| /* |
| 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); |