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galil1800 linux驱动程序演示

Copyright (C) 2002 Shell Technologies s.r.l.
Authors: Marco Cesati <[e-mail]>, 
         Daniel P. Bovet <[e-mail]>

driver for the Galil 1800 PCI motion controllers (http://www.galilmc.com/)
   
   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.
   
   
DISCLAIMER: this driver is in alpha release, it is not exhaustively tested yet, 
            thus handle with care.
            
            
The driver has to be compiled as a kernel 2.4 module; to do this,
just type "make" at the shell prompt. The code should work with any
gcc version, but please stick to the versions suggested in the README file
of the linux kernel.

To load the driver, type at the shell prompt "/sbin/insmod ./galil_1800.o"
(you need to be root).

If insmod fails, check that the Galil card is effectively recognized by
looking at the output of "/sbin/lspci -v". If the card is present, get
its PCI identifiers ("/sbin/lspci -vn"), and check they match the ones in the 
galil_1800.c:

        #define PLX_PCI_VENDOR_ID            0x10B5
        #define PLX_PCI_DEVICE_ID            0x9050
        #define GALIL_SUB_VENDOR             0x1079
        #define GALIL_SUB_DEVICE_1800        0x1800

Once succesfully installed, you should read the major number allocated to the
device in /proc/devices: look for a "galil_1800" string, and take notice of the
number on the left (let's say it is equal to 254). Then create a new character
device file for the Galil card, by typing at the shell prompt (as root):
"/bin/mknod c galil0 254 0" 
                    ^^^ replace with the major number in /proc/devices!
                    

User Mode programs may interact with the Galil card in two ways: 

1. by reading and writing Galil command sequences from/to the character device
file

2. by issuing ioctl system calls on the character device file
 
The list of available ioctl's commands are in the galil_ioctl.h file. You don't
really need GALIL_MAY_READ and GALIL_MAY_WRITE (they may disappear in future
realeses); moreover, GALIL_GET_SERIAL_NUMBER is untested and not really useful.
The remaining commands are:

GALIL_SIGNAL_INTERRUPT: register the process issuing the ioctl system call
so that the kernel will signal it via SIGUSR1 on every interrupt raised by the
GALIL card (that's useful for notification of long, asynchronous operations)

GALIL_GET_IRQ_STACK: read from the kernel the stack of accumulated interrupts
value (encoding the events that raised the Galil interrupts)

GALIL_READ_2ND_FIFO: read in a buffer the information gathered by the card on
the secondary channel


Good look, 

	Marco Cesati <[e-mail]>