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
30static 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
45static 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
60static 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
123static 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
130static 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
137static const struct pci_device_id adl_pci8164_pci_table[] = {
138	{ PCI_DEVICE(PCI_VENDOR_ID_ADLINK, 0x8164) },
139	{ 0 }
140};
141MODULE_DEVICE_TABLE(pci, adl_pci8164_pci_table);
142
143static 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};
149module_comedi_pci_driver(adl_pci8164_driver, adl_pci8164_pci_driver);
150
151MODULE_AUTHOR("Comedi https://www.comedi.org");
152MODULE_DESCRIPTION("Comedi low-level driver");
153MODULE_LICENSE("GPL");
154