drivers/staging/comedi/drivers/jr3_pci.c

   1 /*
   2   comedi/drivers/jr3_pci.c
   3   hardware driver for JR3/PCI force sensor board
   4
   5   COMEDI - Linux Control and Measurement Device Interface
   6   Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
   7
   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.
  12
  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.
  17
  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.
  21
  22 */
  23 /*
  24 Driver: jr3_pci
  25 Description: JR3/PCI force sensor board
  26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
  27 Status: works
  28 Devices: [JR3] PCI force sensor board (jr3_pci)
  29
  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.
  35
  36   Configuration options:
  37   [0] - PCI bus number - if bus number and slot number are 0,
  38                          then driver search for first unused card
  39   [1] - PCI slot number
  40
  41 */
  42
  43 #include "../comedidev.h"
  44
  45 #include <linux/delay.h>
  46 #include <linux/ctype.h>
  47 #include <linux/firmware.h>
  48 #include <linux/jiffies.h>
  49 #include <linux/timer.h>
  50 #include "comedi_pci.h"
  51 #include "jr3_pci.h"
  52
  53 #define PCI_VENDOR_ID_JR3 0x1762
  54 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  55 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  56 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  57 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  58
  59 static int jr3_pci_attach(struct comedi_device *dev,
  60                           struct comedi_devconfig *it);
  61 static int jr3_pci_detach(struct comedi_device *dev);
  62
  63 static struct comedi_driver driver_jr3_pci = {
  64         .driver_name = "jr3_pci",
  65         .module = THIS_MODULE,
  66         .attach = jr3_pci_attach,
  67         .detach = jr3_pci_detach,
  68 };
  69
  70 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
  71         {
  72         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
  73                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  74         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
  75                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  76         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
  77                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  78         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
  79                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  80         0}
  81 };
  82
  83 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
  84
  85 struct jr3_pci_dev_private {
  86
  87         struct pci_dev *pci_dev;
  88         int pci_enabled;
  89         volatile struct jr3_t *iobase;
  90         int n_channels;
  91         struct timer_list timer;
  92 };
  93
  94 struct poll_delay_t {
  95
  96         int min;
  97         int max;
  98 };
  99
 100 struct jr3_pci_subdev_private {
 101         volatile struct jr3_channel *channel;
 102         unsigned long next_time_min;
 103         unsigned long next_time_max;
 104         enum { state_jr3_poll,
 105                 state_jr3_init_wait_for_offset,
 106                 state_jr3_init_transform_complete,
 107                 state_jr3_init_set_full_scale_complete,
 108                 state_jr3_init_use_offset_complete,
 109                 state_jr3_done
 110         } state;
 111         int channel_no;
 112         int serial_no;
 113         int model_no;
 114         struct {
 115                 int length;
 116                 struct comedi_krange range;
 117         } range[9];
 118         const struct comedi_lrange *range_table_list[8 * 7 + 2];
 119         unsigned int maxdata_list[8 * 7 + 2];
 120         u16 errors;
 121         int retries;
 122 };
 123
 124 /* Hotplug firmware loading stuff */
 125
 126 typedef int comedi_firmware_callback(struct comedi_device *dev,
 127                                      const u8 * data, size_t size);
 128
 129 static int comedi_load_firmware(struct comedi_device *dev, char *name,
 130                                 comedi_firmware_callback cb)
 131 {
 132         int result = 0;
 133         const struct firmware *fw;
 134         char *firmware_path;
 135         static const char *prefix = "comedi/";
 136         struct jr3_pci_dev_private *devpriv = dev->private;
 137
 138         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 139         if (!firmware_path) {
 140                 result = -ENOMEM;
 141         } else {
 142                 firmware_path[0] = '\0';
 143                 strcat(firmware_path, prefix);
 144                 strcat(firmware_path, name);
 145                 result = request_firmware(&fw, firmware_path,
 146                                           &devpriv->pci_dev->dev);
 147                 if (result == 0) {
 148                         if (!cb)
 149                                 result = -EINVAL;
 150                         else
 151                                 result = cb(dev, fw->data, fw->size);
 152                         release_firmware(fw);
 153                 }
 154                 kfree(firmware_path);
 155         }
 156         return result;
 157 }
 158
 159 static struct poll_delay_t poll_delay_min_max(int min, int max)
 160 {
 161         struct poll_delay_t result;
 162
 163         result.min = min;
 164         result.max = max;
 165         return result;
 166 }
 167
 168 static int is_complete(volatile struct jr3_channel *channel)
 169 {
 170         return get_s16(&channel->command_word0) == 0;
 171 }
 172
 173 struct transform_t {
 174         struct {
 175                 u16 link_type;
 176                 s16 link_amount;
 177         } link[8];
 178 };
 179
 180 static void set_transforms(volatile struct jr3_channel *channel,
 181                            struct transform_t transf, short num)
 182 {
 183         int i;
 184
 185         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 186         for (i = 0; i < 8; i++) {
 187
 188                 set_u16(&channel->transforms[num].link[i].link_type,
 189                         transf.link[i].link_type);
 190                 udelay(1);
 191                 set_s16(&channel->transforms[num].link[i].link_amount,
 192                         transf.link[i].link_amount);
 193                 udelay(1);
 194                 if (transf.link[i].link_type == end_x_form) {
 195                         break;
 196                 }
 197         }
 198 }
 199
 200 static void use_transform(volatile struct jr3_channel *channel,
 201                           short transf_num)
 202 {
 203         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 204 }
 205
 206 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 207 {
 208         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 209 }
 210
 211 static void set_offset(volatile struct jr3_channel *channel)
 212 {
 213         set_s16(&channel->command_word0, 0x0700);
 214 }
 215
 216 struct six_axis_t {
 217         s16 fx;
 218         s16 fy;
 219         s16 fz;
 220         s16 mx;
 221         s16 my;
 222         s16 mz;
 223 };
 224
 225 static void set_full_scales(volatile struct jr3_channel *channel,
 226                             struct six_axis_t full_scale)
 227 {
 228         printk("%d %d %d %d %d %d\n",
 229                full_scale.fx,
 230                full_scale.fy,
 231                full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 232         set_s16(&channel->full_scale.fx, full_scale.fx);
 233         set_s16(&channel->full_scale.fy, full_scale.fy);
 234         set_s16(&channel->full_scale.fz, full_scale.fz);
 235         set_s16(&channel->full_scale.mx, full_scale.mx);
 236         set_s16(&channel->full_scale.my, full_scale.my);
 237         set_s16(&channel->full_scale.mz, full_scale.mz);
 238         set_s16(&channel->command_word0, 0x0a00);
 239 }
 240
 241 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
 242                                              *channel)
 243 {
 244         struct six_axis_t result;
 245         result.fx = get_s16(&channel->min_full_scale.fx);
 246         result.fy = get_s16(&channel->min_full_scale.fy);
 247         result.fz = get_s16(&channel->min_full_scale.fz);
 248         result.mx = get_s16(&channel->min_full_scale.mx);
 249         result.my = get_s16(&channel->min_full_scale.my);
 250         result.mz = get_s16(&channel->min_full_scale.mz);
 251         return result;
 252 }
 253
 254 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
 255                                              *channel)
 256 {
 257         struct six_axis_t result;
 258         result.fx = get_s16(&channel->max_full_scale.fx);
 259         result.fy = get_s16(&channel->max_full_scale.fy);
 260         result.fz = get_s16(&channel->max_full_scale.fz);
 261         result.mx = get_s16(&channel->max_full_scale.mx);
 262         result.my = get_s16(&channel->max_full_scale.my);
 263         result.mz = get_s16(&channel->max_full_scale.mz);
 264         return result;
 265 }
 266
 267 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 268                                 struct comedi_subdevice *s,
 269                                 struct comedi_insn *insn, unsigned int *data)
 270 {
 271         int result;
 272         struct jr3_pci_subdev_private *p;
 273         int channel;
 274
 275         p = s->private;
 276         channel = CR_CHAN(insn->chanspec);
 277         if (p == NULL || channel > 57) {
 278                 result = -EINVAL;
 279         } else {
 280                 int i;
 281
 282                 result = insn->n;
 283                 if (p->state != state_jr3_done ||
 284                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 285                                                      sensor_change))) {
 286                         /* No sensor or sensor changed */
 287                         if (p->state == state_jr3_done) {
 288                                 /* Restart polling */
 289                                 p->state = state_jr3_poll;
 290                         }
 291                         result = -EAGAIN;
 292                 }
 293                 for (i = 0; i < insn->n; i++) {
 294                         if (channel < 56) {
 295                                 int axis, filter;
 296
 297                                 axis = channel % 8;
 298                                 filter = channel / 8;
 299                                 if (p->state != state_jr3_done) {
 300                                         data[i] = 0;
 301                                 } else {
 302                                         int F = 0;
 303                                         switch (axis) {
 304                                         case 0:{
 305                                                         F = get_s16
 306                                                             (&p->channel->filter
 307                                                              [filter].fx);
 308                                                 }
 309                                                 break;
 310                                         case 1:{
 311                                                         F = get_s16
 312                                                             (&p->channel->filter
 313                                                              [filter].fy);
 314                                                 }
 315                                                 break;
 316                                         case 2:{
 317                                                         F = get_s16
 318                                                             (&p->channel->filter
 319                                                              [filter].fz);
 320                                                 }
 321                                                 break;
 322                                         case 3:{
 323                                                         F = get_s16
 324                                                             (&p->channel->filter
 325                                                              [filter].mx);
 326                                                 }
 327                                                 break;
 328                                         case 4:{
 329                                                         F = get_s16
 330                                                             (&p->channel->filter
 331                                                              [filter].my);
 332                                                 }
 333                                                 break;
 334                                         case 5:{
 335                                                         F = get_s16
 336                                                             (&p->channel->filter
 337                                                              [filter].mz);
 338                                                 }
 339                                                 break;
 340                                         case 6:{
 341                                                         F = get_s16
 342                                                             (&p->channel->filter
 343                                                              [filter].v1);
 344                                                 }
 345                                                 break;
 346                                         case 7:{
 347                                                         F = get_s16
 348                                                             (&p->channel->filter
 349                                                              [filter].v2);
 350                                                 }
 351                                                 break;
 352                                         }
 353                                         data[i] = F + 0x4000;
 354                                 }
 355                         } else if (channel == 56) {
 356                                 if (p->state != state_jr3_done) {
 357                                         data[i] = 0;
 358                                 } else {
 359                                         data[i] =
 360                                             get_u16(&p->channel->model_no);
 361                                 }
 362                         } else if (channel == 57) {
 363                                 if (p->state != state_jr3_done) {
 364                                         data[i] = 0;
 365                                 } else {
 366                                         data[i] =
 367                                             get_u16(&p->channel->serial_no);
 368                                 }
 369                         }
 370                 }
 371         }
 372         return result;
 373 }
 374
 375 static void jr3_pci_open(struct comedi_device *dev)
 376 {
 377         int i;
 378         struct jr3_pci_dev_private *devpriv = dev->private;
 379
 380         printk("jr3_pci_open\n");
 381         for (i = 0; i < devpriv->n_channels; i++) {
 382                 struct jr3_pci_subdev_private *p;
 383
 384                 p = dev->subdevices[i].private;
 385                 if (p) {
 386                         printk("serial: %p %d (%d)\n", p, p->serial_no,
 387                                p->channel_no);
 388                 }
 389         }
 390 }
 391
 392 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 393 {
 394         int result = 0;
 395         if (pos != 0 && val != 0) {
 396                 /*  Skip over non hex */
 397                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 398                 }
 399                 /*  Collect value */
 400                 *val = 0;
 401                 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
 402                         char ch = tolower(data[*pos]);
 403                         result = 1;
 404                         if ('0' <= ch && ch <= '9') {
 405                                 *val = (*val << 4) + (ch - '0');
 406                         } else if ('a' <= ch && ch <= 'f') {
 407                                 *val = (*val << 4) + (ch - 'a' + 10);
 408                         }
 409                 }
 410         }
 411         return result;
 412 }
 413
 414 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
 415                                  size_t size)
 416 {
 417         /*
 418          * IDM file format is:
 419          *   { count, address, data <count> } *
 420          *   ffff
 421          */
 422         int result, more, pos, OK;
 423
 424         result = 0;
 425         more = 1;
 426         pos = 0;
 427         OK = 0;
 428         while (more) {
 429                 unsigned int count, addr;
 430
 431                 more = more && read_idm_word(data, size, &pos, &count);
 432                 if (more && count == 0xffff) {
 433                         OK = 1;
 434                         break;
 435                 }
 436                 more = more && read_idm_word(data, size, &pos, &addr);
 437                 while (more && count > 0) {
 438                         unsigned int dummy;
 439                         more = more && read_idm_word(data, size, &pos, &dummy);
 440                         count--;
 441                 }
 442         }
 443
 444         if (!OK) {
 445                 result = -ENODATA;
 446         } else {
 447                 int i;
 448                 struct jr3_pci_dev_private *p = dev->private;
 449
 450                 for (i = 0; i < p->n_channels; i++) {
 451                         struct jr3_pci_subdev_private *sp;
 452
 453                         sp = dev->subdevices[i].private;
 454                         more = 1;
 455                         pos = 0;
 456                         while (more) {
 457                                 unsigned int count, addr;
 458                                 more = more
 459                                     && read_idm_word(data, size, &pos, &count);
 460                                 if (more && count == 0xffff) {
 461                                         break;
 462                                 }
 463                                 more = more
 464                                     && read_idm_word(data, size, &pos, &addr);
 465                                 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
 466                                        count, addr);
 467                                 while (more && count > 0) {
 468                                         if (addr & 0x4000) {
 469                                                 /*  16 bit data, never seen in real life!! */
 470                                                 unsigned int data1;
 471
 472                                                 more = more
 473                                                     && read_idm_word(data,
 474                                                                      size, &pos,
 475                                                                      &data1);
 476                                                 count--;
 477                                                 /* printk("jr3_data, not tested\n"); */
 478                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 479                                         } else {
 480                                                 /*   Download 24 bit program */
 481                                                 unsigned int data1, data2;
 482
 483                                                 more = more
 484                                                     && read_idm_word(data,
 485                                                                      size, &pos,
 486                                                                      &data1);
 487                                                 more = more
 488                                                     && read_idm_word(data, size,
 489                                                                      &pos,
 490                                                                      &data2);
 491                                                 count -= 2;
 492                                                 if (more) {
 493                                                         set_u16(&p->
 494                                                                 iobase->channel
 495                                                                 [i].program_low
 496                                                                 [addr], data1);
 497                                                         udelay(1);
 498                                                         set_u16(&p->
 499                                                                 iobase->channel
 500                                                                 [i].program_high
 501                                                                 [addr], data2);
 502                                                         udelay(1);
 503
 504                                                 }
 505                                         }
 506                                         addr++;
 507                                 }
 508                         }
 509                 }
 510         }
 511         return result;
 512 }
 513
 514 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 515 {
 516         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 517         struct jr3_pci_subdev_private *p = s->private;
 518
 519         if (p) {
 520                 volatile struct jr3_channel *channel = p->channel;
 521                 int errors = get_u16(&channel->errors);
 522
 523                 if (errors != p->errors) {
 524                         printk("Errors: %x -> %x\n", p->errors, errors);
 525                         p->errors = errors;
 526                 }
 527                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 528                         /*  Sensor communication lost, force poll mode */
 529                         p->state = state_jr3_poll;
 530
 531                 }
 532                 switch (p->state) {
 533                 case state_jr3_poll:{
 534                                 u16 model_no = get_u16(&channel->model_no);
 535                                 u16 serial_no = get_u16(&channel->serial_no);
 536                                 if ((errors & (watch_dog | watch_dog2)) ||
 537                                     model_no == 0 || serial_no == 0) {
 538 /*
 539  * Still no sensor, keep on polling. Since it takes up to 10 seconds
 540  * for offsets to stabilize, polling each second should suffice.
 541  */
 542                                         result = poll_delay_min_max(1000, 2000);
 543                                 } else {
 544                                         p->retries = 0;
 545                                         p->state =
 546                                             state_jr3_init_wait_for_offset;
 547                                         result = poll_delay_min_max(1000, 2000);
 548                                 }
 549                         }
 550                         break;
 551                 case state_jr3_init_wait_for_offset:{
 552                                 p->retries++;
 553                                 if (p->retries < 10) {
 554                                         /*  Wait for offeset to stabilize (< 10 s according to manual) */
 555                                         result = poll_delay_min_max(1000, 2000);
 556                                 } else {
 557                                         struct transform_t transf;
 558
 559                                         p->model_no =
 560                                             get_u16(&channel->model_no);
 561                                         p->serial_no =
 562                                             get_u16(&channel->serial_no);
 563
 564                                         printk
 565                                             ("Setting transform for channel %d\n",
 566                                              p->channel_no);
 567                                         printk("Sensor Model     = %i\n",
 568                                                p->model_no);
 569                                         printk("Sensor Serial    = %i\n",
 570                                                p->serial_no);
 571
 572                                         /*  Transformation all zeros */
 573                                         transf.link[0].link_type =
 574                                             (enum link_types)0;
 575                                         transf.link[0].link_amount = 0;
 576                                         transf.link[1].link_type =
 577                                             (enum link_types)0;
 578                                         transf.link[1].link_amount = 0;
 579                                         transf.link[2].link_type =
 580                                             (enum link_types)0;
 581                                         transf.link[2].link_amount = 0;
 582                                         transf.link[3].link_type =
 583                                             (enum link_types)0;
 584                                         transf.link[3].link_amount = 0;
 585
 586                                         set_transforms(channel, transf, 0);
 587                                         use_transform(channel, 0);
 588                                         p->state =
 589                                             state_jr3_init_transform_complete;
 590                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 591                                 }
 592                         } break;
 593                 case state_jr3_init_transform_complete:{
 594                                 if (!is_complete(channel)) {
 595                                         printk
 596                                             ("state_jr3_init_transform_complete complete = %d\n",
 597                                              is_complete(channel));
 598                                         result = poll_delay_min_max(20, 100);
 599                                 } else {
 600                                         /*  Set full scale */
 601                                         struct six_axis_t min_full_scale;
 602                                         struct six_axis_t max_full_scale;
 603
 604                                         min_full_scale =
 605                                             get_min_full_scales(channel);
 606                                         printk("Obtained Min. Full Scales:\n");
 607                                         printk("%i   ", (min_full_scale).fx);
 608                                         printk("%i   ", (min_full_scale).fy);
 609                                         printk("%i   ", (min_full_scale).fz);
 610                                         printk("%i   ", (min_full_scale).mx);
 611                                         printk("%i   ", (min_full_scale).my);
 612                                         printk("%i   ", (min_full_scale).mz);
 613                                         printk("\n");
 614
 615                                         max_full_scale =
 616                                             get_max_full_scales(channel);
 617                                         printk("Obtained Max. Full Scales:\n");
 618                                         printk("%i   ", (max_full_scale).fx);
 619                                         printk("%i   ", (max_full_scale).fy);
 620                                         printk("%i   ", (max_full_scale).fz);
 621                                         printk("%i   ", (max_full_scale).mx);
 622                                         printk("%i   ", (max_full_scale).my);
 623                                         printk("%i   ", (max_full_scale).mz);
 624                                         printk("\n");
 625
 626                                         set_full_scales(channel,
 627                                                         max_full_scale);
 628
 629                                         p->state =
 630                                             state_jr3_init_set_full_scale_complete;
 631                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 632                                 }
 633                         }
 634                         break;
 635                 case state_jr3_init_set_full_scale_complete:{
 636                                 if (!is_complete(channel)) {
 637                                         printk
 638                                             ("state_jr3_init_set_full_scale_complete complete = %d\n",
 639                                              is_complete(channel));
 640                                         result = poll_delay_min_max(20, 100);
 641                                 } else {
 642                                         volatile struct force_array *full_scale;
 643
 644                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 645                                         full_scale = &channel->full_scale;
 646                                         p->range[0].range.min =
 647                                             -get_s16(&full_scale->fx) * 1000;
 648                                         p->range[0].range.max =
 649                                             get_s16(&full_scale->fx) * 1000;
 650                                         p->range[1].range.min =
 651                                             -get_s16(&full_scale->fy) * 1000;
 652                                         p->range[1].range.max =
 653                                             get_s16(&full_scale->fy) * 1000;
 654                                         p->range[2].range.min =
 655                                             -get_s16(&full_scale->fz) * 1000;
 656                                         p->range[2].range.max =
 657                                             get_s16(&full_scale->fz) * 1000;
 658                                         p->range[3].range.min =
 659                                             -get_s16(&full_scale->mx) * 100;
 660                                         p->range[3].range.max =
 661                                             get_s16(&full_scale->mx) * 100;
 662                                         p->range[4].range.min =
 663                                             -get_s16(&full_scale->my) * 100;
 664                                         p->range[4].range.max =
 665                                             get_s16(&full_scale->my) * 100;
 666                                         p->range[5].range.min =
 667                                             -get_s16(&full_scale->mz) * 100;
 668                                         p->range[5].range.max =
 669                                             get_s16(&full_scale->mz) * 100;
 670                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 671                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 672                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 673                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 674                                         p->range[8].range.min = 0;
 675                                         p->range[8].range.max = 65535;
 676
 677                                         {
 678                                                 int i;
 679                                                 for (i = 0; i < 9; i++) {
 680                                                         printk("%d %d - %d\n",
 681                                                                i,
 682                                                                p->
 683                                                                range[i].range.
 684                                                                min,
 685                                                                p->
 686                                                                range[i].range.
 687                                                                max);
 688                                                 }
 689                                         }
 690
 691                                         use_offset(channel, 0);
 692                                         p->state =
 693                                             state_jr3_init_use_offset_complete;
 694                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 695                                 }
 696                         }
 697                         break;
 698                 case state_jr3_init_use_offset_complete:{
 699                                 if (!is_complete(channel)) {
 700                                         printk
 701                                             ("state_jr3_init_use_offset_complete complete = %d\n",
 702                                              is_complete(channel));
 703                                         result = poll_delay_min_max(20, 100);
 704                                 } else {
 705                                         printk
 706                                             ("Default offsets %d %d %d %d %d %d\n",
 707                                              get_s16(&channel->offsets.fx),
 708                                              get_s16(&channel->offsets.fy),
 709                                              get_s16(&channel->offsets.fz),
 710                                              get_s16(&channel->offsets.mx),
 711                                              get_s16(&channel->offsets.my),
 712                                              get_s16(&channel->offsets.mz));
 713
 714                                         set_s16(&channel->offsets.fx, 0);
 715                                         set_s16(&channel->offsets.fy, 0);
 716                                         set_s16(&channel->offsets.fz, 0);
 717                                         set_s16(&channel->offsets.mx, 0);
 718                                         set_s16(&channel->offsets.my, 0);
 719                                         set_s16(&channel->offsets.mz, 0);
 720
 721                                         set_offset(channel);
 722
 723                                         p->state = state_jr3_done;
 724                                 }
 725                         }
 726                         break;
 727                 case state_jr3_done:{
 728                                 poll_delay_min_max(10000, 20000);
 729                         }
 730                         break;
 731                 default:{
 732                                 poll_delay_min_max(1000, 2000);
 733                         }
 734                         break;
 735                 }
 736         }
 737         return result;
 738 }
 739
 740 static void jr3_pci_poll_dev(unsigned long data)
 741 {
 742         unsigned long flags;
 743         struct comedi_device *dev = (struct comedi_device *)data;
 744         struct jr3_pci_dev_private *devpriv = dev->private;
 745         unsigned long now;
 746         int delay;
 747         int i;
 748
 749         spin_lock_irqsave(&dev->spinlock, flags);
 750         delay = 1000;
 751         now = jiffies;
 752         /*  Poll all channels that are ready to be polled */
 753         for (i = 0; i < devpriv->n_channels; i++) {
 754                 struct jr3_pci_subdev_private *subdevpriv =
 755                     dev->subdevices[i].private;
 756                 if (now > subdevpriv->next_time_min) {
 757                         struct poll_delay_t sub_delay;
 758
 759                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 760                         subdevpriv->next_time_min =
 761                             jiffies + msecs_to_jiffies(sub_delay.min);
 762                         subdevpriv->next_time_max =
 763                             jiffies + msecs_to_jiffies(sub_delay.max);
 764                         if (sub_delay.max && sub_delay.max < delay) {
 765 /*
 766 * Wake up as late as possible -> poll as many channels as possible
 767 * at once
 768 */
 769                                 delay = sub_delay.max;
 770                         }
 771                 }
 772         }
 773         spin_unlock_irqrestore(&dev->spinlock, flags);
 774
 775         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 776         add_timer(&devpriv->timer);
 777 }
 778
 779 static int jr3_pci_attach(struct comedi_device *dev,
 780                           struct comedi_devconfig *it)
 781 {
 782         int result = 0;
 783         struct pci_dev *card = NULL;
 784         int opt_bus, opt_slot, i;
 785         struct jr3_pci_dev_private *devpriv;
 786
 787         printk("comedi%d: jr3_pci\n", dev->minor);
 788
 789         opt_bus = it->options[0];
 790         opt_slot = it->options[1];
 791
 792         if (sizeof(struct jr3_channel) != 0xc00) {
 793                 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
 794                        (unsigned)sizeof(struct jr3_channel), 0xc00);
 795                 return -EINVAL;
 796         }
 797
 798         result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
 799         if (result < 0) {
 800                 return -ENOMEM;
 801         }
 802         card = NULL;
 803         devpriv = dev->private;
 804         init_timer(&devpriv->timer);
 805         while (1) {
 806                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 807                 if (card == NULL) {
 808                         /* No card found */
 809                         break;
 810                 } else {
 811                         switch (card->device) {
 812                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 813                                         devpriv->n_channels = 1;
 814                                 }
 815                                 break;
 816                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 817                                         devpriv->n_channels = 2;
 818                                 }
 819                                 break;
 820                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 821                                         devpriv->n_channels = 3;
 822                                 }
 823                                 break;
 824                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 825                                         devpriv->n_channels = 4;
 826                                 }
 827                                 break;
 828                         default:{
 829                                         devpriv->n_channels = 0;
 830                                 }
 831                         }
 832                         if (devpriv->n_channels >= 1) {
 833                                 if (opt_bus == 0 && opt_slot == 0) {
 834                                         /* Take first available card */
 835                                         break;
 836                                 } else if (opt_bus == card->bus->number &&
 837                                            opt_slot == PCI_SLOT(card->devfn)) {
 838                                         /* Take requested card */
 839                                         break;
 840                                 }
 841                         }
 842                 }
 843         }
 844         if (!card) {
 845                 printk(" no jr3_pci found\n");
 846                 return -EIO;
 847         } else {
 848                 devpriv->pci_dev = card;
 849                 dev->board_name = "jr3_pci";
 850         }
 851
 852         result = comedi_pci_enable(card, "jr3_pci");
 853         if (result < 0) {
 854                 return -EIO;
 855         }
 856
 857         devpriv->pci_enabled = 1;
 858         devpriv->iobase =
 859             ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t));
 860         result = alloc_subdevices(dev, devpriv->n_channels);
 861         if (result < 0)
 862                 goto out;
 863
 864         dev->open = jr3_pci_open;
 865         for (i = 0; i < devpriv->n_channels; i++) {
 866                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 867                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 868                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 869                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 870                 dev->subdevices[i].private =
 871                     kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 872                 if (dev->subdevices[i].private) {
 873                         struct jr3_pci_subdev_private *p;
 874                         int j;
 875
 876                         p = dev->subdevices[i].private;
 877                         p->channel = &devpriv->iobase->channel[i].data;
 878                         printk("p->channel %p %p (%tx)\n",
 879                                p->channel, devpriv->iobase,
 880                                ((char *)(p->channel) -
 881                                 (char *)(devpriv->iobase)));
 882                         p->channel_no = i;
 883                         for (j = 0; j < 8; j++) {
 884                                 int k;
 885
 886                                 p->range[j].length = 1;
 887                                 p->range[j].range.min = -1000000;
 888                                 p->range[j].range.max = 1000000;
 889                                 for (k = 0; k < 7; k++) {
 890                                         p->range_table_list[j + k * 8] =
 891                                             (struct comedi_lrange *)&p->
 892                                             range[j];
 893                                         p->maxdata_list[j + k * 8] = 0x7fff;
 894                                 }
 895                         }
 896                         p->range[8].length = 1;
 897                         p->range[8].range.min = 0;
 898                         p->range[8].range.max = 65536;
 899
 900                         p->range_table_list[56] =
 901                             (struct comedi_lrange *)&p->range[8];
 902                         p->range_table_list[57] =
 903                             (struct comedi_lrange *)&p->range[8];
 904                         p->maxdata_list[56] = 0xffff;
 905                         p->maxdata_list[57] = 0xffff;
 906                         /*  Channel specific range and maxdata */
 907                         dev->subdevices[i].range_table = 0;
 908                         dev->subdevices[i].range_table_list =
 909                             p->range_table_list;
 910                         dev->subdevices[i].maxdata = 0;
 911                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 912                 }
 913         }
 914
 915         /*  Reset DSP card */
 916         devpriv->iobase->channel[0].reset = 0;
 917
 918         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 919         printk("Firmare load %d\n", result);
 920
 921         if (result < 0) {
 922                 goto out;
 923         }
 924 /*
 925  * TODO: use firmware to load preferred offset tables. Suggested
 926  * format:
 927  *     model serial Fx Fy Fz Mx My Mz\n
 928  *
 929  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 930  */
 931
 932 /*
 933  * It takes a few milliseconds for software to settle as much as we
 934  * can read firmware version
 935  */
 936         msleep_interruptible(25);
 937         for (i = 0; i < 0x18; i++) {
 938                 printk("%c",
 939                        get_u16(&devpriv->iobase->channel[0].
 940                                data.copyright[i]) >> 8);
 941         }
 942
 943         /*  Start card timer */
 944         for (i = 0; i < devpriv->n_channels; i++) {
 945                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 946
 947                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 948                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 949         }
 950
 951         devpriv->timer.data = (unsigned long)dev;
 952         devpriv->timer.function = jr3_pci_poll_dev;
 953         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 954         add_timer(&devpriv->timer);
 955
 956 out:
 957         return result;
 958 }
 959
 960 static int jr3_pci_detach(struct comedi_device *dev)
 961 {
 962         int i;
 963         struct jr3_pci_dev_private *devpriv = dev->private;
 964
 965         printk("comedi%d: jr3_pci: remove\n", dev->minor);
 966         if (devpriv) {
 967                 del_timer_sync(&devpriv->timer);
 968
 969                 if (dev->subdevices) {
 970                         for (i = 0; i < devpriv->n_channels; i++) {
 971                                 kfree(dev->subdevices[i].private);
 972                         }
 973                 }
 974
 975                 if (devpriv->iobase) {
 976                         iounmap((void *)devpriv->iobase);
 977                 }
 978                 if (devpriv->pci_enabled) {
 979                         comedi_pci_disable(devpriv->pci_dev);
 980                 }
 981
 982                 if (devpriv->pci_dev) {
 983                         pci_dev_put(devpriv->pci_dev);
 984                 }
 985         }
 986         return 0;
 987 }
 988
 989 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);