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: not applicable, uses PCI auto config
  31 */
  32
  33 #include <linux/kernel.h>
  34 #include <linux/pci.h>
  35 #include <linux/delay.h>
  36
  37 #include "../comedidev.h"
  38 #include "comedi_fc.h"
  39 #include "8253.h"
  40
  41 #define PCI8164_AXIS_X  0x00
  42 #define PCI8164_AXIS_Y  0x08
  43 #define PCI8164_AXIS_Z  0x10
  44 #define PCI8164_AXIS_U  0x18
  45
  46 #define PCI8164_MSTS    0x00
  47 #define PCI8164_SSTS    0x02
  48 #define PCI8164_BUF0    0x04
  49 #define PCI8164_BUF1    0x06
  50
  51 #define PCI8164_CMD     0x00
  52 #define PCI8164_OTP     0x02
  53
  54 #define PCI_DEVICE_ID_PCI8164 0x8164
  55
  56 /*
  57  all the read commands are the same except for the addition a constant
  58  * const to the data for inw()
  59  */
  60 static void adl_pci8164_insn_read(struct comedi_device *dev,
  61                                   struct comedi_subdevice *s,
  62                                   struct comedi_insn *insn,
  63                                   unsigned int *data,
  64                                   char *action, unsigned short offset)
  65 {
  66         int axis, axis_reg;
  67         char axisname;
  68
  69         axis = CR_CHAN(insn->chanspec);
  70
  71         switch (axis) {
  72         case 0:
  73                 axis_reg = PCI8164_AXIS_X;
  74                 axisname = 'X';
  75                 break;
  76         case 1:
  77                 axis_reg = PCI8164_AXIS_Y;
  78                 axisname = 'Y';
  79                 break;
  80         case 2:
  81                 axis_reg = PCI8164_AXIS_Z;
  82                 axisname = 'Z';
  83                 break;
  84         case 3:
  85                 axis_reg = PCI8164_AXIS_U;
  86                 axisname = 'U';
  87                 break;
  88         default:
  89                 axis_reg = PCI8164_AXIS_X;
  90                 axisname = 'X';
  91         }
  92
  93         data[0] = inw(dev->iobase + axis_reg + offset);
  94         dev_dbg(dev->class_dev,
  95                 "pci8164 %s read -> %04X:%04X on axis %c\n",
  96                 action, data[0], data[1], axisname);
  97 }
  98
  99 static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
 100                                       struct comedi_subdevice *s,
 101                                       struct comedi_insn *insn,
 102                                       unsigned int *data)
 103 {
 104         adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS);
 105         return 2;
 106 }
 107
 108 static int adl_pci8164_insn_read_ssts(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, "SSTS", PCI8164_SSTS);
 114         return 2;
 115 }
 116
 117 static int adl_pci8164_insn_read_buf0(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, "BUF0", PCI8164_BUF0);
 123         return 2;
 124 }
 125
 126 static int adl_pci8164_insn_read_buf1(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, "BUF1", PCI8164_BUF1);
 132         return 2;
 133 }
 134
 135 /*
 136  all the write commands are the same except for the addition a constant
 137  * const to the data for outw()
 138  */
 139 static void adl_pci8164_insn_out(struct comedi_device *dev,
 140                                  struct comedi_subdevice *s,
 141                                  struct comedi_insn *insn,
 142                                  unsigned int *data,
 143                                  char *action, unsigned short offset)
 144 {
 145         unsigned int axis, axis_reg;
 146
 147         char axisname;
 148
 149         axis = CR_CHAN(insn->chanspec);
 150
 151         switch (axis) {
 152         case 0:
 153                 axis_reg = PCI8164_AXIS_X;
 154                 axisname = 'X';
 155                 break;
 156         case 1:
 157                 axis_reg = PCI8164_AXIS_Y;
 158                 axisname = 'Y';
 159                 break;
 160         case 2:
 161                 axis_reg = PCI8164_AXIS_Z;
 162                 axisname = 'Z';
 163                 break;
 164         case 3:
 165                 axis_reg = PCI8164_AXIS_U;
 166                 axisname = 'U';
 167                 break;
 168         default:
 169                 axis_reg = PCI8164_AXIS_X;
 170                 axisname = 'X';
 171         }
 172
 173         outw(data[0], dev->iobase + axis_reg + offset);
 174
 175         dev_dbg(dev->class_dev,
 176                 "pci8164 %s write -> %04X:%04X on axis %c\n",
 177                 action, data[0], data[1], axisname);
 178
 179 }
 180
 181 static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
 182                                       struct comedi_subdevice *s,
 183                                       struct comedi_insn *insn,
 184                                       unsigned int *data)
 185 {
 186         adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD);
 187         return 2;
 188 }
 189
 190 static int adl_pci8164_insn_write_otp(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, "OTP", PCI8164_OTP);
 196         return 2;
 197 }
 198
 199 static int adl_pci8164_insn_write_buf0(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, "BUF0", PCI8164_BUF0);
 205         return 2;
 206 }
 207
 208 static int adl_pci8164_insn_write_buf1(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, "BUF1", PCI8164_BUF1);
 214         return 2;
 215 }
 216
 217 static int adl_pci8164_auto_attach(struct comedi_device *dev,
 218                                              unsigned long context_unused)
 219 {
 220         struct pci_dev *pcidev = comedi_to_pci_dev(dev);
 221         struct comedi_subdevice *s;
 222         int ret;
 223
 224         dev->board_name = dev->driver->driver_name;
 225
 226         ret = comedi_pci_enable(pcidev, dev->board_name);
 227         if (ret)
 228                 return ret;
 229         dev->iobase = pci_resource_start(pcidev, 2);
 230
 231         ret = comedi_alloc_subdevices(dev, 4);
 232         if (ret)
 233                 return ret;
 234
 235         s = &dev->subdevices[0];
 236         s->type = COMEDI_SUBD_PROC;
 237         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 238         s->n_chan = 4;
 239         s->maxdata = 0xffff;
 240         s->len_chanlist = 4;
 241         /* s->range_table = &range_axis; */
 242         s->insn_read = adl_pci8164_insn_read_msts;
 243         s->insn_write = adl_pci8164_insn_write_cmd;
 244
 245         s = &dev->subdevices[1];
 246         s->type = COMEDI_SUBD_PROC;
 247         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 248         s->n_chan = 4;
 249         s->maxdata = 0xffff;
 250         s->len_chanlist = 4;
 251         /* s->range_table = &range_axis; */
 252         s->insn_read = adl_pci8164_insn_read_ssts;
 253         s->insn_write = adl_pci8164_insn_write_otp;
 254
 255         s = &dev->subdevices[2];
 256         s->type = COMEDI_SUBD_PROC;
 257         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 258         s->n_chan = 4;
 259         s->maxdata = 0xffff;
 260         s->len_chanlist = 4;
 261         /* s->range_table = &range_axis; */
 262         s->insn_read = adl_pci8164_insn_read_buf0;
 263         s->insn_write = adl_pci8164_insn_write_buf0;
 264
 265         s = &dev->subdevices[3];
 266         s->type = COMEDI_SUBD_PROC;
 267         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 268         s->n_chan = 4;
 269         s->maxdata = 0xffff;
 270         s->len_chanlist = 4;
 271         /* s->range_table = &range_axis; */
 272         s->insn_read = adl_pci8164_insn_read_buf1;
 273         s->insn_write = adl_pci8164_insn_write_buf1;
 274
 275         dev_info(dev->class_dev, "%s attached\n", dev->board_name);
 276
 277         return 0;
 278 }
 279
 280 static void adl_pci8164_detach(struct comedi_device *dev)
 281 {
 282         struct pci_dev *pcidev = comedi_to_pci_dev(dev);
 283
 284         if (pcidev) {
 285                 if (dev->iobase)
 286                         comedi_pci_disable(pcidev);
 287         }
 288 }
 289
 290 static struct comedi_driver adl_pci8164_driver = {
 291         .driver_name    = "adl_pci8164",
 292         .module         = THIS_MODULE,
 293         .auto_attach    = adl_pci8164_auto_attach,
 294         .detach         = adl_pci8164_detach,
 295 };
 296
 297 static int adl_pci8164_pci_probe(struct pci_dev *dev,
 298                                            const struct pci_device_id *ent)
 299 {
 300         return comedi_pci_auto_config(dev, &adl_pci8164_driver);
 301 }
 302
 303 static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
 304         { PCI_DEVICE(PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164) },
 305         {0}
 306 };
 307 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
 308
 309 static struct pci_driver adl_pci8164_pci_driver = {
 310         .name           = "adl_pci8164",
 311         .id_table       = adl_pci8164_pci_table,
 312         .probe          = adl_pci8164_pci_probe,
 313         .remove         = comedi_pci_auto_unconfig,
 314 };
 315 module_comedi_pci_driver(adl_pci8164_driver, adl_pci8164_pci_driver);
 316
 317 MODULE_AUTHOR("Comedi http://www.comedi.org");
 318 MODULE_DESCRIPTION("Comedi low-level driver");
 319 MODULE_LICENSE("GPL");