2 comedi/drivers/jr3_pci.c
3 hardware driver for JR3/PCI force sensor board
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
8 This program is free software; you can redistribute it and/or modify
9 it under the terms of the GNU General Public License as published by
10 the Free Software Foundation; either version 2 of the License, or
11 (at your option) any later version.
13 This program is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 GNU General Public License for more details.
18 You should have received a copy of the GNU General Public License
19 along with this program; if not, write to the Free Software
20 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 Description: JR3/PCI force sensor board
26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
28 Devices: [JR3] PCI force sensor board (jr3_pci)
30 The DSP on the board requires initialization code, which can
31 be loaded by placing it in /lib/firmware/comedi.
32 The initialization code should be somewhere on the media you got
33 with your card. One version is available from http://www.comedi.org
34 in the comedi_nonfree_firmware tarball.
36 Configuration options:
37 [0] - PCI bus number - if bus number and slot number are 0,
38 then driver search for first unused card
43 #include "../comedidev.h"
45 #include <linux/delay.h>
46 #include <linux/ctype.h>
47 #include <linux/firmware.h>
48 #include "comedi_pci.h"
51 /* Hotplug firmware loading stuff */
53 static void comedi_fw_release(struct device *dev)
55 printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n");
58 static struct device comedi_fw_device = {
59 .init_name = "comedi",
60 .release = comedi_fw_release
63 typedef int comedi_firmware_callback(struct comedi_device * dev,
64 const u8 * data, size_t size);
66 static int comedi_load_firmware(struct comedi_device * dev,
67 char *name, comedi_firmware_callback cb)
70 const struct firmware *fw;
72 static const char *prefix = "comedi/";
74 firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
78 firmware_path[0] = '\0';
79 strcat(firmware_path, prefix);
80 strcat(firmware_path, name);
81 result = device_register(&comedi_fw_device);
83 result = request_firmware(&fw, firmware_path,
89 result = cb(dev, fw->data, fw->size);
93 device_unregister(&comedi_fw_device);
100 #define PCI_VENDOR_ID_JR3 0x1762
101 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
102 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
103 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
104 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
106 static int jr3_pci_attach(struct comedi_device * dev, comedi_devconfig * it);
107 static int jr3_pci_detach(struct comedi_device * dev);
109 static comedi_driver driver_jr3_pci = {
110 driver_name:"jr3_pci",
112 attach:jr3_pci_attach,
113 detach:jr3_pci_detach,
116 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
117 {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
118 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
119 {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
120 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
121 {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
122 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
123 {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
124 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
128 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
131 struct pci_dev *pci_dev;
133 volatile jr3_t *iobase;
135 struct timer_list timer;
136 } jr3_pci_dev_private;
144 volatile jr3_channel_t *channel;
145 unsigned long next_time_min;
146 unsigned long next_time_max;
147 enum { state_jr3_poll,
148 state_jr3_init_wait_for_offset,
149 state_jr3_init_transform_complete,
150 state_jr3_init_set_full_scale_complete,
151 state_jr3_init_use_offset_complete,
161 const comedi_lrange *range_table_list[8 * 7 + 2];
162 unsigned int maxdata_list[8 * 7 + 2];
165 } jr3_pci_subdev_private;
167 static poll_delay_t poll_delay_min_max(int min, int max)
176 static int is_complete(volatile jr3_channel_t * channel)
178 return get_s16(&channel->command_word0) == 0;
188 static void set_transforms(volatile jr3_channel_t * channel,
189 transform_t transf, short num)
193 num &= 0x000f; // Make sure that 0 <= num <= 15
194 for (i = 0; i < 8; i++) {
196 set_u16(&channel->transforms[num].link[i].link_type,
197 transf.link[i].link_type);
199 set_s16(&channel->transforms[num].link[i].link_amount,
200 transf.link[i].link_amount);
202 if (transf.link[i].link_type == end_x_form) {
208 static void use_transform(volatile jr3_channel_t * channel, short transf_num)
210 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
213 static void use_offset(volatile jr3_channel_t * channel, short offset_num)
215 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
218 static void set_offset(volatile jr3_channel_t * channel)
220 set_s16(&channel->command_word0, 0x0700);
232 static void set_full_scales(volatile jr3_channel_t * channel,
233 six_axis_t full_scale)
235 printk("%d %d %d %d %d %d\n",
238 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
239 set_s16(&channel->full_scale.fx, full_scale.fx);
240 set_s16(&channel->full_scale.fy, full_scale.fy);
241 set_s16(&channel->full_scale.fz, full_scale.fz);
242 set_s16(&channel->full_scale.mx, full_scale.mx);
243 set_s16(&channel->full_scale.my, full_scale.my);
244 set_s16(&channel->full_scale.mz, full_scale.mz);
245 set_s16(&channel->command_word0, 0x0a00);
248 static six_axis_t get_min_full_scales(volatile jr3_channel_t * channel)
251 result.fx = get_s16(&channel->min_full_scale.fx);
252 result.fy = get_s16(&channel->min_full_scale.fy);
253 result.fz = get_s16(&channel->min_full_scale.fz);
254 result.mx = get_s16(&channel->min_full_scale.mx);
255 result.my = get_s16(&channel->min_full_scale.my);
256 result.mz = get_s16(&channel->min_full_scale.mz);
260 static six_axis_t get_max_full_scales(volatile jr3_channel_t * channel)
263 result.fx = get_s16(&channel->max_full_scale.fx);
264 result.fy = get_s16(&channel->max_full_scale.fy);
265 result.fz = get_s16(&channel->max_full_scale.fz);
266 result.mx = get_s16(&channel->max_full_scale.mx);
267 result.my = get_s16(&channel->max_full_scale.my);
268 result.mz = get_s16(&channel->max_full_scale.mz);
272 static int jr3_pci_ai_insn_read(struct comedi_device * dev, comedi_subdevice * s,
273 comedi_insn * insn, unsigned int * data)
276 jr3_pci_subdev_private *p;
280 channel = CR_CHAN(insn->chanspec);
281 if (p == NULL || channel > 57) {
287 if (p->state != state_jr3_done ||
288 (get_u16(&p->channel->
289 errors) & (watch_dog | watch_dog2 |
291 /* No sensor or sensor changed */
292 if (p->state == state_jr3_done) {
293 /* Restart polling */
294 p->state = state_jr3_poll;
298 for (i = 0; i < insn->n; i++) {
303 filter = channel / 8;
304 if (p->state != state_jr3_done) {
366 data[i] = F + 0x4000;
368 } else if (channel == 56) {
369 if (p->state != state_jr3_done) {
373 get_u16(&p->channel->model_no);
375 } else if (channel == 57) {
376 if (p->state != state_jr3_done) {
380 get_u16(&p->channel->serial_no);
388 static void jr3_pci_open(struct comedi_device * dev)
391 jr3_pci_dev_private *devpriv = dev->private;
393 printk("jr3_pci_open\n");
394 for (i = 0; i < devpriv->n_channels; i++) {
395 jr3_pci_subdev_private *p;
397 p = dev->subdevices[i].private;
399 printk("serial: %p %d (%d)\n", p, p->serial_no,
405 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
408 if (pos != 0 && val != 0) {
410 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
414 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
415 char ch = tolower(data[*pos]);
417 if ('0' <= ch && ch <= '9') {
418 *val = (*val << 4) + (ch - '0');
419 } else if ('a' <= ch && ch <= 'f') {
420 *val = (*val << 4) + (ch - 'a' + 10);
427 static int jr3_download_firmware(struct comedi_device * dev, const u8 * data,
431 * IDM file format is:
432 * { count, address, data <count> } *
435 int result, more, pos, OK;
442 unsigned int count, addr;
444 more = more && read_idm_word(data, size, &pos, &count);
445 if (more && count == 0xffff) {
449 more = more && read_idm_word(data, size, &pos, &addr);
450 while (more && count > 0) {
452 more = more && read_idm_word(data, size, &pos, &dummy);
461 jr3_pci_dev_private *p = dev->private;
463 for (i = 0; i < p->n_channels; i++) {
464 jr3_pci_subdev_private *sp;
466 sp = dev->subdevices[i].private;
470 unsigned int count, addr;
472 && read_idm_word(data, size, &pos,
474 if (more && count == 0xffff) {
478 && read_idm_word(data, size, &pos,
480 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
482 while (more && count > 0) {
484 // 16 bit data, never seen in real life!!
488 && read_idm_word(data,
491 // printk("jr3_data, not tested\n");
492 // jr3[addr + 0x20000 * pnum] = data1;
494 // Download 24 bit program
495 unsigned int data1, data2;
498 && read_idm_word(data,
501 && read_idm_word(data,
526 static poll_delay_t jr3_pci_poll_subdevice(comedi_subdevice * s)
528 poll_delay_t result = poll_delay_min_max(1000, 2000);
529 jr3_pci_subdev_private *p = s->private;
532 volatile jr3_channel_t *channel = p->channel;
533 int errors = get_u16(&channel->errors);
535 if (errors != p->errors) {
536 printk("Errors: %x -> %x\n", p->errors, errors);
539 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
540 // Sensor communication lost, force poll mode
541 p->state = state_jr3_poll;
545 case state_jr3_poll:{
546 u16 model_no = get_u16(&channel->model_no);
547 u16 serial_no = get_u16(&channel->serial_no);
548 if ((errors & (watch_dog | watch_dog2)) ||
549 model_no == 0 || serial_no == 0) {
550 // Still no sensor, keep on polling. Since it takes up to
551 // 10 seconds for offsets to stabilize, polling each
552 // second should suffice.
553 result = poll_delay_min_max(1000, 2000);
557 state_jr3_init_wait_for_offset;
558 result = poll_delay_min_max(1000, 2000);
562 case state_jr3_init_wait_for_offset:{
564 if (p->retries < 10) {
565 // Wait for offeset to stabilize (< 10 s according to manual)
566 result = poll_delay_min_max(1000, 2000);
571 get_u16(&channel->model_no);
573 get_u16(&channel->serial_no);
575 printk("Setting transform for channel %d\n", p->channel_no);
576 printk("Sensor Model = %i\n",
578 printk("Sensor Serial = %i\n",
581 // Transformation all zeros
582 transf.link[0].link_type =
584 transf.link[0].link_amount = 0;
585 transf.link[1].link_type =
587 transf.link[1].link_amount = 0;
588 transf.link[2].link_type =
590 transf.link[2].link_amount = 0;
591 transf.link[3].link_type =
593 transf.link[3].link_amount = 0;
595 set_transforms(channel, transf, 0);
596 use_transform(channel, 0);
598 state_jr3_init_transform_complete;
599 result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
602 case state_jr3_init_transform_complete:{
603 if (!is_complete(channel)) {
604 printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
605 result = poll_delay_min_max(20, 100);
608 six_axis_t min_full_scale;
609 six_axis_t max_full_scale;
612 get_min_full_scales(channel);
613 printk("Obtained Min. Full Scales:\n");
614 printk("%i ", (min_full_scale).fx);
615 printk("%i ", (min_full_scale).fy);
616 printk("%i ", (min_full_scale).fz);
617 printk("%i ", (min_full_scale).mx);
618 printk("%i ", (min_full_scale).my);
619 printk("%i ", (min_full_scale).mz);
623 get_max_full_scales(channel);
624 printk("Obtained Max. Full Scales:\n");
625 printk("%i ", (max_full_scale).fx);
626 printk("%i ", (max_full_scale).fy);
627 printk("%i ", (max_full_scale).fz);
628 printk("%i ", (max_full_scale).mx);
629 printk("%i ", (max_full_scale).my);
630 printk("%i ", (max_full_scale).mz);
633 set_full_scales(channel,
637 state_jr3_init_set_full_scale_complete;
638 result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
642 case state_jr3_init_set_full_scale_complete:{
643 if (!is_complete(channel)) {
644 printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
645 result = poll_delay_min_max(20, 100);
647 volatile force_array_t *full_scale;
649 // Use ranges in kN or we will overflow arount 2000N!
650 full_scale = &channel->full_scale;
651 p->range[0].range.min =
652 -get_s16(&full_scale->fx) *
654 p->range[0].range.max =
655 get_s16(&full_scale->fx) * 1000;
656 p->range[1].range.min =
657 -get_s16(&full_scale->fy) *
659 p->range[1].range.max =
660 get_s16(&full_scale->fy) * 1000;
661 p->range[2].range.min =
662 -get_s16(&full_scale->fz) *
664 p->range[2].range.max =
665 get_s16(&full_scale->fz) * 1000;
666 p->range[3].range.min =
667 -get_s16(&full_scale->mx) * 100;
668 p->range[3].range.max =
669 get_s16(&full_scale->mx) * 100;
670 p->range[4].range.min =
671 -get_s16(&full_scale->my) * 100;
672 p->range[4].range.max =
673 get_s16(&full_scale->my) * 100;
674 p->range[5].range.min =
675 -get_s16(&full_scale->mz) * 100;
676 p->range[5].range.max =
677 get_s16(&full_scale->mz) * 100;
678 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; // ??
679 p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ??
680 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; // ??
681 p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ??
682 p->range[8].range.min = 0;
683 p->range[8].range.max = 65535;
687 for (i = 0; i < 9; i++) {
688 printk("%d %d - %d\n",
697 use_offset(channel, 0);
699 state_jr3_init_use_offset_complete;
700 result = poll_delay_min_max(40, 100); // Allow 40 ms for completion
704 case state_jr3_init_use_offset_complete:{
705 if (!is_complete(channel)) {
706 printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
707 result = poll_delay_min_max(20, 100);
709 printk("Default offsets %d %d %d %d %d %d\n", get_s16(&channel->offsets.fx), get_s16(&channel->offsets.fy), get_s16(&channel->offsets.fz), get_s16(&channel->offsets.mx), get_s16(&channel->offsets.my), get_s16(&channel->offsets.mz));
711 set_s16(&channel->offsets.fx, 0);
712 set_s16(&channel->offsets.fy, 0);
713 set_s16(&channel->offsets.fz, 0);
714 set_s16(&channel->offsets.mx, 0);
715 set_s16(&channel->offsets.my, 0);
716 set_s16(&channel->offsets.mz, 0);
720 p->state = state_jr3_done;
724 case state_jr3_done:{
725 poll_delay_min_max(10000, 20000);
729 poll_delay_min_max(1000, 2000);
737 static void jr3_pci_poll_dev(unsigned long data)
740 struct comedi_device *dev = (struct comedi_device *) data;
741 jr3_pci_dev_private *devpriv = dev->private;
746 comedi_spin_lock_irqsave(&dev->spinlock, flags);
749 // Poll all channels that are ready to be polled
750 for (i = 0; i < devpriv->n_channels; i++) {
751 jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
752 if (now > subdevpriv->next_time_min) {
753 poll_delay_t sub_delay;
755 sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
756 subdevpriv->next_time_min =
757 jiffies + msecs_to_jiffies(sub_delay.min);
758 subdevpriv->next_time_max =
759 jiffies + msecs_to_jiffies(sub_delay.max);
760 if (sub_delay.max && sub_delay.max < delay) {
761 // Wake up as late as possible -> poll as many channels as
763 delay = sub_delay.max;
767 comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
769 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
770 add_timer(&devpriv->timer);
773 static int jr3_pci_attach(struct comedi_device * dev, comedi_devconfig * it)
776 struct pci_dev *card = NULL;
777 int opt_bus, opt_slot, i;
778 jr3_pci_dev_private *devpriv;
780 printk("comedi%d: jr3_pci\n", dev->minor);
782 opt_bus = it->options[0];
783 opt_slot = it->options[1];
785 if (sizeof(jr3_channel_t) != 0xc00) {
786 printk("sizeof(jr3_channel_t) = %x [expected %x]\n",
787 (unsigned)sizeof(jr3_channel_t), 0xc00);
791 result = alloc_private(dev, sizeof(jr3_pci_dev_private));
796 devpriv = dev->private;
797 init_timer(&devpriv->timer);
799 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
804 switch (card->device) {
805 case PCI_DEVICE_ID_JR3_1_CHANNEL:{
806 devpriv->n_channels = 1;
809 case PCI_DEVICE_ID_JR3_2_CHANNEL:{
810 devpriv->n_channels = 2;
813 case PCI_DEVICE_ID_JR3_3_CHANNEL:{
814 devpriv->n_channels = 3;
817 case PCI_DEVICE_ID_JR3_4_CHANNEL:{
818 devpriv->n_channels = 4;
822 devpriv->n_channels = 0;
825 if (devpriv->n_channels >= 1) {
826 if (opt_bus == 0 && opt_slot == 0) {
827 /* Take first available card */
829 } else if (opt_bus == card->bus->number &&
830 opt_slot == PCI_SLOT(card->devfn)) {
831 /* Take requested card */
838 printk(" no jr3_pci found\n");
841 devpriv->pci_dev = card;
842 dev->board_name = "jr3_pci";
844 if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) {
847 devpriv->pci_enabled = 1;
848 devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(jr3_t));
849 result = alloc_subdevices(dev, devpriv->n_channels);
853 dev->open = jr3_pci_open;
854 for (i = 0; i < devpriv->n_channels; i++) {
855 dev->subdevices[i].type = COMEDI_SUBD_AI;
856 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
857 dev->subdevices[i].n_chan = 8 * 7 + 2;
858 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
859 dev->subdevices[i].private =
860 kzalloc(sizeof(jr3_pci_subdev_private), GFP_KERNEL);
861 if (dev->subdevices[i].private) {
862 jr3_pci_subdev_private *p;
865 p = dev->subdevices[i].private;
866 p->channel = &devpriv->iobase->channel[i].data;
867 printk("p->channel %p %p (%tx)\n",
868 p->channel, devpriv->iobase,
869 ((char *)(p->channel) -
870 (char *)(devpriv->iobase)));
872 for (j = 0; j < 8; j++) {
875 p->range[j].length = 1;
876 p->range[j].range.min = -1000000;
877 p->range[j].range.max = 1000000;
878 for (k = 0; k < 7; k++) {
879 p->range_table_list[j + k * 8] =
880 (comedi_lrange *) & p->range[j];
881 p->maxdata_list[j + k * 8] = 0x7fff;
884 p->range[8].length = 1;
885 p->range[8].range.min = 0;
886 p->range[8].range.max = 65536;
888 p->range_table_list[56] =
889 (comedi_lrange *) & p->range[8];
890 p->range_table_list[57] =
891 (comedi_lrange *) & p->range[8];
892 p->maxdata_list[56] = 0xffff;
893 p->maxdata_list[57] = 0xffff;
894 // Channel specific range and maxdata
895 dev->subdevices[i].range_table = 0;
896 dev->subdevices[i].range_table_list =
898 dev->subdevices[i].maxdata = 0;
899 dev->subdevices[i].maxdata_list = p->maxdata_list;
904 devpriv->iobase->channel[0].reset = 0;
906 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
907 printk("Firmare load %d\n", result);
912 // TODO: use firmware to load preferred offset tables. Suggested format:
913 // model serial Fx Fy Fz Mx My Mz\n
915 // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
917 // It takes a few milliseconds for software to settle
918 // as much as we can read firmware version
919 msleep_interruptible(25);
920 for (i = 0; i < 0x18; i++) {
922 get_u16(&devpriv->iobase->channel[0].data.
927 for (i = 0; i < devpriv->n_channels; i++) {
928 jr3_pci_subdev_private *p = dev->subdevices[i].private;
930 p->next_time_min = jiffies + msecs_to_jiffies(500);
931 p->next_time_max = jiffies + msecs_to_jiffies(2000);
934 devpriv->timer.data = (unsigned long)dev;
935 devpriv->timer.function = jr3_pci_poll_dev;
936 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
937 add_timer(&devpriv->timer);
943 static int jr3_pci_detach(struct comedi_device * dev)
946 jr3_pci_dev_private *devpriv = dev->private;
948 printk("comedi%d: jr3_pci: remove\n", dev->minor);
950 del_timer_sync(&devpriv->timer);
952 if (dev->subdevices) {
953 for (i = 0; i < devpriv->n_channels; i++) {
954 kfree(dev->subdevices[i].private);
958 if (devpriv->iobase) {
959 iounmap((void *)devpriv->iobase);
961 if (devpriv->pci_enabled) {
962 comedi_pci_disable(devpriv->pci_dev);
965 if (devpriv->pci_dev) {
966 pci_dev_put(devpriv->pci_dev);
972 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);