--- /dev/null
+/*
+ comedi/drivers/jr3_pci.c
+ hardware driver for JR3/PCI force sensor board
+
+ COMEDI - Linux Control and Measurement Device Interface
+ Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
+
+ 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.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+*/
+/*
+Driver: jr3_pci
+Description: JR3/PCI force sensor board
+Author: Anders Blomdell <anders.blomdell@control.lth.se>
+Status: works
+Devices: [JR3] PCI force sensor board (jr3_pci)
+
+ The DSP on the board requires initialization code, which can
+ be loaded by placing it in /lib/firmware/comedi.
+ The initialization code should be somewhere on the media you got
+ with your card. One version is available from http://www.comedi.org
+ in the comedi_nonfree_firmware tarball.
+
+ Configuration options:
+ [0] - PCI bus number - if bus number and slot number are 0,
+ then driver search for first unused card
+ [1] - PCI slot number
+
+*/
+
+#include "../comedidev.h"
+
+#include <linux/delay.h>
+#include <linux/ctype.h>
+#include <linux/firmware.h>
+#include "comedi_pci.h"
+#include "jr3_pci.h"
+
+/* Hotplug firmware loading stuff */
+
+static void comedi_fw_release(struct device *dev)
+{
+ printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n");
+}
+
+static struct device comedi_fw_device = {
+ .bus_id = "comedi",
+ .release = comedi_fw_release
+};
+
+typedef int comedi_firmware_callback(comedi_device * dev,
+ const u8 * data, size_t size);
+
+static int comedi_load_firmware(comedi_device * dev,
+ char *name, comedi_firmware_callback cb)
+{
+ int result = 0;
+ const struct firmware *fw;
+ char *firmware_path;
+ static const char *prefix = "comedi/";
+
+ firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
+ if (!firmware_path) {
+ result = -ENOMEM;
+ } else {
+ firmware_path[0] = '\0';
+ strcat(firmware_path, prefix);
+ strcat(firmware_path, name);
+ result = device_register(&comedi_fw_device);
+ if (result == 0) {
+ result = request_firmware(&fw, firmware_path,
+ &comedi_fw_device);
+ if (result == 0) {
+ if (!cb) {
+ result = -EINVAL;
+ } else {
+ result = cb(dev, fw->data, fw->size);
+ }
+ release_firmware(fw);
+ }
+ device_unregister(&comedi_fw_device);
+ }
+ kfree(firmware_path);
+ }
+ return result;
+}
+
+#define PCI_VENDOR_ID_JR3 0x1762
+#define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
+#define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
+#define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
+#define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
+
+static int jr3_pci_attach(comedi_device * dev, comedi_devconfig * it);
+static int jr3_pci_detach(comedi_device * dev);
+
+static comedi_driver driver_jr3_pci = {
+ driver_name:"jr3_pci",
+ module:THIS_MODULE,
+ attach:jr3_pci_attach,
+ detach:jr3_pci_detach,
+};
+
+static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {0}
+};
+
+MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
+
+typedef struct {
+ struct pci_dev *pci_dev;
+ int pci_enabled;
+ volatile jr3_t *iobase;
+ int n_channels;
+ struct timer_list timer;
+} jr3_pci_dev_private;
+
+typedef struct {
+ int min;
+ int max;
+} poll_delay_t;
+
+typedef struct {
+ volatile jr3_channel_t *channel;
+ unsigned long next_time_min;
+ unsigned long next_time_max;
+ enum { state_jr3_poll,
+ state_jr3_init_wait_for_offset,
+ state_jr3_init_transform_complete,
+ state_jr3_init_set_full_scale_complete,
+ state_jr3_init_use_offset_complete,
+ state_jr3_done
+ } state;
+ int channel_no;
+ int serial_no;
+ int model_no;
+ struct {
+ int length;
+ comedi_krange range;
+ } range[9];
+ const comedi_lrange *range_table_list[8 * 7 + 2];
+ lsampl_t maxdata_list[8 * 7 + 2];
+ u16 errors;
+ int retries;
+} jr3_pci_subdev_private;
+
+static poll_delay_t poll_delay_min_max(int min, int max)
+{
+ poll_delay_t result;
+
+ result.min = min;
+ result.max = max;
+ return result;
+}
+
+static int is_complete(volatile jr3_channel_t * channel)
+{
+ return get_s16(&channel->command_word0) == 0;
+}
+
+typedef struct {
+ struct {
+ u16 link_type;
+ s16 link_amount;
+ } link[8];
+} transform_t;
+
+static void set_transforms(volatile jr3_channel_t * channel,
+ transform_t transf, short num)
+{
+ int i;
+
+ num &= 0x000f; // Make sure that 0 <= num <= 15
+ for (i = 0; i < 8; i++) {
+
+ set_u16(&channel->transforms[num].link[i].link_type,
+ transf.link[i].link_type);
+ comedi_udelay(1);
+ set_s16(&channel->transforms[num].link[i].link_amount,
+ transf.link[i].link_amount);
+ comedi_udelay(1);
+ if (transf.link[i].link_type == end_x_form) {
+ break;
+ }
+ }
+}
+
+static void use_transform(volatile jr3_channel_t * channel, short transf_num)
+{
+ set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
+}
+
+static void use_offset(volatile jr3_channel_t * channel, short offset_num)
+{
+ set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
+}
+
+static void set_offset(volatile jr3_channel_t * channel)
+{
+ set_s16(&channel->command_word0, 0x0700);
+}
+
+typedef struct {
+ s16 fx;
+ s16 fy;
+ s16 fz;
+ s16 mx;
+ s16 my;
+ s16 mz;
+} six_axis_t;
+
+static void set_full_scales(volatile jr3_channel_t * channel,
+ six_axis_t full_scale)
+{
+ printk("%d %d %d %d %d %d\n",
+ full_scale.fx,
+ full_scale.fy,
+ full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
+ set_s16(&channel->full_scale.fx, full_scale.fx);
+ set_s16(&channel->full_scale.fy, full_scale.fy);
+ set_s16(&channel->full_scale.fz, full_scale.fz);
+ set_s16(&channel->full_scale.mx, full_scale.mx);
+ set_s16(&channel->full_scale.my, full_scale.my);
+ set_s16(&channel->full_scale.mz, full_scale.mz);
+ set_s16(&channel->command_word0, 0x0a00);
+}
+
+static six_axis_t get_min_full_scales(volatile jr3_channel_t * channel)
+{
+ six_axis_t result;
+ result.fx = get_s16(&channel->min_full_scale.fx);
+ result.fy = get_s16(&channel->min_full_scale.fy);
+ result.fz = get_s16(&channel->min_full_scale.fz);
+ result.mx = get_s16(&channel->min_full_scale.mx);
+ result.my = get_s16(&channel->min_full_scale.my);
+ result.mz = get_s16(&channel->min_full_scale.mz);
+ return result;
+}
+
+static six_axis_t get_max_full_scales(volatile jr3_channel_t * channel)
+{
+ six_axis_t result;
+ result.fx = get_s16(&channel->max_full_scale.fx);
+ result.fy = get_s16(&channel->max_full_scale.fy);
+ result.fz = get_s16(&channel->max_full_scale.fz);
+ result.mx = get_s16(&channel->max_full_scale.mx);
+ result.my = get_s16(&channel->max_full_scale.my);
+ result.mz = get_s16(&channel->max_full_scale.mz);
+ return result;
+}
+
+static int jr3_pci_ai_insn_read(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int result;
+ jr3_pci_subdev_private *p;
+ int channel;
+
+ p = s->private;
+ channel = CR_CHAN(insn->chanspec);
+ if (p == NULL || channel > 57) {
+ result = -EINVAL;
+ } else {
+ int i;
+
+ result = insn->n;
+ if (p->state != state_jr3_done ||
+ (get_u16(&p->channel->
+ errors) & (watch_dog | watch_dog2 |
+ sensor_change))) {
+ /* No sensor or sensor changed */
+ if (p->state == state_jr3_done) {
+ /* Restart polling */
+ p->state = state_jr3_poll;
+ }
+ result = -EAGAIN;
+ }
+ for (i = 0; i < insn->n; i++) {
+ if (channel < 56) {
+ int axis, filter;
+
+ axis = channel % 8;
+ filter = channel / 8;
+ if (p->state != state_jr3_done) {
+ data[i] = 0;
+ } else {
+ int F = 0;
+ switch (axis) {
+ case 0:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ fx);
+ }
+ break;
+ case 1:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ fy);
+ }
+ break;
+ case 2:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ fz);
+ }
+ break;
+ case 3:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ mx);
+ }
+ break;
+ case 4:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ my);
+ }
+ break;
+ case 5:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ mz);
+ }
+ break;
+ case 6:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ v1);
+ }
+ break;
+ case 7:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ v2);
+ }
+ break;
+ }
+ data[i] = F + 0x4000;
+ }
+ } else if (channel == 56) {
+ if (p->state != state_jr3_done) {
+ data[i] = 0;
+ } else {
+ data[i] =
+ get_u16(&p->channel->model_no);
+ }
+ } else if (channel == 57) {
+ if (p->state != state_jr3_done) {
+ data[i] = 0;
+ } else {
+ data[i] =
+ get_u16(&p->channel->serial_no);
+ }
+ }
+ }
+ }
+ return result;
+}
+
+static void jr3_pci_open(comedi_device * dev)
+{
+ int i;
+ jr3_pci_dev_private *devpriv = dev->private;
+
+ printk("jr3_pci_open\n");
+ for (i = 0; i < devpriv->n_channels; i++) {
+ jr3_pci_subdev_private *p;
+
+ p = dev->subdevices[i].private;
+ if (p) {
+ printk("serial: %p %d (%d)\n", p, p->serial_no,
+ p->channel_no);
+ }
+ }
+}
+
+int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
+{
+ int result = 0;
+ if (pos != 0 && val != 0) {
+ // Skip over non hex
+ for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
+ }
+ // Collect value
+ *val = 0;
+ for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
+ char ch = tolower(data[*pos]);
+ result = 1;
+ if ('0' <= ch && ch <= '9') {
+ *val = (*val << 4) + (ch - '0');
+ } else if ('a' <= ch && ch <= 'f') {
+ *val = (*val << 4) + (ch - 'a' + 10);
+ }
+ }
+ }
+ return result;
+}
+
+static int jr3_download_firmware(comedi_device * dev, const u8 * data,
+ size_t size)
+{
+ /*
+ * IDM file format is:
+ * { count, address, data <count> } *
+ * ffff
+ */
+ int result, more, pos, OK;
+
+ result = 0;
+ more = 1;
+ pos = 0;
+ OK = 0;
+ while (more) {
+ unsigned int count, addr;
+
+ more = more && read_idm_word(data, size, &pos, &count);
+ if (more && count == 0xffff) {
+ OK = 1;
+ break;
+ }
+ more = more && read_idm_word(data, size, &pos, &addr);
+ while (more && count > 0) {
+ unsigned int dummy;
+ more = more && read_idm_word(data, size, &pos, &dummy);
+ count--;
+ }
+ }
+
+ if (!OK) {
+ result = -ENODATA;
+ } else {
+ int i;
+ jr3_pci_dev_private *p = dev->private;
+
+ for (i = 0; i < p->n_channels; i++) {
+ jr3_pci_subdev_private *sp;
+
+ sp = dev->subdevices[i].private;
+ more = 1;
+ pos = 0;
+ while (more) {
+ unsigned int count, addr;
+ more = more
+ && read_idm_word(data, size, &pos,
+ &count);
+ if (more && count == 0xffff) {
+ break;
+ }
+ more = more
+ && read_idm_word(data, size, &pos,
+ &addr);
+ printk("Loading#%d %4.4x bytes at %4.4x\n", i,
+ count, addr);
+ while (more && count > 0) {
+ if (addr & 0x4000) {
+ // 16 bit data, never seen in real life!!
+ unsigned int data1;
+
+ more = more
+ && read_idm_word(data,
+ size, &pos, &data1);
+ count--;
+ // printk("jr3_data, not tested\n");
+ // jr3[addr + 0x20000 * pnum] = data1;
+ } else {
+ // Download 24 bit program
+ unsigned int data1, data2;
+
+ more = more
+ && read_idm_word(data,
+ size, &pos, &data1);
+ more = more
+ && read_idm_word(data,
+ size, &pos, &data2);
+ count -= 2;
+ if (more) {
+ set_u16(&p->iobase->
+ channel[i].
+ program_low
+ [addr], data1);
+ comedi_udelay(1);
+ set_u16(&p->iobase->
+ channel[i].
+ program_high
+ [addr], data2);
+ comedi_udelay(1);
+
+ }
+ }
+ addr++;
+ }
+ }
+ }
+ }
+ return result;
+}
+
+static poll_delay_t jr3_pci_poll_subdevice(comedi_subdevice * s)
+{
+ poll_delay_t result = poll_delay_min_max(1000, 2000);
+ jr3_pci_subdev_private *p = s->private;
+
+ if (p) {
+ volatile jr3_channel_t *channel = p->channel;
+ int errors = get_u16(&channel->errors);
+
+ if (errors != p->errors) {
+ printk("Errors: %x -> %x\n", p->errors, errors);
+ p->errors = errors;
+ }
+ if (errors & (watch_dog | watch_dog2 | sensor_change)) {
+ // Sensor communication lost, force poll mode
+ p->state = state_jr3_poll;
+
+ }
+ switch (p->state) {
+ case state_jr3_poll:{
+ u16 model_no = get_u16(&channel->model_no);
+ u16 serial_no = get_u16(&channel->serial_no);
+ if ((errors & (watch_dog | watch_dog2)) ||
+ model_no == 0 || serial_no == 0) {
+ // Still no sensor, keep on polling. Since it takes up to
+ // 10 seconds for offsets to stabilize, polling each
+ // second should suffice.
+ result = poll_delay_min_max(1000, 2000);
+ } else {
+ p->retries = 0;
+ p->state =
+ state_jr3_init_wait_for_offset;
+ result = poll_delay_min_max(1000, 2000);
+ }
+ }
+ break;
+ case state_jr3_init_wait_for_offset:{
+ p->retries++;
+ if (p->retries < 10) {
+ // Wait for offeset to stabilize (< 10 s according to manual)
+ result = poll_delay_min_max(1000, 2000);
+ } else {
+ transform_t transf;
+
+ p->model_no =
+ get_u16(&channel->model_no);
+ p->serial_no =
+ get_u16(&channel->serial_no);
+
+ printk("Setting transform for channel %d\n", p->channel_no);
+ printk("Sensor Model = %i\n",
+ p->model_no);
+ printk("Sensor Serial = %i\n",
+ p->serial_no);
+
+ // Transformation all zeros
+ transf.link[0].link_type =
+ (enum link_types)0;
+ transf.link[0].link_amount = 0;
+ transf.link[1].link_type =
+ (enum link_types)0;
+ transf.link[1].link_amount = 0;
+ transf.link[2].link_type =
+ (enum link_types)0;
+ transf.link[2].link_amount = 0;
+ transf.link[3].link_type =
+ (enum link_types)0;
+ transf.link[3].link_amount = 0;
+
+ set_transforms(channel, transf, 0);
+ use_transform(channel, 0);
+ p->state =
+ state_jr3_init_transform_complete;
+ result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
+ }
+ } break;
+ case state_jr3_init_transform_complete:{
+ if (!is_complete(channel)) {
+ printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
+ result = poll_delay_min_max(20, 100);
+ } else {
+ // Set full scale
+ six_axis_t min_full_scale;
+ six_axis_t max_full_scale;
+
+ min_full_scale =
+ get_min_full_scales(channel);
+ printk("Obtained Min. Full Scales:\n");
+ printk("%i ", (min_full_scale).fx);
+ printk("%i ", (min_full_scale).fy);
+ printk("%i ", (min_full_scale).fz);
+ printk("%i ", (min_full_scale).mx);
+ printk("%i ", (min_full_scale).my);
+ printk("%i ", (min_full_scale).mz);
+ printk("\n");
+
+ max_full_scale =
+ get_max_full_scales(channel);
+ printk("Obtained Max. Full Scales:\n");
+ printk("%i ", (max_full_scale).fx);
+ printk("%i ", (max_full_scale).fy);
+ printk("%i ", (max_full_scale).fz);
+ printk("%i ", (max_full_scale).mx);
+ printk("%i ", (max_full_scale).my);
+ printk("%i ", (max_full_scale).mz);
+ printk("\n");
+
+ set_full_scales(channel,
+ max_full_scale);
+
+ p->state =
+ state_jr3_init_set_full_scale_complete;
+ result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
+ }
+ }
+ break;
+ case state_jr3_init_set_full_scale_complete:{
+ if (!is_complete(channel)) {
+ printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
+ result = poll_delay_min_max(20, 100);
+ } else {
+ volatile force_array_t *full_scale;
+
+ // Use ranges in kN or we will overflow arount 2000N!
+ full_scale = &channel->full_scale;
+ p->range[0].range.min =
+ -get_s16(&full_scale->fx) *
+ 1000;
+ p->range[0].range.max =
+ get_s16(&full_scale->fx) * 1000;
+ p->range[1].range.min =
+ -get_s16(&full_scale->fy) *
+ 1000;
+ p->range[1].range.max =
+ get_s16(&full_scale->fy) * 1000;
+ p->range[2].range.min =
+ -get_s16(&full_scale->fz) *
+ 1000;
+ p->range[2].range.max =
+ get_s16(&full_scale->fz) * 1000;
+ p->range[3].range.min =
+ -get_s16(&full_scale->mx) * 100;
+ p->range[3].range.max =
+ get_s16(&full_scale->mx) * 100;
+ p->range[4].range.min =
+ -get_s16(&full_scale->my) * 100;
+ p->range[4].range.max =
+ get_s16(&full_scale->my) * 100;
+ p->range[5].range.min =
+ -get_s16(&full_scale->mz) * 100;
+ p->range[5].range.max =
+ get_s16(&full_scale->mz) * 100;
+ p->range[6].range.min = -get_s16(&full_scale->v1) * 100; // ??
+ p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ??
+ p->range[7].range.min = -get_s16(&full_scale->v2) * 100; // ??
+ p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ??
+ p->range[8].range.min = 0;
+ p->range[8].range.max = 65535;
+
+ {
+ int i;
+ for (i = 0; i < 9; i++) {
+ printk("%d %d - %d\n",
+ i,
+ p->range[i].
+ range.min,
+ p->range[i].
+ range.max);
+ }
+ }
+
+ use_offset(channel, 0);
+ p->state =
+ state_jr3_init_use_offset_complete;
+ result = poll_delay_min_max(40, 100); // Allow 40 ms for completion
+ }
+ }
+ break;
+ case state_jr3_init_use_offset_complete:{
+ if (!is_complete(channel)) {
+ printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
+ result = poll_delay_min_max(20, 100);
+ } else {
+ 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));
+
+ set_s16(&channel->offsets.fx, 0);
+ set_s16(&channel->offsets.fy, 0);
+ set_s16(&channel->offsets.fz, 0);
+ set_s16(&channel->offsets.mx, 0);
+ set_s16(&channel->offsets.my, 0);
+ set_s16(&channel->offsets.mz, 0);
+
+ set_offset(channel);
+
+ p->state = state_jr3_done;
+ }
+ }
+ break;
+ case state_jr3_done:{
+ poll_delay_min_max(10000, 20000);
+ }
+ break;
+ default:{
+ poll_delay_min_max(1000, 2000);
+ }
+ break;
+ }
+ }
+ return result;
+}
+
+static void jr3_pci_poll_dev(unsigned long data)
+{
+ unsigned long flags;
+ comedi_device *dev = (comedi_device *) data;
+ jr3_pci_dev_private *devpriv = dev->private;
+ unsigned long now;
+ int delay;
+ int i;
+
+ comedi_spin_lock_irqsave(&dev->spinlock, flags);
+ delay = 1000;
+ now = jiffies;
+ // Poll all channels that are ready to be polled
+ for (i = 0; i < devpriv->n_channels; i++) {
+ jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
+ if (now > subdevpriv->next_time_min) {
+ poll_delay_t sub_delay;
+
+ sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
+ subdevpriv->next_time_min =
+ jiffies + msecs_to_jiffies(sub_delay.min);
+ subdevpriv->next_time_max =
+ jiffies + msecs_to_jiffies(sub_delay.max);
+ if (sub_delay.max && sub_delay.max < delay) {
+ // Wake up as late as possible -> poll as many channels as
+ // possible at once
+ delay = sub_delay.max;
+ }
+ }
+ }
+ comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
+
+ devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
+ add_timer(&devpriv->timer);
+}
+
+static int jr3_pci_attach(comedi_device * dev, comedi_devconfig * it)
+{
+ int result = 0;
+ struct pci_dev *card = NULL;
+ int opt_bus, opt_slot, i;
+ jr3_pci_dev_private *devpriv;
+
+ printk("comedi%d: jr3_pci\n", dev->minor);
+
+ opt_bus = it->options[0];
+ opt_slot = it->options[1];
+
+ if (sizeof(jr3_channel_t) != 0xc00) {
+ printk("sizeof(jr3_channel_t) = %x [expected %x]\n",
+ (unsigned)sizeof(jr3_channel_t), 0xc00);
+ return -EINVAL;
+ }
+
+ result = alloc_private(dev, sizeof(jr3_pci_dev_private));
+ if (result < 0) {
+ return -ENOMEM;
+ }
+ card = NULL;
+ devpriv = dev->private;
+ init_timer(&devpriv->timer);
+ while (1) {
+ card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
+ if (card == NULL) {
+ /* No card found */
+ break;
+ } else {
+ switch (card->device) {
+ case PCI_DEVICE_ID_JR3_1_CHANNEL:{
+ devpriv->n_channels = 1;
+ }
+ break;
+ case PCI_DEVICE_ID_JR3_2_CHANNEL:{
+ devpriv->n_channels = 2;
+ }
+ break;
+ case PCI_DEVICE_ID_JR3_3_CHANNEL:{
+ devpriv->n_channels = 3;
+ }
+ break;
+ case PCI_DEVICE_ID_JR3_4_CHANNEL:{
+ devpriv->n_channels = 4;
+ }
+ break;
+ default:{
+ devpriv->n_channels = 0;
+ }
+ }
+ if (devpriv->n_channels >= 1) {
+ if (opt_bus == 0 && opt_slot == 0) {
+ /* Take first available card */
+ break;
+ } else if (opt_bus == card->bus->number &&
+ opt_slot == PCI_SLOT(card->devfn)) {
+ /* Take requested card */
+ break;
+ }
+ }
+ }
+ }
+ if (!card) {
+ printk(" no jr3_pci found\n");
+ return -EIO;
+ } else {
+ devpriv->pci_dev = card;
+ dev->board_name = "jr3_pci";
+ }
+ if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) {
+ return -EIO;
+ }
+ devpriv->pci_enabled = 1;
+ devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(jr3_t));
+ result = alloc_subdevices(dev, devpriv->n_channels);
+ if (result < 0)
+ goto out;
+
+ dev->open = jr3_pci_open;
+ for (i = 0; i < devpriv->n_channels; i++) {
+ dev->subdevices[i].type = COMEDI_SUBD_AI;
+ dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
+ dev->subdevices[i].n_chan = 8 * 7 + 2;
+ dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
+ dev->subdevices[i].private =
+ kzalloc(sizeof(jr3_pci_subdev_private), GFP_KERNEL);
+ if (dev->subdevices[i].private) {
+ jr3_pci_subdev_private *p;
+ int j;
+
+ p = dev->subdevices[i].private;
+ p->channel = &devpriv->iobase->channel[i].data;
+ printk("p->channel %p %p (%tx)\n",
+ p->channel, devpriv->iobase,
+ ((char *)(p->channel) -
+ (char *)(devpriv->iobase)));
+ p->channel_no = i;
+ for (j = 0; j < 8; j++) {
+ int k;
+
+ p->range[j].length = 1;
+ p->range[j].range.min = -1000000;
+ p->range[j].range.max = 1000000;
+ for (k = 0; k < 7; k++) {
+ p->range_table_list[j + k * 8] =
+ (comedi_lrange *) & p->range[j];
+ p->maxdata_list[j + k * 8] = 0x7fff;
+ }
+ }
+ p->range[8].length = 1;
+ p->range[8].range.min = 0;
+ p->range[8].range.max = 65536;
+
+ p->range_table_list[56] =
+ (comedi_lrange *) & p->range[8];
+ p->range_table_list[57] =
+ (comedi_lrange *) & p->range[8];
+ p->maxdata_list[56] = 0xffff;
+ p->maxdata_list[57] = 0xffff;
+ // Channel specific range and maxdata
+ dev->subdevices[i].range_table = 0;
+ dev->subdevices[i].range_table_list =
+ p->range_table_list;
+ dev->subdevices[i].maxdata = 0;
+ dev->subdevices[i].maxdata_list = p->maxdata_list;
+ }
+ }
+
+ // Reset DSP card
+ devpriv->iobase->channel[0].reset = 0;
+
+ result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
+ printk("Firmare load %d\n", result);
+
+ if (result < 0) {
+ goto out;
+ }
+ // TODO: use firmware to load preferred offset tables. Suggested format:
+ // model serial Fx Fy Fz Mx My Mz\n
+ //
+ // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
+
+ // It takes a few milliseconds for software to settle
+ // as much as we can read firmware version
+ msleep_interruptible(25);
+ for (i = 0; i < 0x18; i++) {
+ printk("%c",
+ get_u16(&devpriv->iobase->channel[0].data.
+ copyright[i]) >> 8);
+ }
+
+ // Start card timer
+ for (i = 0; i < devpriv->n_channels; i++) {
+ jr3_pci_subdev_private *p = dev->subdevices[i].private;
+
+ p->next_time_min = jiffies + msecs_to_jiffies(500);
+ p->next_time_max = jiffies + msecs_to_jiffies(2000);
+ }
+
+ devpriv->timer.data = (unsigned long)dev;
+ devpriv->timer.function = jr3_pci_poll_dev;
+ devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
+ add_timer(&devpriv->timer);
+
+ out:
+ return result;
+}
+
+static int jr3_pci_detach(comedi_device * dev)
+{
+ int i;
+ jr3_pci_dev_private *devpriv = dev->private;
+
+ printk("comedi%d: jr3_pci: remove\n", dev->minor);
+ if (devpriv) {
+ del_timer_sync(&devpriv->timer);
+
+ if (dev->subdevices) {
+ for (i = 0; i < devpriv->n_channels; i++) {
+ kfree(dev->subdevices[i].private);
+ }
+ }
+
+ if (devpriv->iobase) {
+ iounmap((void *)devpriv->iobase);
+ }
+ if (devpriv->pci_enabled) {
+ comedi_pci_disable(devpriv->pci_dev);
+ }
+
+ if (devpriv->pci_dev) {
+ pci_dev_put(devpriv->pci_dev);
+ }
+ }
+ return 0;
+}
+
+COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);
--- /dev/null
+// Helper types to take care of the fact that the DSP card memory
+// is 16 bits, but aligned on a 32 bit PCI boundary
+typedef u32 u_val_t;
+
+typedef s32 s_val_t;
+
+static inline u16 get_u16(volatile const u_val_t * p)
+{
+ return (u16) readl(p);
+}
+
+static inline void set_u16(volatile u_val_t * p, u16 val)
+{
+ writel(val, p);
+}
+
+static inline s16 get_s16(volatile const s_val_t * p)
+{
+ return (s16) readl(p);
+}
+
+static inline void set_s16(volatile s_val_t * p, s16 val)
+{
+ writel(val, p);
+}
+
+// The raw data is stored in a format which facilitates rapid
+// processing by the JR3 DSP chip. The raw_channel structure shows the
+// format for a single channel of data. Each channel takes four,
+// two-byte words.
+//
+// Raw_time is an unsigned integer which shows the value of the JR3
+// DSP's internal clock at the time the sample was received. The clock
+// runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
+// Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
+//
+// Raw_data is the raw data received directly from the sensor. The
+// sensor data stream is capable of representing 16 different
+// channels. Channel 0 shows the excitation voltage at the sensor. It
+// is used to regulate the voltage over various cable lengths.
+// Channels 1-6 contain the coupled force data Fx through Mz. Channel
+// 7 contains the sensor's calibration data. The use of channels 8-15
+// varies with different sensors.
+typedef struct raw_channel {
+ u_val_t raw_time;
+ s_val_t raw_data;
+ s_val_t reserved[2];
+} raw_channel_t;
+
+// The force_array structure shows the layout for the decoupled and
+// filtered force data.
+typedef struct force_array {
+ s_val_t fx;
+ s_val_t fy;
+ s_val_t fz;
+ s_val_t mx;
+ s_val_t my;
+ s_val_t mz;
+ s_val_t v1;
+ s_val_t v2;
+} force_array_t;
+
+// The six_axis_array structure shows the layout for the offsets and
+// the full scales.
+typedef struct six_axis_array {
+ s_val_t fx;
+ s_val_t fy;
+ s_val_t fz;
+ s_val_t mx;
+ s_val_t my;
+ s_val_t mz;
+} six_axis_array_t;
+
+// VECT_BITS
+// The vect_bits structure shows the layout for indicating
+// which axes to use in computing the vectors. Each bit signifies
+// selection of a single axis. The V1x axis bit corresponds to a hex
+// value of 0x0001 and the V2z bit corresponds to a hex value of
+// 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
+// pattern would be 0x002b. Vector 1 defaults to a force vector and
+// vector 2 defaults to a moment vector. It is possible to change one
+// or the other so that two force vectors or two moment vectors are
+// calculated. Setting the changeV1 bit or the changeV2 bit will
+// change that vector to be the opposite of its default. Therefore to
+// have two force vectors, set changeV1 to 1.
+
+typedef enum {
+ fx = 0x0001,
+ fy = 0x0002,
+ fz = 0x0004,
+ mx = 0x0008,
+ my = 0x0010,
+ mz = 0x0020,
+ changeV2 = 0x0040,
+ changeV1 = 0x0080
+} vect_bits_t;
+
+// WARNING_BITS
+// The warning_bits structure shows the bit pattern for the warning
+// word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb).
+//
+// XX_NEAR_SET
+// The xx_near_sat bits signify that the indicated axis has reached or
+// exceeded the near saturation value.
+
+typedef enum {
+ fx_near_sat = 0x0001,
+ fy_near_sat = 0x0002,
+ fz_near_sat = 0x0004,
+ mx_near_sat = 0x0008,
+ my_near_sat = 0x0010,
+ mz_near_sat = 0x0020
+} warning_bits_t;
+
+// ERROR_BITS
+// XX_SAT
+// MEMORY_ERROR
+// SENSOR_CHANGE
+//
+// The error_bits structure shows the bit pattern for the error word.
+// The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The
+// xx_sat bits signify that the indicated axis has reached or exceeded
+// the saturation value. The memory_error bit indicates that a problem
+// was detected in the on-board RAM during the power-up
+// initialization. The sensor_change bit indicates that a sensor other
+// than the one originally plugged in has passed its CRC check. This
+// bit latches, and must be reset by the user.
+//
+// SYSTEM_BUSY
+//
+// The system_busy bit indicates that the JR3 DSP is currently busy
+// and is not calculating force data. This occurs when a new
+// coordinate transformation, or new sensor full scale is set by the
+// user. A very fast system using the force data for feedback might
+// become unstable during the approximately 4 ms needed to accomplish
+// these calculations. This bit will also become active when a new
+// sensor is plugged in and the system needs to recalculate the
+// calibration CRC.
+//
+// CAL_CRC_BAD
+//
+// The cal_crc_bad bit indicates that the calibration CRC has not
+// calculated to zero. CRC is short for cyclic redundancy code. It is
+// a method for determining the integrity of messages in data
+// communication. The calibration data stored inside the sensor is
+// transmitted to the JR3 DSP along with the sensor data. The
+// calibration data has a CRC attached to the end of it, to assist in
+// determining the completeness and integrity of the calibration data
+// received from the sensor. There are two reasons the CRC may not
+// have calculated to zero. The first is that all the calibration data
+// has not yet been received, the second is that the calibration data
+// has been corrupted. A typical sensor transmits the entire contents
+// of its calibration matrix over 30 times a second. Therefore, if
+// this bit is not zero within a couple of seconds after the sensor
+// has been plugged in, there is a problem with the sensor's
+// calibration data.
+//
+// WATCH_DOG
+// WATCH_DOG2
+//
+// The watch_dog and watch_dog2 bits are sensor, not processor, watch
+// dog bits. Watch_dog indicates that the sensor data line seems to be
+// acting correctly, while watch_dog2 indicates that sensor data and
+// clock are being received. It is possible for watch_dog2 to go off
+// while watch_dog does not. This would indicate an improper clock
+// signal, while data is acting correctly. If either watch dog barks,
+// the sensor data is not being received correctly.
+
+typedef enum {
+ fx_sat = 0x0001,
+ fy_sat = 0x0002,
+ fz_sat = 0x0004,
+ mx_sat = 0x0008,
+ my_sat = 0x0010,
+ mz_sat = 0x0020,
+ memory_error = 0x0400,
+ sensor_change = 0x0800,
+ system_busy = 0x1000,
+ cal_crc_bad = 0x2000,
+ watch_dog2 = 0x4000,
+ watch_dog = 0x8000
+} error_bits_t;
+
+// THRESH_STRUCT
+// This structure shows the layout for a single threshold packet inside of a
+// load envelope. Each load envelope can contain several threshold structures.
+// 1. data_address contains the address of the data for that threshold. This
+// includes filtered, unfiltered, raw, rate, counters, error and warning data
+// 2. threshold is the is the value at which, if data is above or below, the
+// bits will be set ... (pag.24).
+// 3. bit_pattern contains the bits that will be set if the threshold value is
+// met or exceeded.
+typedef struct thresh_struct {
+ s32 data_address;
+ s32 threshold;
+ s32 bit_pattern;
+} thresh_struct;
+
+// LE_STRUCT
+// Layout of a load enveloped packet. Four thresholds are showed ... for more
+// see manual (pag.25)
+// 1. latch_bits is a bit pattern that show which bits the user wants to latch.
+// The latched bits will not be reset once the threshold which set them is
+// no longer true. In that case the user must reset them using the reset_bit
+// command.
+// 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
+typedef struct {
+ s32 latch_bits;
+ s32 number_of_ge_thresholds;
+ s32 number_of_le_thresholds;
+ struct thresh_struct thresholds[4];
+ s32 reserved;
+} le_struct_t;
+
+// LINK_TYPES
+// Link types is an enumerated value showing the different possible transform
+// link types.
+// 0 - end transform packet
+// 1 - translate along X axis (TX)
+// 2 - translate along Y axis (TY)
+// 3 - translate along Z axis (TZ)
+// 4 - rotate about X axis (RX)
+// 5 - rotate about Y axis (RY)
+// 6 - rotate about Z axis (RZ)
+// 7 - negate all axes (NEG)
+typedef enum link_types {
+ end_x_form,
+ tx,
+ ty,
+ tz,
+ rx,
+ ry,
+ rz,
+ neg
+} link_types;
+
+// TRANSFORM
+// Structure used to describe a transform.
+typedef struct {
+ struct {
+ u_val_t link_type;
+ s_val_t link_amount;
+ } link[8];
+} intern_transform_t;
+
+// JR3 force/torque sensor data definition. For more information see sensor and
+// hardware manuals.
+
+typedef struct force_sensor_data {
+ // Raw_channels is the area used to store the raw data coming from
+ // the sensor.
+
+ raw_channel_t raw_channels[16]; /* offset 0x0000 */
+
+ // Copyright is a null terminated ASCII string containing the JR3
+ // copyright notice.
+
+ u_val_t copyright[0x0018]; /* offset 0x0040 */
+ s_val_t reserved1[0x0008]; /* offset 0x0058 */
+
+ // Shunts contains the sensor shunt readings. Some JR3 sensors have
+ // the ability to have their gains adjusted. This allows the
+ // hardware full scales to be adjusted to potentially allow
+ // better resolution or dynamic range. For sensors that have
+ // this ability, the gain of each sensor channel is measured at
+ // the time of calibration using a shunt resistor. The shunt
+ // resistor is placed across one arm of the resistor bridge, and
+ // the resulting change in the output of that channel is
+ // measured. This measurement is called the shunt reading, and
+ // is recorded here. If the user has changed the gain of the //
+ // sensor, and made new shunt measurements, those shunt
+ // measurements can be placed here. The JR3 DSP will then scale
+ // the calibration matrix such so that the gains are again
+ // proper for the indicated shunt readings. If shunts is 0, then
+ // the sensor cannot have its gain changed. For details on
+ // changing the sensor gain, and making shunts readings, please
+ // see the sensor manual. To make these values take effect the
+ // user must call either command (5) use transform # (pg. 33) or
+ // command (10) set new full scales (pg. 38).
+
+ six_axis_array_t shunts; /* offset 0x0060 */
+ s32 reserved2[2]; /* offset 0x0066 */
+
+ // Default_FS contains the full scale that is used if the user does
+ // not set a full scale.
+
+ six_axis_array_t default_FS; /* offset 0x0068 */
+ s_val_t reserved3; /* offset 0x006e */
+
+ // Load_envelope_num is the load envelope number that is currently
+ // in use. This value is set by the user after one of the load
+ // envelopes has been initialized.
+
+ s_val_t load_envelope_num; /* offset 0x006f */
+
+ // Min_full_scale is the recommend minimum full scale.
+ //
+ // These values in conjunction with max_full_scale (pg. 9) helps
+ // determine the appropriate value for setting the full scales. The
+ // software allows the user to set the sensor full scale to an
+ // arbitrary value. But setting the full scales has some hazards. If
+ // the full scale is set too low, the data will saturate
+ // prematurely, and dynamic range will be lost. If the full scale is
+ // set too high, then resolution is lost as the data is shifted to
+ // the right and the least significant bits are lost. Therefore the
+ // maximum full scale is the maximum value at which no resolution is
+ // lost, and the minimum full scale is the value at which the data
+ // will not saturate prematurely. These values are calculated
+ // whenever a new coordinate transformation is calculated. It is
+ // possible for the recommended maximum to be less than the
+ // recommended minimum. This comes about primarily when using
+ // coordinate translations. If this is the case, it means that any
+ // full scale selection will be a compromise between dynamic range
+ // and resolution. It is usually recommended to compromise in favor
+ // of resolution which means that the recommend maximum full scale
+ // should be chosen.
+ //
+ // WARNING: Be sure that the full scale is no less than 0.4% of the
+ // recommended minimum full scale. Full scales below this value will
+ // cause erroneous results.
+
+ six_axis_array_t min_full_scale; /* offset 0x0070 */
+ s_val_t reserved4; /* offset 0x0076 */
+
+ // Transform_num is the transform number that is currently in use.
+ // This value is set by the JR3 DSP after the user has used command
+ // (5) use transform # (pg. 33).
+
+ s_val_t transform_num; /* offset 0x0077 */
+
+ // Max_full_scale is the recommended maximum full scale. See
+ // min_full_scale (pg. 9) for more details.
+
+ six_axis_array_t max_full_scale; /* offset 0x0078 */
+ s_val_t reserved5; /* offset 0x007e */
+
+ // Peak_address is the address of the data which will be monitored
+ // by the peak routine. This value is set by the user. The peak
+ // routine will monitor any 8 contiguous addresses for peak values.
+ // (ex. to watch filter3 data for peaks, set this value to 0x00a8).
+
+ s_val_t peak_address; /* offset 0x007f */
+
+ // Full_scale is the sensor full scales which are currently in use.
+ // Decoupled and filtered data is scaled so that +/- 16384 is equal
+ // to the full scales. The engineering units used are indicated by
+ // the units value discussed on page 16. The full scales for Fx, Fy,
+ // Fz, Mx, My and Mz can be written by the user prior to calling
+ // command (10) set new full scales (pg. 38). The full scales for V1
+ // and V2 are set whenever the full scales are changed or when the
+ // axes used to calculate the vectors are changed. The full scale of
+ // V1 and V2 will always be equal to the largest full scale of the
+ // axes used for each vector respectively.
+
+ force_array_t full_scale; /* offset 0x0080 */
+
+ // Offsets contains the sensor offsets. These values are subtracted from
+ // the sensor data to obtain the decoupled data. The offsets are set a
+ // few seconds (< 10) after the calibration data has been received.
+ // They are set so that the output data will be zero. These values
+ // can be written as well as read. The JR3 DSP will use the values
+ // written here within 2 ms of being written. To set future
+ // decoupled data to zero, add these values to the current decoupled
+ // data values and place the sum here. The JR3 DSP will change these
+ // values when a new transform is applied. So if the offsets are
+ // such that FX is 5 and all other values are zero, after rotating
+ // about Z by 90 degrees, FY would be 5 and all others would be zero.
+
+ six_axis_array_t offsets; /* offset 0x0088 */
+
+ // Offset_num is the number of the offset currently in use. This
+ // value is set by the JR3 DSP after the user has executed the use
+ // offset # command (pg. 34). It can vary between 0 and 15.
+
+ s_val_t offset_num; /* offset 0x008e */
+
+ // Vect_axes is a bit map showing which of the axes are being used
+ // in the vector calculations. This value is set by the JR3 DSP
+ // after the user has executed the set vector axes command (pg. 37).
+
+ u_val_t vect_axes; /* offset 0x008f */
+
+ // Filter0 is the decoupled, unfiltered data from the JR3 sensor.
+ // This data has had the offsets removed.
+ //
+ // These force_arrays hold the filtered data. The decoupled data is
+ // passed through cascaded low pass filters. Each succeeding filter
+ // has a cutoff frequency of 1/4 of the preceding filter. The cutoff
+ // frequency of filter1 is 1/16 of the sample rate from the sensor.
+ // For a typical sensor with a sample rate of 8 kHz, the cutoff
+ // frequency of filter1 would be 500 Hz. The following filters would
+ // cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
+
+ struct force_array filter[7]; /* offset 0x0090,
+ offset 0x0098,
+ offset 0x00a0,
+ offset 0x00a8,
+ offset 0x00b0,
+ offset 0x00b8 ,
+ offset 0x00c0 */
+
+ // Rate_data is the calculated rate data. It is a first derivative
+ // calculation. It is calculated at a frequency specified by the
+ // variable rate_divisor (pg. 12). The data on which the rate is
+ // calculated is specified by the variable rate_address (pg. 12).
+
+ force_array_t rate_data; /* offset 0x00c8 */
+
+ // Minimum_data & maximum_data are the minimum and maximum (peak)
+ // data values. The JR3 DSP can monitor any 8 contiguous data items
+ // for minimums and maximums at full sensor bandwidth. This area is
+ // only updated at user request. This is done so that the user does
+ // not miss any peaks. To read the data, use either the read peaks
+ // command (pg. 40), or the read and reset peaks command (pg. 39).
+ // The address of the data to watch for peaks is stored in the
+ // variable peak_address (pg. 10). Peak data is lost when executing
+ // a coordinate transformation or a full scale change. Peak data is
+ // also lost when plugging in a new sensor.
+
+ force_array_t minimum_data; /* offset 0x00d0 */
+ force_array_t maximum_data; /* offset 0x00d8 */
+
+ // Near_sat_value & sat_value contain the value used to determine if
+ // the raw sensor is saturated. Because of decoupling and offset
+ // removal, it is difficult to tell from the processed data if the
+ // sensor is saturated. These values, in conjunction with the error
+ // and warning words (pg. 14), provide this critical information.
+ // These two values may be set by the host processor. These values
+ // are positive signed values, since the saturation logic uses the
+ // absolute values of the raw data. The near_sat_value defaults to
+ // approximately 80% of the ADC's full scale, which is 26214, while
+ // sat_value defaults to the ADC's full scale:
+ //
+ // sat_value = 32768 - 2^(16 - ADC bits)
+
+ s_val_t near_sat_value; /* offset 0x00e0 */
+ s_val_t sat_value; /* offset 0x00e1 */
+
+ // Rate_address, rate_divisor & rate_count contain the data used to
+ // control the calculations of the rates. Rate_address is the
+ // address of the data used for the rate calculation. The JR3 DSP
+ // will calculate rates for any 8 contiguous values (ex. to
+ // calculate rates for filter3 data set rate_address to 0x00a8).
+ // Rate_divisor is how often the rate is calculated. If rate_divisor
+ // is 1, the rates are calculated at full sensor bandwidth. If
+ // rate_divisor is 200, rates are calculated every 200 samples.
+ // Rate_divisor can be any value between 1 and 65536. Set
+ // rate_divisor to 0 to calculate rates every 65536 samples.
+ // Rate_count starts at zero and counts until it equals
+ // rate_divisor, at which point the rates are calculated, and
+ // rate_count is reset to 0. When setting a new rate divisor, it is
+ // a good idea to set rate_count to one less than rate divisor. This
+ // will minimize the time necessary to start the rate calculations.
+
+ s_val_t rate_address; /* offset 0x00e2 */
+ u_val_t rate_divisor; /* offset 0x00e3 */
+ u_val_t rate_count; /* offset 0x00e4 */
+
+ // Command_word2 through command_word0 are the locations used to
+ // send commands to the JR3 DSP. Their usage varies with the command
+ // and is detailed later in the Command Definitions section (pg.
+ // 29). In general the user places values into various memory
+ // locations, and then places the command word into command_word0.
+ // The JR3 DSP will process the command and place a 0 into
+ // command_word0 to indicate successful completion. Alternatively
+ // the JR3 DSP will place a negative number into command_word0 to
+ // indicate an error condition. Please note the command locations
+ // are numbered backwards. (I.E. command_word2 comes before
+ // command_word1).
+
+ s_val_t command_word2; /* offset 0x00e5 */
+ s_val_t command_word1; /* offset 0x00e6 */
+ s_val_t command_word0; /* offset 0x00e7 */
+
+ // Count1 through count6 are unsigned counters which are incremented
+ // every time the matching filters are calculated. Filter1 is
+ // calculated at the sensor data bandwidth. So this counter would
+ // increment at 8 kHz for a typical sensor. The rest of the counters
+ // are incremented at 1/4 the interval of the counter immediately
+ // preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
+ // These counters can be used to wait for data. Each time the
+ // counter changes, the corresponding data set can be sampled, and
+ // this will insure that the user gets each sample, once, and only
+ // once.
+
+ u_val_t count1; /* offset 0x00e8 */
+ u_val_t count2; /* offset 0x00e9 */
+ u_val_t count3; /* offset 0x00ea */
+ u_val_t count4; /* offset 0x00eb */
+ u_val_t count5; /* offset 0x00ec */
+ u_val_t count6; /* offset 0x00ed */
+
+ // Error_count is a running count of data reception errors. If this
+ // counter is changing rapidly, it probably indicates a bad sensor
+ // cable connection or other hardware problem. In most installations
+ // error_count should not change at all. But it is possible in an
+ // extremely noisy environment to experience occasional errors even
+ // without a hardware problem. If the sensor is well grounded, this
+ // is probably unavoidable in these environments. On the occasions
+ // where this counter counts a bad sample, that sample is ignored.
+
+ u_val_t error_count; /* offset 0x00ee */
+
+ // Count_x is a counter which is incremented every time the JR3 DSP
+ // searches its job queues and finds nothing to do. It indicates the
+ // amount of idle time the JR3 DSP has available. It can also be
+ // used to determine if the JR3 DSP is alive. See the Performance
+ // Issues section on pg. 49 for more details.
+
+ u_val_t count_x; /* offset 0x00ef */
+
+ // Warnings & errors contain the warning and error bits
+ // respectively. The format of these two words is discussed on page
+ // 21 under the headings warnings_bits and error_bits.
+
+ u_val_t warnings; /* offset 0x00f0 */
+ u_val_t errors; /* offset 0x00f1 */
+
+ // Threshold_bits is a word containing the bits that are set by the
+ // load envelopes. See load_envelopes (pg. 17) and thresh_struct
+ // (pg. 23) for more details.
+
+ s_val_t threshold_bits; /* offset 0x00f2 */
+
+ // Last_crc is the value that shows the actual calculated CRC. CRC
+ // is short for cyclic redundancy code. It should be zero. See the
+ // description for cal_crc_bad (pg. 21) for more information.
+
+ s_val_t last_CRC; /* offset 0x00f3 */
+
+ // EEProm_ver_no contains the version number of the sensor EEProm.
+ // EEProm version numbers can vary between 0 and 255.
+ // Software_ver_no contains the software version number. Version
+ // 3.02 would be stored as 302.
+
+ s_val_t eeprom_ver_no; /* offset 0x00f4 */
+ s_val_t software_ver_no; /* offset 0x00f5 */
+
+ // Software_day & software_year are the release date of the software
+ // the JR3 DSP is currently running. Day is the day of the year,
+ // with January 1 being 1, and December 31, being 365 for non leap
+ // years.
+
+ s_val_t software_day; /* offset 0x00f6 */
+ s_val_t software_year; /* offset 0x00f7 */
+
+ // Serial_no & model_no are the two values which uniquely identify a
+ // sensor. This model number does not directly correspond to the JR3
+ // model number, but it will provide a unique identifier for
+ // different sensor configurations.
+
+ u_val_t serial_no; /* offset 0x00f8 */
+ u_val_t model_no; /* offset 0x00f9 */
+
+ // Cal_day & cal_year are the sensor calibration date. Day is the
+ // day of the year, with January 1 being 1, and December 31, being
+ // 366 for leap years.
+
+ s_val_t cal_day; /* offset 0x00fa */
+ s_val_t cal_year; /* offset 0x00fb */
+
+ // Units is an enumerated read only value defining the engineering
+ // units used in the sensor full scale. The meanings of particular
+ // values are discussed in the section detailing the force_units
+ // structure on page 22. The engineering units are setto customer
+ // specifications during sensor manufacture and cannot be changed by
+ // writing to Units.
+ //
+ // Bits contains the number of bits of resolution of the ADC
+ // currently in use.
+ //
+ // Channels is a bit field showing which channels the current sensor
+ // is capable of sending. If bit 0 is active, this sensor can send
+ // channel 0, if bit 13 is active, this sensor can send channel 13,
+ // etc. This bit can be active, even if the sensor is not currently
+ // sending this channel. Some sensors are configurable as to which
+ // channels to send, and this field only contains information on the
+ // channels available to send, not on the current configuration. To
+ // find which channels are currently being sent, monitor the
+ // Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
+ // the time is changing periodically, then that channel is being
+ // received.
+
+ u_val_t units; /* offset 0x00fc */
+ s_val_t bits; /* offset 0x00fd */
+ s_val_t channels; /* offset 0x00fe */
+
+ // Thickness specifies the overall thickness of the sensor from
+ // flange to flange. The engineering units for this value are
+ // contained in units (pg. 16). The sensor calibration is relative
+ // to the center of the sensor. This value allows easy coordinate
+ // transformation from the center of the sensor to either flange.
+
+ s_val_t thickness; /* offset 0x00ff */
+
+ // Load_envelopes is a table containing the load envelope
+ // descriptions. There are 16 possible load envelope slots in the
+ // table. The slots are on 16 word boundaries and are numbered 0-15.
+ // Each load envelope needs to start at the beginning of a slot but
+ // need not be fully contained in that slot. That is to say that a
+ // single load envelope can be larger than a single slot. The
+ // software has been tested and ran satisfactorily with 50
+ // thresholds active. A single load envelope this large would take
+ // up 5 of the 16 slots. The load envelope data is laid out in an
+ // order that is most efficient for the JR3 DSP. The structure is
+ // detailed later in the section showing the definition of the
+ // le_struct structure (pg. 23).
+
+ le_struct_t load_envelopes[0x10]; /* offset 0x0100 */
+
+ // Transforms is a table containing the transform descriptions.
+ // There are 16 possible transform slots in the table. The slots are
+ // on 16 word boundaries and are numbered 0-15. Each transform needs
+ // to start at the beginning of a slot but need not be fully
+ // contained in that slot. That is to say that a single transform
+ // can be larger than a single slot. A transform is 2 * no of links
+ // + 1 words in length. So a single slot can contain a transform
+ // with 7 links. Two slots can contain a transform that is 15 links.
+ // The layout is detailed later in the section showing the
+ // definition of the transform structure (pg. 26).
+
+ intern_transform_t transforms[0x10]; /* offset 0x0200 */
+} jr3_channel_t;
+
+typedef struct {
+ struct {
+ u_val_t program_low[0x4000]; // 0x00000 - 0x10000
+ jr3_channel_t data; // 0x10000 - 0x10c00
+ char pad2[0x30000 - 0x00c00]; // 0x10c00 - 0x40000
+ u_val_t program_high[0x8000]; // 0x40000 - 0x60000
+ u32 reset; // 0x60000 - 0x60004
+ char pad3[0x20000 - 0x00004]; // 0x60004 - 0x80000
+ } channel[4];
+} jr3_t;
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