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/slab.h>
  50 #include <linux/timer.h>
  51 #include <linux/kernel.h>
  52 #include "comedi_pci.h"
  53 #include "jr3_pci.h"
  54
  55 #define PCI_VENDOR_ID_JR3 0x1762
  56 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  57 #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
  58 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  59 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  60 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  61
  62 static int jr3_pci_attach(struct comedi_device *dev,
  63                           struct comedi_devconfig *it);
  64 static int jr3_pci_detach(struct comedi_device *dev);
  65
  66 static struct comedi_driver driver_jr3_pci = {
  67         .driver_name = "jr3_pci",
  68         .module = THIS_MODULE,
  69         .attach = jr3_pci_attach,
  70         .detach = jr3_pci_detach,
  71 };
  72
  73 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
  74         {
  75         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
  76                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  77         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW,
  78                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  79         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
  80                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  81         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
  82                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  83         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
  84                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  85         0}
  86 };
  87
  88 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
  89
  90 struct jr3_pci_dev_private {
  91
  92         struct pci_dev *pci_dev;
  93         int pci_enabled;
  94         volatile struct jr3_t *iobase;
  95         int n_channels;
  96         struct timer_list timer;
  97 };
  98
  99 struct poll_delay_t {
 100
 101         int min;
 102         int max;
 103 };
 104
 105 struct jr3_pci_subdev_private {
 106         volatile struct jr3_channel *channel;
 107         unsigned long next_time_min;
 108         unsigned long next_time_max;
 109         enum { state_jr3_poll,
 110                 state_jr3_init_wait_for_offset,
 111                 state_jr3_init_transform_complete,
 112                 state_jr3_init_set_full_scale_complete,
 113                 state_jr3_init_use_offset_complete,
 114                 state_jr3_done
 115         } state;
 116         int channel_no;
 117         int serial_no;
 118         int model_no;
 119         struct {
 120                 int length;
 121                 struct comedi_krange range;
 122         } range[9];
 123         const struct comedi_lrange *range_table_list[8 * 7 + 2];
 124         unsigned int maxdata_list[8 * 7 + 2];
 125         u16 errors;
 126         int retries;
 127 };
 128
 129 /* Hotplug firmware loading stuff */
 130 static int comedi_load_firmware(struct comedi_device *dev, char *name,
 131                                 int (*cb)(struct comedi_device *dev,
 132                                         const u8 *data, size_t size))
 133 {
 134         int result = 0;
 135         const struct firmware *fw;
 136         char *firmware_path;
 137         static const char *prefix = "comedi/";
 138         struct jr3_pci_dev_private *devpriv = dev->private;
 139
 140         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 141         if (!firmware_path) {
 142                 result = -ENOMEM;
 143         } else {
 144                 firmware_path[0] = '\0';
 145                 strcat(firmware_path, prefix);
 146                 strcat(firmware_path, name);
 147                 result = request_firmware(&fw, firmware_path,
 148                                           &devpriv->pci_dev->dev);
 149                 if (result == 0) {
 150                         if (!cb)
 151                                 result = -EINVAL;
 152                         else
 153                                 result = cb(dev, fw->data, fw->size);
 154                         release_firmware(fw);
 155                 }
 156                 kfree(firmware_path);
 157         }
 158         return result;
 159 }
 160
 161 static struct poll_delay_t poll_delay_min_max(int min, int max)
 162 {
 163         struct poll_delay_t result;
 164
 165         result.min = min;
 166         result.max = max;
 167         return result;
 168 }
 169
 170 static int is_complete(volatile struct jr3_channel *channel)
 171 {
 172         return get_s16(&channel->command_word0) == 0;
 173 }
 174
 175 struct transform_t {
 176         struct {
 177                 u16 link_type;
 178                 s16 link_amount;
 179         } link[8];
 180 };
 181
 182 static void set_transforms(volatile struct jr3_channel *channel,
 183                            struct transform_t transf, short num)
 184 {
 185         int i;
 186
 187         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 188         for (i = 0; i < 8; i++) {
 189
 190                 set_u16(&channel->transforms[num].link[i].link_type,
 191                         transf.link[i].link_type);
 192                 udelay(1);
 193                 set_s16(&channel->transforms[num].link[i].link_amount,
 194                         transf.link[i].link_amount);
 195                 udelay(1);
 196                 if (transf.link[i].link_type == end_x_form) {
 197                         break;
 198                 }
 199         }
 200 }
 201
 202 static void use_transform(volatile struct jr3_channel *channel,
 203                           short transf_num)
 204 {
 205         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 206 }
 207
 208 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 209 {
 210         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 211 }
 212
 213 static void set_offset(volatile struct jr3_channel *channel)
 214 {
 215         set_s16(&channel->command_word0, 0x0700);
 216 }
 217
 218 struct six_axis_t {
 219         s16 fx;
 220         s16 fy;
 221         s16 fz;
 222         s16 mx;
 223         s16 my;
 224         s16 mz;
 225 };
 226
 227 static void set_full_scales(volatile struct jr3_channel *channel,
 228                             struct six_axis_t full_scale)
 229 {
 230         printk("%d %d %d %d %d %d\n",
 231                full_scale.fx,
 232                full_scale.fy,
 233                full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 234         set_s16(&channel->full_scale.fx, full_scale.fx);
 235         set_s16(&channel->full_scale.fy, full_scale.fy);
 236         set_s16(&channel->full_scale.fz, full_scale.fz);
 237         set_s16(&channel->full_scale.mx, full_scale.mx);
 238         set_s16(&channel->full_scale.my, full_scale.my);
 239         set_s16(&channel->full_scale.mz, full_scale.mz);
 240         set_s16(&channel->command_word0, 0x0a00);
 241 }
 242
 243 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
 244                                              *channel)
 245 {
 246         struct six_axis_t result;
 247         result.fx = get_s16(&channel->min_full_scale.fx);
 248         result.fy = get_s16(&channel->min_full_scale.fy);
 249         result.fz = get_s16(&channel->min_full_scale.fz);
 250         result.mx = get_s16(&channel->min_full_scale.mx);
 251         result.my = get_s16(&channel->min_full_scale.my);
 252         result.mz = get_s16(&channel->min_full_scale.mz);
 253         return result;
 254 }
 255
 256 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
 257                                              *channel)
 258 {
 259         struct six_axis_t result;
 260         result.fx = get_s16(&channel->max_full_scale.fx);
 261         result.fy = get_s16(&channel->max_full_scale.fy);
 262         result.fz = get_s16(&channel->max_full_scale.fz);
 263         result.mx = get_s16(&channel->max_full_scale.mx);
 264         result.my = get_s16(&channel->max_full_scale.my);
 265         result.mz = get_s16(&channel->max_full_scale.mz);
 266         return result;
 267 }
 268
 269 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 270                                 struct comedi_subdevice *s,
 271                                 struct comedi_insn *insn, unsigned int *data)
 272 {
 273         int result;
 274         struct jr3_pci_subdev_private *p;
 275         int channel;
 276
 277         p = s->private;
 278         channel = CR_CHAN(insn->chanspec);
 279         if (p == NULL || channel > 57) {
 280                 result = -EINVAL;
 281         } else {
 282                 int i;
 283
 284                 result = insn->n;
 285                 if (p->state != state_jr3_done ||
 286                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 287                                                      sensor_change))) {
 288                         /* No sensor or sensor changed */
 289                         if (p->state == state_jr3_done) {
 290                                 /* Restart polling */
 291                                 p->state = state_jr3_poll;
 292                         }
 293                         result = -EAGAIN;
 294                 }
 295                 for (i = 0; i < insn->n; i++) {
 296                         if (channel < 56) {
 297                                 int axis, filter;
 298
 299                                 axis = channel % 8;
 300                                 filter = channel / 8;
 301                                 if (p->state != state_jr3_done) {
 302                                         data[i] = 0;
 303                                 } else {
 304                                         int F = 0;
 305                                         switch (axis) {
 306                                         case 0:{
 307                                                         F = get_s16
 308                                                             (&p->channel->filter
 309                                                              [filter].fx);
 310                                                 }
 311                                                 break;
 312                                         case 1:{
 313                                                         F = get_s16
 314                                                             (&p->channel->filter
 315                                                              [filter].fy);
 316                                                 }
 317                                                 break;
 318                                         case 2:{
 319                                                         F = get_s16
 320                                                             (&p->channel->filter
 321                                                              [filter].fz);
 322                                                 }
 323                                                 break;
 324                                         case 3:{
 325                                                         F = get_s16
 326                                                             (&p->channel->filter
 327                                                              [filter].mx);
 328                                                 }
 329                                                 break;
 330                                         case 4:{
 331                                                         F = get_s16
 332                                                             (&p->channel->filter
 333                                                              [filter].my);
 334                                                 }
 335                                                 break;
 336                                         case 5:{
 337                                                         F = get_s16
 338                                                             (&p->channel->filter
 339                                                              [filter].mz);
 340                                                 }
 341                                                 break;
 342                                         case 6:{
 343                                                         F = get_s16
 344                                                             (&p->channel->filter
 345                                                              [filter].v1);
 346                                                 }
 347                                                 break;
 348                                         case 7:{
 349                                                         F = get_s16
 350                                                             (&p->channel->filter
 351                                                              [filter].v2);
 352                                                 }
 353                                                 break;
 354                                         }
 355                                         data[i] = F + 0x4000;
 356                                 }
 357                         } else if (channel == 56) {
 358                                 if (p->state != state_jr3_done) {
 359                                         data[i] = 0;
 360                                 } else {
 361                                         data[i] =
 362                                             get_u16(&p->channel->model_no);
 363                                 }
 364                         } else if (channel == 57) {
 365                                 if (p->state != state_jr3_done) {
 366                                         data[i] = 0;
 367                                 } else {
 368                                         data[i] =
 369                                             get_u16(&p->channel->serial_no);
 370                                 }
 371                         }
 372                 }
 373         }
 374         return result;
 375 }
 376
 377 static int jr3_pci_open(struct comedi_device *dev)
 378 {
 379         int i;
 380         struct jr3_pci_dev_private *devpriv = dev->private;
 381
 382         printk("jr3_pci_open\n");
 383         for (i = 0; i < devpriv->n_channels; i++) {
 384                 struct jr3_pci_subdev_private *p;
 385
 386                 p = dev->subdevices[i].private;
 387                 if (p) {
 388                         printk("serial: %p %d (%d)\n", p, p->serial_no,
 389                                p->channel_no);
 390                 }
 391         }
 392         return 0;
 393 }
 394
 395 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 396 {
 397         int result = 0;
 398         if (pos != 0 && val != 0) {
 399                 /*  Skip over non hex */
 400                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 401                 }
 402                 /*  Collect value */
 403                 *val = 0;
 404                 for (; *pos < size; (*pos)++) {
 405                         int value;
 406                         value = hex_to_bin(data[*pos]);
 407                         if (value >= 0) {
 408                                 result = 1;
 409                                 *val = (*val << 4) + value;
 410                         } else
 411                                 break;
 412                 }
 413         }
 414         return result;
 415 }
 416
 417 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
 418                                  size_t size)
 419 {
 420         /*
 421          * IDM file format is:
 422          *   { count, address, data <count> } *
 423          *   ffff
 424          */
 425         int result, more, pos, OK;
 426
 427         result = 0;
 428         more = 1;
 429         pos = 0;
 430         OK = 0;
 431         while (more) {
 432                 unsigned int count, addr;
 433
 434                 more = more && read_idm_word(data, size, &pos, &count);
 435                 if (more && count == 0xffff) {
 436                         OK = 1;
 437                         break;
 438                 }
 439                 more = more && read_idm_word(data, size, &pos, &addr);
 440                 while (more && count > 0) {
 441                         unsigned int dummy;
 442                         more = more && read_idm_word(data, size, &pos, &dummy);
 443                         count--;
 444                 }
 445         }
 446
 447         if (!OK) {
 448                 result = -ENODATA;
 449         } else {
 450                 int i;
 451                 struct jr3_pci_dev_private *p = dev->private;
 452
 453                 for (i = 0; i < p->n_channels; i++) {
 454                         struct jr3_pci_subdev_private *sp;
 455
 456                         sp = dev->subdevices[i].private;
 457                         more = 1;
 458                         pos = 0;
 459                         while (more) {
 460                                 unsigned int count, addr;
 461                                 more = more
 462                                     && read_idm_word(data, size, &pos, &count);
 463                                 if (more && count == 0xffff) {
 464                                         break;
 465                                 }
 466                                 more = more
 467                                     && read_idm_word(data, size, &pos, &addr);
 468                                 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
 469                                        count, addr);
 470                                 while (more && count > 0) {
 471                                         if (addr & 0x4000) {
 472                                                 /*  16 bit data, never seen in real life!! */
 473                                                 unsigned int data1;
 474
 475                                                 more = more
 476                                                     && read_idm_word(data,
 477                                                                      size, &pos,
 478                                                                      &data1);
 479                                                 count--;
 480                                                 /* printk("jr3_data, not tested\n"); */
 481                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 482                                         } else {
 483                                                 /*   Download 24 bit program */
 484                                                 unsigned int data1, data2;
 485
 486                                                 more = more
 487                                                     && read_idm_word(data,
 488                                                                      size, &pos,
 489                                                                      &data1);
 490                                                 more = more
 491                                                     && read_idm_word(data, size,
 492                                                                      &pos,
 493                                                                      &data2);
 494                                                 count -= 2;
 495                                                 if (more) {
 496                                                         set_u16(&p->
 497                                                                 iobase->channel
 498                                                                 [i].program_low
 499                                                                 [addr], data1);
 500                                                         udelay(1);
 501                                                         set_u16(&p->
 502                                                                 iobase->channel
 503                                                                 [i].program_high
 504                                                                 [addr], data2);
 505                                                         udelay(1);
 506
 507                                                 }
 508                                         }
 509                                         addr++;
 510                                 }
 511                         }
 512                 }
 513         }
 514         return result;
 515 }
 516
 517 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 518 {
 519         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 520         struct jr3_pci_subdev_private *p = s->private;
 521         int i;
 522
 523         if (p) {
 524                 volatile struct jr3_channel *channel = p->channel;
 525                 int errors = get_u16(&channel->errors);
 526
 527                 if (errors != p->errors) {
 528                         printk("Errors: %x -> %x\n", p->errors, errors);
 529                         p->errors = errors;
 530                 }
 531                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 532                         /*  Sensor communication lost, force poll mode */
 533                         p->state = state_jr3_poll;
 534
 535                 }
 536                 switch (p->state) {
 537                 case state_jr3_poll:{
 538                                 u16 model_no = get_u16(&channel->model_no);
 539                                 u16 serial_no = get_u16(&channel->serial_no);
 540                                 if ((errors & (watch_dog | watch_dog2)) ||
 541                                     model_no == 0 || serial_no == 0) {
 542 /*
 543  * Still no sensor, keep on polling. Since it takes up to 10 seconds
 544  * for offsets to stabilize, polling each second should suffice.
 545  */
 546                                         result = poll_delay_min_max(1000, 2000);
 547                                 } else {
 548                                         p->retries = 0;
 549                                         p->state =
 550                                             state_jr3_init_wait_for_offset;
 551                                         result = poll_delay_min_max(1000, 2000);
 552                                 }
 553                         }
 554                         break;
 555                 case state_jr3_init_wait_for_offset:{
 556                                 p->retries++;
 557                                 if (p->retries < 10) {
 558                                         /*  Wait for offeset to stabilize (< 10 s according to manual) */
 559                                         result = poll_delay_min_max(1000, 2000);
 560                                 } else {
 561                                         struct transform_t transf;
 562
 563                                         p->model_no =
 564                                             get_u16(&channel->model_no);
 565                                         p->serial_no =
 566                                             get_u16(&channel->serial_no);
 567
 568                                         printk
 569                                             ("Setting transform for channel %d\n",
 570                                              p->channel_no);
 571                                         printk("Sensor Model     = %i\n",
 572                                                p->model_no);
 573                                         printk("Sensor Serial    = %i\n",
 574                                                p->serial_no);
 575
 576                                         /*  Transformation all zeros */
 577                                         for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 578                                                 transf.link[i].link_type =
 579                                                         (enum link_types)0;
 580                                                 transf.link[i].link_amount = 0;
 581                                         }
 582
 583                                         set_transforms(channel, transf, 0);
 584                                         use_transform(channel, 0);
 585                                         p->state =
 586                                             state_jr3_init_transform_complete;
 587                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 588                                 }
 589                         } break;
 590                 case state_jr3_init_transform_complete:{
 591                                 if (!is_complete(channel)) {
 592                                         printk
 593                                             ("state_jr3_init_transform_complete complete = %d\n",
 594                                              is_complete(channel));
 595                                         result = poll_delay_min_max(20, 100);
 596                                 } else {
 597                                         /*  Set full scale */
 598                                         struct six_axis_t min_full_scale;
 599                                         struct six_axis_t max_full_scale;
 600
 601                                         min_full_scale =
 602                                             get_min_full_scales(channel);
 603                                         printk("Obtained Min. Full Scales:\n");
 604                                         printk("%i   ", (min_full_scale).fx);
 605                                         printk("%i   ", (min_full_scale).fy);
 606                                         printk("%i   ", (min_full_scale).fz);
 607                                         printk("%i   ", (min_full_scale).mx);
 608                                         printk("%i   ", (min_full_scale).my);
 609                                         printk("%i   ", (min_full_scale).mz);
 610                                         printk("\n");
 611
 612                                         max_full_scale =
 613                                             get_max_full_scales(channel);
 614                                         printk("Obtained Max. Full Scales:\n");
 615                                         printk("%i   ", (max_full_scale).fx);
 616                                         printk("%i   ", (max_full_scale).fy);
 617                                         printk("%i   ", (max_full_scale).fz);
 618                                         printk("%i   ", (max_full_scale).mx);
 619                                         printk("%i   ", (max_full_scale).my);
 620                                         printk("%i   ", (max_full_scale).mz);
 621                                         printk("\n");
 622
 623                                         set_full_scales(channel,
 624                                                         max_full_scale);
 625
 626                                         p->state =
 627                                             state_jr3_init_set_full_scale_complete;
 628                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 629                                 }
 630                         }
 631                         break;
 632                 case state_jr3_init_set_full_scale_complete:{
 633                                 if (!is_complete(channel)) {
 634                                         printk
 635                                             ("state_jr3_init_set_full_scale_complete complete = %d\n",
 636                                              is_complete(channel));
 637                                         result = poll_delay_min_max(20, 100);
 638                                 } else {
 639                                         volatile struct force_array *full_scale;
 640
 641                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 642                                         full_scale = &channel->full_scale;
 643                                         p->range[0].range.min =
 644                                             -get_s16(&full_scale->fx) * 1000;
 645                                         p->range[0].range.max =
 646                                             get_s16(&full_scale->fx) * 1000;
 647                                         p->range[1].range.min =
 648                                             -get_s16(&full_scale->fy) * 1000;
 649                                         p->range[1].range.max =
 650                                             get_s16(&full_scale->fy) * 1000;
 651                                         p->range[2].range.min =
 652                                             -get_s16(&full_scale->fz) * 1000;
 653                                         p->range[2].range.max =
 654                                             get_s16(&full_scale->fz) * 1000;
 655                                         p->range[3].range.min =
 656                                             -get_s16(&full_scale->mx) * 100;
 657                                         p->range[3].range.max =
 658                                             get_s16(&full_scale->mx) * 100;
 659                                         p->range[4].range.min =
 660                                             -get_s16(&full_scale->my) * 100;
 661                                         p->range[4].range.max =
 662                                             get_s16(&full_scale->my) * 100;
 663                                         p->range[5].range.min =
 664                                             -get_s16(&full_scale->mz) * 100;
 665                                         p->range[5].range.max =
 666                                             get_s16(&full_scale->mz) * 100;
 667                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 668                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 669                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 670                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 671                                         p->range[8].range.min = 0;
 672                                         p->range[8].range.max = 65535;
 673
 674                                         {
 675                                                 int i;
 676                                                 for (i = 0; i < 9; i++) {
 677                                                         printk("%d %d - %d\n",
 678                                                                i,
 679                                                                p->
 680                                                                range[i].range.
 681                                                                min,
 682                                                                p->
 683                                                                range[i].range.
 684                                                                max);
 685                                                 }
 686                                         }
 687
 688                                         use_offset(channel, 0);
 689                                         p->state =
 690                                             state_jr3_init_use_offset_complete;
 691                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 692                                 }
 693                         }
 694                         break;
 695                 case state_jr3_init_use_offset_complete:{
 696                                 if (!is_complete(channel)) {
 697                                         printk
 698                                             ("state_jr3_init_use_offset_complete complete = %d\n",
 699                                              is_complete(channel));
 700                                         result = poll_delay_min_max(20, 100);
 701                                 } else {
 702                                         printk
 703                                             ("Default offsets %d %d %d %d %d %d\n",
 704                                              get_s16(&channel->offsets.fx),
 705                                              get_s16(&channel->offsets.fy),
 706                                              get_s16(&channel->offsets.fz),
 707                                              get_s16(&channel->offsets.mx),
 708                                              get_s16(&channel->offsets.my),
 709                                              get_s16(&channel->offsets.mz));
 710
 711                                         set_s16(&channel->offsets.fx, 0);
 712                                         set_s16(&channel->offsets.fy, 0);
 713                                         set_s16(&channel->offsets.fz, 0);
 714                                         set_s16(&channel->offsets.mx, 0);
 715                                         set_s16(&channel->offsets.my, 0);
 716                                         set_s16(&channel->offsets.mz, 0);
 717
 718                                         set_offset(channel);
 719
 720                                         p->state = state_jr3_done;
 721                                 }
 722                         }
 723                         break;
 724                 case state_jr3_done:{
 725                                 poll_delay_min_max(10000, 20000);
 726                         }
 727                         break;
 728                 default:{
 729                                 poll_delay_min_max(1000, 2000);
 730                         }
 731                         break;
 732                 }
 733         }
 734         return result;
 735 }
 736
 737 static void jr3_pci_poll_dev(unsigned long data)
 738 {
 739         unsigned long flags;
 740         struct comedi_device *dev = (struct comedi_device *)data;
 741         struct jr3_pci_dev_private *devpriv = dev->private;
 742         unsigned long now;
 743         int delay;
 744         int i;
 745
 746         spin_lock_irqsave(&dev->spinlock, flags);
 747         delay = 1000;
 748         now = jiffies;
 749         /*  Poll all channels that are ready to be polled */
 750         for (i = 0; i < devpriv->n_channels; i++) {
 751                 struct jr3_pci_subdev_private *subdevpriv =
 752                     dev->subdevices[i].private;
 753                 if (now > subdevpriv->next_time_min) {
 754                         struct poll_delay_t sub_delay;
 755
 756                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 757                         subdevpriv->next_time_min =
 758                             jiffies + msecs_to_jiffies(sub_delay.min);
 759                         subdevpriv->next_time_max =
 760                             jiffies + msecs_to_jiffies(sub_delay.max);
 761                         if (sub_delay.max && sub_delay.max < delay) {
 762 /*
 763 * Wake up as late as possible -> poll as many channels as possible
 764 * at once
 765 */
 766                                 delay = sub_delay.max;
 767                         }
 768                 }
 769         }
 770         spin_unlock_irqrestore(&dev->spinlock, flags);
 771
 772         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 773         add_timer(&devpriv->timer);
 774 }
 775
 776 static int jr3_pci_attach(struct comedi_device *dev,
 777                           struct comedi_devconfig *it)
 778 {
 779         int result = 0;
 780         struct pci_dev *card = NULL;
 781         int opt_bus, opt_slot, i;
 782         struct jr3_pci_dev_private *devpriv;
 783
 784         printk("comedi%d: jr3_pci\n", dev->minor);
 785
 786         opt_bus = it->options[0];
 787         opt_slot = it->options[1];
 788
 789         if (sizeof(struct jr3_channel) != 0xc00) {
 790                 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
 791                        (unsigned)sizeof(struct jr3_channel), 0xc00);
 792                 return -EINVAL;
 793         }
 794
 795         result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
 796         if (result < 0) {
 797                 return -ENOMEM;
 798         }
 799         card = NULL;
 800         devpriv = dev->private;
 801         init_timer(&devpriv->timer);
 802         while (1) {
 803                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 804                 if (card == NULL) {
 805                         /* No card found */
 806                         break;
 807                 } else {
 808                         switch (card->device) {
 809                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 810                                         devpriv->n_channels = 1;
 811                                 }
 812                                 break;
 813                         case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:{
 814                                         devpriv->n_channels = 1;
 815                                 }
 816                                 break;
 817                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 818                                         devpriv->n_channels = 2;
 819                                 }
 820                                 break;
 821                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 822                                         devpriv->n_channels = 3;
 823                                 }
 824                                 break;
 825                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 826                                         devpriv->n_channels = 4;
 827                                 }
 828                                 break;
 829                         default:{
 830                                         devpriv->n_channels = 0;
 831                                 }
 832                         }
 833                         if (devpriv->n_channels >= 1) {
 834                                 if (opt_bus == 0 && opt_slot == 0) {
 835                                         /* Take first available card */
 836                                         break;
 837                                 } else if (opt_bus == card->bus->number &&
 838                                            opt_slot == PCI_SLOT(card->devfn)) {
 839                                         /* Take requested card */
 840                                         break;
 841                                 }
 842                         }
 843                 }
 844         }
 845         if (!card) {
 846                 printk(" no jr3_pci found\n");
 847                 return -EIO;
 848         } else {
 849                 devpriv->pci_dev = card;
 850                 dev->board_name = "jr3_pci";
 851         }
 852
 853         result = comedi_pci_enable(card, "jr3_pci");
 854         if (result < 0) {
 855                 return -EIO;
 856         }
 857
 858         devpriv->pci_enabled = 1;
 859         devpriv->iobase = ioremap(pci_resource_start(card, 0),
 860                         offsetof(struct jr3_t, channel[devpriv->n_channels]));
 861         if (!devpriv->iobase)
 862                 return -ENOMEM;
 863
 864         result = alloc_subdevices(dev, devpriv->n_channels);
 865         if (result < 0)
 866                 goto out;
 867
 868         dev->open = jr3_pci_open;
 869         for (i = 0; i < devpriv->n_channels; i++) {
 870                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 871                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 872                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 873                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 874                 dev->subdevices[i].private =
 875                     kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 876                 if (dev->subdevices[i].private) {
 877                         struct jr3_pci_subdev_private *p;
 878                         int j;
 879
 880                         p = dev->subdevices[i].private;
 881                         p->channel = &devpriv->iobase->channel[i].data;
 882                         printk("p->channel %p %p (%tx)\n",
 883                                p->channel, devpriv->iobase,
 884                                ((char *)(p->channel) -
 885                                 (char *)(devpriv->iobase)));
 886                         p->channel_no = i;
 887                         for (j = 0; j < 8; j++) {
 888                                 int k;
 889
 890                                 p->range[j].length = 1;
 891                                 p->range[j].range.min = -1000000;
 892                                 p->range[j].range.max = 1000000;
 893                                 for (k = 0; k < 7; k++) {
 894                                         p->range_table_list[j + k * 8] =
 895                                             (struct comedi_lrange *)&p->
 896                                             range[j];
 897                                         p->maxdata_list[j + k * 8] = 0x7fff;
 898                                 }
 899                         }
 900                         p->range[8].length = 1;
 901                         p->range[8].range.min = 0;
 902                         p->range[8].range.max = 65536;
 903
 904                         p->range_table_list[56] =
 905                             (struct comedi_lrange *)&p->range[8];
 906                         p->range_table_list[57] =
 907                             (struct comedi_lrange *)&p->range[8];
 908                         p->maxdata_list[56] = 0xffff;
 909                         p->maxdata_list[57] = 0xffff;
 910                         /*  Channel specific range and maxdata */
 911                         dev->subdevices[i].range_table = 0;
 912                         dev->subdevices[i].range_table_list =
 913                             p->range_table_list;
 914                         dev->subdevices[i].maxdata = 0;
 915                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 916                 }
 917         }
 918
 919         /*  Reset DSP card */
 920         devpriv->iobase->channel[0].reset = 0;
 921
 922         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 923         printk("Firmare load %d\n", result);
 924
 925         if (result < 0) {
 926                 goto out;
 927         }
 928 /*
 929  * TODO: use firmware to load preferred offset tables. Suggested
 930  * format:
 931  *     model serial Fx Fy Fz Mx My Mz\n
 932  *
 933  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 934  */
 935
 936 /*
 937  * It takes a few milliseconds for software to settle as much as we
 938  * can read firmware version
 939  */
 940         msleep_interruptible(25);
 941         for (i = 0; i < 0x18; i++) {
 942                 printk("%c",
 943                        get_u16(&devpriv->iobase->channel[0].
 944                                data.copyright[i]) >> 8);
 945         }
 946
 947         /*  Start card timer */
 948         for (i = 0; i < devpriv->n_channels; i++) {
 949                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 950
 951                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 952                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 953         }
 954
 955         devpriv->timer.data = (unsigned long)dev;
 956         devpriv->timer.function = jr3_pci_poll_dev;
 957         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 958         add_timer(&devpriv->timer);
 959
 960 out:
 961         return result;
 962 }
 963
 964 MODULE_FIRMWARE("comedi/jr3pci.idm");
 965
 966 static int jr3_pci_detach(struct comedi_device *dev)
 967 {
 968         int i;
 969         struct jr3_pci_dev_private *devpriv = dev->private;
 970
 971         printk("comedi%d: jr3_pci: remove\n", dev->minor);
 972         if (devpriv) {
 973                 del_timer_sync(&devpriv->timer);
 974
 975                 if (dev->subdevices) {
 976                         for (i = 0; i < devpriv->n_channels; i++) {
 977                                 kfree(dev->subdevices[i].private);
 978                         }
 979                 }
 980
 981                 if (devpriv->iobase) {
 982                         iounmap((void *)devpriv->iobase);
 983                 }
 984                 if (devpriv->pci_enabled) {
 985                         comedi_pci_disable(devpriv->pci_dev);
 986                 }
 987
 988                 if (devpriv->pci_dev) {
 989                         pci_dev_put(devpriv->pci_dev);
 990                 }
 991         }
 992         return 0;
 993 }
 994
 995 static int __devinit driver_jr3_pci_pci_probe(struct pci_dev *dev,
 996                                               const struct pci_device_id *ent)
 997 {
 998         return comedi_pci_auto_config(dev, driver_jr3_pci.driver_name);
 999 }
1000
1001 static void __devexit driver_jr3_pci_pci_remove(struct pci_dev *dev)
1002 {
1003         comedi_pci_auto_unconfig(dev);
1004 }
1005
1006 static struct pci_driver driver_jr3_pci_pci_driver = {
1007         .id_table = jr3_pci_pci_table,
1008         .probe = &driver_jr3_pci_pci_probe,
1009         .remove = __devexit_p(&driver_jr3_pci_pci_remove)
1010 };
1011
1012 static int __init driver_jr3_pci_init_module(void)
1013 {
1014         int retval;
1015
1016         retval = comedi_driver_register(&driver_jr3_pci);
1017         if (retval < 0)
1018                 return retval;
1019
1020         driver_jr3_pci_pci_driver.name = (char *)driver_jr3_pci.driver_name;
1021         return pci_register_driver(&driver_jr3_pci_pci_driver);
1022 }
1023
1024 static void __exit driver_jr3_pci_cleanup_module(void)
1025 {
1026         pci_unregister_driver(&driver_jr3_pci_pci_driver);
1027         comedi_driver_unregister(&driver_jr3_pci);
1028 }
1029
1030 module_init(driver_jr3_pci_init_module);
1031 module_exit(driver_jr3_pci_cleanup_module);
1032
1033 MODULE_AUTHOR("Comedi http://www.comedi.org");
1034 MODULE_DESCRIPTION("Comedi low-level driver");
1035 MODULE_LICENSE("GPL");