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/*
comedi/drivers/adl_pci8164.c
Hardware comedi driver fot PCI-8164 Adlink card
Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
/*
Driver: adl_pci8164
Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board
Devices: [ADLink] PCI-8164 (adl_pci8164)
Author: Michel Lachaine <mike@mikelachaine.ca>
Status: experimental
Updated: Mon, 14 Apr 2008 15:10:32 +0100
Configuration Options:
[0] - PCI bus of device (optional)
[1] - PCI slot of device (optional)
If bus/slot is not specified, the first supported
PCI device found will be used.
*/
#include "../comedidev.h"
#include <linux/kernel.h>
#include <linux/delay.h>
#include "comedi_fc.h"
#include "comedi_pci.h"
#include "8253.h"
#define PCI8164_AXIS_X 0x00
#define PCI8164_AXIS_Y 0x08
#define PCI8164_AXIS_Z 0x10
#define PCI8164_AXIS_U 0x18
#define PCI8164_MSTS 0x00
#define PCI8164_SSTS 0x02
#define PCI8164_BUF0 0x04
#define PCI8164_BUF1 0x06
#define PCI8164_CMD 0x00
#define PCI8164_OTP 0x02
#define PCI_DEVICE_ID_PCI8164 0x8164
struct adl_pci8164_private {
int data;
struct pci_dev *pci_dev;
};
#define devpriv ((struct adl_pci8164_private *)dev->private)
/*
all the read commands are the same except for the addition a constant
* const to the data for inw()
*/
static void adl_pci8164_insn_read(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data,
char *action, unsigned short offset)
{
int axis, axis_reg;
char *axisname;
axis = CR_CHAN(insn->chanspec);
switch (axis) {
case 0:
axis_reg = PCI8164_AXIS_X;
axisname = "X";
break;
case 1:
axis_reg = PCI8164_AXIS_Y;
axisname = "Y";
break;
case 2:
axis_reg = PCI8164_AXIS_Z;
axisname = "Z";
break;
case 3:
axis_reg = PCI8164_AXIS_U;
axisname = "U";
break;
default:
axis_reg = PCI8164_AXIS_X;
axisname = "X";
}
data[0] = inw(dev->iobase + axis_reg + offset);
printk(KERN_DEBUG "comedi: pci8164 %s read -> "
"%04X:%04X on axis %s\n",
action, data[0], data[1], axisname);
}
static int adl_pci8164_insn_read_msts(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS);
return 2;
}
static int adl_pci8164_insn_read_ssts(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_read(dev, s, insn, data, "SSTS", PCI8164_SSTS);
return 2;
}
static int adl_pci8164_insn_read_buf0(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_read(dev, s, insn, data, "BUF0", PCI8164_BUF0);
return 2;
}
static int adl_pci8164_insn_read_buf1(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_read(dev, s, insn, data, "BUF1", PCI8164_BUF1);
return 2;
}
/*
all the write commands are the same except for the addition a constant
* const to the data for outw()
*/
static void adl_pci8164_insn_out(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data,
char *action, unsigned short offset)
{
unsigned int axis, axis_reg;
char *axisname;
axis = CR_CHAN(insn->chanspec);
switch (axis) {
case 0:
axis_reg = PCI8164_AXIS_X;
axisname = "X";
break;
case 1:
axis_reg = PCI8164_AXIS_Y;
axisname = "Y";
break;
case 2:
axis_reg = PCI8164_AXIS_Z;
axisname = "Z";
break;
case 3:
axis_reg = PCI8164_AXIS_U;
axisname = "U";
break;
default:
axis_reg = PCI8164_AXIS_X;
axisname = "X";
}
outw(data[0], dev->iobase + axis_reg + offset);
printk(KERN_DEBUG "comedi: pci8164 %s write -> "
"%04X:%04X on axis %s\n",
action, data[0], data[1], axisname);
}
static int adl_pci8164_insn_write_cmd(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD);
return 2;
}
static int adl_pci8164_insn_write_otp(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP);
return 2;
}
static int adl_pci8164_insn_write_buf0(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0);
return 2;
}
static int adl_pci8164_insn_write_buf1(struct comedi_device *dev,
struct comedi_subdevice *s,
struct comedi_insn *insn,
unsigned int *data)
{
adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1);
return 2;
}
static int adl_pci8164_attach(struct comedi_device *dev,
struct comedi_devconfig *it)
{
struct pci_dev *pcidev = NULL;
struct comedi_subdevice *s;
int bus, slot;
printk(KERN_INFO "comedi: attempt to attach...\n");
printk(KERN_INFO "comedi%d: adl_pci8164\n", dev->minor);
dev->board_name = "pci8164";
bus = it->options[0];
slot = it->options[1];
if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0)
return -ENOMEM;
if (alloc_subdevices(dev, 4) < 0)
return -ENOMEM;
for_each_pci_dev(pcidev) {
if (pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
pcidev->device == PCI_DEVICE_ID_PCI8164) {
if (bus || slot) {
/* requested particular bus/slot */
if (pcidev->bus->number != bus
|| PCI_SLOT(pcidev->devfn) != slot)
continue;
}
devpriv->pci_dev = pcidev;
if (comedi_pci_enable(pcidev, "adl_pci8164") < 0) {
printk(KERN_ERR "comedi%d: Failed to enable "
"PCI device and request regions\n", dev->minor);
return -EIO;
}
dev->iobase = pci_resource_start(pcidev, 2);
printk(KERN_DEBUG "comedi: base addr %4lx\n",
dev->iobase);
s = dev->subdevices + 0;
s->type = COMEDI_SUBD_PROC;
s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
s->n_chan = 4;
s->maxdata = 0xffff;
s->len_chanlist = 4;
/* s->range_table = &range_axis; */
s->insn_read = adl_pci8164_insn_read_msts;
s->insn_write = adl_pci8164_insn_write_cmd;
s = dev->subdevices + 1;
s->type = COMEDI_SUBD_PROC;
s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
s->n_chan = 4;
s->maxdata = 0xffff;
s->len_chanlist = 4;
/* s->range_table = &range_axis; */
s->insn_read = adl_pci8164_insn_read_ssts;
s->insn_write = adl_pci8164_insn_write_otp;
s = dev->subdevices + 2;
s->type = COMEDI_SUBD_PROC;
s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
s->n_chan = 4;
s->maxdata = 0xffff;
s->len_chanlist = 4;
/* s->range_table = &range_axis; */
s->insn_read = adl_pci8164_insn_read_buf0;
s->insn_write = adl_pci8164_insn_write_buf0;
s = dev->subdevices + 3;
s->type = COMEDI_SUBD_PROC;
s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
s->n_chan = 4;
s->maxdata = 0xffff;
s->len_chanlist = 4;
/* s->range_table = &range_axis; */
s->insn_read = adl_pci8164_insn_read_buf1;
s->insn_write = adl_pci8164_insn_write_buf1;
printk(KERN_INFO "comedi: attached\n");
return 1;
}
}
printk(KERN_ERR "comedi%d: no supported board found!"
"(req. bus/slot : %d/%d)\n", dev->minor, bus, slot);
return -EIO;
}
static void adl_pci8164_detach(struct comedi_device *dev)
{
if (devpriv && devpriv->pci_dev) {
if (dev->iobase)
comedi_pci_disable(devpriv->pci_dev);
pci_dev_put(devpriv->pci_dev);
}
}
static struct comedi_driver adl_pci8164_driver = {
.driver_name = "adl_pci8164",
.module = THIS_MODULE,
.attach = adl_pci8164_attach,
.detach = adl_pci8164_detach,
};
static int __devinit adl_pci8164_pci_probe(struct pci_dev *dev,
const struct pci_device_id *ent)
{
return comedi_pci_auto_config(dev, &adl_pci8164_driver);
}
static void __devexit adl_pci8164_pci_remove(struct pci_dev *dev)
{
comedi_pci_auto_unconfig(dev);
}
static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
{ PCI_DEVICE(PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164) },
{0}
};
MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
static struct pci_driver adl_pci8164_pci_driver = {
.name = "adl_pci8164",
.id_table = adl_pci8164_pci_table,
.probe = adl_pci8164_pci_probe,
.remove = __devexit_p(adl_pci8164_pci_remove),
};
module_comedi_pci_driver(adl_pci8164_driver, adl_pci8164_pci_driver);
MODULE_AUTHOR("Comedi http://www.comedi.org");
MODULE_DESCRIPTION("Comedi low-level driver");
MODULE_LICENSE("GPL");
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