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
= NULL
;
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_each_pci_dev(pcidev
) {
146 if (pcidev
->vendor
== PCI_VENDOR_ID_ADLINK
&&
147 pcidev
->device
== PCI_DEVICE_ID_PCI8164
) {
149 /* requested particular bus/slot */
150 if (pcidev
->bus
->number
!= bus
151 || PCI_SLOT(pcidev
->devfn
) != slot
)
154 devpriv
->pci_dev
= pcidev
;
155 if (comedi_pci_enable(pcidev
, "adl_pci8164") < 0) {
156 printk(KERN_ERR
"comedi%d: Failed to enable "
157 "PCI device and request regions\n", dev
->minor
);
160 dev
->iobase
= pci_resource_start(pcidev
, 2);
161 printk(KERN_DEBUG
"comedi: base addr %4lx\n",
164 s
= dev
->subdevices
+ 0;
165 s
->type
= COMEDI_SUBD_PROC
;
166 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
170 /* s->range_table = &range_axis; */
171 s
->insn_read
= adl_pci8164_insn_read_msts
;
172 s
->insn_write
= adl_pci8164_insn_write_cmd
;
174 s
= dev
->subdevices
+ 1;
175 s
->type
= COMEDI_SUBD_PROC
;
176 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
180 /* s->range_table = &range_axis; */
181 s
->insn_read
= adl_pci8164_insn_read_ssts
;
182 s
->insn_write
= adl_pci8164_insn_write_otp
;
184 s
= dev
->subdevices
+ 2;
185 s
->type
= COMEDI_SUBD_PROC
;
186 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
190 /* s->range_table = &range_axis; */
191 s
->insn_read
= adl_pci8164_insn_read_buf0
;
192 s
->insn_write
= adl_pci8164_insn_write_buf0
;
194 s
= dev
->subdevices
+ 3;
195 s
->type
= COMEDI_SUBD_PROC
;
196 s
->subdev_flags
= SDF_READABLE
| SDF_WRITABLE
;
200 /* s->range_table = &range_axis; */
201 s
->insn_read
= adl_pci8164_insn_read_buf1
;
202 s
->insn_write
= adl_pci8164_insn_write_buf1
;
204 printk(KERN_INFO
"comedi: attached\n");
210 printk(KERN_ERR
"comedi%d: no supported board found!"
211 "(req. bus/slot : %d/%d)\n", dev
->minor
, bus
, slot
);
215 static int adl_pci8164_detach(struct comedi_device
*dev
)
217 printk(KERN_INFO
"comedi%d: pci8164: remove\n", dev
->minor
);
219 if (devpriv
&& devpriv
->pci_dev
) {
221 comedi_pci_disable(devpriv
->pci_dev
);
222 pci_dev_put(devpriv
->pci_dev
);
229 all the read commands are the same except for the addition a constant
230 * const to the data for inw()
232 static void adl_pci8164_insn_read(struct comedi_device
*dev
,
233 struct comedi_subdevice
*s
,
234 struct comedi_insn
*insn
,
236 char *action
, unsigned short offset
)
241 axis
= CR_CHAN(insn
->chanspec
);
245 axis_reg
= PCI8164_AXIS_X
;
249 axis_reg
= PCI8164_AXIS_Y
;
253 axis_reg
= PCI8164_AXIS_Z
;
257 axis_reg
= PCI8164_AXIS_U
;
261 axis_reg
= PCI8164_AXIS_X
;
265 data
[0] = inw(dev
->iobase
+ axis_reg
+ offset
);
266 printk(KERN_DEBUG
"comedi: pci8164 %s read -> "
267 "%04X:%04X on axis %s\n",
268 action
, data
[0], data
[1], axisname
);
271 static int adl_pci8164_insn_read_msts(struct comedi_device
*dev
,
272 struct comedi_subdevice
*s
,
273 struct comedi_insn
*insn
,
276 adl_pci8164_insn_read(dev
, s
, insn
, data
, "MSTS", PCI8164_MSTS
);
280 static int adl_pci8164_insn_read_ssts(struct comedi_device
*dev
,
281 struct comedi_subdevice
*s
,
282 struct comedi_insn
*insn
,
285 adl_pci8164_insn_read(dev
, s
, insn
, data
, "SSTS", PCI8164_SSTS
);
289 static int adl_pci8164_insn_read_buf0(struct comedi_device
*dev
,
290 struct comedi_subdevice
*s
,
291 struct comedi_insn
*insn
,
294 adl_pci8164_insn_read(dev
, s
, insn
, data
, "BUF0", PCI8164_BUF0
);
298 static int adl_pci8164_insn_read_buf1(struct comedi_device
*dev
,
299 struct comedi_subdevice
*s
,
300 struct comedi_insn
*insn
,
303 adl_pci8164_insn_read(dev
, s
, insn
, data
, "BUF1", PCI8164_BUF1
);
308 all the write commands are the same except for the addition a constant
309 * const to the data for outw()
311 static void adl_pci8164_insn_out(struct comedi_device
*dev
,
312 struct comedi_subdevice
*s
,
313 struct comedi_insn
*insn
,
315 char *action
, unsigned short offset
)
317 unsigned int axis
, axis_reg
;
321 axis
= CR_CHAN(insn
->chanspec
);
325 axis_reg
= PCI8164_AXIS_X
;
329 axis_reg
= PCI8164_AXIS_Y
;
333 axis_reg
= PCI8164_AXIS_Z
;
337 axis_reg
= PCI8164_AXIS_U
;
341 axis_reg
= PCI8164_AXIS_X
;
345 outw(data
[0], dev
->iobase
+ axis_reg
+ offset
);
347 printk(KERN_DEBUG
"comedi: pci8164 %s write -> "
348 "%04X:%04X on axis %s\n",
349 action
, data
[0], data
[1], axisname
);
353 static int adl_pci8164_insn_write_cmd(struct comedi_device
*dev
,
354 struct comedi_subdevice
*s
,
355 struct comedi_insn
*insn
,
358 adl_pci8164_insn_out(dev
, s
, insn
, data
, "CMD", PCI8164_CMD
);
362 static int adl_pci8164_insn_write_otp(struct comedi_device
*dev
,
363 struct comedi_subdevice
*s
,
364 struct comedi_insn
*insn
,
367 adl_pci8164_insn_out(dev
, s
, insn
, data
, "OTP", PCI8164_OTP
);
371 static int adl_pci8164_insn_write_buf0(struct comedi_device
*dev
,
372 struct comedi_subdevice
*s
,
373 struct comedi_insn
*insn
,
376 adl_pci8164_insn_out(dev
, s
, insn
, data
, "BUF0", PCI8164_BUF0
);
380 static int adl_pci8164_insn_write_buf1(struct comedi_device
*dev
,
381 struct comedi_subdevice
*s
,
382 struct comedi_insn
*insn
,
385 adl_pci8164_insn_out(dev
, s
, insn
, data
, "BUF1", PCI8164_BUF1
);
389 static int __devinit
driver_adl_pci8164_pci_probe(struct pci_dev
*dev
,
390 const struct pci_device_id
393 return comedi_pci_auto_config(dev
, driver_adl_pci8164
.driver_name
);
396 static void __devexit
driver_adl_pci8164_pci_remove(struct pci_dev
*dev
)
398 comedi_pci_auto_unconfig(dev
);
401 static struct pci_driver driver_adl_pci8164_pci_driver
= {
402 .id_table
= adl_pci8164_pci_table
,
403 .probe
= &driver_adl_pci8164_pci_probe
,
404 .remove
= __devexit_p(&driver_adl_pci8164_pci_remove
)
407 static int __init
driver_adl_pci8164_init_module(void)
411 retval
= comedi_driver_register(&driver_adl_pci8164
);
415 driver_adl_pci8164_pci_driver
.name
=
416 (char *)driver_adl_pci8164
.driver_name
;
417 return pci_register_driver(&driver_adl_pci8164_pci_driver
);
420 static void __exit
driver_adl_pci8164_cleanup_module(void)
422 pci_unregister_driver(&driver_adl_pci8164_pci_driver
);
423 comedi_driver_unregister(&driver_adl_pci8164
);
426 module_init(driver_adl_pci8164_init_module
);
427 module_exit(driver_adl_pci8164_cleanup_module
);
429 MODULE_AUTHOR("Comedi http://www.comedi.org");
430 MODULE_DESCRIPTION("Comedi low-level driver");
431 MODULE_LICENSE("GPL");