1 // SPDX-License-Identifier: GPL-2.0+ 2 /* 3 * comedi/drivers/adl_pci8164.c 4 * 5 * Hardware comedi driver for PCI-8164 Adlink card 6 * Copyright (C) 2004 Michel Lachine <mike@mikelachaine.ca> 7 */ 8 9 /* 10 * Driver: adl_pci8164 11 * Description: Driver for the Adlink PCI-8164 4 Axes Motion Control board 12 * Devices: [ADLink] PCI-8164 (adl_pci8164) 13 * Author: Michel Lachaine <mike@mikelachaine.ca> 14 * Status: experimental 15 * Updated: Mon, 14 Apr 2008 15:10:32 +0100 16 * 17 * Configuration Options: not applicable, uses PCI auto config 18 */ 19 20 #include <linux/kernel.h> 21 #include <linux/module.h> 22 #include <linux/comedi/comedi_pci.h> 23 24 #define PCI8164_AXIS(x) ((x) * 0x08) 25 #define PCI8164_CMD_MSTS_REG 0x00 26 #define PCI8164_OTP_SSTS_REG 0x02 27 #define PCI8164_BUF0_REG 0x04 28 #define PCI8164_BUF1_REG 0x06 29 30 static int adl_pci8164_insn_read(struct comedi_device *dev, 31 struct comedi_subdevice *s, 32 struct comedi_insn *insn, 33 unsigned int *data) 34 { 35 unsigned long offset = (unsigned long)s->private; 36 unsigned int chan = CR_CHAN(insn->chanspec); 37 int i; 38 39 for (i = 0; i < insn->n; i++) 40 data[i] = inw(dev->iobase + PCI8164_AXIS(chan) + offset); 41 42 return insn->n; 43 } 44 45 static int adl_pci8164_insn_write(struct comedi_device *dev, 46 struct comedi_subdevice *s, 47 struct comedi_insn *insn, 48 unsigned int *data) 49 { 50 unsigned long offset = (unsigned long)s->private; 51 unsigned int chan = CR_CHAN(insn->chanspec); 52 int i; 53 54 for (i = 0; i < insn->n; i++) 55 outw(data[i], dev->iobase + PCI8164_AXIS(chan) + offset); 56 57 return insn->n; 58 } 59 60 static int adl_pci8164_auto_attach(struct comedi_device *dev, 61 unsigned long context_unused) 62 { 63 struct pci_dev *pcidev = comedi_to_pci_dev(dev); 64 struct comedi_subdevice *s; 65 int ret; 66 67 ret = comedi_pci_enable(dev); 68 if (ret) 69 return ret; 70 dev->iobase = pci_resource_start(pcidev, 2); 71 72 ret = comedi_alloc_subdevices(dev, 4); 73 if (ret) 74 return ret; 75 76 /* read MSTS register / write CMD register for each axis (channel) */ 77 s = &dev->subdevices[0]; 78 s->type = COMEDI_SUBD_PROC; 79 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 80 s->n_chan = 4; 81 s->maxdata = 0xffff; 82 s->len_chanlist = 4; 83 s->insn_read = adl_pci8164_insn_read; 84 s->insn_write = adl_pci8164_insn_write; 85 s->private = (void *)PCI8164_CMD_MSTS_REG; 86 87 /* read SSTS register / write OTP register for each axis (channel) */ 88 s = &dev->subdevices[1]; 89 s->type = COMEDI_SUBD_PROC; 90 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 91 s->n_chan = 4; 92 s->maxdata = 0xffff; 93 s->len_chanlist = 4; 94 s->insn_read = adl_pci8164_insn_read; 95 s->insn_write = adl_pci8164_insn_write; 96 s->private = (void *)PCI8164_OTP_SSTS_REG; 97 98 /* read/write BUF0 register for each axis (channel) */ 99 s = &dev->subdevices[2]; 100 s->type = COMEDI_SUBD_PROC; 101 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 102 s->n_chan = 4; 103 s->maxdata = 0xffff; 104 s->len_chanlist = 4; 105 s->insn_read = adl_pci8164_insn_read; 106 s->insn_write = adl_pci8164_insn_write; 107 s->private = (void *)PCI8164_BUF0_REG; 108 109 /* read/write BUF1 register for each axis (channel) */ 110 s = &dev->subdevices[3]; 111 s->type = COMEDI_SUBD_PROC; 112 s->subdev_flags = SDF_READABLE | SDF_WRITABLE; 113 s->n_chan = 4; 114 s->maxdata = 0xffff; 115 s->len_chanlist = 4; 116 s->insn_read = adl_pci8164_insn_read; 117 s->insn_write = adl_pci8164_insn_write; 118 s->private = (void *)PCI8164_BUF1_REG; 119 120 return 0; 121 } 122 123 static struct comedi_driver adl_pci8164_driver = { 124 .driver_name = "adl_pci8164", 125 .module = THIS_MODULE, 126 .auto_attach = adl_pci8164_auto_attach, 127 .detach = comedi_pci_detach, 128 }; 129 130 static int adl_pci8164_pci_probe(struct pci_dev *dev, 131 const struct pci_device_id *id) 132 { 133 return comedi_pci_auto_config(dev, &adl_pci8164_driver, 134 id->driver_data); 135 } 136 137 static const struct pci_device_id adl_pci8164_pci_table[] = { 138 { PCI_DEVICE(PCI_VENDOR_ID_ADLINK, 0x8164) }, 139 { 0 } 140 }; 141 MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table); 142 143 static struct pci_driver adl_pci8164_pci_driver = { 144 .name = "adl_pci8164", 145 .id_table = adl_pci8164_pci_table, 146 .probe = adl_pci8164_pci_probe, 147 .remove = comedi_pci_auto_unconfig, 148 }; 149 module_comedi_pci_driver(adl_pci8164_driver, adl_pci8164_pci_driver); 150 151 MODULE_AUTHOR("Comedi https://www.comedi.org"); 152 MODULE_DESCRIPTION("Comedi low-level driver"); 153 MODULE_LICENSE("GPL"); 154