--- /dev/null
+/*
+ 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/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
+
+static DEFINE_PCI_DEVICE_TABLE(adl_pci8164_pci_table) = {
+ {PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID, PCI_ANY_ID, 0,
+ 0, 0},
+ {0}
+};
+
+MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
+
+struct adl_pci8164_private {
+ int data;
+ struct pci_dev *pci_dev;
+};
+
+#define devpriv ((struct adl_pci8164_private *)dev->private)
+
+static int adl_pci8164_attach(struct comedi_device * dev, struct comedi_devconfig * it);
+static int adl_pci8164_detach(struct comedi_device * dev);
+static struct comedi_driver driver_adl_pci8164 = {
+ driver_name:"adl_pci8164",
+ module:THIS_MODULE,
+ attach:adl_pci8164_attach,
+ detach:adl_pci8164_detach,
+};
+
+static int adl_pci8164_insn_read_msts(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_read_ssts(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_read_buf0(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_read_buf1(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_write_cmd(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_write_otp(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_write_buf0(struct comedi_device * dev,
+ struct comedi_subdevice * s, struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_insn_write_buf1(struct comedi_device * dev,
+ struct comedi_subdevice * s, struct comedi_insn * insn, unsigned int * data);
+
+static int adl_pci8164_attach(struct comedi_device * dev, struct comedi_devconfig * it)
+{
+ struct pci_dev *pcidev;
+ struct comedi_subdevice *s;
+ int bus, slot;
+
+ printk("comedi: attempt to attach...\n");
+ printk("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 (pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL);
+ pcidev != NULL;
+ pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, 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("comedi%d: Failed to enable PCI device and request regions\n", dev->minor);
+ return -EIO;
+ }
+ dev->iobase = pci_resource_start(pcidev, 2);
+ printk("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("comedi: attached\n");
+
+ return 1;
+ }
+ }
+
+ printk("comedi%d: no supported board found! (req. bus/slot : %d/%d)\n",
+ dev->minor, bus, slot);
+ return -EIO;
+}
+
+static int adl_pci8164_detach(struct comedi_device * dev)
+{
+ printk("comedi%d: pci8164: remove\n", dev->minor);
+
+ if (devpriv && devpriv->pci_dev) {
+ if (dev->iobase) {
+ comedi_pci_disable(devpriv->pci_dev);
+ }
+ pci_dev_put(devpriv->pci_dev);
+ }
+
+ return 0;
+}
+
+static int adl_pci8164_insn_read_msts(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_MSTS);
+ printk("comedi: pci8164 MSTS read -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_read_ssts(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_SSTS);
+ printk("comedi: pci8164 SSTS read -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_read_buf0(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_BUF0);
+ printk("comedi: pci8164 BUF0 read -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_read_buf1(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_BUF1);
+ printk("comedi: pci8164 BUF1 read -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_write_cmd(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_CMD);
+ printk("comedi: pci8164 CMD write -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_write_otp(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_OTP);
+ printk("comedi: pci8164 OTP write -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_write_buf0(struct comedi_device * dev,
+ struct comedi_subdevice * s, struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_BUF0);
+ printk("comedi: pci8164 BUF0 write -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+static int adl_pci8164_insn_write_buf1(struct comedi_device * dev,
+ struct comedi_subdevice * s, struct comedi_insn * insn, unsigned int * data)
+{
+ 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 + PCI8164_BUF1);
+ printk("comedi: pci8164 BUF1 write -> %04X:%04X on axis %s\n", data[0],
+ data[1], axisname);
+
+ return 2;
+}
+
+COMEDI_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);
projects / linux-2.6-omap-h63xx.git / blobdiff