--- /dev/null
+/*
+ comedi/drivers/adl_pci7432.c
+
+ Hardware comedi driver fot PCI7432 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_pci7432.o
+Description: Driver for the Adlink PCI-7432 64 ch. isolated digital io board
+Devices: [ADLink] PCI-7432 (pci7432)
+Author: Michel Lachaine <mike@mikelachaine.ca>
+Status: experimental
+
+Configuration Options:
+ none
+*/
+
+#include <linux/comedidev.h>
+#include <linux/pci.h>
+
+#define PCI7432_DI 0x00
+#define PCI7432_DO 0x00
+
+#define PCI_DEVICE_ID_PCI7432 0x7432
+
+typedef struct {
+ char *name;
+ int vendor_id;
+ int device_id;
+} adl_pci7432_board;
+
+static adl_pci7432_board adl_pci7432_boards[] = {
+ { "pci7432", PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI7432 },
+};
+
+static struct pci_device_id adl_pci7432_pci_table[] __devinitdata = {
+ { PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI7432, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 },
+ { 0 }
+};
+MODULE_DEVICE_TABLE(pci, adl_pci7432_pci_table);
+
+#define thisboard ((adl_pci7432_board *)dev->board_ptr)
+
+typedef struct{
+ int data;
+ struct pci_dev *pci_dev;
+} adl_pci7432_private;
+
+#define devpriv ((pci7432_private *)dev->private)
+
+static int adl_pci7432_attach(comedi_device *dev,comedi_devconfig *it);
+static int adl_pci7432_detach(comedi_device *dev);
+static comedi_driver driver_adl_pci7432={
+ driver_name: "adl_pci7432",
+ module: THIS_MODULE,
+ attach: adl_pci7432_attach,
+ detach: adl_pci7432_detach,
+ num_names: 1,
+ board_name: adl_pci7432_boards,
+ offset: sizeof(adl_pci7432_board),
+};
+
+/* Digital IO */
+
+static int adl_pci7432_di_insn_bits(comedi_device *dev,comedi_subdevice *s,
+ comedi_insn *insn,lsampl_t *data);
+
+static int adl_pci7432_do_insn_bits(comedi_device *dev,comedi_subdevice *s,
+ comedi_insn *insn,lsampl_t *data);
+
+/* */
+
+static int adl_pci7432_attach(comedi_device *dev,comedi_devconfig *it)
+{
+ struct pci_dev *pcidev;
+ comedi_subdevice *s;
+
+ printk("comedi: attempt to attach...\n");
+ printk("comedi%d: adl_pci7432: board=%s\n",dev->minor, thisboard->name);
+
+ dev->board_name = thisboard->name;
+
+ if(alloc_private(dev,sizeof(adl_pci7432_private))<0)
+ return -ENOMEM;
+
+ if(alloc_subdevices(dev, 2)<0)
+ return -ENOMEM;
+
+ pci_for_each_dev ( pcidev ) {
+
+ if ( pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
+ pcidev->device == PCI_DEVICE_ID_PCI7432 ) {
+ dev->iobase = pci_resource_start ( pcidev, 2 );
+ printk ( "comedi: base addr %4x\n", dev->iobase );
+
+ dev->board_ptr = adl_pci7432_boards + 0;
+
+ s=dev->subdevices+0;
+ s->type = COMEDI_SUBD_DI;
+ s->subdev_flags = SDF_READABLE|SDF_GROUND|SDF_COMMON;
+ s->n_chan = 32;
+ s->maxdata = 1;
+ s->len_chanlist = 32;
+ s->io_bits = 0x00000000;
+ s->range_table = &range_digital;
+ s->insn_bits = adl_pci7432_di_insn_bits;
+
+ s=dev->subdevices+1;
+ s->type = COMEDI_SUBD_DO;
+ s->subdev_flags = SDF_WRITABLE|SDF_GROUND|SDF_COMMON;
+ s->n_chan = 32;
+ s->maxdata = 1 ;
+ s->len_chanlist = 32;
+ s->io_bits = 0xffffffff;
+ s->range_table = &range_digital;
+ s->insn_bits = adl_pci7432_do_insn_bits;
+ }
+ }
+
+ printk("comedi: attached\n");
+
+ return 1;
+}
+
+
+static int adl_pci7432_detach(comedi_device *dev)
+{
+ printk("comedi%d: pci7432: remove\n",dev->minor);
+
+ return 0;
+}
+
+
+static int adl_pci7432_do_insn_bits(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn,lsampl_t *data)
+{
+ printk ( "comedi: pci7432_do_insn_bits called\n" );
+ printk ( "comedi: data0: %8x data1: %8x\n", data[0], data[1] );
+
+ if(insn->n!=2)return -EINVAL;
+
+ if(data[0]){
+ s->state &= ~data[0];
+ s->state |= (data[0]&data[1]);
+
+ printk ( "comedi: out: %8x on iobase %4x\n", s->state, dev->iobase + PCI7432_DO);
+ outl(s->state & 0xffffffff, dev->iobase + PCI7432_DO);
+ }
+ return 2;
+}
+
+static int adl_pci7432_di_insn_bits(comedi_device *dev,comedi_subdevice *s, comedi_insn *insn,lsampl_t *data)
+{
+ printk ( "comedi: pci7432_di_insn_bits called\n" );
+ printk ( "comedi: data0: %8x data1: %8x\n", data[0], data[1] );
+
+ if(insn->n!=2)return -EINVAL;
+
+ data[1] = inl(dev->iobase + PCI7432_DI) & 0xffffffff;
+ printk ( "comedi: data1 %8x\n", data[1] );
+
+ return 2;
+}
+
+COMEDI_INITCLEANUP(driver_adl_pci7432);
--- /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.o
+Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board
+Devices: [ADLink] PCI-8164 (pci8164)
+Author: Michel Lachaine <mike@mikelachaine.ca>
+Status: experimental
+
+Configuration Options:
+ none
+*/
+
+#include <linux/comedidev.h>
+#include <linux/pci.h>
+#include <linux/delay.h>
+#include <comedi_fc.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
+
+typedef struct {
+ char *name;
+ int vendor_id;
+ int device_id;
+} adl_pci8164_board;
+
+static adl_pci8164_board adl_pci8164_boards[] = {
+ { "pci8164", PCI_VENDOR_ID_ADLINK, PCI_DEVICE_ID_PCI8164 },
+};
+
+static struct pci_device_id adl_pci8164_pci_table[] __devinitdata = {
+ { 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);
+
+#define thisboard ((adl_pci8164_board *)dev->board_ptr)
+
+typedef struct{
+ int data;
+ struct pci_dev *pci_dev;
+} adl_pci8164_private;
+
+#define devpriv ((pci8164_private *)dev->private)
+
+static int adl_pci8164_attach(comedi_device *dev,comedi_devconfig *it);
+static int adl_pci8164_detach(comedi_device *dev);
+static comedi_driver driver_adl_pci8164={
+ driver_name: "adl_pci8164",
+ module: THIS_MODULE,
+ attach: adl_pci8164_attach,
+ detach: adl_pci8164_detach,
+ num_names: 1,
+ board_name: adl_pci8164_boards,
+ offset: sizeof(adl_pci8164_board),
+};
+
+static int adl_pci8164_insn_read_msts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_read_ssts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_read_buf0(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_read_buf1(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_write_cmd(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_write_otp(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_write_buf0(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_insn_write_buf1(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *data);
+
+static int adl_pci8164_attach(comedi_device *dev,comedi_devconfig *it)
+{
+ struct pci_dev *pcidev;
+ comedi_subdevice *s;
+
+ printk("comedi: attempt to attach...\n");
+ printk("comedi%d: adl_pci8164: board=%s\n",dev->minor, thisboard->name);
+
+ dev->board_name = thisboard->name;
+
+ if(alloc_private(dev,sizeof(adl_pci8164_private))<0)
+ return -ENOMEM;
+
+ if(alloc_subdevices(dev, 4)<0)
+ return -ENOMEM;
+
+ pci_for_each_dev ( pcidev ) {
+
+ if ( pcidev->vendor == PCI_VENDOR_ID_ADLINK &&
+ pcidev->device == PCI_DEVICE_ID_PCI8164 ) {
+ dev->iobase = pci_resource_start ( pcidev, 2 );
+ printk ( "comedi: base addr %4x\n", dev->iobase );
+
+ dev->board_ptr = adl_pci8164_boards + 0;
+
+ 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;
+}
+
+
+static int adl_pci8164_detach(comedi_device *dev)
+{
+ printk("comedi%d: pci8164: remove\n",dev->minor);
+
+ return 0;
+}
+
+static int adl_pci8164_insn_read_msts(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn, lsampl_t *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_INITCLEANUP(driver_adl_pci8164);
projects / comedi.git / commitdiff