Copyright (C) 2002 Shell Technologies s.r.l.Authors: Marco Cesati <cesati@uniroma2.it>,          Daniel P. Bovet <bovet@uniroma2.it>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 anygcc version, but please stick to the versions suggested in the README fileof 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 bylooking at the output of "/sbin/lspci -v". If the card is present, getits 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        0x1800Once succesfully installed, you should read the major number allocated to thedevice in /proc/devices: look for a "galil_1800" string, and take notice of thenumber on the left (let's say it is equal to 254). Then create a new characterdevice 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 devicefile2. 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'treally need GALIL_MAY_READ and GALIL_MAY_WRITE (they may disappear in futurerealeses); 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 callso that the kernel will signal it via SIGUSR1 on every interrupt raised by theGALIL card (that's useful for notification of long, asynchronous operations)GALIL_GET_IRQ_STACK: read from the kernel the stack of accumulated interruptsvalue (encoding the events that raised the Galil interrupts)GALIL_READ_2ND_FIFO: read in a buffer the information gathered by the card onthe secondary channelGood look, 	Marco Cesati <cesati@uniroma2.it>