2 comedi/drivers/adl_pci8164.c
4 Hardware comedi driver fot PCI-8164 Adlink card
5 Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>
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.
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.
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.
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>
28 Updated: Mon, 14 Apr 2008 15:10:32 +0100
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.
37 #include "../comedidev.h"
38 #include <linux/kernel.h>
39 #include <linux/delay.h>
40 #include "comedi_fc.h"
41 #include "comedi_pci.h"
44 #define PCI8164_AXIS_X 0x00
45 #define PCI8164_AXIS_Y 0x08
46 #define PCI8164_AXIS_Z 0x10
47 #define PCI8164_AXIS_U 0x18
49 #define PCI8164_MSTS 0x00
50 #define PCI8164_SSTS 0x02
51 #define PCI8164_BUF0 0x04
52 #define PCI8164_BUF1 0x06
54 #define PCI8164_CMD 0x00
55 #define PCI8164_OTP 0x02
57 #define PCI_DEVICE_ID_PCI8164 0x8164
59 static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table
) = {
61 PCI_VENDOR_ID_ADLINK
, PCI_DEVICE_ID_PCI8164
, PCI_ANY_ID
,
62 PCI_ANY_ID
, 0, 0, 0}, {
66 MODULE_DEVICE_TABLE(pci
, adl_pci8164_pci_table
);
68 struct adl_pci8164_private
{
70 struct pci_dev
*pci_dev
;
73 #define devpriv ((struct adl_pci8164_private *)dev->private)
75 static int adl_pci8164_attach(struct comedi_device
*dev
,
76 struct comedi_devconfig
*it
);
77 static int adl_pci8164_detach(struct comedi_device
*dev
);
78 static struct comedi_driver driver_adl_pci8164
= {
79 .driver_name
= "adl_pci8164",
80 .module
= THIS_MODULE
,
81 .attach
= adl_pci8164_attach
,
82 .detach
= adl_pci8164_detach
,
85 static int adl_pci8164_insn_read_msts(struct comedi_device
*dev
,
86 struct comedi_subdevice
*s
,
87 struct comedi_insn
*insn
,
90 static int adl_pci8164_insn_read_ssts(struct comedi_device
*dev
,
91 struct comedi_subdevice
*s
,
92 struct comedi_insn
*insn
,
95 static int adl_pci8164_insn_read_buf0(struct comedi_device
*dev
,
96 struct comedi_subdevice
*s
,
97 struct comedi_insn
*insn
,
100 static int adl_pci8164_insn_read_buf1(struct comedi_device
*dev
,
101 struct comedi_subdevice
*s
,
102 struct comedi_insn
*insn
,
105 static int adl_pci8164_insn_write_cmd(struct comedi_device
*dev
,
106 struct comedi_subdevice
*s
,
107 struct comedi_insn
*insn
,
110 static int adl_pci8164_insn_write_otp(struct comedi_device
*dev
,
111 struct comedi_subdevice
*s
,
112 struct comedi_insn
*insn
,
115 static int adl_pci8164_insn_write_buf0(struct comedi_device
*dev
,
116 struct comedi_subdevice
*s
,
117 struct comedi_insn
*insn
,
120 static int adl_pci8164_insn_write_buf1(struct comedi_device
*dev
,
121 struct comedi_subdevice
*s
,
122 struct comedi_insn
*insn
,
125 static int adl_pci8164_attach(struct comedi_device
*dev
,
126 struct comedi_devconfig
*it
)
128 struct pci_dev
*pcidev
;
129 struct comedi_subdevice
*s
;
132 printk(KERN_INFO
"comedi: attempt to attach...\n");
133 printk(KERN_INFO
"comedi%d: adl_pci8164\n", dev
->minor
);
135 dev
->board_name
= "pci8164";
136 bus
= it
->options
[0];
137 slot
= it
->options
[1];
139 if (alloc_private(dev
, sizeof(struct adl_pci8164_private
)) < 0)
142 if (alloc_subdevices(dev
, 4) < 0)
145 for (pcidev
= pci_get_device(PCI_ANY_ID
, PCI_ANY_ID
, NULL
);
147 pcidev
= pci_get_device(PCI_ANY_ID
, PCI_ANY_ID
, pcidev
)) {
149 if (pcidev
->vendor
== PCI_VENDOR_ID_ADLINK
&&
150 pcidev
->device
== PCI_DEVICE_ID_PCI8164
) {
152 /* requested particular bus/slot */
153 if (pcidev
->bus
->number
!= bus
154 || PCI_SLOT(pcidev
->devfn
) != slot
)
157 devpriv
->pci_dev
= pcidev
;
158 if (comedi_pci_enable(pcidev
, "adl_pci8164") < 0) {
159 printk(KERN_ERR
"comedi%d: Failed to enable "
160 "PCI device and request regions\n", dev
->minor
);
163 dev
->iobase
= pci_resource_start(pcidev
, 2);
164 printk(KERN_DEBUG
"comedi: base addr %4lx\n",
167 s
= dev
->subdevices
+ 0;
168 s
->type
= COMEDI_SUBD_PROC
;
169 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
173 /* s->range_table = &range_axis; */
174 s
->insn_read
= adl_pci8164_insn_read_msts
;
175 s
->insn_write
= adl_pci8164_insn_write_cmd
;
177 s
= dev
->subdevices
+ 1;
178 s
->type
= COMEDI_SUBD_PROC
;
179 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
183 /* s->range_table = &range_axis; */
184 s
->insn_read
= adl_pci8164_insn_read_ssts
;
185 s
->insn_write
= adl_pci8164_insn_write_otp
;
187 s
= dev
->subdevices
+ 2;
188 s
->type
= COMEDI_SUBD_PROC
;
189 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
193 /* s->range_table = &range_axis; */
194 s
->insn_read
= adl_pci8164_insn_read_buf0
;
195 s
->insn_write
= adl_pci8164_insn_write_buf0
;
197 s
= dev
->subdevices
+ 3;
198 s
->type
= COMEDI_SUBD_PROC
;
199 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
203 /* s->range_table = &range_axis; */
204 s
->insn_read
= adl_pci8164_insn_read_buf1
;
205 s
->insn_write
= adl_pci8164_insn_write_buf1
;
207 printk(KERN_INFO
"comedi: attached\n");
213 printk(KERN_ERR
"comedi%d: no supported board found!"
214 "(req. bus/slot : %d/%d)\n", dev
->minor
, bus
, slot
);
218 static int adl_pci8164_detach(struct comedi_device
*dev
)
220 printk(KERN_INFO
"comedi%d: pci8164: remove\n", dev
->minor
);
222 if (devpriv
&& devpriv
->pci_dev
) {
224 comedi_pci_disable(devpriv
->pci_dev
);
225 pci_dev_put(devpriv
->pci_dev
);
232 all the read commands are the same except for the addition a constant
233 * const to the data for inw()
235 static void adl_pci8164_insn_read(struct comedi_device
*dev
,
236 struct comedi_subdevice
*s
,
237 struct comedi_insn
*insn
,
239 char *action
, unsigned short offset
)
244 axis
= CR_CHAN(insn
->chanspec
);
248 axis_reg
= PCI8164_AXIS_X
;
252 axis_reg
= PCI8164_AXIS_Y
;
256 axis_reg
= PCI8164_AXIS_Z
;
260 axis_reg
= PCI8164_AXIS_U
;
264 axis_reg
= PCI8164_AXIS_X
;
268 data
[0] = inw(dev
->iobase
+ axis_reg
+ offset
);
269 printk(KERN_DEBUG
"comedi: pci8164 %s read -> "
270 "%04X:%04X on axis %s\n",
271 action
, data
[0], data
[1], axisname
);
274 static int adl_pci8164_insn_read_msts(struct comedi_device
*dev
,
275 struct comedi_subdevice
*s
,
276 struct comedi_insn
*insn
,
279 adl_pci8164_insn_read(dev
, s
, insn
, data
, "MSTS", PCI8164_MSTS
);
283 static int adl_pci8164_insn_read_ssts(struct comedi_device
*dev
,
284 struct comedi_subdevice
*s
,
285 struct comedi_insn
*insn
,
288 adl_pci8164_insn_read(dev
, s
, insn
, data
, "SSTS", PCI8164_SSTS
);
292 static int adl_pci8164_insn_read_buf0(struct comedi_device
*dev
,
293 struct comedi_subdevice
*s
,
294 struct comedi_insn
*insn
,
297 adl_pci8164_insn_read(dev
, s
, insn
, data
, "BUF0", PCI8164_BUF0
);
301 static int adl_pci8164_insn_read_buf1(struct comedi_device
*dev
,
302 struct comedi_subdevice
*s
,
303 struct comedi_insn
*insn
,
306 adl_pci8164_insn_read(dev
, s
, insn
, data
, "BUF1", PCI8164_BUF1
);
311 all the write commands are the same except for the addition a constant
312 * const to the data for outw()
314 static void adl_pci8164_insn_out(struct comedi_device
*dev
,
315 struct comedi_subdevice
*s
,
316 struct comedi_insn
*insn
,
318 char *action
, unsigned short offset
)
320 unsigned int axis
, axis_reg
;
324 axis
= CR_CHAN(insn
->chanspec
);
328 axis_reg
= PCI8164_AXIS_X
;
332 axis_reg
= PCI8164_AXIS_Y
;
336 axis_reg
= PCI8164_AXIS_Z
;
340 axis_reg
= PCI8164_AXIS_U
;
344 axis_reg
= PCI8164_AXIS_X
;
348 outw(data
[0], dev
->iobase
+ axis_reg
+ offset
);
350 printk(KERN_DEBUG
"comedi: pci8164 %s write -> "
351 "%04X:%04X on axis %s\n",
352 action
, data
[0], data
[1], axisname
);
356 static int adl_pci8164_insn_write_cmd(struct comedi_device
*dev
,
357 struct comedi_subdevice
*s
,
358 struct comedi_insn
*insn
,
361 adl_pci8164_insn_out(dev
, s
, insn
, data
, "CMD", PCI8164_CMD
);
365 static int adl_pci8164_insn_write_otp(struct comedi_device
*dev
,
366 struct comedi_subdevice
*s
,
367 struct comedi_insn
*insn
,
370 adl_pci8164_insn_out(dev
, s
, insn
, data
, "OTP", PCI8164_OTP
);
374 static int adl_pci8164_insn_write_buf0(struct comedi_device
*dev
,
375 struct comedi_subdevice
*s
,
376 struct comedi_insn
*insn
,
379 adl_pci8164_insn_out(dev
, s
, insn
, data
, "BUF0", PCI8164_BUF0
);
383 static int adl_pci8164_insn_write_buf1(struct comedi_device
*dev
,
384 struct comedi_subdevice
*s
,
385 struct comedi_insn
*insn
,
388 adl_pci8164_insn_out(dev
, s
, insn
, data
, "BUF1", PCI8164_BUF1
);
392 COMEDI_PCI_INITCLEANUP(driver_adl_pci8164
, adl_pci8164_pci_table
);