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/delay.h>
  39 #include "comedi_fc.h"
  40 #include "comedi_pci.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 static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
  59         {PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID, PCI_ANY_ID, 0,
  60                 0, 0},
  61         {0}
  62 };
  63
  64 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
  65
  66 typedef struct {
  67         int data;
  68         struct pci_dev *pci_dev;
  69 } adl_pci8164_private;
  70
  71 #define devpriv ((adl_pci8164_private *)dev->private)
  72
  73 static int adl_pci8164_attach(comedi_device * dev, comedi_devconfig * it);
  74 static int adl_pci8164_detach(comedi_device * dev);
  75 static comedi_driver driver_adl_pci8164 = {
  76       driver_name:"adl_pci8164",
  77       module:THIS_MODULE,
  78       attach:adl_pci8164_attach,
  79       detach:adl_pci8164_detach,
  80 };
  81
  82 static int adl_pci8164_insn_read_msts(comedi_device * dev, comedi_subdevice * s,
  83         comedi_insn * insn, unsigned int * data);
  84
  85 static int adl_pci8164_insn_read_ssts(comedi_device * dev, comedi_subdevice * s,
  86         comedi_insn * insn, unsigned int * data);
  87
  88 static int adl_pci8164_insn_read_buf0(comedi_device * dev, comedi_subdevice * s,
  89         comedi_insn * insn, unsigned int * data);
  90
  91 static int adl_pci8164_insn_read_buf1(comedi_device * dev, comedi_subdevice * s,
  92         comedi_insn * insn, unsigned int * data);
  93
  94 static int adl_pci8164_insn_write_cmd(comedi_device * dev, comedi_subdevice * s,
  95         comedi_insn * insn, unsigned int * data);
  96
  97 static int adl_pci8164_insn_write_otp(comedi_device * dev, comedi_subdevice * s,
  98         comedi_insn * insn, unsigned int * data);
  99
 100 static int adl_pci8164_insn_write_buf0(comedi_device * dev,
 101         comedi_subdevice * s, comedi_insn * insn, unsigned int * data);
 102
 103 static int adl_pci8164_insn_write_buf1(comedi_device * dev,
 104         comedi_subdevice * s, comedi_insn * insn, unsigned int * data);
 105
 106 static int adl_pci8164_attach(comedi_device * dev, comedi_devconfig * it)
 107 {
 108         struct pci_dev *pcidev;
 109         comedi_subdevice *s;
 110         int bus, slot;
 111
 112         printk("comedi: attempt to attach...\n");
 113         printk("comedi%d: adl_pci8164\n", dev->minor);
 114
 115         dev->board_name = "pci8164";
 116         bus = it->options[0];
 117         slot = it->options[1];
 118
 119         if (alloc_private(dev, sizeof(adl_pci8164_private)) < 0)
 120                 return -ENOMEM;
 121
 122         if (alloc_subdevices(dev, 4) < 0)
 123                 return -ENOMEM;
 124
 125         for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
 126                 pcidev != NULL;
 127                 pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) {
 128
 129                 if (pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
 130                         pcidev->device == PCI_DEVICE_ID_PCI8164) {
 131                         if (bus || slot) {
 132                                 /* requested particular bus/slot */
 133                                 if (pcidev->bus->number != bus
 134                                         || PCI_SLOT(pcidev->devfn) != slot) {
 135                                         continue;
 136                                 }
 137                         }
 138                         devpriv->pci_dev = pcidev;
 139                         if (comedi_pci_enable(pcidev, "adl_pci8164") < 0) {
 140                                 printk("comedi%d: Failed to enable PCI device and request regions\n", dev->minor);
 141                                 return -EIO;
 142                         }
 143                         dev->iobase = pci_resource_start(pcidev, 2);
 144                         printk("comedi: base addr %4lx\n", dev->iobase);
 145
 146                         s = dev->subdevices + 0;
 147                         s->type = COMEDI_SUBD_PROC;
 148                         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 149                         s->n_chan = 4;
 150                         s->maxdata = 0xffff;
 151                         s->len_chanlist = 4;
 152                         //s->range_table = &range_axis;
 153                         s->insn_read = adl_pci8164_insn_read_msts;
 154                         s->insn_write = adl_pci8164_insn_write_cmd;
 155
 156                         s = dev->subdevices + 1;
 157                         s->type = COMEDI_SUBD_PROC;
 158                         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 159                         s->n_chan = 4;
 160                         s->maxdata = 0xffff;
 161                         s->len_chanlist = 4;
 162                         //s->range_table = &range_axis;
 163                         s->insn_read = adl_pci8164_insn_read_ssts;
 164                         s->insn_write = adl_pci8164_insn_write_otp;
 165
 166                         s = dev->subdevices + 2;
 167                         s->type = COMEDI_SUBD_PROC;
 168                         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 169                         s->n_chan = 4;
 170                         s->maxdata = 0xffff;
 171                         s->len_chanlist = 4;
 172                         //s->range_table = &range_axis;
 173                         s->insn_read = adl_pci8164_insn_read_buf0;
 174                         s->insn_write = adl_pci8164_insn_write_buf0;
 175
 176                         s = dev->subdevices + 3;
 177                         s->type = COMEDI_SUBD_PROC;
 178                         s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
 179                         s->n_chan = 4;
 180                         s->maxdata = 0xffff;
 181                         s->len_chanlist = 4;
 182                         //s->range_table = &range_axis;
 183                         s->insn_read = adl_pci8164_insn_read_buf1;
 184                         s->insn_write = adl_pci8164_insn_write_buf1;
 185
 186                         printk("comedi: attached\n");
 187
 188                         return 1;
 189                 }
 190         }
 191
 192         printk("comedi%d: no supported board found! (req. bus/slot : %d/%d)\n",
 193                 dev->minor, bus, slot);
 194         return -EIO;
 195 }
 196
 197 static int adl_pci8164_detach(comedi_device * dev)
 198 {
 199         printk("comedi%d: pci8164: remove\n", dev->minor);
 200
 201         if (devpriv && devpriv->pci_dev) {
 202                 if (dev->iobase) {
 203                         comedi_pci_disable(devpriv->pci_dev);
 204                 }
 205                 pci_dev_put(devpriv->pci_dev);
 206         }
 207
 208         return 0;
 209 }
 210
 211 static int adl_pci8164_insn_read_msts(comedi_device * dev, comedi_subdevice * s,
 212         comedi_insn * insn, unsigned int * data)
 213 {
 214         int axis, axis_reg;
 215         char *axisname;
 216
 217         axis = CR_CHAN(insn->chanspec);
 218
 219         switch (axis) {
 220         case 0:
 221                 axis_reg = PCI8164_AXIS_X;
 222                 axisname = "X";
 223                 break;
 224         case 1:
 225                 axis_reg = PCI8164_AXIS_Y;
 226                 axisname = "Y";
 227                 break;
 228         case 2:
 229                 axis_reg = PCI8164_AXIS_Z;
 230                 axisname = "Z";
 231                 break;
 232         case 3:
 233                 axis_reg = PCI8164_AXIS_U;
 234                 axisname = "U";
 235                 break;
 236         default:
 237                 axis_reg = PCI8164_AXIS_X;
 238                 axisname = "X";
 239         }
 240
 241         data[0] = inw(dev->iobase + axis_reg + PCI8164_MSTS);
 242         printk("comedi: pci8164 MSTS read -> %04X:%04X on axis %s\n", data[0],
 243                 data[1], axisname);
 244
 245         return 2;
 246 }
 247
 248 static int adl_pci8164_insn_read_ssts(comedi_device * dev, comedi_subdevice * s,
 249         comedi_insn * insn, unsigned int * data)
 250 {
 251         int axis, axis_reg;
 252         char *axisname;
 253
 254         axis = CR_CHAN(insn->chanspec);
 255
 256         switch (axis) {
 257         case 0:
 258                 axis_reg = PCI8164_AXIS_X;
 259                 axisname = "X";
 260                 break;
 261         case 1:
 262                 axis_reg = PCI8164_AXIS_Y;
 263                 axisname = "Y";
 264                 break;
 265         case 2:
 266                 axis_reg = PCI8164_AXIS_Z;
 267                 axisname = "Z";
 268                 break;
 269         case 3:
 270                 axis_reg = PCI8164_AXIS_U;
 271                 axisname = "U";
 272                 break;
 273         default:
 274                 axis_reg = PCI8164_AXIS_X;
 275                 axisname = "X";
 276         }
 277
 278         data[0] = inw(dev->iobase + axis_reg + PCI8164_SSTS);
 279         printk("comedi: pci8164 SSTS read -> %04X:%04X on axis %s\n", data[0],
 280                 data[1], axisname);
 281
 282         return 2;
 283 }
 284
 285 static int adl_pci8164_insn_read_buf0(comedi_device * dev, comedi_subdevice * s,
 286         comedi_insn * insn, unsigned int * data)
 287 {
 288         int axis, axis_reg;
 289         char *axisname;
 290
 291         axis = CR_CHAN(insn->chanspec);
 292
 293         switch (axis) {
 294         case 0:
 295                 axis_reg = PCI8164_AXIS_X;
 296                 axisname = "X";
 297                 break;
 298         case 1:
 299                 axis_reg = PCI8164_AXIS_Y;
 300                 axisname = "Y";
 301                 break;
 302         case 2:
 303                 axis_reg = PCI8164_AXIS_Z;
 304                 axisname = "Z";
 305                 break;
 306         case 3:
 307                 axis_reg = PCI8164_AXIS_U;
 308                 axisname = "U";
 309                 break;
 310         default:
 311                 axis_reg = PCI8164_AXIS_X;
 312                 axisname = "X";
 313         }
 314
 315         data[0] = inw(dev->iobase + axis_reg + PCI8164_BUF0);
 316         printk("comedi: pci8164 BUF0 read -> %04X:%04X on axis %s\n", data[0],
 317                 data[1], axisname);
 318
 319         return 2;
 320 }
 321
 322 static int adl_pci8164_insn_read_buf1(comedi_device * dev, comedi_subdevice * s,
 323         comedi_insn * insn, unsigned int * data)
 324 {
 325         int axis, axis_reg;
 326
 327         char *axisname;
 328
 329         axis = CR_CHAN(insn->chanspec);
 330
 331         switch (axis) {
 332         case 0:
 333                 axis_reg = PCI8164_AXIS_X;
 334                 axisname = "X";
 335                 break;
 336         case 1:
 337                 axis_reg = PCI8164_AXIS_Y;
 338                 axisname = "Y";
 339                 break;
 340         case 2:
 341                 axis_reg = PCI8164_AXIS_Z;
 342                 axisname = "Z";
 343                 break;
 344         case 3:
 345                 axis_reg = PCI8164_AXIS_U;
 346                 axisname = "U";
 347                 break;
 348         default:
 349                 axis_reg = PCI8164_AXIS_X;
 350                 axisname = "X";
 351         }
 352
 353         data[0] = inw(dev->iobase + axis_reg + PCI8164_BUF1);
 354         printk("comedi: pci8164 BUF1 read -> %04X:%04X on axis %s\n", data[0],
 355                 data[1], axisname);
 356
 357         return 2;
 358 }
 359
 360 static int adl_pci8164_insn_write_cmd(comedi_device * dev, comedi_subdevice * s,
 361         comedi_insn * insn, unsigned int * data)
 362 {
 363         unsigned int axis, axis_reg;
 364
 365         char *axisname;
 366
 367         axis = CR_CHAN(insn->chanspec);
 368
 369         switch (axis) {
 370         case 0:
 371                 axis_reg = PCI8164_AXIS_X;
 372                 axisname = "X";
 373                 break;
 374         case 1:
 375                 axis_reg = PCI8164_AXIS_Y;
 376                 axisname = "Y";
 377                 break;
 378         case 2:
 379                 axis_reg = PCI8164_AXIS_Z;
 380                 axisname = "Z";
 381                 break;
 382         case 3:
 383                 axis_reg = PCI8164_AXIS_U;
 384                 axisname = "U";
 385                 break;
 386         default:
 387                 axis_reg = PCI8164_AXIS_X;
 388                 axisname = "X";
 389         }
 390
 391         outw(data[0], dev->iobase + axis_reg + PCI8164_CMD);
 392         printk("comedi: pci8164 CMD write -> %04X:%04X on axis %s\n", data[0],
 393                 data[1], axisname);
 394
 395         return 2;
 396 }
 397
 398 static int adl_pci8164_insn_write_otp(comedi_device * dev, comedi_subdevice * s,
 399         comedi_insn * insn, unsigned int * data)
 400 {
 401         int axis, axis_reg;
 402
 403         char *axisname;
 404
 405         axis = CR_CHAN(insn->chanspec);
 406
 407         switch (axis) {
 408         case 0:
 409                 axis_reg = PCI8164_AXIS_X;
 410                 axisname = "X";
 411                 break;
 412         case 1:
 413                 axis_reg = PCI8164_AXIS_Y;
 414                 axisname = "Y";
 415                 break;
 416         case 2:
 417                 axis_reg = PCI8164_AXIS_Z;
 418                 axisname = "Z";
 419                 break;
 420         case 3:
 421                 axis_reg = PCI8164_AXIS_U;
 422                 axisname = "U";
 423                 break;
 424         default:
 425                 axis_reg = PCI8164_AXIS_X;
 426                 axisname = "X";
 427         }
 428
 429         outw(data[0], dev->iobase + axis_reg + PCI8164_OTP);
 430         printk("comedi: pci8164 OTP write -> %04X:%04X on axis %s\n", data[0],
 431                 data[1], axisname);
 432
 433         return 2;
 434 }
 435
 436 static int adl_pci8164_insn_write_buf0(comedi_device * dev,
 437         comedi_subdevice * s, comedi_insn * insn, unsigned int * data)
 438 {
 439         int axis, axis_reg;
 440
 441         char *axisname;
 442
 443         axis = CR_CHAN(insn->chanspec);
 444
 445         switch (axis) {
 446         case 0:
 447                 axis_reg = PCI8164_AXIS_X;
 448                 axisname = "X";
 449                 break;
 450         case 1:
 451                 axis_reg = PCI8164_AXIS_Y;
 452                 axisname = "Y";
 453                 break;
 454         case 2:
 455                 axis_reg = PCI8164_AXIS_Z;
 456                 axisname = "Z";
 457                 break;
 458         case 3:
 459                 axis_reg = PCI8164_AXIS_U;
 460                 axisname = "U";
 461                 break;
 462         default:
 463                 axis_reg = PCI8164_AXIS_X;
 464                 axisname = "X";
 465         }
 466
 467         outw(data[0], dev->iobase + axis_reg + PCI8164_BUF0);
 468         printk("comedi: pci8164 BUF0 write -> %04X:%04X on axis %s\n", data[0],
 469                 data[1], axisname);
 470
 471         return 2;
 472 }
 473
 474 static int adl_pci8164_insn_write_buf1(comedi_device * dev,
 475         comedi_subdevice * s, comedi_insn * insn, unsigned int * data)
 476 {
 477         int axis, axis_reg;
 478
 479         char *axisname;
 480
 481         axis = CR_CHAN(insn->chanspec);
 482
 483         switch (axis) {
 484         case 0:
 485                 axis_reg = PCI8164_AXIS_X;
 486                 axisname = "X";
 487                 break;
 488         case 1:
 489                 axis_reg = PCI8164_AXIS_Y;
 490                 axisname = "Y";
 491                 break;
 492         case 2:
 493                 axis_reg = PCI8164_AXIS_Z;
 494                 axisname = "Z";
 495                 break;
 496         case 3:
 497                 axis_reg = PCI8164_AXIS_U;
 498                 axisname = "U";
 499                 break;
 500         default:
 501                 axis_reg = PCI8164_AXIS_X;
 502                 axisname = "X";
 503         }
 504
 505         outw(data[0], dev->iobase + axis_reg + PCI8164_BUF1);
 506         printk("comedi: pci8164 BUF1 write -> %04X:%04X on axis %s\n", data[0],
 507                 data[1], axisname);
 508
 509         return 2;
 510 }
 511
 512 COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);