drivers/staging/comedi/drivers/adl_pci8164.c - kernel/skids - Git at Google

 /*
     comedi/drivers/adl_pci8164.c

     Hardware comedi driver fot PCI-8164 Adlink card
     Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>

     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 <mike@mikelachaine.ca>
 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 <linux/kernel.h>
 #include <linux/delay.h>
 #include "comedi_fc.h"
 #include "comedi_pci.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

 static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
 	{
 	PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID,
 		    PCI_ANY_ID, 0, 0, 0}, {
 	0}
 };

 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);

 struct adl_pci8164_private {
 	int data;
 	struct pci_dev *pci_dev;
 };

 #define devpriv ((struct adl_pci8164_private *)dev->private)

 static int adl_pci8164_attach(struct comedi_device *dev,
 			      struct comedi_devconfig *it);
 static int adl_pci8164_detach(struct comedi_device *dev);
 static struct comedi_driver driver_adl_pci8164 = {
 	.driver_name = "adl_pci8164",
 	.module = THIS_MODULE,
 	.attach = adl_pci8164_attach,
 	.detach = adl_pci8164_detach,
 };

 static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
 				      struct comedi_subdevice *s,
 				      struct comedi_insn *insn,
 				      unsigned int *data);

 static int adl_pci8164_insn_read_ssts(struct comedi_device *dev,
 				      struct comedi_subdevice *s,
 				      struct comedi_insn *insn,
 				      unsigned int *data);

 static int adl_pci8164_insn_read_buf0(struct comedi_device *dev,
 				      struct comedi_subdevice *s,
 				      struct comedi_insn *insn,
 				      unsigned int *data);

 static int adl_pci8164_insn_read_buf1(struct comedi_device *dev,
 				      struct comedi_subdevice *s,
 				      struct comedi_insn *insn,
 				      unsigned int *data);

 static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
 				      struct comedi_subdevice *s,
 				      struct comedi_insn *insn,
 				      unsigned int *data);

 static int adl_pci8164_insn_write_otp(struct comedi_device *dev,
 				      struct comedi_subdevice *s,
 				      struct comedi_insn *insn,
 				      unsigned int *data);

 static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
 				       struct comedi_subdevice *s,
 				       struct comedi_insn *insn,
 				       unsigned int *data);

 static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
 				       struct comedi_subdevice *s,
 				       struct comedi_insn *insn,
 				       unsigned int *data);

 static int adl_pci8164_attach(struct comedi_device *dev,
 			      struct comedi_devconfig *it)
 {
 	struct pci_dev *pcidev;
 	struct comedi_subdevice *s;
 	int bus, slot;

 	printk(KERN_INFO "comedi: attempt to attach...\n");
 	printk(KERN_INFO "comedi%d: adl_pci8164\n", dev->minor);

 	dev->board_name = "pci8164";
 	bus = it->options[0];
 	slot = it->options[1];

 	if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0)
 		return -ENOMEM;

 	if (alloc_subdevices(dev, 4) < 0)
 		return -ENOMEM;

 	for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
 	     pcidev != NULL;
 	     pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) {

 		if (pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
 		    pcidev->device == PCI_DEVICE_ID_PCI8164) {
 			if (bus || slot) {
 				/* requested particular bus/slot */
 				if (pcidev->bus->number != bus
 					|| PCI_SLOT(pcidev->devfn) != slot)
 					continue;
 			}
 			devpriv->pci_dev = pcidev;
 			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 1;
 		}
 	}

 	printk(KERN_ERR "comedi%d: no supported board found!"
 		   "(req. bus/slot : %d/%d)\n", dev->minor, bus, slot);
 	return -EIO;
 }

 static int adl_pci8164_detach(struct comedi_device *dev)
 {
 	printk(KERN_INFO "comedi%d: pci8164: remove\n", dev->minor);

 	if (devpriv && devpriv->pci_dev) {
 		if (dev->iobase)
 			comedi_pci_disable(devpriv->pci_dev);
 		pci_dev_put(devpriv->pci_dev);
 	}

 	return 0;
 }

 /*
  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;
 }

 COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);
	/*
	comedi/drivers/adl_pci8164.c

	Hardware comedi driver fot PCI-8164 Adlink card
	Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>

	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 <mike@mikelachaine.ca>
	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 <linux/kernel.h>
	#include <linux/delay.h>
	#include "comedi_fc.h"
	#include "comedi_pci.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

	static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
	{
	PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID,
	PCI_ANY_ID, 0, 0, 0}, {
	0}
	};

	MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);

	struct adl_pci8164_private {
	int data;
	struct pci_dev *pci_dev;
	};

	#define devpriv ((struct adl_pci8164_private *)dev->private)

	static int adl_pci8164_attach(struct comedi_device *dev,
	struct comedi_devconfig *it);
	static int adl_pci8164_detach(struct comedi_device *dev);
	static struct comedi_driver driver_adl_pci8164 = {
	.driver_name = "adl_pci8164",
	.module = THIS_MODULE,
	.attach = adl_pci8164_attach,
	.detach = adl_pci8164_detach,
	};

	static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_read_ssts(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_read_buf0(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_read_buf1(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_write_otp(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
	struct comedi_subdevice *s,
	struct comedi_insn *insn,
	unsigned int *data);

	static int adl_pci8164_attach(struct comedi_device *dev,
	struct comedi_devconfig *it)
	{
	struct pci_dev *pcidev;
	struct comedi_subdevice *s;
	int bus, slot;

	printk(KERN_INFO "comedi: attempt to attach...\n");
	printk(KERN_INFO "comedi%d: adl_pci8164\n", dev->minor);

	dev->board_name = "pci8164";
	bus = it->options[0];
	slot = it->options[1];

	if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0)
	return -ENOMEM;

	if (alloc_subdevices(dev, 4) < 0)
	return -ENOMEM;

	for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
	pcidev != NULL;
	pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) {

	if (pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
	pcidev->device == PCI_DEVICE_ID_PCI8164) {
	if (bus \|\| slot) {
	/* requested particular bus/slot */
	if (pcidev->bus->number != bus
	\|\| PCI_SLOT(pcidev->devfn) != slot)
	continue;
	}
	devpriv->pci_dev = pcidev;
	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 1;
	}
	}

	printk(KERN_ERR "comedi%d: no supported board found!"
	"(req. bus/slot : %d/%d)\n", dev->minor, bus, slot);
	return -EIO;
	}

	static int adl_pci8164_detach(struct comedi_device *dev)
	{
	printk(KERN_INFO "comedi%d: pci8164: remove\n", dev->minor);

	if (devpriv && devpriv->pci_dev) {
	if (dev->iobase)
	comedi_pci_disable(devpriv->pci_dev);
	pci_dev_put(devpriv->pci_dev);
	}

	return 0;
	}

	/*
	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;
	}

	COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);