/* comedi/drivers/adl_pci8164.c Hardware comedi driver fot PCI-8164 Adlink card Copyright (C) 2004 Michel Lachine 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: adl_pci8164 Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board Devices: [ADLink] PCI-8164 (adl_pci8164) Author: Michel Lachaine Status: experimental Updated: Mon, 14 Apr 2008 15:10:32 +0100 Configuration Options: [0] - PCI bus of device (optional) [1] - PCI slot of device (optional) If bus/slot is not specified, the first supported PCI device found will be used. */ #include "../comedidev.h" #include #include #include "comedi_fc.h" #include "8253.h" #define PCI8164_AXIS_X 0x00 #define PCI8164_AXIS_Y 0x08 #define PCI8164_AXIS_Z 0x10 #define PCI8164_AXIS_U 0x18 #define PCI8164_MSTS 0x00 #define PCI8164_SSTS 0x02 #define PCI8164_BUF0 0x04 #define PCI8164_BUF1 0x06 #define PCI8164_CMD 0x00 #define PCI8164_OTP 0x02 #define PCI_DEVICE_ID_PCI8164 0x8164 /* all the read commands are the same except for the addition a constant * const to the data for inw() */ static void adl_pci8164_insn_read(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data, char *action, unsigned short offset) { int axis, axis_reg; char *axisname; axis = CR_CHAN(insn->chanspec); switch (axis) { case 0: axis_reg = PCI8164_AXIS_X; axisname = "X"; break; case 1: axis_reg = PCI8164_AXIS_Y; axisname = "Y"; break; case 2: axis_reg = PCI8164_AXIS_Z; axisname = "Z"; break; case 3: axis_reg = PCI8164_AXIS_U; axisname = "U"; break; default: axis_reg = PCI8164_AXIS_X; axisname = "X"; } data[0] = inw(dev->iobase + axis_reg + offset); printk(KERN_DEBUG "comedi: pci8164 %s read -> " "%04X:%04X on axis %s\n", action, data[0], data[1], axisname); } static int adl_pci8164_insn_read_msts(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS); return 2; } static int adl_pci8164_insn_read_ssts(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_read(dev, s, insn, data, "SSTS", PCI8164_SSTS); return 2; } static int adl_pci8164_insn_read_buf0(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_read(dev, s, insn, data, "BUF0", PCI8164_BUF0); return 2; } static int adl_pci8164_insn_read_buf1(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_read(dev, s, insn, data, "BUF1", PCI8164_BUF1); return 2; } /* all the write commands are the same except for the addition a constant * const to the data for outw() */ static void adl_pci8164_insn_out(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data, char *action, unsigned short offset) { unsigned int axis, axis_reg; char *axisname; axis = CR_CHAN(insn->chanspec); switch (axis) { case 0: axis_reg = PCI8164_AXIS_X; axisname = "X"; break; case 1: axis_reg = PCI8164_AXIS_Y; axisname = "Y"; break; case 2: axis_reg = PCI8164_AXIS_Z; axisname = "Z"; break; case 3: axis_reg = PCI8164_AXIS_U; axisname = "U"; break; default: axis_reg = PCI8164_AXIS_X; axisname = "X"; } outw(data[0], dev->iobase + axis_reg + offset); printk(KERN_DEBUG "comedi: pci8164 %s write -> " "%04X:%04X on axis %s\n", action, data[0], data[1], axisname); } static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD); return 2; } static int adl_pci8164_insn_write_otp(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP); return 2; } static int adl_pci8164_insn_write_buf0(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0); return 2; } static int adl_pci8164_insn_write_buf1(struct comedi_device *dev, struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data) { adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1); return 2; } static struct pci_dev *adl_pci8164_find_pci(struct comedi_device *dev, struct comedi_devconfig *it) { struct pci_dev *pcidev = NULL; int bus = it->options[0]; int slot = it->options[1]; for_each_pci_dev(pcidev) { if (pcidev->vendor != PCI_VENDOR_ID_ADLINK || pcidev->device != PCI_DEVICE_ID_PCI8164) continue; if (bus || slot) { /* requested particular bus/slot */ if (pcidev->bus->number != bus || PCI_SLOT(pcidev->devfn) != slot) continue; } return pcidev; } printk(KERN_ERR "comedi%d: no supported board found! (req. bus/slot : %d/%d)\n", dev->minor, bus, slot); return NULL; } static int adl_pci8164_attach(struct comedi_device *dev, struct comedi_devconfig *it) { struct pci_dev *pcidev; struct comedi_subdevice *s; int ret; printk(KERN_INFO "comedi: attempt to attach...\n"); printk(KERN_INFO "comedi%d: adl_pci8164\n", dev->minor); dev->board_name = "pci8164"; ret = comedi_alloc_subdevices(dev, 4); if (ret) return ret; pcidev = adl_pci8164_find_pci(dev, it); if (!pcidev) return -EIO; comedi_set_hw_dev(dev, &pcidev->dev); if (comedi_pci_enable(pcidev, "adl_pci8164") < 0) { printk(KERN_ERR "comedi%d: Failed to enable " "PCI device and request regions\n", dev->minor); return -EIO; } dev->iobase = pci_resource_start(pcidev, 2); printk(KERN_DEBUG "comedi: base addr %4lx\n", dev->iobase); s = dev->subdevices + 0; s->type = COMEDI_SUBD_PROC; s->subdev_flags = SDF_READABLE | SDF_WRITABLE; s->n_chan = 4; s->maxdata = 0xffff; s->len_chanlist = 4; /* s->range_table = &range_axis; */ s->insn_read = adl_pci8164_insn_read_msts; s->insn_write = adl_pci8164_insn_write_cmd; s = dev->subdevices + 1; s->type = COMEDI_SUBD_PROC; s->subdev_flags = SDF_READABLE | SDF_WRITABLE; s->n_chan = 4; s->maxdata = 0xffff; s->len_chanlist = 4; /* s->range_table = &range_axis; */ s->insn_read = adl_pci8164_insn_read_ssts; s->insn_write = adl_pci8164_insn_write_otp; s = dev->subdevices + 2; s->type = COMEDI_SUBD_PROC; s->subdev_flags = SDF_READABLE | SDF_WRITABLE; s->n_chan = 4; s->maxdata = 0xffff; s->len_chanlist = 4; /* s->range_table = &range_axis; */ s->insn_read = adl_pci8164_insn_read_buf0; s->insn_write = adl_pci8164_insn_write_buf0; s = dev->subdevices + 3; s->type = COMEDI_SUBD_PROC; s->subdev_flags = SDF_READABLE | SDF_WRITABLE; s->n_chan = 4; s->maxdata = 0xffff; s->len_chanlist = 4; /* s->range_table = &range_axis; */ s->insn_read = adl_pci8164_insn_read_buf1; s->insn_write = adl_pci8164_insn_write_buf1; printk(KERN_INFO "comedi: attached\n"); return 0; } static void adl_pci8164_detach(struct comedi_device *dev) { struct pci_dev *pcidev = comedi_to_pci_dev(dev); if (pcidev) { if (dev->iobase) comedi_pci_disable(pcidev); pci_dev_put(pcidev); } } static struct comedi_driver adl_pci8164_driver = { .driver_name = "adl_pci8164", .module = THIS_MODULE, .attach = adl_pci8164_attach, .detach = adl_pci8164_detach, }; static int __devinit adl_pci8164_pci_probe(struct pci_dev *dev, const struct pci_device_id *ent) { return comedi_pci_auto_config(dev, &adl_pci8164_driver); } static void __devexit adl_pci8164_pci_remove(struct pci_dev *dev) { comedi_pci_auto_unconfig(dev); } static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = { { PCI_DEVICE(PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164) }, {0} }; MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table); static struct pci_driver adl_pci8164_pci_driver = { .name = "adl_pci8164", .id_table = adl_pci8164_pci_table, .probe = adl_pci8164_pci_probe, .remove = __devexit_p(adl_pci8164_pci_remove), }; module_comedi_pci_driver(adl_pci8164_driver, adl_pci8164_pci_driver); MODULE_AUTHOR("Comedi http://www.comedi.org"); MODULE_DESCRIPTION("Comedi low-level driver"); MODULE_LICENSE("GPL");