Precix CNC Router that has the Sensoray 626 pci card and pwm Servos need help

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31 Dec 2017 17:34 #103906 by EMFab01
what do you do if you can't get the "base address" of the 626 card?

router@Router:~$ lspci -v -b -d 1131:7146
01:02.0 Multimedia controller: Philips Semiconductors SAA7146 (rev 01)
Subsystem: Device 6000:0272
Flags: bus master, medium devsel, latency 32, IRQ 3
Memory at f7c00000 (32-bit, non-prefetchable)
Kernel driver in use: S626

router@Router:~$

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03 Jan 2018 00:56 #103973 by andypugh
You seem to have a driver loaded. Do you know anything about that?

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03 Jan 2018 05:38 #103980 by EMFab01
That is the sensoray 626 driver that came from the sensoray web site.

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03 Jan 2018 05:43 #103981 by EMFab01
this is the Readme file that comes with the 626 and I have all the files listed.
*************************************************************************
***** Sensoray Model 626 Analog and Digital I/O + Encoder/Counter *****
***** Linux SDK Version 1.0 *****
*************************************************************************


FILE LIST:

(Kernel module level Driver):

s626drv.c ---- Source code for the S626 lower-level loadable Linux
driver module.
s626drv.h ---- Header file containing constant, type and structure
definitions for the driver module.
s626.h ---- Header file containing definitions for ioctl() commands.

(CORE and MOD level Driver):

s626core.c ---- Source code for designated 626 driver core (OS-indepedent).
s626core.h ---- Header file for the s626 core, including type definitions
and core function prototypes.
s626mod.c ---- Source code for 626 Linux interface module and 626 Linux
driver API wrapper.
s626mod.h ---- Header file for 626 Linux interface module and containing
common type definitions.

(API):

s626api.h ---- Header file for 626 applications to include and face
626 driver API.
App626.h ---- Header file containing constant definitions for 626
applications.

(Demo&Samples):

s626demo.c ---- Source code of Sensoray Model 626 demo application.
s626dm2b.c ---- Sample application of using multi-626 boards,
including the source code of the demo application.

(Others):

Makefile ---- Makefile for: i) compiling and installing the kernel module
level driver; ii) building core&mod level driver library;
iii) compiling & linking demo/sample application.
MAKEDEV ---- Script for generating special device files.
COPYING ---- The GPL agreement.
README ---- This file.



DOCUMENTATION:

1) The driver APIs are documented/described in <<Model 626 Driver for
Windows>> manual, and partially illustrated in the demo/sample
application. Please refer to the source code "s626demo.c" and
"s626dm2b.c" to find out how to use the driver API functions to
implement your own application(s).

2) The driver API details and the function call usage described in the
manual <<Model 626 Driver for Windows>> are applicable to 626 Linux
driver too, since the 626 driver APIs are designed as OS-independent.

3) The standard open(), close(), read(), write() and ioctl() methods
are only used in implementing lower-level Linux driver module.
It is not encouraged to use this interface and function calls to
develop your application(s) for the Sensoray 626 module. But, if
for some reason you really need to develop any application(s) with
this interface or at this level, please refer to the source code
's626drv.c' to see the interfaces and details. Also please check
the Linux man pages for a complete kernel module level interface
description.

4) Refer to the documentation <<Instruction Manual: Sensoray Model 626
PCI Multifunction I/O Board>> for the hardware specification and
installation instructions.

5) As a summary or a handy reference, the connector pin definitions
for Digital I/O are shown below:

J2 - pin1: DIO23 J3 - pin1: DIO47
J2 - pin3: DIO22 J3 - pin3: DIO46
J2 - pin5: DIO21 J3 - pin5: DIO45
J2 - pin7: DIO20 J3 - pin7: DIO44
J2 - pin9: DIO19 J3 - pin9: DIO43
J2 - pin11: DIO18 J3 - pin11: DIO42
J2 - pin13: DIO17 J3 - pin13: DIO41
J2 - pin15: DIO16 J3 - pin15: DIO40
J2 - pin17: DIO15 J3 - pin17: DIO39
J2 - pin19: DIO14 J3 - pin19: DIO38
J2 - pin21: DIO13 J3 - pin21: DIO37
J2 - pin23: DIO12 J3 - pin23: DIO36
J2 - pin25: DIO11 J3 - pin25: DIO35
J2 - pin27: DIO10 J3 - pin27: DIO34
J2 - pin29: DIO9 J3 - pin29: DIO33
J2 - pin31: DIO8 J3 - pin31: DIO32
J2 - pin33: DIO7 J3 - pin33: DIO31
J2 - pin35: DIO6 J3 - pin35: DIO30
J2 - pin37: DIO5 J3 - pin37: DIO29
J2 - pin39: DIO4 J3 - pin39: DIO28
J2 - pin41: DIO3 J3 - pin41: DIO27
J2 - pin43: DIO2 J3 - pin43: DIO26
J2 - pin45: DIO1 J3 - pin45: DIO25
J2 - pin47: DIO0 J3 - pin47: DIO24
J2 - pin49: +5V J3 - pin49: +5V
All even pins GND All even pins GND

6) As a summary or a handy reference, the connector pin definitions
for A/D and D/A are shown below:

J1 - pin1: Shield J1 - pin2: GND
J1 - pin3: -AD0 J1 - pin4: +AD0
J1 - pin5: -AD1 J1 - pin6: +AD1
J1 - pin7: -AD2 J1 - pin8: +AD2
J1 - pin9: -AD3 J1 - pin10: +AD3
J1 - pin11: -AD4 J1 - pin12: +AD4
J1 - pin13: -AD5 J1 - pin14: +AD5
J1 - pin15: -AD6 J1 - pin16: +AD6
J1 - pin17: -AD7 J1 - pin18: +AD7
J1 - pin19: GND J1 - pin20: GND
J1 - pin21: -AD8 J1 - pin22: +AD8
J1 - pin23: -AD9 J1 - pin24: +AD9
J1 - pin25: -AD10 J1 - pin26: +AD10
J1 - pin27: -AD11 J1 - pin28: +AD11
J1 - pin29: -AD12 J1 - pin30: +AD12
J1 - pin31: -AD13 J1 - pin32: +AD13
J1 - pin33: -AD14 J1 - pin34: +AD14
J1 - pin35: -AD15 J1 - pin36: +AD15
J1 - pin37: GND J1 - pin38: GND
J1 - pin39: GND J1 - pin40: GND
J1 - pin41: Sense1 J1 - pin42: DAC0
J1 - pin43: Sense2 J1 - pin44: DAC1
J1 - pin45: Sense3 J1 - pin46: DAC2
J1 - pin47: Sense4 J1 - pin48: DAC3
J1 - pin49: GND J1 - pin50: Shield

7) As a summary or a handy reference, the connector pin definitions
for Encoder are shown below:

J5-pin1: Encoder(0A) A- J5-pin2: Encoder(0A) A+
J5-pin3: GND J5-pin4: Encoder(0A) B-
J5-pin5: Encoder(0A) B+ J5-pin6: +5V
J5-pin7: Encoder(0A) I- J5-pin8: Encoder(0A) I+
J5-pin9: GND J5-pin10: Encoder(1A) A-
J5-pin11: Encoder(1A) A+ J5-pin12: +5V
J5-pin13: Encoder(1A) B- J5-pin14: Encoder(1A) B+
J5-pin15: GND J5-pin16: Encoder(1A) I-
J5-pin17: Encoder(1A) I+ J5-pin18: +5V
J5-pin19: Encoder(2A) A- J5-pin20: Encoder(2A) A+
J5-pin21: GND J5-pin22: Encoder(2A) B-
J5-pin23: Encoder(2A) B+ J5-pin24: +5V
J5-pin25: Encoder(2A) I- J5-pin26: Encoder(2A) I+

J4-pin1: Encoder(0B) A- J4-pin2: Encoder(0B) A+
J4-pin3: GND J4-pin4: Encoder(0B) B-
J4-pin5: Encoder(0B) B+ J4-pin6: +5V
J4-pin7: Encoder(0B) I- J4-pin8: Encoder(0B) I+
J4-pin9: GND J4-pin10: Encoder(1B) A-
J4-pin11: Encoder(1B) A+ J4-pin12: +5V
J4-pin13: Encoder(1B) B- J4-pin14: Encoder(1B) B+
J4-pin15: GND J4-pin16: Encoder(1B) I-
J4-pin17: Encoder(1B) I+ J4-pin18: +5V
J4-pin19: Encoder(2B) A- J4-pin20: Encoder(2B) A+
J4-pin21: GND J4-pin22: Encoder(2B) B-
J4-pin23: Encoder(2B) B+ J4-pin24: +5V
J4-pin25: Encoder(2B) I- J4-pin26: Encoder(2B) I+

8) In the demo application, the following samples are available:
( all tested and working well )

space
toggle the flashing of all the boards LED's on/off
1
toggle the flashing of the 1st boards LED's on/off
relay
toggle on-board relay on/off
dO
toggle all digital outputs ( DIO channels: 47-0 )
dI
read all digital inputs ( DIO channel: 47-0 )
rdAD
read any analog input ( AD channels: 0-15 )
rpDA
ramp any DAC output ( DA channel: 0-3 )
Sacq
scattered acquisition from all ADC channels ( 0-15 )
mpW
use counter to measure the width of a pulse
mFrq
use a pair of counter to measure the frequency of a signal
intRpt
generate a 1 second interrupt via counter
intDIO
count interrupts occored on DIO channels
enc
encoder test (a simulated quadrature encoder is included)
quadr
use counter to test real quadrature encoder
tDO
test Digital Output throughput
tDI
test Digital Input throughput
tAD
test ADC throughput
tDA
test DAC throughput



KERNEL MODULE LEVEL DRIVER INSTALLATION:

1) Login from root, enter the directory where the files have been installed
(extracted to).

2) Type 'make clean' --- This will clean (remove) all old build files.

3) Type 'make' --- Builds the kernel module level driver.

4) Type 'make install' --- Installs the driver and makes the special
files.
Note: On Ubuntu, you make have to run 'sudo make install'

IMPORTANT:

In order for the make to be successful, the kernel source and
header files must be installed in the directory
'/usr/src/{kernel version}/include'. A link directory
'/usr/src/linux' must be linked to this {kernel version}
directory.

NOTE: Four special device files "/dev/s626a0", "/dev/s626a1", "/dev/s626a2",
and "/dev/s626a3" will be created after installing the driver.



LOADING THE DRIVER:

0) Some newer Ubuntu distributions (10.x and later) ship a s626 module with
the comedi staging driver. If this is the case, use 'sudo rmmod s626'
first to unload it.

1) type 'insmod s626' or 'modprobe s626' -- for loading the driver.
On Ubuntu, use 'sudo insmod s626' or 'sudo modprobe s626'
If it fails with '-1 File exists', see step 0.

2) type 'lsmod' -- for checking if the driver is loaded. This step is
optional and just for checking.



BUILDING CORE&MOD LIBRARY:

1) Type 'make clnall' --- This will remove all old obj, lib and exe files.

2) Type 'make lib' --- Builds the core&mod driver library, if you need
to build a new one or lost libs626.a from
distribution.

3) Optional: 'make lib32' --- Builds a 32-bit version of the library on a
64-bit system. If the compiler complains,
please do 'sudo apt-get install gcc-multilib'
Applications must be compiled with '-m32' option.


BUILDING AND RUNNING THE DEMO/SAMPLE APPLICATION:

1) Enter the directory where the files are installed.

2) Build the demo/sample applications using 'make demo'.

3) Load the driver using 'insmod s626' or 'modprobe s626'

5) Run './626demo' to execute the demo (sample) application.
Follow the menu options to select individual demo or test items.

6) Run './626dm2b' to execute the demo (sample) application of using
two 626 boards. It's portable for any application using more than
two multi-626 boards. Follow the manu options to select individual
demo or test items.

7) Optional: To build 32-bit versions of the demos on a 64-bit system,
use 'make demo32'. See also 'make lib32' above.

BUG REPORT:

If you happen to find/see any bug(s) in the driver, please report to
<This email address is being protected from spambots. You need JavaScript enabled to view it.>.



ACKNOWLEDGMENT:

Thank you for choosing Sensoray Model 626.
Good luck with using 626 in your project(s)/application(s)!
And have a lot of fun with Linux!



RELEASE_LOG
=======================================================================

Version 1.03 Mar. 2012
Fix multi-board bug from prev version.

Version 1.02 Jan. 2012
Added 32-bit app on 64-bit kernel support.

Version 1.01 Feb. 2007
Added 64-bit support

Version 1.0 12/19/2006
1) Added support for using multi-626 boards
2) Added sample application of using two 626 boards.
It's portable for using more than two multi-626 boards.
Tested: with
SuSE 9.2 -- 2.6.9

Version 0.3 05/20/2005
1) Added support for kernel 2.6
2) Optimized kernel module level driver code to prevent the driver from
potential stack overflow.
Notes: kernel list (tested with, before release)
SuSE 8.1 -- 2.4.19-4GB SuSE 9.2 -- 2.6.8-24
RedHat 9 -- 2.4.20-6 RedHat 9 -- 2.6.11
Fedora -- 2.6.10

Version 0.2 04/22/2004
1) New module structure with optimization
2) Added more demo and test sample programs

Version 0.1 07/01/2003
Initial version

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03 Jan 2018 11:36 #103987 by andypugh
Do you get the same memory address if you don't load the driver?

I would guess that that is the base address, though it looks rather large.

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03 Jan 2018 15:58 #103994 by EMFab01
yes it is the same.

router@Router:~$ lspci -v -b -d 1131:7146
01:02.0 Multimedia controller: Philips Semiconductors SAA7146 (rev 01)
Subsystem: Device 6000:0272
Flags: bus master, medium devsel, latency 32, IRQ 3
Memory at f7c00000 (32-bit, non-prefetchable)

router@Router:~$

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03 Jan 2018 16:49 #103995 by andypugh
f7c00000 is probably the address you need, but is a memory address rather than an ioport.

www.safaribooksonline.com/library/view/l...0596005903/ch09.html

The Motenc driver seems to use a very similar approach to the article above, and would probably make a good template.

github.com/LinuxCNC/linuxcnc/blob/9d99a3...rs/hal_motenc.c#L293

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27 Apr 2019 06:57 #132068 by wefixprecix
I stock all of the parts for that machine. Including electronics and hard drives etc. I was head engineer and production manager from 2003 to 2009. In fact that double tube gantry ATC machine that you have, I remember designing and building. I remember it because there were only 2 double tube gantry machines built....and I own the second one. Call me if you need any help. I am easy to find online...look up LinuxCNC user name on Google.

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