Может типа такого:
(Хотя по идее если карта включается прямо в комп, наверное она подключится простой подгрузкой модуля в hal)
взято отсюда:
http://www.linuxcnc.org/docs/devel/html ... ot2.9.html
Smart Serial Interface
The Smart Serial Interface allows up to 32 different devices such as the Mesa 8i20 2.2kW 3-phase drive or 7i64 48-way IO cards to be connected to a single FPGA card. The driver auto-detects the connected hardware port, channel and device type. Devices can be connected in any order to any active channel of an active port. (see the config modparam definition above).
In addition to the per-channel/device pins detailed below there are three per-port pins, three parameters and a further 7 pins shared between all ports used for changing on-device settings.
Pins:
(bit, in) .sserial.port-N.run: Enables the specific Smart Serial module. Setting this pin low will disable all boards on the port and puts the port in a pass-through mode where device parameter setting is possible. This pin defaults to TRUE and can be left unconnected. However, toggling the pin low-to-high will re-enable a faulted drive so the pin could usefully be connected to the iocontrol.0.user-enable-out pin.
(u32, ro) .run_state: Shows the state of the sserial communications state-machine. This pin will generally show a value of 0x03 in normal operation, 0x07 in setup mode and 0x00 when the "run" pin is false.
(u32, ro) .error-count: Indicates the state of the Smart Serial error handler, see the parameters sections for more details.
(u32, in) .sserial.port: When programming device parameters, this pin sets the active port.
(u32, in) .sserial.channel: This sets the active channel on the port defined above.
(u32, in) .sserial.parameter: The two LSBs of this pin determine the parameter address on the device connected to the channel and port defined above which will be read from or written to.
(u32, in) .sserial.value: This pin is used to set the value to be written to a device parameter. It can also be used to read-back a value from the device, but as it is an input pin the read-back value is only useful to humans.
(bit, in) .sserial.read: Starts the parameter read cycle. On completion the pin will return to zero (if not connected in HAL)
(bit, in) .sserial.write: Starts the parameter write cycle. On completion the pin will return to zero (if not connected in HAL)
(u32, out) .sserial.state: Shows the state of the read or write process (which typically takes many servo cycles). See the source code if the precise meanings are important to your application.
Parameters:
(u32 r/w) .fault-inc: Any over-run or handshaking error in the SmartSerial communications will increment the .fault-count pin by the amount specified by this parameter. Default = 10.
(u32 r/w) .fault-dec: Every successful read/write cycle decrements the fault counter by this amount. Default = 1.
(u32 r/w) .fault-lim: When the fault counter reaches this threshold the Smart Serial interface on the corresponding port will be stopped and an error printed in dmesg. Together these three pins allow for control over the degree of fault- tolerance allowed in the interface. The default values mean that if more than one transaction in ten fails, more than 20 times, then a hard error will be raised. If the increment were to be set to zero then no error would ever be raised, and the system would carry on regardless. Conversely setting decrement to zero, threshold to 1 and limit to 1 means that absolutely no errors will be tolerated. (This structure is copied directly from vehicle ECU practice)
The other pins and parameters created in HAL depend on the devices detected.
8i20
The 8i20 is a 2.2kW three-phase drive for brushless DC motors and AC servo motors. 8i20 pins and parameters have names like "hm2_<BoardType>.<BoardNum>.8i20.<PortNum>.<ChanNum>.<Pin>", for example "hm2_5i23.0.8i20.1.3.current" would set the phase current for the drive connected to the fourth channel of the second sserial port of the first 5i23 board. Note that the sserial ports do not necessarily correlate in layout or number to the physical ports on the card.
Pins:
(bit, in) amp-enable: Set this pin high to enable the drive. With the pin low communications are active but the phase angle and current are set to zero.
(float in) angle: The rotor angle of the motor in fractions of a full phase revolution. An angle of 0.5 indicates that the motor is half a turn / 180 degrees / π radians from the zero position. The zero position is taken to be the position that the motor adopts under no load with a poitive voltage applied to the A (or U) phase and both B and C (or V and W) connected to -V or 0V. A 6 pole motor will have 3 zero positions per physical rotation. Note that the 8i20 drive automatically adds the phase lead/lag angle, and that this pin should see the raw rotor angle. There is a HAL module (bldc) which handles the complexity of differing motor and drive types.
(float, in) current: The phase current command to the drive. This is scaled from -1 to +1 for forwards and reverse maximum currents. The absolute value of the current is set by the max_current parameter.
(float, ro) voltage: The drive bus voltage in V. This will tend to show 25.6V when the drive is unpowered and the drive will not operate below about 50V.
(float, ro) temp: The temperature of the driver in degrees C.
(u32, ro) fault: The fault status of the drive. See the 8i20 manual for a detailed description.
(u32, ro) status: The operating status of the drive. See the 8i20 manual for more details.
(u32, ro) comms: The communication status of the drive. See the manual for more details.
Parameters:
(float, rw) max_current: Sets the maximum drive current in Amps. The default value is the maximum current programmed into the drive EEPROM. The value must be positive, and an error will be raised if a current in excess of the drive maximum is requested.
(u32, ro) serial_number: The serial number of the connected drive. This is also shown on the label on the drive.
7i64
The 7i64 is a 24-input 24-output IO card. 7i64 pins and parameters have names like "hm2_<BoardType>.<BoardNum>.7i64. <PortNum>.<ChanNum>.<Pin>", for example hm2_5i23.0.7i63.1.3.digout.01.out
Pins: (bit, in) .digout.NN.out: Writing a 1 or TRUE to this pin will enable output driver NN. Note that the outputs are drivers (switches) rather than voltage outputs. The LED adjacent to the connector on the board shows the status.
(bit, out) .digin.NN.in: The value of input NN. Note that the inputs are isolated and both pins of each input must be connected (typically to signal and the ground of the signal. This need not be the ground of the board.)
(bit, out) .digin.NN.in-not: An inverted copy of the corresponding input.
(float, out) .adcin.00.in & .adcin.01.in: The two analogue inputs (0 to 3.3V) on the board.
Parameters: (bit, rw) .digout.NN.invert: Setting this parameter to 1 / TRUE will invert the output value, such that writing 0 to .gpio.NN.out will enable the output and vice-versa.
7i43P => 1)7i47S + 7i47. На 7i47 повесить 7i70 + 7i66-8 и все энкодеры которые не влезли на первую колодку.
! Да еще с таким количеством, ты их оптом что-ли брал 
?
И в описании драйвера ХМ2 есть слова о том, что он с ней работает. 