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/delay.h>
39 #include "comedi_fc.h"
40 #include "comedi_pci.h"
43 #define PCI8164_AXIS_X 0x00
44 #define PCI8164_AXIS_Y 0x08
45 #define PCI8164_AXIS_Z 0x10
46 #define PCI8164_AXIS_U 0x18
48 #define PCI8164_MSTS 0x00
49 #define PCI8164_SSTS 0x02
50 #define PCI8164_BUF0 0x04
51 #define PCI8164_BUF1 0x06
53 #define PCI8164_CMD 0x00
54 #define PCI8164_OTP 0x02
56 #define PCI_DEVICE_ID_PCI8164 0x8164
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,
64 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
66 struct adl_pci8164_private {
68 struct pci_dev *pci_dev;
71 #define devpriv ((struct adl_pci8164_private *)dev->private)
73 static int adl_pci8164_attach(struct comedi_device *dev, struct comedi_devconfig *it);
74 static int adl_pci8164_detach(struct comedi_device *dev);
75 static struct comedi_driver driver_adl_pci8164 = {
76 .driver_name = "adl_pci8164",
77 .module = THIS_MODULE,
78 .attach = adl_pci8164_attach,
79 .detach = adl_pci8164_detach,
82 static int adl_pci8164_insn_read_msts(struct comedi_device *dev, struct comedi_subdevice *s,
83 struct comedi_insn *insn, unsigned int *data);
85 static int adl_pci8164_insn_read_ssts(struct comedi_device *dev, struct comedi_subdevice *s,
86 struct comedi_insn *insn, unsigned int *data);
88 static int adl_pci8164_insn_read_buf0(struct comedi_device *dev, struct comedi_subdevice *s,
89 struct comedi_insn *insn, unsigned int *data);
91 static int adl_pci8164_insn_read_buf1(struct comedi_device *dev, struct comedi_subdevice *s,
92 struct comedi_insn *insn, unsigned int *data);
94 static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, struct comedi_subdevice *s,
95 struct comedi_insn *insn, unsigned int *data);
97 static int adl_pci8164_insn_write_otp(struct comedi_device *dev, struct comedi_subdevice *s,
98 struct comedi_insn *insn, unsigned int *data);
100 static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
101 struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data);
103 static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
104 struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data);
106 static int adl_pci8164_attach(struct comedi_device *dev, struct comedi_devconfig *it)
108 struct pci_dev *pcidev;
109 struct comedi_subdevice *s;
112 printk("comedi: attempt to attach...\n");
113 printk("comedi%d: adl_pci8164\n", dev->minor);
115 dev->board_name = "pci8164";
116 bus = it->options[0];
117 slot = it->options[1];
119 if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0)
122 if (alloc_subdevices(dev, 4) < 0)
125 for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
127 pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) {
129 if (pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
130 pcidev->device == PCI_DEVICE_ID_PCI8164) {
132 /* requested particular bus/slot */
133 if (pcidev->bus->number != bus
134 || PCI_SLOT(pcidev->devfn) != slot) {
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);
143 dev->iobase = pci_resource_start(pcidev, 2);
144 printk("comedi: base addr %4lx\n", dev->iobase);
146 s = dev->subdevices + 0;
147 s->type = COMEDI_SUBD_PROC;
148 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
152 /* s->range_table = &range_axis; */
153 s->insn_read = adl_pci8164_insn_read_msts;
154 s->insn_write = adl_pci8164_insn_write_cmd;
156 s = dev->subdevices + 1;
157 s->type = COMEDI_SUBD_PROC;
158 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
162 /* s->range_table = &range_axis; */
163 s->insn_read = adl_pci8164_insn_read_ssts;
164 s->insn_write = adl_pci8164_insn_write_otp;
166 s = dev->subdevices + 2;
167 s->type = COMEDI_SUBD_PROC;
168 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
172 /* s->range_table = &range_axis; */
173 s->insn_read = adl_pci8164_insn_read_buf0;
174 s->insn_write = adl_pci8164_insn_write_buf0;
176 s = dev->subdevices + 3;
177 s->type = COMEDI_SUBD_PROC;
178 s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
182 /* s->range_table = &range_axis; */
183 s->insn_read = adl_pci8164_insn_read_buf1;
184 s->insn_write = adl_pci8164_insn_write_buf1;
186 printk("comedi: attached\n");
192 printk("comedi%d: no supported board found! (req. bus/slot : %d/%d)\n",
193 dev->minor, bus, slot);
197 static int adl_pci8164_detach(struct comedi_device *dev)
199 printk("comedi%d: pci8164: remove\n", dev->minor);
201 if (devpriv && devpriv->pci_dev) {
203 comedi_pci_disable(devpriv->pci_dev);
205 pci_dev_put(devpriv->pci_dev);
212 all the read commands are the same except for the addition a constant
213 * const to the data for inw()
215 static void adl_pci8164_insn_read(struct comedi_device *dev,
216 struct comedi_subdevice *s,
217 struct comedi_insn *insn,
220 unsigned short offset)
225 axis = CR_CHAN(insn->chanspec);
229 axis_reg = PCI8164_AXIS_X;
233 axis_reg = PCI8164_AXIS_Y;
237 axis_reg = PCI8164_AXIS_Z;
241 axis_reg = PCI8164_AXIS_U;
245 axis_reg = PCI8164_AXIS_X;
249 data[0] = inw(dev->iobase + axis_reg + offset);
250 printk("comedi: pci8164 %s read -> %04X:%04X on axis %s\n", action, data[0],
254 static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
255 struct comedi_subdevice *s,
256 struct comedi_insn *insn,
259 adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS);
263 static int adl_pci8164_insn_read_ssts(struct comedi_device *dev, struct comedi_subdevice *s,
264 struct comedi_insn *insn, unsigned int *data)
266 adl_pci8164_insn_read(dev, s, insn, data, "SSTS", PCI8164_SSTS);
270 static int adl_pci8164_insn_read_buf0(struct comedi_device *dev, struct comedi_subdevice *s,
271 struct comedi_insn *insn, unsigned int *data)
273 adl_pci8164_insn_read(dev, s, insn, data, "BUF0", PCI8164_BUF0);
277 static int adl_pci8164_insn_read_buf1(struct comedi_device *dev, struct comedi_subdevice *s,
278 struct comedi_insn *insn, unsigned int *data)
280 adl_pci8164_insn_read(dev, s, insn, data, "BUF1", PCI8164_BUF1);
285 all the write commands are the same except for the addition a constant
286 * const to the data for outw()
288 static void adl_pci8164_insn_out(struct comedi_device *dev,
289 struct comedi_subdevice *s,
290 struct comedi_insn *insn,
293 unsigned short offset)
295 unsigned int axis, axis_reg;
299 axis = CR_CHAN(insn->chanspec);
303 axis_reg = PCI8164_AXIS_X;
307 axis_reg = PCI8164_AXIS_Y;
311 axis_reg = PCI8164_AXIS_Z;
315 axis_reg = PCI8164_AXIS_U;
319 axis_reg = PCI8164_AXIS_X;
323 outw(data[0], dev->iobase + axis_reg + offset);
325 printk("comedi: pci8164 %s write -> %04X:%04X on axis %s\n", action,
326 data[0], data[1], axisname);
331 static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, struct comedi_subdevice *s,
332 struct comedi_insn *insn, unsigned int *data)
334 adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD);
338 static int adl_pci8164_insn_write_otp(struct comedi_device *dev, struct comedi_subdevice *s,
339 struct comedi_insn *insn, unsigned int *data)
341 adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP);
345 static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
346 struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data)
348 adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0);
352 static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
353 struct comedi_subdevice *s, struct comedi_insn *insn, unsigned int *data)
355 adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1);
359 COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);