2 comedi/drivers/adl_pci8164.c
4 Hardware comedi driver fot PCI-8164 Adlink card
5 Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca>
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.
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.
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.
24 Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board
25 Devices: [ADLink] PCI-8164 (pci8164)
26 Author: Michel Lachaine <mike@mikelachaine.ca>
29 Configuration Options:
33 #include <linux/comedidev.h>
34 #include <linux/pci.h>
35 #include <linux/delay.h>
36 #include "comedi_fc.h"
39 #define PCI8164_AXIS_X 0x00
40 #define PCI8164_AXIS_Y 0x08
41 #define PCI8164_AXIS_Z 0x10
42 #define PCI8164_AXIS_U 0x18
44 #define PCI8164_MSTS 0x00
45 #define PCI8164_SSTS 0x02
46 #define PCI8164_BUF0 0x04
47 #define PCI8164_BUF1 0x06
49 #define PCI8164_CMD 0x00
50 #define PCI8164_OTP 0x02
52 #define PCI_DEVICE_ID_PCI8164 0x8164
60 static adl_pci8164_board adl_pci8164_boards[] = {
61 { "pci8164", PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164 },
64 static struct pci_device_id adl_pci8164_pci_table[] __devinitdata = {
65 { PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
68 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
70 #define thisboard ((adl_pci8164_board *)dev->board_ptr)
74 struct pci_dev *pci_dev;
75 } adl_pci8164_private;
77 #define devpriv ((adl_pci8164_private *)dev->private)
79 static int adl_pci8164_attach(comedi_device *dev,comedi_devconfig *it);
80 static int adl_pci8164_detach(comedi_device *dev);
81 static comedi_driver driver_adl_pci8164={
82 driver_name: "adl_pci8164",
84 attach: adl_pci8164_attach,
85 detach: adl_pci8164_detach,
87 board_name: &adl_pci8164_boards[0].name,
88 offset: sizeof(adl_pci8164_board),
91 static int adl_pci8164_insn_read_msts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
93 static int adl_pci8164_insn_read_ssts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
95 static int adl_pci8164_insn_read_buf0(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
97 static int adl_pci8164_insn_read_buf1(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
99 static int adl_pci8164_insn_write_cmd(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
101 static int adl_pci8164_insn_write_otp(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
103 static int adl_pci8164_insn_write_buf0(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
105 static int adl_pci8164_insn_write_buf1(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
107 static int adl_pci8164_attach(comedi_device *dev,comedi_devconfig *it)
109 struct pci_dev *pcidev;
112 printk("comedi: attempt to attach...\n");
113 printk("comedi%d: adl_pci8164: board=%s\n",dev->minor, thisboard->name);
115 dev->board_name = thisboard->name;
117 if(alloc_private(dev,sizeof(adl_pci8164_private))<0)
120 if(alloc_subdevices(dev, 4)<0)
123 for(pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, NULL); pcidev != NULL;
124 pcidev = pci_get_device(PCI_ANY_ID, PCI_ANY_ID, pcidev))
127 if ( pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
128 pcidev->device == PCI_DEVICE_ID_PCI8164 ) {
129 devpriv->pci_dev = pcidev;
130 if (pci_enable_device(pcidev) < 0) {
131 printk("comedi%d: Failed to enable PCI device\n", dev->minor);
134 if (pci_request_regions(pcidev, "adl_pci8164") < 0) {
135 printk("comedi%d: I/O port conflict\n", dev->minor);
138 dev->iobase = pci_resource_start ( pcidev, 2 );
139 printk ( "comedi: base addr %4lx\n", dev->iobase );
141 dev->board_ptr = adl_pci8164_boards + 0;
144 s->type = COMEDI_SUBD_PROC;
145 s->subdev_flags = SDF_READABLE|SDF_WRITABLE;
149 //s->range_table = &range_axis;
150 s->insn_read = adl_pci8164_insn_read_msts;
151 s->insn_write = adl_pci8164_insn_write_cmd;
154 s->type = COMEDI_SUBD_PROC;
155 s->subdev_flags = SDF_READABLE|SDF_WRITABLE;
159 //s->range_table = &range_axis;
160 s->insn_read = adl_pci8164_insn_read_ssts;
161 s->insn_write = adl_pci8164_insn_write_otp;
164 s->type = COMEDI_SUBD_PROC;
165 s->subdev_flags = SDF_READABLE|SDF_WRITABLE;
169 //s->range_table = &range_axis;
170 s->insn_read = adl_pci8164_insn_read_buf0;
171 s->insn_write = adl_pci8164_insn_write_buf0;
174 s->type = COMEDI_SUBD_PROC;
175 s->subdev_flags = SDF_READABLE|SDF_WRITABLE;
179 //s->range_table = &range_axis;
180 s->insn_read = adl_pci8164_insn_read_buf1;
181 s->insn_write = adl_pci8164_insn_write_buf1;
187 printk("comedi: attached\n");
193 static int adl_pci8164_detach(comedi_device *dev)
195 printk("comedi%d: pci8164: remove\n",dev->minor);
197 if (devpriv && devpriv->pci_dev) {
199 pci_release_regions(devpriv->pci_dev);
200 pci_disable_device(devpriv->pci_dev);
202 pci_dev_put(devpriv->pci_dev);
208 static int adl_pci8164_insn_read_msts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
213 axis = CR_CHAN(insn->chanspec);
217 case 0: axis_reg = PCI8164_AXIS_X;
220 case 1: axis_reg = PCI8164_AXIS_Y;
223 case 2: axis_reg = PCI8164_AXIS_Z;
226 case 3: axis_reg = PCI8164_AXIS_U;
229 default: axis_reg = PCI8164_AXIS_X;
233 data[0] = inw(dev->iobase + axis_reg + PCI8164_MSTS);
234 printk("comedi: pci8164 MSTS read -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
239 static int adl_pci8164_insn_read_ssts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
244 axis = CR_CHAN(insn->chanspec);
248 case 0: axis_reg = PCI8164_AXIS_X;
251 case 1: axis_reg = PCI8164_AXIS_Y;
254 case 2: axis_reg = PCI8164_AXIS_Z;
257 case 3: axis_reg = PCI8164_AXIS_U;
260 default: axis_reg = PCI8164_AXIS_X;
264 data[0] = inw(dev->iobase + axis_reg + PCI8164_SSTS);
265 printk("comedi: pci8164 SSTS read -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
270 static int adl_pci8164_insn_read_buf0(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
275 axis = CR_CHAN(insn->chanspec);
279 case 0: axis_reg = PCI8164_AXIS_X;
282 case 1: axis_reg = PCI8164_AXIS_Y;
285 case 2: axis_reg = PCI8164_AXIS_Z;
288 case 3: axis_reg = PCI8164_AXIS_U;
291 default: axis_reg = PCI8164_AXIS_X;
295 data[0] = inw(dev->iobase + axis_reg + PCI8164_BUF0);
296 printk("comedi: pci8164 BUF0 read -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
301 static int adl_pci8164_insn_read_buf1(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
307 axis = CR_CHAN(insn->chanspec);
311 case 0: axis_reg = PCI8164_AXIS_X;
314 case 1: axis_reg = PCI8164_AXIS_Y;
317 case 2: axis_reg = PCI8164_AXIS_Z;
320 case 3: axis_reg = PCI8164_AXIS_U;
323 default: axis_reg = PCI8164_AXIS_X;
327 data[0] = inw(dev->iobase + axis_reg + PCI8164_BUF1);
328 printk("comedi: pci8164 BUF1 read -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
333 static int adl_pci8164_insn_write_cmd(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
335 unsigned int axis, axis_reg;
339 axis = CR_CHAN(insn->chanspec);
343 case 0: axis_reg = PCI8164_AXIS_X;
346 case 1: axis_reg = PCI8164_AXIS_Y;
349 case 2: axis_reg = PCI8164_AXIS_Z;
352 case 3: axis_reg = PCI8164_AXIS_U;
355 default: axis_reg = PCI8164_AXIS_X;
359 outw(data[0], dev->iobase + axis_reg + PCI8164_CMD);
360 printk("comedi: pci8164 CMD write -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
365 static int adl_pci8164_insn_write_otp(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
371 axis = CR_CHAN(insn->chanspec);
375 case 0: axis_reg = PCI8164_AXIS_X;
378 case 1: axis_reg = PCI8164_AXIS_Y;
381 case 2: axis_reg = PCI8164_AXIS_Z;
384 case 3: axis_reg = PCI8164_AXIS_U;
387 default: axis_reg = PCI8164_AXIS_X;
391 outw(data[0], dev->iobase + axis_reg + PCI8164_OTP);
392 printk("comedi: pci8164 OTP write -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
397 static int adl_pci8164_insn_write_buf0(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
403 axis = CR_CHAN(insn->chanspec);
407 case 0: axis_reg = PCI8164_AXIS_X;
410 case 1: axis_reg = PCI8164_AXIS_Y;
413 case 2: axis_reg = PCI8164_AXIS_Z;
416 case 3: axis_reg = PCI8164_AXIS_U;
419 default: axis_reg = PCI8164_AXIS_X;
423 outw(data[0], dev->iobase + axis_reg + PCI8164_BUF0);
424 printk("comedi: pci8164 BUF0 write -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
429 static int adl_pci8164_insn_write_buf1(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data)
435 axis = CR_CHAN(insn->chanspec);
439 case 0: axis_reg = PCI8164_AXIS_X;
442 case 1: axis_reg = PCI8164_AXIS_Y;
445 case 2: axis_reg = PCI8164_AXIS_Z;
448 case 3: axis_reg = PCI8164_AXIS_U;
451 default: axis_reg = PCI8164_AXIS_X;
455 outw(data[0], dev->iobase + axis_reg + PCI8164_BUF1);
456 printk("comedi: pci8164 BUF1 write -> %04X:%04X on axis %s\n", data[0], data[1], axisname);
461 COMEDI_INITCLEANUP(driver_adl_pci8164);