drivers/staging/comedi/drivers/jr3_pci.c

   1 /*
   2   comedi/drivers/jr3_pci.c
   3   hardware driver for JR3/PCI force sensor board
   4
   5   COMEDI - Linux Control and Measurement Device Interface
   6   Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
   7
   8   This program is free software; you can redistribute it and/or modify
   9   it under the terms of the GNU General Public License as published by
  10   the Free Software Foundation; either version 2 of the License, or
  11   (at your option) any later version.
  12
  13   This program is distributed in the hope that it will be useful,
  14   but WITHOUT ANY WARRANTY; without even the implied warranty of
  15   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16   GNU General Public License for more details.
  17
  18   You should have received a copy of the GNU General Public License
  19   along with this program; if not, write to the Free Software
  20   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21
  22 */
  23 /*
  24 Driver: jr3_pci
  25 Description: JR3/PCI force sensor board
  26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
  27 Status: works
  28 Devices: [JR3] PCI force sensor board (jr3_pci)
  29
  30   The DSP on the board requires initialization code, which can
  31   be loaded by placing it in /lib/firmware/comedi.
  32   The initialization code should be somewhere on the media you got
  33   with your card. One version is available from http://www.comedi.org
  34   in the comedi_nonfree_firmware tarball.
  35
  36   Configuration options:
  37   [0] - PCI bus number - if bus number and slot number are 0,
  38                          then driver search for first unused card
  39   [1] - PCI slot number
  40
  41 */
  42
  43 #include "../comedidev.h"
  44
  45 #include <linux/delay.h>
  46 #include <linux/ctype.h>
  47 #include <linux/firmware.h>
  48 #include <linux/jiffies.h>
  49 #include <linux/timer.h>
  50 #include "comedi_pci.h"
  51 #include "jr3_pci.h"
  52
  53 #define PCI_VENDOR_ID_JR3 0x1762
  54 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  55 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  56 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  57 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  58
  59 static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it);
  60 static int jr3_pci_detach(struct comedi_device *dev);
  61
  62 static struct comedi_driver driver_jr3_pci = {
  63         .driver_name = "jr3_pci",
  64         .module = THIS_MODULE,
  65         .attach = jr3_pci_attach,
  66         .detach = jr3_pci_detach,
  67 };
  68
  69 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
  70         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
  71                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
  72         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
  73                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
  74         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
  75                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
  76         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
  77                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
  78         {0}
  79 };
  80
  81 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
  82
  83 struct jr3_pci_dev_private {
  84
  85         struct pci_dev *pci_dev;
  86         int pci_enabled;
  87         volatile struct jr3_t *iobase;
  88         int n_channels;
  89         struct timer_list timer;
  90 };
  91
  92
  93 struct poll_delay_t {
  94
  95         int min;
  96         int max;
  97 };
  98
  99
 100 struct jr3_pci_subdev_private {
 101         volatile struct jr3_channel *channel;
 102         unsigned long next_time_min;
 103         unsigned long next_time_max;
 104         enum { state_jr3_poll,
 105                 state_jr3_init_wait_for_offset,
 106                 state_jr3_init_transform_complete,
 107                 state_jr3_init_set_full_scale_complete,
 108                 state_jr3_init_use_offset_complete,
 109                 state_jr3_done
 110         } state;
 111         int channel_no;
 112         int serial_no;
 113         int model_no;
 114         struct {
 115                 int length;
 116                 struct comedi_krange range;
 117         } range[9];
 118         const struct comedi_lrange *range_table_list[8 * 7 + 2];
 119         unsigned int maxdata_list[8 * 7 + 2];
 120         u16 errors;
 121         int retries;
 122 };
 123
 124 /* Hotplug firmware loading stuff */
 125
 126 typedef int comedi_firmware_callback(struct comedi_device *dev,
 127                                      const u8 *data, size_t size);
 128
 129 static int comedi_load_firmware(struct comedi_device *dev, char *name,
 130                                 comedi_firmware_callback cb)
 131 {
 132         int result = 0;
 133         const struct firmware *fw;
 134         char *firmware_path;
 135         static const char *prefix = "comedi/";
 136         struct jr3_pci_dev_private *devpriv = dev->private;
 137
 138         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 139         if (!firmware_path) {
 140                 result = -ENOMEM;
 141         } else {
 142                 firmware_path[0] = '\0';
 143                 strcat(firmware_path, prefix);
 144                 strcat(firmware_path, name);
 145                 result = request_firmware(&fw, firmware_path,
 146                         &devpriv->pci_dev->dev);
 147                 if (result == 0) {
 148                         if (!cb)
 149                                 result = -EINVAL;
 150                         else
 151                                 result = cb(dev, fw->data, fw->size);
 152                         release_firmware(fw);
 153                 }
 154                 kfree(firmware_path);
 155         }
 156         return result;
 157 }
 158
 159 static struct poll_delay_t poll_delay_min_max(int min, int max)
 160 {
 161         struct poll_delay_t result;
 162
 163         result.min = min;
 164         result.max = max;
 165         return result;
 166 }
 167
 168 static int is_complete(volatile struct jr3_channel *channel)
 169 {
 170         return get_s16(&channel->command_word0) == 0;
 171 }
 172
 173 struct transform_t {
 174         struct {
 175                 u16 link_type;
 176                 s16 link_amount;
 177         } link[8];
 178 };
 179
 180 static void set_transforms(volatile struct jr3_channel *channel,
 181         struct transform_t transf, short num)
 182 {
 183         int i;
 184
 185         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 186         for (i = 0; i < 8; i++) {
 187
 188                 set_u16(&channel->transforms[num].link[i].link_type,
 189                         transf.link[i].link_type);
 190                 udelay(1);
 191                 set_s16(&channel->transforms[num].link[i].link_amount,
 192                         transf.link[i].link_amount);
 193                 udelay(1);
 194                 if (transf.link[i].link_type == end_x_form) {
 195                         break;
 196                 }
 197         }
 198 }
 199
 200 static void use_transform(volatile struct jr3_channel *channel, short transf_num)
 201 {
 202         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 203 }
 204
 205 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 206 {
 207         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 208 }
 209
 210 static void set_offset(volatile struct jr3_channel *channel)
 211 {
 212         set_s16(&channel->command_word0, 0x0700);
 213 }
 214
 215 struct six_axis_t {
 216         s16 fx;
 217         s16 fy;
 218         s16 fz;
 219         s16 mx;
 220         s16 my;
 221         s16 mz;
 222 };
 223
 224 static void set_full_scales(volatile struct jr3_channel *channel,
 225         struct six_axis_t full_scale)
 226 {
 227         printk("%d %d %d %d %d %d\n",
 228                 full_scale.fx,
 229                 full_scale.fy,
 230                 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 231         set_s16(&channel->full_scale.fx, full_scale.fx);
 232         set_s16(&channel->full_scale.fy, full_scale.fy);
 233         set_s16(&channel->full_scale.fz, full_scale.fz);
 234         set_s16(&channel->full_scale.mx, full_scale.mx);
 235         set_s16(&channel->full_scale.my, full_scale.my);
 236         set_s16(&channel->full_scale.mz, full_scale.mz);
 237         set_s16(&channel->command_word0, 0x0a00);
 238 }
 239
 240 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel *channel)
 241 {
 242         struct six_axis_t result;
 243         result.fx = get_s16(&channel->min_full_scale.fx);
 244         result.fy = get_s16(&channel->min_full_scale.fy);
 245         result.fz = get_s16(&channel->min_full_scale.fz);
 246         result.mx = get_s16(&channel->min_full_scale.mx);
 247         result.my = get_s16(&channel->min_full_scale.my);
 248         result.mz = get_s16(&channel->min_full_scale.mz);
 249         return result;
 250 }
 251
 252 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel *channel)
 253 {
 254         struct six_axis_t result;
 255         result.fx = get_s16(&channel->max_full_scale.fx);
 256         result.fy = get_s16(&channel->max_full_scale.fy);
 257         result.fz = get_s16(&channel->max_full_scale.fz);
 258         result.mx = get_s16(&channel->max_full_scale.mx);
 259         result.my = get_s16(&channel->max_full_scale.my);
 260         result.mz = get_s16(&channel->max_full_scale.mz);
 261         return result;
 262 }
 263
 264 static int jr3_pci_ai_insn_read(struct comedi_device *dev, struct comedi_subdevice *s,
 265         struct comedi_insn *insn, unsigned int *data)
 266 {
 267         int result;
 268         struct jr3_pci_subdev_private *p;
 269         int channel;
 270
 271         p = s->private;
 272         channel = CR_CHAN(insn->chanspec);
 273         if (p == NULL || channel > 57) {
 274                 result = -EINVAL;
 275         } else {
 276                 int i;
 277
 278                 result = insn->n;
 279                 if (p->state != state_jr3_done ||
 280                         (get_u16(&p->channel->
 281                                         errors) & (watch_dog | watch_dog2 |
 282                                         sensor_change))) {
 283                         /* No sensor or sensor changed */
 284                         if (p->state == state_jr3_done) {
 285                                 /* Restart polling */
 286                                 p->state = state_jr3_poll;
 287                         }
 288                         result = -EAGAIN;
 289                 }
 290                 for (i = 0; i < insn->n; i++) {
 291                         if (channel < 56) {
 292                                 int axis, filter;
 293
 294                                 axis = channel % 8;
 295                                 filter = channel / 8;
 296                                 if (p->state != state_jr3_done) {
 297                                         data[i] = 0;
 298                                 } else {
 299                                         int F = 0;
 300                                         switch (axis) {
 301                                         case 0:{
 302                                                         F = get_s16(&p->
 303                                                                 channel->
 304                                                                 filter[filter].
 305                                                                 fx);
 306                                                 }
 307                                                 break;
 308                                         case 1:{
 309                                                         F = get_s16(&p->
 310                                                                 channel->
 311                                                                 filter[filter].
 312                                                                 fy);
 313                                                 }
 314                                                 break;
 315                                         case 2:{
 316                                                         F = get_s16(&p->
 317                                                                 channel->
 318                                                                 filter[filter].
 319                                                                 fz);
 320                                                 }
 321                                                 break;
 322                                         case 3:{
 323                                                         F = get_s16(&p->
 324                                                                 channel->
 325                                                                 filter[filter].
 326                                                                 mx);
 327                                                 }
 328                                                 break;
 329                                         case 4:{
 330                                                         F = get_s16(&p->
 331                                                                 channel->
 332                                                                 filter[filter].
 333                                                                 my);
 334                                                 }
 335                                                 break;
 336                                         case 5:{
 337                                                         F = get_s16(&p->
 338                                                                 channel->
 339                                                                 filter[filter].
 340                                                                 mz);
 341                                                 }
 342                                                 break;
 343                                         case 6:{
 344                                                         F = get_s16(&p->
 345                                                                 channel->
 346                                                                 filter[filter].
 347                                                                 v1);
 348                                                 }
 349                                                 break;
 350                                         case 7:{
 351                                                         F = get_s16(&p->
 352                                                                 channel->
 353                                                                 filter[filter].
 354                                                                 v2);
 355                                                 }
 356                                                 break;
 357                                         }
 358                                         data[i] = F + 0x4000;
 359                                 }
 360                         } else if (channel == 56) {
 361                                 if (p->state != state_jr3_done) {
 362                                         data[i] = 0;
 363                                 } else {
 364                                         data[i] =
 365                                                 get_u16(&p->channel->model_no);
 366                                 }
 367                         } else if (channel == 57) {
 368                                 if (p->state != state_jr3_done) {
 369                                         data[i] = 0;
 370                                 } else {
 371                                         data[i] =
 372                                                 get_u16(&p->channel->serial_no);
 373                                 }
 374                         }
 375                 }
 376         }
 377         return result;
 378 }
 379
 380 static void jr3_pci_open(struct comedi_device *dev)
 381 {
 382         int i;
 383         struct jr3_pci_dev_private *devpriv = dev->private;
 384
 385         printk("jr3_pci_open\n");
 386         for (i = 0; i < devpriv->n_channels; i++) {
 387                 struct jr3_pci_subdev_private *p;
 388
 389                 p = dev->subdevices[i].private;
 390                 if (p) {
 391                         printk("serial: %p %d (%d)\n", p, p->serial_no,
 392                                 p->channel_no);
 393                 }
 394         }
 395 }
 396
 397 int read_idm_word(const u8 *data, size_t size, int *pos, unsigned int *val)
 398 {
 399         int result = 0;
 400         if (pos != 0 && val != 0) {
 401                 /*  Skip over non hex */
 402                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 403                 }
 404                 /*  Collect value */
 405                 *val = 0;
 406                 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
 407                         char ch = tolower(data[*pos]);
 408                         result = 1;
 409                         if ('0' <= ch && ch <= '9') {
 410                                 *val = (*val << 4) + (ch - '0');
 411                         } else if ('a' <= ch && ch <= 'f') {
 412                                 *val = (*val << 4) + (ch - 'a' + 10);
 413                         }
 414                 }
 415         }
 416         return result;
 417 }
 418
 419 static int jr3_download_firmware(struct comedi_device *dev, const u8 *data,
 420         size_t size)
 421 {
 422         /*
 423          * IDM file format is:
 424          *   { count, address, data <count> } *
 425          *   ffff
 426          */
 427         int result, more, pos, OK;
 428
 429         result = 0;
 430         more = 1;
 431         pos = 0;
 432         OK = 0;
 433         while (more) {
 434                 unsigned int count, addr;
 435
 436                 more = more && read_idm_word(data, size, &pos, &count);
 437                 if (more && count == 0xffff) {
 438                         OK = 1;
 439                         break;
 440                 }
 441                 more = more && read_idm_word(data, size, &pos, &addr);
 442                 while (more && count > 0) {
 443                         unsigned int dummy;
 444                         more = more && read_idm_word(data, size, &pos, &dummy);
 445                         count--;
 446                 }
 447         }
 448
 449         if (!OK) {
 450                 result = -ENODATA;
 451         } else {
 452                 int i;
 453                 struct jr3_pci_dev_private *p = dev->private;
 454
 455                 for (i = 0; i < p->n_channels; i++) {
 456                         struct jr3_pci_subdev_private *sp;
 457
 458                         sp = dev->subdevices[i].private;
 459                         more = 1;
 460                         pos = 0;
 461                         while (more) {
 462                                 unsigned int count, addr;
 463                                 more = more
 464                                         && read_idm_word(data, size, &pos,
 465                                         &count);
 466                                 if (more && count == 0xffff) {
 467                                         break;
 468                                 }
 469                                 more = more
 470                                         && read_idm_word(data, size, &pos,
 471                                         &addr);
 472                                 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
 473                                         count, addr);
 474                                 while (more && count > 0) {
 475                                         if (addr & 0x4000) {
 476                                                 /*  16 bit data, never seen in real life!! */
 477                                                 unsigned int data1;
 478
 479                                                 more = more
 480                                                         && read_idm_word(data,
 481                                                         size, &pos, &data1);
 482                                                 count--;
 483                                                 /* printk("jr3_data, not tested\n"); */
 484                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 485                                         } else {
 486                                                 /*   Download 24 bit program */
 487                                                 unsigned int data1, data2;
 488
 489                                                 more = more
 490                                                         && read_idm_word(data,
 491                                                         size, &pos, &data1);
 492                                                 more = more
 493                                                         && read_idm_word(data,
 494                                                         size, &pos, &data2);
 495                                                 count -= 2;
 496                                                 if (more) {
 497                                                         set_u16(&p->iobase->
 498                                                                 channel[i].
 499                                                                 program_low
 500                                                                 [addr], data1);
 501                                                         udelay(1);
 502                                                         set_u16(&p->iobase->
 503                                                                 channel[i].
 504                                                                 program_high
 505                                                                 [addr], data2);
 506                                                         udelay(1);
 507
 508                                                 }
 509                                         }
 510                                         addr++;
 511                                 }
 512                         }
 513                 }
 514         }
 515         return result;
 516 }
 517
 518 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 519 {
 520         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 521         struct jr3_pci_subdev_private *p = s->private;
 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("Setting transform for channel %d\n", p->channel_no);
 569                                         printk("Sensor Model     = %i\n",
 570                                                 p->model_no);
 571                                         printk("Sensor Serial    = %i\n",
 572                                                 p->serial_no);
 573
 574                                         /*  Transformation all zeros */
 575                                         transf.link[0].link_type =
 576                                                 (enum link_types)0;
 577                                         transf.link[0].link_amount = 0;
 578                                         transf.link[1].link_type =
 579                                                 (enum link_types)0;
 580                                         transf.link[1].link_amount = 0;
 581                                         transf.link[2].link_type =
 582                                                 (enum link_types)0;
 583                                         transf.link[2].link_amount = 0;
 584                                         transf.link[3].link_type =
 585                                                 (enum link_types)0;
 586                                         transf.link[3].link_amount = 0;
 587
 588                                         set_transforms(channel, transf, 0);
 589                                         use_transform(channel, 0);
 590                                         p->state =
 591                                                 state_jr3_init_transform_complete;
 592                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 593                                 }
 594                         } break;
 595                 case state_jr3_init_transform_complete:{
 596                                 if (!is_complete(channel)) {
 597                                         printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
 598                                         result = poll_delay_min_max(20, 100);
 599                                 } else {
 600                                         /*  Set full scale */
 601                                         struct six_axis_t min_full_scale;
 602                                         struct six_axis_t max_full_scale;
 603
 604                                         min_full_scale =
 605                                                 get_min_full_scales(channel);
 606                                         printk("Obtained Min. Full Scales:\n");
 607                                         printk("%i   ", (min_full_scale).fx);
 608                                         printk("%i   ", (min_full_scale).fy);
 609                                         printk("%i   ", (min_full_scale).fz);
 610                                         printk("%i   ", (min_full_scale).mx);
 611                                         printk("%i   ", (min_full_scale).my);
 612                                         printk("%i   ", (min_full_scale).mz);
 613                                         printk("\n");
 614
 615                                         max_full_scale =
 616                                                 get_max_full_scales(channel);
 617                                         printk("Obtained Max. Full Scales:\n");
 618                                         printk("%i   ", (max_full_scale).fx);
 619                                         printk("%i   ", (max_full_scale).fy);
 620                                         printk("%i   ", (max_full_scale).fz);
 621                                         printk("%i   ", (max_full_scale).mx);
 622                                         printk("%i   ", (max_full_scale).my);
 623                                         printk("%i   ", (max_full_scale).mz);
 624                                         printk("\n");
 625
 626                                         set_full_scales(channel,
 627                                                 max_full_scale);
 628
 629                                         p->state =
 630                                                 state_jr3_init_set_full_scale_complete;
 631                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 632                                 }
 633                         }
 634                         break;
 635                 case state_jr3_init_set_full_scale_complete:{
 636                                 if (!is_complete(channel)) {
 637                                         printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
 638                                         result = poll_delay_min_max(20, 100);
 639                                 } else {
 640                                         volatile struct force_array *full_scale;
 641
 642                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 643                                         full_scale = &channel->full_scale;
 644                                         p->range[0].range.min =
 645                                                 -get_s16(&full_scale->fx) *
 646                                                 1000;
 647                                         p->range[0].range.max =
 648                                                 get_s16(&full_scale->fx) * 1000;
 649                                         p->range[1].range.min =
 650                                                 -get_s16(&full_scale->fy) *
 651                                                 1000;
 652                                         p->range[1].range.max =
 653                                                 get_s16(&full_scale->fy) * 1000;
 654                                         p->range[2].range.min =
 655                                                 -get_s16(&full_scale->fz) *
 656                                                 1000;
 657                                         p->range[2].range.max =
 658                                                 get_s16(&full_scale->fz) * 1000;
 659                                         p->range[3].range.min =
 660                                                 -get_s16(&full_scale->mx) * 100;
 661                                         p->range[3].range.max =
 662                                                 get_s16(&full_scale->mx) * 100;
 663                                         p->range[4].range.min =
 664                                                 -get_s16(&full_scale->my) * 100;
 665                                         p->range[4].range.max =
 666                                                 get_s16(&full_scale->my) * 100;
 667                                         p->range[5].range.min =
 668                                                 -get_s16(&full_scale->mz) * 100;
 669                                         p->range[5].range.max =
 670                                                 get_s16(&full_scale->mz) * 100;
 671                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 672                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 673                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 674                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 675                                         p->range[8].range.min = 0;
 676                                         p->range[8].range.max = 65535;
 677
 678                                         {
 679                                                 int i;
 680                                                 for (i = 0; i < 9; i++) {
 681                                                         printk("%d %d - %d\n",
 682                                                                 i,
 683                                                                 p->range[i].
 684                                                                 range.min,
 685                                                                 p->range[i].
 686                                                                 range.max);
 687                                                 }
 688                                         }
 689
 690                                         use_offset(channel, 0);
 691                                         p->state =
 692                                                 state_jr3_init_use_offset_complete;
 693                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 694                                 }
 695                         }
 696                         break;
 697                 case state_jr3_init_use_offset_complete:{
 698                                 if (!is_complete(channel)) {
 699                                         printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
 700                                         result = poll_delay_min_max(20, 100);
 701                                 } else {
 702                                         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));
 703
 704                                         set_s16(&channel->offsets.fx, 0);
 705                                         set_s16(&channel->offsets.fy, 0);
 706                                         set_s16(&channel->offsets.fz, 0);
 707                                         set_s16(&channel->offsets.mx, 0);
 708                                         set_s16(&channel->offsets.my, 0);
 709                                         set_s16(&channel->offsets.mz, 0);
 710
 711                                         set_offset(channel);
 712
 713                                         p->state = state_jr3_done;
 714                                 }
 715                         }
 716                         break;
 717                 case state_jr3_done:{
 718                                 poll_delay_min_max(10000, 20000);
 719                         }
 720                         break;
 721                 default:{
 722                                 poll_delay_min_max(1000, 2000);
 723                         }
 724                         break;
 725                 }
 726         }
 727         return result;
 728 }
 729
 730 static void jr3_pci_poll_dev(unsigned long data)
 731 {
 732         unsigned long flags;
 733         struct comedi_device *dev = (struct comedi_device *) data;
 734         struct jr3_pci_dev_private *devpriv = dev->private;
 735         unsigned long now;
 736         int delay;
 737         int i;
 738
 739         spin_lock_irqsave(&dev->spinlock, flags);
 740         delay = 1000;
 741         now = jiffies;
 742         /*  Poll all channels that are ready to be polled */
 743         for (i = 0; i < devpriv->n_channels; i++) {
 744                 struct jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
 745                 if (now > subdevpriv->next_time_min) {
 746                         struct poll_delay_t sub_delay;
 747
 748                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 749                         subdevpriv->next_time_min =
 750                                 jiffies + msecs_to_jiffies(sub_delay.min);
 751                         subdevpriv->next_time_max =
 752                                 jiffies + msecs_to_jiffies(sub_delay.max);
 753                         if (sub_delay.max && sub_delay.max < delay) {
 754 /*
 755 * Wake up as late as possible -> poll as many channels as possible
 756 * at once
 757 */
 758                                 delay = sub_delay.max;
 759                         }
 760                 }
 761         }
 762         spin_unlock_irqrestore(&dev->spinlock, flags);
 763
 764         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 765         add_timer(&devpriv->timer);
 766 }
 767
 768 static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it)
 769 {
 770         int result = 0;
 771         struct pci_dev *card = NULL;
 772         int opt_bus, opt_slot, i;
 773         struct jr3_pci_dev_private *devpriv;
 774
 775         printk("comedi%d: jr3_pci\n", dev->minor);
 776
 777         opt_bus = it->options[0];
 778         opt_slot = it->options[1];
 779
 780         if (sizeof(struct jr3_channel) != 0xc00) {
 781                 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
 782                         (unsigned)sizeof(struct jr3_channel), 0xc00);
 783                 return -EINVAL;
 784         }
 785
 786         result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
 787         if (result < 0) {
 788                 return -ENOMEM;
 789         }
 790         card = NULL;
 791         devpriv = dev->private;
 792         init_timer(&devpriv->timer);
 793         while (1) {
 794                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 795                 if (card == NULL) {
 796                         /* No card found */
 797                         break;
 798                 } else {
 799                         switch (card->device) {
 800                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 801                                         devpriv->n_channels = 1;
 802                                 }
 803                                 break;
 804                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 805                                         devpriv->n_channels = 2;
 806                                 }
 807                                 break;
 808                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 809                                         devpriv->n_channels = 3;
 810                                 }
 811                                 break;
 812                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 813                                         devpriv->n_channels = 4;
 814                                 }
 815                                 break;
 816                         default:{
 817                                         devpriv->n_channels = 0;
 818                                 }
 819                         }
 820                         if (devpriv->n_channels >= 1) {
 821                                 if (opt_bus == 0 && opt_slot == 0) {
 822                                         /* Take first available card */
 823                                         break;
 824                                 } else if (opt_bus == card->bus->number &&
 825                                         opt_slot == PCI_SLOT(card->devfn)) {
 826                                         /* Take requested card */
 827                                         break;
 828                                 }
 829                         }
 830                 }
 831         }
 832         if (!card) {
 833                 printk(" no jr3_pci found\n");
 834                 return -EIO;
 835         } else {
 836                 devpriv->pci_dev = card;
 837                 dev->board_name = "jr3_pci";
 838         }
 839
 840         result = comedi_pci_enable(card, "jr3_pci");
 841         if (result < 0) {
 842                 return -EIO;
 843         }
 844
 845         devpriv->pci_enabled = 1;
 846         devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t));
 847         result = alloc_subdevices(dev, devpriv->n_channels);
 848         if (result < 0)
 849                 goto out;
 850
 851         dev->open = jr3_pci_open;
 852         for (i = 0; i < devpriv->n_channels; i++) {
 853                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 854                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 855                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 856                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 857                 dev->subdevices[i].private =
 858                         kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 859                 if (dev->subdevices[i].private) {
 860                         struct jr3_pci_subdev_private *p;
 861                         int j;
 862
 863                         p = dev->subdevices[i].private;
 864                         p->channel = &devpriv->iobase->channel[i].data;
 865                         printk("p->channel %p %p (%tx)\n",
 866                                 p->channel, devpriv->iobase,
 867                                 ((char *)(p->channel) -
 868                                         (char *)(devpriv->iobase)));
 869                         p->channel_no = i;
 870                         for (j = 0; j < 8; j++) {
 871                                 int k;
 872
 873                                 p->range[j].length = 1;
 874                                 p->range[j].range.min = -1000000;
 875                                 p->range[j].range.max = 1000000;
 876                                 for (k = 0; k < 7; k++) {
 877                                         p->range_table_list[j + k * 8] =
 878                                                 (struct comedi_lrange *) &p->range[j];
 879                                         p->maxdata_list[j + k * 8] = 0x7fff;
 880                                 }
 881                         }
 882                         p->range[8].length = 1;
 883                         p->range[8].range.min = 0;
 884                         p->range[8].range.max = 65536;
 885
 886                         p->range_table_list[56] =
 887                                 (struct comedi_lrange *) &p->range[8];
 888                         p->range_table_list[57] =
 889                                 (struct comedi_lrange *) &p->range[8];
 890                         p->maxdata_list[56] = 0xffff;
 891                         p->maxdata_list[57] = 0xffff;
 892                         /*  Channel specific range and maxdata */
 893                         dev->subdevices[i].range_table = 0;
 894                         dev->subdevices[i].range_table_list =
 895                                 p->range_table_list;
 896                         dev->subdevices[i].maxdata = 0;
 897                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 898                 }
 899         }
 900
 901         /*  Reset DSP card */
 902         devpriv->iobase->channel[0].reset = 0;
 903
 904         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 905         printk("Firmare load %d\n", result);
 906
 907         if (result < 0) {
 908                 goto out;
 909         }
 910 /*
 911  * TODO: use firmware to load preferred offset tables. Suggested
 912  * format:
 913  *     model serial Fx Fy Fz Mx My Mz\n
 914  *
 915  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 916  */
 917
 918 /*
 919  * It takes a few milliseconds for software to settle as much as we
 920  * can read firmware version
 921  */
 922         msleep_interruptible(25);
 923         for (i = 0; i < 0x18; i++) {
 924                 printk("%c",
 925                         get_u16(&devpriv->iobase->channel[0].data.
 926                                 copyright[i]) >> 8);
 927         }
 928
 929         /*  Start card timer */
 930         for (i = 0; i < devpriv->n_channels; i++) {
 931                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 932
 933                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 934                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 935         }
 936
 937         devpriv->timer.data = (unsigned long)dev;
 938         devpriv->timer.function = jr3_pci_poll_dev;
 939         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 940         add_timer(&devpriv->timer);
 941
 942       out:
 943         return result;
 944 }
 945
 946 static int jr3_pci_detach(struct comedi_device *dev)
 947 {
 948         int i;
 949         struct jr3_pci_dev_private *devpriv = dev->private;
 950
 951         printk("comedi%d: jr3_pci: remove\n", dev->minor);
 952         if (devpriv) {
 953                 del_timer_sync(&devpriv->timer);
 954
 955                 if (dev->subdevices) {
 956                         for (i = 0; i < devpriv->n_channels; i++) {
 957                                 kfree(dev->subdevices[i].private);
 958                         }
 959                 }
 960
 961                 if (devpriv->iobase) {
 962                         iounmap((void *)devpriv->iobase);
 963                 }
 964                 if (devpriv->pci_enabled) {
 965                         comedi_pci_disable(devpriv->pci_dev);
 966                 }
 967
 968                 if (devpriv->pci_dev) {
 969                         pci_dev_put(devpriv->pci_dev);
 970                 }
 971         }
 972         return 0;
 973 }
 974
 975 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);