOSTIX_GPIO_ATM_RESET,    reset );
+            SET_GPIO( ROBOSTIX_GPIO_ATM_PGM_MOSI, mosi );
+            break;
+        }
+
+        case PPCLAIM:       // Claim the parallel port
+        {
+            ROBO_DEBUG( Ioctl, "PPCLAIM\n" );
+
+            // We use this opportunity to save away the state of the IR Txd/Rxd lines
+            // and convert them to GPIO.
+
+            robostix_get_pin_config( ROBOSTIX_GPIO_IR_TXD_5V, &gIrTxdConfig );
+            robostix_get_pin_config( ROBOSTIX_GPIO_IR_RXD_5V, &gIrRxdConfig );
+
+            robostix_configure_pin( ROBOSTIX_GPIO_IR_TXD_5V, RoboStixGpioOut );
+            robostix_configure_pin( ROBOSTIX_GPIO_IR_RXD_5V, RoboStixGpioIn );
+            break;
+        }
+
+        case PPRELEASE:     // Release the parallel port
+        {
+            ROBO_DEBUG( Ioctl, "PPRELEASE\n" );
+
+            // We use this opportunity to restore the state of the IR Txd/Rxd lines
+            // back to what they were.
+
+            robostix_set_pin_config( ROBOSTIX_GPIO_IR_TXD_5V, &gIrTxdConfig );
+            robostix_set_pin_config( ROBOSTIX_GPIO_IR_RXD_5V, &gIrRxdConfig );
+            break;
+        }
+
+        case PPDATADIR:
+        {
+            int dataDirReg;
+
+            if ( copy_from_user( &dataDirReg, (int *)arg, sizeof( dataDirReg )) != 0 )
+            {
+                return -EFAULT;
+            }
+
+            ROBO_DEBUG( Ioctl, "PPDATADIR: 0x%02x\n", dataDirReg );
+            break;
+        }
+
+        default:
+        {
+            ROBO_DEBUG( Error, "Unrecognized ioctl: '0x%x'\n", cmd );
+            return -ENOTTY;
+        }
+    }
+
+    return 0;
+
+} // robostix_ioctl
+
+/****************************************************************************
+*
+*   robostix_open
+*
+*   Called to process open requests
+*
+*****************************************************************************/
+
+int robostix_open( struct inode *inode, struct file *file )
+{
+    ROBO_DEBUG( Trace, "major = %d, minor = %d\n", MAJOR( inode->i_rdev ),  MINOR( inode->i_rdev ));
+                
+    return 0;
+
+} // robostix_open
+
+/****************************************************************************
+*
+*   robostix_release
+*
+*   Called when the last istance is closed.
+*
+*****************************************************************************/
+
+int robostix_release( struct inode *inode, struct file *file )
+{
+    ROBO_DEBUG( Trace, "called\n" );
+
+    return 0;
+
+} // robostix_release
+
+/****************************************************************************/
+
+module_init(robostix_init);
+module_exit(robostix_exit);
+
+MODULE_AUTHOR("Dave Hylands");
+MODULE_DESCRIPTION("gumstix/robostix driver");
+MODULE_LICENSE("Dual BSD/GPL");
+
diff --git a/packages/robostix-module/files/robostix.h b/packages/robostix-module/files/robostix.h
new file mode 100644
index 0000000000..0d860bc7a4
--- /dev/null
+++ b/packages/robostix-module/files/robostix.h
@@ -0,0 +1,114 @@
+/****************************************************************************
+*
+*   Copyright (c) 2006 Dave Hylands     <dhylands@gmail.com>
+*
+*   This program is free software; you can redistribute it and/or modify
+*   it under the terms of the GNU General Public License version 2 as
+*   published by the Free Software Foundation.
+*
+*   Alternatively, this software may be distributed under the terms of BSD
+*   license.
+*
+*   See README and COPYING for more details.
+*
+****************************************************************************/
+/**
+*
+*  robostix_drv.h
+*
+*  PURPOSE:
+*
+*   This implements a driver for using the robostix from the gumstix
+*
+*   Initially, this contains the required support to emulate enough of the
+*   parallel port interface to allow avrdude to program the ATMega128.
+*
+*****************************************************************************/
+
+#if !defined( LINUX_ROBOSTIX_H )
+#define LINUX_ROBOSTIX_H )
+
+/* ---- Include Files ----------------------------------------------------- */
+
+#include <linux/ioctl.h>
+
+/* ---- Constants and Types ----------------------------------------------- */
+
+#define ROBOSTIX_MAJOR          240
+
+#define ROBOSTIX_IOCTL_MAGIC    'R'
+
+/**
+ *  Deefines for each of the commands. Note that since we want to reduce
+ *  the possibility that a user mode program gets out of sync with a given 
+ *  driver, we explicitly assign a value to each enumeration. This makes
+ *  it more difficult to stick new ioctl's in the middle of the list.
+ */
+
+typedef enum
+{
+    ROBOSTIX_CMD_FIRST          = 0x80,
+
+    ROBOSTIX_CMD_POWER_VCC5     = 0x80,
+    ROBOSTIX_CMD_RESET          = 0x81,
+    ROBOSTIX_CMD_245_ENABLE     = 0x82,
+    ROBOSTIX_CMD_SET_SCK        = 0x83,
+    ROBOSTIX_CMD_SET_SS         = 0x84,
+    ROBOSTIX_CMD_SET_IR_TXD     = 0x85,
+    ROBOSTIX_CMD_GET_IR_RXD     = 0x86,
+    ROBOSTIX_CMD_SET_MOSI       = 0x87,
+    ROBOSTIX_CMD_GET_MISO       = 0x88,
+    ROBOSTIX_CMD_GET_IRQ        = 0x89,
+    ROBOSTIX_CMD_DELAY_USEC     = 0x8A,     // value is hardocded in uisp DAPA.C
+
+    /* Insert new ioctls here                                               */
+
+    ROBOSTIX_CMD_LAST,
+
+} ROBOSTIX_CMD;
+
+/*
+ * The following are arguments to the various ioctl's
+ */
+
+#define ROBOSTIX_PIN_OFF        0
+#define ROBOSTIX_PIN_ON         1
+#define ROBOSTIX_PIN_PULSE      2   // only used or Reset
+
+/*
+ * Definitions for the actual ioctl commands
+ */
+
+#define ROBOSTIX_IOCTL_POWER_VCC5   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_POWER_VCC5 )         // arg is int
+#define ROBOSTIX_IOCTL_RESET        _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_RESET )              // arg is int
+#define ROBOSTIX_IOCTL_245_ENABLE   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_245_ENABLE )         // arg is int
+#define ROBOSTIX_IOCTL_SET_SCK      _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SCK )            // arg is int
+#define ROBOSTIX_IOCTL_SET_SS       _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_SS )             // arg is int
+#define ROBOSTIX_IOCTL_SET_IR_TXD   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_IR_TXD )         // arg is int
+#define ROBOSTIX_IOCTL_GET_IR_RXD   _IOR(   ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IR_RXD, int )    // arg is int *
+#define ROBOSTIX_IOCTL_SET_MOSI     _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_SET_MOSI )           // arg is int
+#define ROBOSTIX_IOCTL_GET_MISO     _IOR(   ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_MISO, int )      // arg is int *
+#define ROBOSTIX_IOCTL_GET_IRQ      _IOR(   ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_GET_IRQ, int )       // arg is int *
+#define ROBOSTIX_IOCTL_DELAY_USEC   _IO(    ROBOSTIX_IOCTL_MAGIC, ROBOSTIX_CMD_DELAY_USEC )         // arg is int
+
+
+/*
+ * Definitions for sysctl. The top level define has to be unique system wide.
+ * The kernel defines values 1 thru about 10 (see include/linunx/sysctl.h)
+ */
+
+#define CTL_ROBOSTIX    0x526F626F  /* 'Robo' in hex form */
+
+/*
+ * The following are for entries in /proc/sys/robostix
+ */
+
+enum
+{
+    CTL_ROBOSTIX_DEBUG_TRACE    = 101,
+    CTL_ROBOSTIX_DEBUG_IOCTL    = 102,
+    CTL_ROBOSTIX_DEBUG_ERROR    = 103
+};
+
+#endif  // LINUX_ROBOSTIX_H
+
diff --git a/packages/robostix-module/files/robostix.init b/packages/robostix-module/files/robostix.init
new file mode 100755
index 0000000000..9bbd1d9e7c
--- /dev/null
+++ b/packages/robostix-module/files/robostix.init
@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# Start the robostix
+#
+
+start() {
+        echo "Starting robostix..."
+
+        # Make sure ttyS2 is setup
+        echo "AF2 in"  > /proc/gpio/GPIO46
+        echo "AF1 out" > /proc/gpio/GPIO47
+
+        # Turn on the robostix '245
+        echo "GPIO out clear" > /proc/gpio/GPIO72
+
+        # Turn on the robostix Power
+        echo "GPIO out set" > /proc/gpio/GPIO70
+
+        # load driver
+        /sbin/modprobe robostix
+
+        # Take the robostix out of reset
+        echo "GPIO out set" > /proc/gpio/GPIO73
+
+}
+stop() {
+        echo "Stopping robostix..."
+
+        # Put the robostix into reset
+        echo "GPIO out clear" > /proc/gpio/GPIO73 
+}
+restart() {
+        stop
+        start
+}
+
+case "$1" in
+  start)
+        start
+        ;;
+  stop)
+        stop
+        ;;
+  restart)
+        restart
+        ;;
+  *)
+        echo $"Usage: $0 {start|stop|restart}"
+        exit 1
+esac
+
+exit $?
+
diff --git a/packages/robostix-module/robostix-module.bb b/packages/robostix-module/robostix-module.bb
new file mode 100644
index 0000000000..7f95adf341
--- /dev/null
+++ b/packages/robostix-module/robostix-module.bb
@@ -0,0 +1,36 @@
+DESCRIPTION = "Linux Driver for Gumstix robostix daughtercards"
+SECTION = "base"
+PRIORITY = "optional"
+LICENSE = "GPL"
+RDEPENDS = "kernel (${KERNEL_VERSION})"
+DEPENDS = "virtual/kernel"
+
+PR = "r1"
+
+INITSCRIPT_NAME = "robostix"
+INITSCRIPT_PARAMS = "defaults 10"
+
+SRC_URI = "\
+  file://Makefile \
+  file://robostix.h \
+  file://robostix.c \
+  file://robostix.init \
+ "
+
+S = "${WORKDIR}"
+
+inherit module update-rc.d
+
+do_install() {	
+	install         -d ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+  install -m 0644 ${WORKDIR}/robostix.ko ${D}${base_libdir}/modules/${KERNEL_VERSION}/extra/
+
+	install         -d ${D}${sysconfdir}/init.d/
+	install -m 0755 ${WORKDIR}/robostix.init ${D}${sysconfdir}/init.d/robostix
+}
+
+PACKAGES = "${PN}"
+
+FILES_${PN} = "${base_libdir}/modules/"
+FILES_${PN} += "${sysconfdir}/"
+