adl_pci8164.c revision 0a85b6f0ab0d2edb0d41b32697111ce0e4f43496
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/* 23Driver: adl_pci8164 24Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board 25Devices: [ADLink] PCI-8164 (adl_pci8164) 26Author: Michel Lachaine <mike@mikelachaine.ca> 27Status: experimental 28Updated: Mon, 14 Apr 2008 15:10:32 +0100 29 30Configuration 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 58static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = { 59 { 60 PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID, 61 PCI_ANY_ID, 0, 0, 0}, { 62 0} 63}; 64 65MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table); 66 67struct adl_pci8164_private { 68 int data; 69 struct pci_dev *pci_dev; 70}; 71 72#define devpriv ((struct adl_pci8164_private *)dev->private) 73 74static int adl_pci8164_attach(struct comedi_device *dev, 75 struct comedi_devconfig *it); 76static int adl_pci8164_detach(struct comedi_device *dev); 77static struct comedi_driver driver_adl_pci8164 = { 78 .driver_name = "adl_pci8164", 79 .module = THIS_MODULE, 80 .attach = adl_pci8164_attach, 81 .detach = adl_pci8164_detach, 82}; 83 84static int adl_pci8164_insn_read_msts(struct comedi_device *dev, 85 struct comedi_subdevice *s, 86 struct comedi_insn *insn, 87 unsigned int *data); 88 89static int adl_pci8164_insn_read_ssts(struct comedi_device *dev, 90 struct comedi_subdevice *s, 91 struct comedi_insn *insn, 92 unsigned int *data); 93 94static int adl_pci8164_insn_read_buf0(struct comedi_device *dev, 95 struct comedi_subdevice *s, 96 struct comedi_insn *insn, 97 unsigned int *data); 98 99static int adl_pci8164_insn_read_buf1(struct comedi_device *dev, 100 struct comedi_subdevice *s, 101 struct comedi_insn *insn, 102 unsigned int *data); 103 104static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, 105 struct comedi_subdevice *s, 106 struct comedi_insn *insn, 107 unsigned int *data); 108 109static int adl_pci8164_insn_write_otp(struct comedi_device *dev, 110 struct comedi_subdevice *s, 111 struct comedi_insn *insn, 112 unsigned int *data); 113 114static int adl_pci8164_insn_write_buf0(struct comedi_device *dev, 115 struct comedi_subdevice *s, 116 struct comedi_insn *insn, 117 unsigned int *data); 118 119static int adl_pci8164_insn_write_buf1(struct comedi_device *dev, 120 struct comedi_subdevice *s, 121 struct comedi_insn *insn, 122 unsigned int *data); 123 124static int adl_pci8164_attach(struct comedi_device *dev, 125 struct comedi_devconfig *it) 126{ 127 struct pci_dev *pcidev; 128 struct comedi_subdevice *s; 129 int bus, slot; 130 131 printk("comedi: attempt to attach...\n"); 132 printk("comedi%d: adl_pci8164\n", dev->minor); 133 134 dev->board_name = "pci8164"; 135 bus = it->options[0]; 136 slot = it->options[1]; 137 138 if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0) 139 return -ENOMEM; 140 141 if (alloc_subdevices(dev, 4) < 0) 142 return -ENOMEM; 143 144 for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL); 145 pcidev != NULL; 146 pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) { 147 148 if (pcidev->vendor == PCI_VENDOR_ID_ADLINK && 149 pcidev->device == PCI_DEVICE_ID_PCI8164) { 150 if (bus || slot) { 151 /* requested particular bus/slot */ 152 if (pcidev->bus->number != bus 153 || PCI_SLOT(pcidev->devfn) != slot) { 154 continue; 155 } 156 } 157 devpriv->pci_dev = pcidev; 158 if (comedi_pci_enable(pcidev, "adl_pci8164") < 0) { 159 printk 160 ("comedi%d: Failed to enable PCI device and request regions\n", 161 dev->minor); 162 return -EIO; 163 } 164 dev->iobase = pci_resource_start(pcidev, 2); 165 printk("comedi: base addr %4lx\n", dev->iobase); 166 167 s = dev->subdevices + 0; 168 s->type = COMEDI_SUBD_PROC; 169 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 170 s->n_chan = 4; 171 s->maxdata = 0xffff; 172 s->len_chanlist = 4; 173 /* s->range_table = &range_axis; */ 174 s->insn_read = adl_pci8164_insn_read_msts; 175 s->insn_write = adl_pci8164_insn_write_cmd; 176 177 s = dev->subdevices + 1; 178 s->type = COMEDI_SUBD_PROC; 179 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 180 s->n_chan = 4; 181 s->maxdata = 0xffff; 182 s->len_chanlist = 4; 183 /* s->range_table = &range_axis; */ 184 s->insn_read = adl_pci8164_insn_read_ssts; 185 s->insn_write = adl_pci8164_insn_write_otp; 186 187 s = dev->subdevices + 2; 188 s->type = COMEDI_SUBD_PROC; 189 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 190 s->n_chan = 4; 191 s->maxdata = 0xffff; 192 s->len_chanlist = 4; 193 /* s->range_table = &range_axis; */ 194 s->insn_read = adl_pci8164_insn_read_buf0; 195 s->insn_write = adl_pci8164_insn_write_buf0; 196 197 s = dev->subdevices + 3; 198 s->type = COMEDI_SUBD_PROC; 199 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 200 s->n_chan = 4; 201 s->maxdata = 0xffff; 202 s->len_chanlist = 4; 203 /* s->range_table = &range_axis; */ 204 s->insn_read = adl_pci8164_insn_read_buf1; 205 s->insn_write = adl_pci8164_insn_write_buf1; 206 207 printk("comedi: attached\n"); 208 209 return 1; 210 } 211 } 212 213 printk("comedi%d: no supported board found! (req. bus/slot : %d/%d)\n", 214 dev->minor, bus, slot); 215 return -EIO; 216} 217 218static int adl_pci8164_detach(struct comedi_device *dev) 219{ 220 printk("comedi%d: pci8164: remove\n", dev->minor); 221 222 if (devpriv && devpriv->pci_dev) { 223 if (dev->iobase) { 224 comedi_pci_disable(devpriv->pci_dev); 225 } 226 pci_dev_put(devpriv->pci_dev); 227 } 228 229 return 0; 230} 231 232/* 233 all the read commands are the same except for the addition a constant 234 * const to the data for inw() 235 */ 236static void adl_pci8164_insn_read(struct comedi_device *dev, 237 struct comedi_subdevice *s, 238 struct comedi_insn *insn, 239 unsigned int *data, 240 char *action, unsigned short offset) 241{ 242 int axis, axis_reg; 243 char *axisname; 244 245 axis = CR_CHAN(insn->chanspec); 246 247 switch (axis) { 248 case 0: 249 axis_reg = PCI8164_AXIS_X; 250 axisname = "X"; 251 break; 252 case 1: 253 axis_reg = PCI8164_AXIS_Y; 254 axisname = "Y"; 255 break; 256 case 2: 257 axis_reg = PCI8164_AXIS_Z; 258 axisname = "Z"; 259 break; 260 case 3: 261 axis_reg = PCI8164_AXIS_U; 262 axisname = "U"; 263 break; 264 default: 265 axis_reg = PCI8164_AXIS_X; 266 axisname = "X"; 267 } 268 269 data[0] = inw(dev->iobase + axis_reg + offset); 270 printk("comedi: pci8164 %s read -> %04X:%04X on axis %s\n", action, 271 data[0], data[1], axisname); 272} 273 274static int adl_pci8164_insn_read_msts(struct comedi_device *dev, 275 struct comedi_subdevice *s, 276 struct comedi_insn *insn, 277 unsigned int *data) 278{ 279 adl_pci8164_insn_read(dev, s, insn, data, "MSTS", PCI8164_MSTS); 280 return 2; 281} 282 283static int adl_pci8164_insn_read_ssts(struct comedi_device *dev, 284 struct comedi_subdevice *s, 285 struct comedi_insn *insn, 286 unsigned int *data) 287{ 288 adl_pci8164_insn_read(dev, s, insn, data, "SSTS", PCI8164_SSTS); 289 return 2; 290} 291 292static int adl_pci8164_insn_read_buf0(struct comedi_device *dev, 293 struct comedi_subdevice *s, 294 struct comedi_insn *insn, 295 unsigned int *data) 296{ 297 adl_pci8164_insn_read(dev, s, insn, data, "BUF0", PCI8164_BUF0); 298 return 2; 299} 300 301static int adl_pci8164_insn_read_buf1(struct comedi_device *dev, 302 struct comedi_subdevice *s, 303 struct comedi_insn *insn, 304 unsigned int *data) 305{ 306 adl_pci8164_insn_read(dev, s, insn, data, "BUF1", PCI8164_BUF1); 307 return 2; 308} 309 310/* 311 all the write commands are the same except for the addition a constant 312 * const to the data for outw() 313 */ 314static void adl_pci8164_insn_out(struct comedi_device *dev, 315 struct comedi_subdevice *s, 316 struct comedi_insn *insn, 317 unsigned int *data, 318 char *action, unsigned short offset) 319{ 320 unsigned int axis, axis_reg; 321 322 char *axisname; 323 324 axis = CR_CHAN(insn->chanspec); 325 326 switch (axis) { 327 case 0: 328 axis_reg = PCI8164_AXIS_X; 329 axisname = "X"; 330 break; 331 case 1: 332 axis_reg = PCI8164_AXIS_Y; 333 axisname = "Y"; 334 break; 335 case 2: 336 axis_reg = PCI8164_AXIS_Z; 337 axisname = "Z"; 338 break; 339 case 3: 340 axis_reg = PCI8164_AXIS_U; 341 axisname = "U"; 342 break; 343 default: 344 axis_reg = PCI8164_AXIS_X; 345 axisname = "X"; 346 } 347 348 outw(data[0], dev->iobase + axis_reg + offset); 349 350 printk("comedi: pci8164 %s write -> %04X:%04X on axis %s\n", action, 351 data[0], data[1], axisname); 352 353} 354 355static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, 356 struct comedi_subdevice *s, 357 struct comedi_insn *insn, 358 unsigned int *data) 359{ 360 adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD); 361 return 2; 362} 363 364static int adl_pci8164_insn_write_otp(struct comedi_device *dev, 365 struct comedi_subdevice *s, 366 struct comedi_insn *insn, 367 unsigned int *data) 368{ 369 adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP); 370 return 2; 371} 372 373static int adl_pci8164_insn_write_buf0(struct comedi_device *dev, 374 struct comedi_subdevice *s, 375 struct comedi_insn *insn, 376 unsigned int *data) 377{ 378 adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0); 379 return 2; 380} 381 382static int adl_pci8164_insn_write_buf1(struct comedi_device *dev, 383 struct comedi_subdevice *s, 384 struct comedi_insn *insn, 385 unsigned int *data) 386{ 387 adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1); 388 return 2; 389} 390 391COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table); 392