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+.\" $NetBSD: scmd.4,v 1.3 2025/07/08 18:01:11 gutteridge Exp $
+.\"
+.\" Copyright (c) 2021 Brad Spencer <brad@anduin.eldar.org>
+.\"
+.\" Permission to use, copy, modify, and distribute this software for any
+.\" purpose with or without fee is hereby granted, provided that the above
+.\" copyright notice and this permission notice appear in all copies.
+.\"
+.\" THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+.\" WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+.\" MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+.\" ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+.\" WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+.\" ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+.\" OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+.\"
+.Dd January 1, 2022
+.Dt SCMD 4
+.Os
+.Sh NAME
+.Nm scmd
+.Nd Common driver for the Sparkfun Serial Controlled Motor Driver
+.Sh SYNOPSIS
+.Cd "scmd* at iic? ..."
+.Cd "scmd* at spi? ..."
+.Sh DESCRIPTION
+The
+.Nm
+driver provides the common framework to the Sparkfun SCMD board.
+The SCMD board is a Cypress core ARM SOC in front of a DRV8835 motor driver chip.
+There are a number of ways to talk to the board and
+.Xr scmdi2c 4
+and
+.Xr scmdspi 4
+should be consulted for the I2C and SPI frontend drivers.
+The board is fully documented in the datasheet for at Sparkfun.
+.Pp
+The board provides a register address space of 126 registers which control the various
+behaviors of the motors attached to the board.
+Each SCMD board can handle two motors,
+and up to 16 SCMD boards may be chained together allowing for 34 motors to be controlled
+from a single master instance.
+The secondary boards are accessed by set of view port registers 
+from the main board.
+The
+.Xr scmd 4
+driver and its associated frontends flatten the main SCMD board and all chained boards into
+a linear register space that can be opened, seeked, read from and written to like any other
+file or device without having to worry about the view port.
+.Pp
+A command line utility
+.Xr scmdctl 1
+is provided that allows convenient command line commands for most of the functions provided by the
+SCMD board.
+.Sh SYSCTL VARIABLES
+The following
+.Xr sysctl 3
+variables are provided:
+.Bl -tag -width indent
+.It Li hw.scmd0.debug
+If the driver is compiled with
+.Dv SCMD_DEBUG ,
+this node will appear and can be used to set the debugging level.
+.El
+.Sh FILES
+.Bl -tag -width /dev/rcaXXXXX -compact
+.It Pa /dev/scmd Ns Ar u
+character device allowing access to the register space of a main
+.Ar u ,
+SCMD device
+.Sh SEE ALSO
+.Xr iic 4 ,
+.Xr spi 4 ,
+.Xr scmdi2c 4 ,
+.Xr scmdspi 4 ,
+.Xr scmdctl 1 ,
+.Xr sysctl 8
+.Sh HISTORY
+The
+.Nm
+driver first appeared in
+.Nx 10.0 .
+.Sh AUTHORS
+.An -nosplit
+The
+.Nm
+driver was written by
+.An Brad Spencer Aq Mt brad@anduin.eldar.org .