adl_pci8164.c revision 727b286b44ea359d66f47d241cc2cdad36ed7bdc
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/kernel.h> 39#include <linux/delay.h> 40#include "comedi_fc.h" 41#include "comedi_pci.h" 42#include "8253.h" 43 44#define PCI8164_AXIS_X 0x00 45#define PCI8164_AXIS_Y 0x08 46#define PCI8164_AXIS_Z 0x10 47#define PCI8164_AXIS_U 0x18 48 49#define PCI8164_MSTS 0x00 50#define PCI8164_SSTS 0x02 51#define PCI8164_BUF0 0x04 52#define PCI8164_BUF1 0x06 53 54#define PCI8164_CMD 0x00 55#define PCI8164_OTP 0x02 56 57#define PCI_DEVICE_ID_PCI8164 0x8164 58 59static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = { 60 { 61 PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID, 62 PCI_ANY_ID, 0, 0, 0}, { 63 0} 64}; 65 66MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table); 67 68struct adl_pci8164_private { 69 int data; 70 struct pci_dev *pci_dev; 71}; 72 73#define devpriv ((struct adl_pci8164_private *)dev->private) 74 75static int adl_pci8164_attach(struct comedi_device *dev, 76 struct comedi_devconfig *it); 77static int adl_pci8164_detach(struct comedi_device *dev); 78static 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, 83}; 84 85static int adl_pci8164_insn_read_msts(struct comedi_device *dev, 86 struct comedi_subdevice *s, 87 struct comedi_insn *insn, 88 unsigned int *data); 89 90static int adl_pci8164_insn_read_ssts(struct comedi_device *dev, 91 struct comedi_subdevice *s, 92 struct comedi_insn *insn, 93 unsigned int *data); 94 95static int adl_pci8164_insn_read_buf0(struct comedi_device *dev, 96 struct comedi_subdevice *s, 97 struct comedi_insn *insn, 98 unsigned int *data); 99 100static int adl_pci8164_insn_read_buf1(struct comedi_device *dev, 101 struct comedi_subdevice *s, 102 struct comedi_insn *insn, 103 unsigned int *data); 104 105static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, 106 struct comedi_subdevice *s, 107 struct comedi_insn *insn, 108 unsigned int *data); 109 110static int adl_pci8164_insn_write_otp(struct comedi_device *dev, 111 struct comedi_subdevice *s, 112 struct comedi_insn *insn, 113 unsigned int *data); 114 115static int adl_pci8164_insn_write_buf0(struct comedi_device *dev, 116 struct comedi_subdevice *s, 117 struct comedi_insn *insn, 118 unsigned int *data); 119 120static int adl_pci8164_insn_write_buf1(struct comedi_device *dev, 121 struct comedi_subdevice *s, 122 struct comedi_insn *insn, 123 unsigned int *data); 124 125static int adl_pci8164_attach(struct comedi_device *dev, 126 struct comedi_devconfig *it) 127{ 128 struct pci_dev *pcidev; 129 struct comedi_subdevice *s; 130 int bus, slot; 131 132 printk(KERN_INFO "comedi: attempt to attach...\n"); 133 printk(KERN_INFO "comedi%d: adl_pci8164\n", dev->minor); 134 135 dev->board_name = "pci8164"; 136 bus = it->options[0]; 137 slot = it->options[1]; 138 139 if (alloc_private(dev, sizeof(struct adl_pci8164_private)) < 0) 140 return -ENOMEM; 141 142 if (alloc_subdevices(dev, 4) < 0) 143 return -ENOMEM; 144 145 for (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL); 146 pcidev != NULL; 147 pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev)) { 148 149 if (pcidev->vendor == PCI_VENDOR_ID_ADLINK && 150 pcidev->device == PCI_DEVICE_ID_PCI8164) { 151 if (bus || slot) { 152 /* requested particular bus/slot */ 153 if (pcidev->bus->number != bus 154 || PCI_SLOT(pcidev->devfn) != slot) 155 continue; 156 } 157 devpriv->pci_dev = pcidev; 158 if (comedi_pci_enable(pcidev, "adl_pci8164") < 0) { 159 printk(KERN_ERR "comedi%d: Failed to enable " 160 "PCI device and request regions\n", dev->minor); 161 return -EIO; 162 } 163 dev->iobase = pci_resource_start(pcidev, 2); 164 printk(KERN_DEBUG "comedi: base addr %4lx\n", 165 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(KERN_INFO "comedi: attached\n"); 208 209 return 1; 210 } 211 } 212 213 printk(KERN_ERR "comedi%d: no supported board found!" 214 "(req. bus/slot : %d/%d)\n", dev->minor, bus, slot); 215 return -EIO; 216} 217 218static int adl_pci8164_detach(struct comedi_device *dev) 219{ 220 printk(KERN_INFO "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 pci_dev_put(devpriv->pci_dev); 226 } 227 228 return 0; 229} 230 231/* 232 all the read commands are the same except for the addition a constant 233 * const to the data for inw() 234 */ 235static void adl_pci8164_insn_read(struct comedi_device *dev, 236 struct comedi_subdevice *s, 237 struct comedi_insn *insn, 238 unsigned int *data, 239 char *action, unsigned short offset) 240{ 241 int axis, axis_reg; 242 char *axisname; 243 244 axis = CR_CHAN(insn->chanspec); 245 246 switch (axis) { 247 case 0: 248 axis_reg = PCI8164_AXIS_X; 249 axisname = "X"; 250 break; 251 case 1: 252 axis_reg = PCI8164_AXIS_Y; 253 axisname = "Y"; 254 break; 255 case 2: 256 axis_reg = PCI8164_AXIS_Z; 257 axisname = "Z"; 258 break; 259 case 3: 260 axis_reg = PCI8164_AXIS_U; 261 axisname = "U"; 262 break; 263 default: 264 axis_reg = PCI8164_AXIS_X; 265 axisname = "X"; 266 } 267 268 data[0] = inw(dev->iobase + axis_reg + offset); 269 printk(KERN_DEBUG "comedi: pci8164 %s read -> " 270 "%04X:%04X on axis %s\n", 271 action, 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(KERN_DEBUG "comedi: pci8164 %s write -> " 351 "%04X:%04X on axis %s\n", 352 action, data[0], data[1], axisname); 353 354} 355 356static int adl_pci8164_insn_write_cmd(struct comedi_device *dev, 357 struct comedi_subdevice *s, 358 struct comedi_insn *insn, 359 unsigned int *data) 360{ 361 adl_pci8164_insn_out(dev, s, insn, data, "CMD", PCI8164_CMD); 362 return 2; 363} 364 365static int adl_pci8164_insn_write_otp(struct comedi_device *dev, 366 struct comedi_subdevice *s, 367 struct comedi_insn *insn, 368 unsigned int *data) 369{ 370 adl_pci8164_insn_out(dev, s, insn, data, "OTP", PCI8164_OTP); 371 return 2; 372} 373 374static int adl_pci8164_insn_write_buf0(struct comedi_device *dev, 375 struct comedi_subdevice *s, 376 struct comedi_insn *insn, 377 unsigned int *data) 378{ 379 adl_pci8164_insn_out(dev, s, insn, data, "BUF0", PCI8164_BUF0); 380 return 2; 381} 382 383static int adl_pci8164_insn_write_buf1(struct comedi_device *dev, 384 struct comedi_subdevice *s, 385 struct comedi_insn *insn, 386 unsigned int *data) 387{ 388 adl_pci8164_insn_out(dev, s, insn, data, "BUF1", PCI8164_BUF1); 389 return 2; 390} 391 392static int __devinit driver_adl_pci8164_pci_probe(struct pci_dev *dev, 393 const struct pci_device_id 394 *ent) 395{ 396 return comedi_pci_auto_config(dev, driver_adl_pci8164.driver_name); 397} 398 399static void __devexit driver_adl_pci8164_pci_remove(struct pci_dev *dev) 400{ 401 comedi_pci_auto_unconfig(dev); 402} 403 404static struct pci_driver driver_adl_pci8164_pci_driver = { 405 .id_table = adl_pci8164_pci_table, 406 .probe = &driver_adl_pci8164_pci_probe, 407 .remove = __devexit_p(&driver_adl_pci8164_pci_remove) 408}; 409 410static int __init driver_adl_pci8164_init_module(void) 411{ 412 int retval; 413 414 retval = comedi_driver_register(&driver_adl_pci8164); 415 if (retval < 0) 416 return retval; 417 418 driver_adl_pci8164_pci_driver.name = 419 (char *)driver_adl_pci8164.driver_name; 420 return pci_register_driver(&driver_adl_pci8164_pci_driver); 421} 422 423static void __exit driver_adl_pci8164_cleanup_module(void) 424{ 425 pci_unregister_driver(&driver_adl_pci8164_pci_driver); 426 comedi_driver_unregister(&driver_adl_pci8164); 427} 428 429module_init(driver_adl_pci8164_init_module); 430module_exit(driver_adl_pci8164_cleanup_module); 431 432MODULE_AUTHOR("Comedi http://www.comedi.org"); 433MODULE_DESCRIPTION("Comedi low-level driver"); 434MODULE_LICENSE("GPL"); 435