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");