392 lines
10 KiB
C
392 lines
10 KiB
C
/*
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comedi/drivers/adl_pci8164.c
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Hardware comedi driver fot PCI-8164 Adlink card
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Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*/
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/*
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Driver: adl_pci8164
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Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board
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Devices: [ADLink] PCI-8164 (adl_pci8164)
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Author: Michel Lachaine <mike@mikelachaine.ca>
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Status: experimental
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Updated: Mon, 14 Apr 2008 15:10:32 +0100
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Configuration Options:
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[0] - PCI bus of device (optional)
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[1] - PCI slot of device (optional)
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If bus/slot is not specified, the first supported
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PCI device found will be used.
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*/
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#include "../comedidev.h"
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#include <linux/delay.h>
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#include "comedi_fc.h"
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#include "comedi_pci.h"
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#include "8253.h"
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#define PCI8164_AXIS_X 0x00
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#define PCI8164_AXIS_Y 0x08
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#define PCI8164_AXIS_Z 0x10
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#define PCI8164_AXIS_U 0x18
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#define PCI8164_MSTS 0x00
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#define PCI8164_SSTS 0x02
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#define PCI8164_BUF0 0x04
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#define PCI8164_BUF1 0x06
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#define PCI8164_CMD 0x00
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#define PCI8164_OTP 0x02
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#define PCI_DEVICE_ID_PCI8164 0x8164
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static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
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{
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PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID,
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PCI_ANY_ID, 0, 0, 0}, {
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0}
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};
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MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
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struct adl_pci8164_private {
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int data;
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struct pci_dev *pci_dev;
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};
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#define devpriv ((struct adl_pci8164_private *)dev->private)
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static int adl_pci8164_attach(struct comedi_device *dev,
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struct comedi_devconfig *it);
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static int adl_pci8164_detach(struct comedi_device *dev);
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static struct comedi_driver driver_adl_pci8164 = {
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.driver_name = "adl_pci8164",
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.module = THIS_MODULE,
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.attach = adl_pci8164_attach,
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.detach = adl_pci8164_detach,
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};
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static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_read_ssts(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_read_buf0(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_read_buf1(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_write_otp(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data);
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static int adl_pci8164_attach(struct comedi_device *dev,
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struct comedi_devconfig *it)
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{
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struct pci_dev *pcidev;
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struct comedi_subdevice *s;
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int bus, slot;
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printk("comedi: attempt to attach...\n");
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printk("comedi%d: adl_pci8164\n", dev->minor);
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dev->board_name = "pci8164";
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bus = it->options[0];
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slot = it->options[1];
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if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0)
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return -ENOMEM;
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if (alloc_subdevices(dev, 4) < 0)
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return -ENOMEM;
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for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
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pcidev != NULL;
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pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) {
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if (pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
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pcidev->device == PCI_DEVICE_ID_PCI8164) {
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if (bus || slot) {
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/* requested particular bus/slot */
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if (pcidev->bus->number != bus
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|| PCI_SLOT(pcidev->devfn) != slot) {
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continue;
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}
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}
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devpriv->pci_dev = pcidev;
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if (comedi_pci_enable(pcidev, "adl_pci8164") < 0) {
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printk
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("comedi%d: Failed to enable PCI device and request regions\n",
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dev->minor);
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return -EIO;
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}
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dev->iobase = pci_resource_start(pcidev, 2);
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printk("comedi: base addr %4lx\n", dev->iobase);
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s = dev->subdevices + 0;
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s->type = COMEDI_SUBD_PROC;
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s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
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s->n_chan = 4;
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s->maxdata = 0xffff;
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s->len_chanlist = 4;
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/* s->range_table = &range_axis; */
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s->insn_read = adl_pci8164_insn_read_msts;
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s->insn_write = adl_pci8164_insn_write_cmd;
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s = dev->subdevices + 1;
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s->type = COMEDI_SUBD_PROC;
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s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
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s->n_chan = 4;
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s->maxdata = 0xffff;
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s->len_chanlist = 4;
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/* s->range_table = &range_axis; */
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s->insn_read = adl_pci8164_insn_read_ssts;
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s->insn_write = adl_pci8164_insn_write_otp;
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s = dev->subdevices + 2;
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s->type = COMEDI_SUBD_PROC;
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s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
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s->n_chan = 4;
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s->maxdata = 0xffff;
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s->len_chanlist = 4;
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/* s->range_table = &range_axis; */
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s->insn_read = adl_pci8164_insn_read_buf0;
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s->insn_write = adl_pci8164_insn_write_buf0;
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s = dev->subdevices + 3;
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s->type = COMEDI_SUBD_PROC;
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s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
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s->n_chan = 4;
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s->maxdata = 0xffff;
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s->len_chanlist = 4;
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/* s->range_table = &range_axis; */
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s->insn_read = adl_pci8164_insn_read_buf1;
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s->insn_write = adl_pci8164_insn_write_buf1;
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printk("comedi: attached\n");
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return 1;
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}
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}
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printk("comedi%d: no supported board found! (req. bus/slot : %d/%d)\n",
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dev->minor, bus, slot);
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return -EIO;
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}
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static int adl_pci8164_detach(struct comedi_device *dev)
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{
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printk("comedi%d: pci8164: remove\n", dev->minor);
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if (devpriv && devpriv->pci_dev) {
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if (dev->iobase) {
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comedi_pci_disable(devpriv->pci_dev);
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}
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pci_dev_put(devpriv->pci_dev);
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}
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return 0;
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}
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/*
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all the read commands are the same except for the addition a constant
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* const to the data for inw()
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*/
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static void adl_pci8164_insn_read(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data,
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char *action, unsigned short offset)
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{
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int axis, axis_reg;
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char *axisname;
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axis = CR_CHAN(insn->chanspec);
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switch (axis) {
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case 0:
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axis_reg = PCI8164_AXIS_X;
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axisname = "X";
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break;
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case 1:
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axis_reg = PCI8164_AXIS_Y;
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axisname = "Y";
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break;
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case 2:
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axis_reg = PCI8164_AXIS_Z;
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axisname = "Z";
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break;
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case 3:
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axis_reg = PCI8164_AXIS_U;
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axisname = "U";
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break;
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default:
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axis_reg = PCI8164_AXIS_X;
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axisname = "X";
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}
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data[0] = inw(dev->iobase + axis_reg + offset);
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printk("comedi: pci8164 %s read -> %04X:%04X on axis %s\n", action,
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data[0], data[1], axisname);
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}
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static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS);
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return 2;
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}
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static int adl_pci8164_insn_read_ssts(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_read(dev, s, insn, data, "SSTS", PCI8164_SSTS);
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return 2;
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}
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static int adl_pci8164_insn_read_buf0(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_read(dev, s, insn, data, "BUF0", PCI8164_BUF0);
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return 2;
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}
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static int adl_pci8164_insn_read_buf1(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_read(dev, s, insn, data, "BUF1", PCI8164_BUF1);
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return 2;
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}
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/*
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all the write commands are the same except for the addition a constant
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* const to the data for outw()
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*/
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static void adl_pci8164_insn_out(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data,
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char *action, unsigned short offset)
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{
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unsigned int axis, axis_reg;
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char *axisname;
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axis = CR_CHAN(insn->chanspec);
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switch (axis) {
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case 0:
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axis_reg = PCI8164_AXIS_X;
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axisname = "X";
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break;
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case 1:
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axis_reg = PCI8164_AXIS_Y;
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axisname = "Y";
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break;
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case 2:
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axis_reg = PCI8164_AXIS_Z;
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axisname = "Z";
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break;
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case 3:
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axis_reg = PCI8164_AXIS_U;
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axisname = "U";
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break;
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default:
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axis_reg = PCI8164_AXIS_X;
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axisname = "X";
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}
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outw(data[0], dev->iobase + axis_reg + offset);
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printk("comedi: pci8164 %s write -> %04X:%04X on axis %s\n", action,
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data[0], data[1], axisname);
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}
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static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD);
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return 2;
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}
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static int adl_pci8164_insn_write_otp(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP);
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return 2;
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}
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static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0);
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return 2;
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}
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static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
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{
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adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1);
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return 2;
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}
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COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);
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