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Commit 6eb78a1b authored by Michel Lachaine's avatar Michel Lachaine Committed by Greg Kroah-Hartman
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Staging: comedi: add adl_pci8164 driver 

Driver for the Adlink PCI-8164 4 Axes Motion Control board
board

From: Michel Lachaine <mike@mikelachaine.ca>
Cc: David Schleef <ds@schleef.org>
Cc: Frank Mori Hess <fmhess@users.sourceforge.net>
Cc: Ian Abbott <abbotti@mev.co.uk>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent ed9c5eeb
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drivers/staging/comedi/drivers/adl_pci8164.c 0 → 100644
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/*
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);
typedef struct {
int data;
struct pci_dev *pci_dev;
} adl_pci8164_private;
#define devpriv ((adl_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,
};
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;
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(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(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(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_PCI_INITCLEANUP(driver_adl_pci8164, adl_pci8164_pci_table);
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