drivers/staging/comedi/drivers/adl_pci8164.c

   1 /*
   2     comedi/drivers/adl_pci8164.c
   3
   4     Hardware comedi driver fot PCI-8164 Adlink card
   5     Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>
   6
   7     This program is free software; you can redistribute it and/or modify
   8     it under the terms of the GNU General Public License as published by
   9     the Free Software Foundation; either version 2 of the License, or
  10     (at your option) any later version.
  11
  12     This program is distributed in the hope that it will be useful,
  13     but WITHOUT ANY WARRANTY; without even the implied warranty of
  14     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15     GNU General Public License for more details.
  16
  17     You should have received a copy of the GNU General Public License
  18     along with this program; if not, write to the Free Software
  19     Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20
  21 */
  22 /*
  23 Driver: adl_pci8164
  24 Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board
  25 Devices: [ADLink] PCI-8164 (adl_pci8164)
  26 Author: Michel Lachaine <mike@mikelachaine.ca>
  27 Status: experimental
  28 Updated: Mon, 14 Apr 2008 15:10:32 +0100
  29
  30 Configuration Options:
  31   [0] - PCI bus of device (optional)
  32   [1] - PCI slot of device (optional)
  33   If bus/slot is not specified, the first supported
  34   PCI device found will be used.
  35 */
  36
  37 #include "../comedidev.h"
  38 #include <linux/kernel.h>
  39 #include <linux/delay.h>
  40 #include "comedi_fc.h"
  41 #include "8253.h"
  42
  43 #define PCI8164_AXIS_X  0x00
  44 #define PCI8164_AXIS_Y  0x08
  45 #define PCI8164_AXIS_Z  0x10
  46 #define PCI8164_AXIS_U  0x18
  47
  48 #define PCI8164_MSTS    0x00
  49 #define PCI8164_SSTS    0x02
  50 #define PCI8164_BUF0    0x04
  51 #define PCI8164_BUF1    0x06
  52
  53 #define PCI8164_CMD     0x00
  54 #define PCI8164_OTP     0x02
  55
  56 #define PCI_DEVICE_ID_PCI8164 0x8164
  57
  58 struct adl_pci8164_private {
  59         int data;
  60         struct pci_dev *pci_dev;
  61 };
  62
  63 #define devpriv ((struct adl_pci8164_private *)dev->private)
  64
  65 /*
  66  all the read commands are the same except for the addition a constant
  67  * const to the data for inw()
  68  */
  69 static void adl_pci8164_insn_read(struct comedi_device *dev,
  70                                   struct comedi_subdevice *s,
  71                                   struct comedi_insn *insn,
  72                                   unsigned int *data,
  73                                   char *action, unsigned short offset)
  74 {
  75         int axis, axis_reg;
  76         char *axisname;
  77
  78         axis = CR_CHAN(insn->chanspec);
  79
  80         switch (axis) {
  81         case 0:
  82                 axis_reg = PCI8164_AXIS_X;
  83                 axisname = "X";
  84                 break;
  85         case 1:
  86                 axis_reg = PCI8164_AXIS_Y;
  87                 axisname = "Y";
  88                 break;
  89         case 2:
  90                 axis_reg = PCI8164_AXIS_Z;
  91                 axisname = "Z";
  92                 break;
  93         case 3:
  94                 axis_reg = PCI8164_AXIS_U;
  95                 axisname = "U";
  96                 break;
  97         default:
  98                 axis_reg = PCI8164_AXIS_X;
  99                 axisname = "X";
 100         }
 101
 102         data[0] = inw(dev->iobase + axis_reg + offset);
 103         printk(KERN_DEBUG "comedi: pci8164 %s read -> "
 104                                                   "%04X:%04X on axis %s\n",
 105                                 action, data[0], data[1], axisname);
 106 }
 107
 108 static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
 109                                       struct comedi_subdevice *s,
 110                                       struct comedi_insn *insn,
 111                                       unsigned int *data)
 112 {
 113         adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS);
 114         return 2;
 115 }
 116
 117 static int adl_pci8164_insn_read_ssts(struct comedi_device *dev,
 118                                       struct comedi_subdevice *s,
 119                                       struct comedi_insn *insn,
 120                                       unsigned int *data)
 121 {
 122         adl_pci8164_insn_read(dev, s, insn, data, "SSTS", PCI8164_SSTS);
 123         return 2;
 124 }
 125
 126 static int adl_pci8164_insn_read_buf0(struct comedi_device *dev,
 127                                       struct comedi_subdevice *s,
 128                                       struct comedi_insn *insn,
 129                                       unsigned int *data)
 130 {
 131         adl_pci8164_insn_read(dev, s, insn, data, "BUF0", PCI8164_BUF0);
 132         return 2;
 133 }
 134
 135 static int adl_pci8164_insn_read_buf1(struct comedi_device *dev,
 136                                       struct comedi_subdevice *s,
 137                                       struct comedi_insn *insn,
 138                                       unsigned int *data)
 139 {
 140         adl_pci8164_insn_read(dev, s, insn, data, "BUF1", PCI8164_BUF1);
 141         return 2;
 142 }
 143
 144 /*
 145  all the write commands are the same except for the addition a constant
 146  * const to the data for outw()
 147  */
 148 static void adl_pci8164_insn_out(struct comedi_device *dev,
 149                                  struct comedi_subdevice *s,
 150                                  struct comedi_insn *insn,
 151                                  unsigned int *data,
 152                                  char *action, unsigned short offset)
 153 {
 154         unsigned int axis, axis_reg;
 155
 156         char *axisname;
 157
 158         axis = CR_CHAN(insn->chanspec);
 159
 160         switch (axis) {
 161         case 0:
 162                 axis_reg = PCI8164_AXIS_X;
 163                 axisname = "X";
 164                 break;
 165         case 1:
 166                 axis_reg = PCI8164_AXIS_Y;
 167                 axisname = "Y";
 168                 break;
 169         case 2:
 170                 axis_reg = PCI8164_AXIS_Z;
 171                 axisname = "Z";
 172                 break;
 173         case 3:
 174                 axis_reg = PCI8164_AXIS_U;
 175                 axisname = "U";
 176                 break;
 177         default:
 178                 axis_reg = PCI8164_AXIS_X;
 179                 axisname = "X";
 180         }
 181
 182         outw(data[0], dev->iobase + axis_reg + offset);
 183
 184         printk(KERN_DEBUG "comedi: pci8164 %s write -> "
 185                                                 "%04X:%04X on axis %s\n",
 186                                 action, data[0], data[1], axisname);
 187
 188 }
 189
 190 static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
 191                                       struct comedi_subdevice *s,
 192                                       struct comedi_insn *insn,
 193                                       unsigned int *data)
 194 {
 195         adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD);
 196         return 2;
 197 }
 198
 199 static int adl_pci8164_insn_write_otp(struct comedi_device *dev,
 200                                       struct comedi_subdevice *s,
 201                                       struct comedi_insn *insn,
 202                                       unsigned int *data)
 203 {
 204         adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP);
 205         return 2;
 206 }
 207
 208 static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
 209                                        struct comedi_subdevice *s,
 210                                        struct comedi_insn *insn,
 211                                        unsigned int *data)
 212 {
 213         adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0);
 214         return 2;
 215 }
 216
 217 static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
 218                                        struct comedi_subdevice *s,
 219                                        struct comedi_insn *insn,
 220                                        unsigned int *data)
 221 {
 222         adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1);
 223         return 2;
 224 }
 225
 226 static struct pci_dev *adl_pci8164_find_pci(struct comedi_device *dev,
 227                                             struct comedi_devconfig *it)
 228 {
 229         struct pci_dev *pcidev = NULL;
 230         int bus = it->options[0];
 231         int slot = it->options[1];
 232
 233         for_each_pci_dev(pcidev) {
 234                 if (pcidev->vendor != PCI_VENDOR_ID_ADLINK ||
 235                     pcidev->device != PCI_DEVICE_ID_PCI8164)
 236                         continue;
 237                 if (bus || slot) {
 238                         /* requested particular bus/slot */
 239                         if (pcidev->bus->number != bus ||
 240                             PCI_SLOT(pcidev->devfn) != slot)
 241                                 continue;
 242                 }
 243                 return pcidev;
 244         }
 245         printk(KERN_ERR
 246                 "comedi%d: no supported board found! (req. bus/slot : %d/%d)\n",
 247                 dev->minor, bus, slot);
 248         return NULL;
 249 }
 250
 251 static int adl_pci8164_attach(struct comedi_device *dev,
 252                               struct comedi_devconfig *it)
 253 {
 254         struct comedi_subdevice *s;
 255         int ret;
 256
 257         printk(KERN_INFO "comedi: attempt to attach...\n");
 258         printk(KERN_INFO "comedi%d: adl_pci8164\n", dev->minor);
 259
 260         dev->board_name = "pci8164";
 261
 262         if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0)
 263                 return -ENOMEM;
 264
 265         ret = comedi_alloc_subdevices(dev, 4);
 266         if (ret)
 267                 return ret;
 268
 269         devpriv->pci_dev = adl_pci8164_find_pci(dev, it);
 270         if (!devpriv->pci_dev)
 271                 return -EIO;
 272
 273         if (comedi_pci_enable(devpriv->pci_dev, "adl_pci8164") < 0) {
 274                 printk(KERN_ERR "comedi%d: Failed to enable "
 275                 "PCI device and request regions\n", dev->minor);
 276                 return -EIO;
 277         }
 278         dev->iobase = pci_resource_start(devpriv->pci_dev, 2);
 279         printk(KERN_DEBUG "comedi: base addr %4lx\n", dev->iobase);
 280
 281         s = dev->subdevices + 0;
 282         s->type = COMEDI_SUBD_PROC;
 283         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 284         s->n_chan = 4;
 285         s->maxdata = 0xffff;
 286         s->len_chanlist = 4;
 287         /* s->range_table = &range_axis; */
 288         s->insn_read = adl_pci8164_insn_read_msts;
 289         s->insn_write = adl_pci8164_insn_write_cmd;
 290
 291         s = dev->subdevices + 1;
 292         s->type = COMEDI_SUBD_PROC;
 293         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 294         s->n_chan = 4;
 295         s->maxdata = 0xffff;
 296         s->len_chanlist = 4;
 297         /* s->range_table = &range_axis; */
 298         s->insn_read = adl_pci8164_insn_read_ssts;
 299         s->insn_write = adl_pci8164_insn_write_otp;
 300
 301         s = dev->subdevices + 2;
 302         s->type = COMEDI_SUBD_PROC;
 303         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 304         s->n_chan = 4;
 305         s->maxdata = 0xffff;
 306         s->len_chanlist = 4;
 307         /* s->range_table = &range_axis; */
 308         s->insn_read = adl_pci8164_insn_read_buf0;
 309         s->insn_write = adl_pci8164_insn_write_buf0;
 310
 311         s = dev->subdevices + 3;
 312         s->type = COMEDI_SUBD_PROC;
 313         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 314         s->n_chan = 4;
 315         s->maxdata = 0xffff;
 316         s->len_chanlist = 4;
 317         /* s->range_table = &range_axis; */
 318         s->insn_read = adl_pci8164_insn_read_buf1;
 319         s->insn_write = adl_pci8164_insn_write_buf1;
 320
 321         printk(KERN_INFO "comedi: attached\n");
 322         return 0;
 323 }
 324
 325 static void adl_pci8164_detach(struct comedi_device *dev)
 326 {
 327         if (devpriv && devpriv->pci_dev) {
 328                 if (dev->iobase)
 329                         comedi_pci_disable(devpriv->pci_dev);
 330                 pci_dev_put(devpriv->pci_dev);
 331         }
 332 }
 333
 334 static struct comedi_driver adl_pci8164_driver = {
 335         .driver_name    = "adl_pci8164",
 336         .module         = THIS_MODULE,
 337         .attach         = adl_pci8164_attach,
 338         .detach         = adl_pci8164_detach,
 339 };
 340
 341 static int __devinit adl_pci8164_pci_probe(struct pci_dev *dev,
 342                                            const struct pci_device_id *ent)
 343 {
 344         return comedi_pci_auto_config(dev, &adl_pci8164_driver);
 345 }
 346
 347 static void __devexit adl_pci8164_pci_remove(struct pci_dev *dev)
 348 {
 349         comedi_pci_auto_unconfig(dev);
 350 }
 351
 352 static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
 353         { PCI_DEVICE(PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164) },
 354         {0}
 355 };
 356 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
 357
 358 static struct pci_driver adl_pci8164_pci_driver = {
 359         .name           = "adl_pci8164",
 360         .id_table       = adl_pci8164_pci_table,
 361         .probe          = adl_pci8164_pci_probe,
 362         .remove         = __devexit_p(adl_pci8164_pci_remove),
 363 };
 364 module_comedi_pci_driver(adl_pci8164_driver, adl_pci8164_pci_driver);
 365
 366 MODULE_AUTHOR("Comedi http://www.comedi.org");
 367 MODULE_DESCRIPTION("Comedi low-level driver");
 368 MODULE_LICENSE("GPL");