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 "comedi_pci.h"
  49 #include "jr3_pci.h"
  50
  51 /* Hotplug firmware loading stuff */
  52
  53 static void comedi_fw_release(struct device *dev)
  54 {
  55         printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n");
  56 }
  57
  58 static struct device comedi_fw_device = {
  59         .init_name = "comedi",
  60         .release = comedi_fw_release
  61 };
  62
  63 typedef int comedi_firmware_callback(struct comedi_device * dev,
  64         const u8 * data, size_t size);
  65
  66 static int comedi_load_firmware(struct comedi_device * dev,
  67         char *name, comedi_firmware_callback cb)
  68 {
  69         int result = 0;
  70         const struct firmware *fw;
  71         char *firmware_path;
  72         static const char *prefix = "comedi/";
  73
  74         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
  75         if (!firmware_path) {
  76                 result = -ENOMEM;
  77         } else {
  78                 firmware_path[0] = '\0';
  79                 strcat(firmware_path, prefix);
  80                 strcat(firmware_path, name);
  81                 result = device_register(&comedi_fw_device);
  82                 if (result == 0) {
  83                         result = request_firmware(&fw, firmware_path,
  84                                 &comedi_fw_device);
  85                         if (result == 0) {
  86                                 if (!cb) {
  87                                         result = -EINVAL;
  88                                 } else {
  89                                         result = cb(dev, fw->data, fw->size);
  90                                 }
  91                                 release_firmware(fw);
  92                         }
  93                         device_unregister(&comedi_fw_device);
  94                 }
  95                 kfree(firmware_path);
  96         }
  97         return result;
  98 }
  99
 100 #define PCI_VENDOR_ID_JR3 0x1762
 101 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
 102 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
 103 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
 104 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
 105
 106 static int jr3_pci_attach(struct comedi_device * dev, struct comedi_devconfig * it);
 107 static int jr3_pci_detach(struct comedi_device * dev);
 108
 109 static struct comedi_driver driver_jr3_pci = {
 110       driver_name:"jr3_pci",
 111       module:THIS_MODULE,
 112       attach:jr3_pci_attach,
 113       detach:jr3_pci_detach,
 114 };
 115
 116 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 117         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
 118                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 119         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
 120                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 121         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
 122                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 123         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
 124                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 125         {0}
 126 };
 127
 128 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 129
 130 struct jr3_pci_dev_private {
 131
 132         struct pci_dev *pci_dev;
 133         int pci_enabled;
 134         volatile struct jr3_t *iobase;
 135         int n_channels;
 136         struct timer_list timer;
 137 };
 138
 139
 140 struct poll_delay_t {
 141
 142         int min;
 143         int max;
 144 };
 145
 146
 147 struct jr3_pci_subdev_private {
 148         volatile struct jr3_channel *channel;
 149         unsigned long next_time_min;
 150         unsigned long next_time_max;
 151         enum { state_jr3_poll,
 152                 state_jr3_init_wait_for_offset,
 153                 state_jr3_init_transform_complete,
 154                 state_jr3_init_set_full_scale_complete,
 155                 state_jr3_init_use_offset_complete,
 156                 state_jr3_done
 157         } state;
 158         int channel_no;
 159         int serial_no;
 160         int model_no;
 161         struct {
 162                 int length;
 163                 struct comedi_krange range;
 164         } range[9];
 165         const struct comedi_lrange *range_table_list[8 * 7 + 2];
 166         unsigned int maxdata_list[8 * 7 + 2];
 167         u16 errors;
 168         int retries;
 169 };
 170
 171 static struct poll_delay_t poll_delay_min_max(int min, int max)
 172 {
 173         struct poll_delay_t result;
 174
 175         result.min = min;
 176         result.max = max;
 177         return result;
 178 }
 179
 180 static int is_complete(volatile struct jr3_channel *channel)
 181 {
 182         return get_s16(&channel->command_word0) == 0;
 183 }
 184
 185 struct transform_t {
 186         struct {
 187                 u16 link_type;
 188                 s16 link_amount;
 189         } link[8];
 190 };
 191
 192 static void set_transforms(volatile struct jr3_channel *channel,
 193         struct transform_t transf, short num)
 194 {
 195         int i;
 196
 197         num &= 0x000f;          // Make sure that 0 <= num <= 15
 198         for (i = 0; i < 8; i++) {
 199
 200                 set_u16(&channel->transforms[num].link[i].link_type,
 201                         transf.link[i].link_type);
 202                 comedi_udelay(1);
 203                 set_s16(&channel->transforms[num].link[i].link_amount,
 204                         transf.link[i].link_amount);
 205                 comedi_udelay(1);
 206                 if (transf.link[i].link_type == end_x_form) {
 207                         break;
 208                 }
 209         }
 210 }
 211
 212 static void use_transform(volatile struct jr3_channel *channel, short transf_num)
 213 {
 214         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 215 }
 216
 217 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 218 {
 219         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 220 }
 221
 222 static void set_offset(volatile struct jr3_channel *channel)
 223 {
 224         set_s16(&channel->command_word0, 0x0700);
 225 }
 226
 227 struct six_axis_t {
 228         s16 fx;
 229         s16 fy;
 230         s16 fz;
 231         s16 mx;
 232         s16 my;
 233         s16 mz;
 234 };
 235
 236 static void set_full_scales(volatile struct jr3_channel *channel,
 237         struct six_axis_t full_scale)
 238 {
 239         printk("%d %d %d %d %d %d\n",
 240                 full_scale.fx,
 241                 full_scale.fy,
 242                 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 243         set_s16(&channel->full_scale.fx, full_scale.fx);
 244         set_s16(&channel->full_scale.fy, full_scale.fy);
 245         set_s16(&channel->full_scale.fz, full_scale.fz);
 246         set_s16(&channel->full_scale.mx, full_scale.mx);
 247         set_s16(&channel->full_scale.my, full_scale.my);
 248         set_s16(&channel->full_scale.mz, full_scale.mz);
 249         set_s16(&channel->command_word0, 0x0a00);
 250 }
 251
 252 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel *channel)
 253 {
 254         struct six_axis_t result;
 255         result.fx = get_s16(&channel->min_full_scale.fx);
 256         result.fy = get_s16(&channel->min_full_scale.fy);
 257         result.fz = get_s16(&channel->min_full_scale.fz);
 258         result.mx = get_s16(&channel->min_full_scale.mx);
 259         result.my = get_s16(&channel->min_full_scale.my);
 260         result.mz = get_s16(&channel->min_full_scale.mz);
 261         return result;
 262 }
 263
 264 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel *channel)
 265 {
 266         struct six_axis_t result;
 267         result.fx = get_s16(&channel->max_full_scale.fx);
 268         result.fy = get_s16(&channel->max_full_scale.fy);
 269         result.fz = get_s16(&channel->max_full_scale.fz);
 270         result.mx = get_s16(&channel->max_full_scale.mx);
 271         result.my = get_s16(&channel->max_full_scale.my);
 272         result.mz = get_s16(&channel->max_full_scale.mz);
 273         return result;
 274 }
 275
 276 static int jr3_pci_ai_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
 277         struct comedi_insn * insn, unsigned int * data)
 278 {
 279         int result;
 280         struct jr3_pci_subdev_private *p;
 281         int channel;
 282
 283         p = s->private;
 284         channel = CR_CHAN(insn->chanspec);
 285         if (p == NULL || channel > 57) {
 286                 result = -EINVAL;
 287         } else {
 288                 int i;
 289
 290                 result = insn->n;
 291                 if (p->state != state_jr3_done ||
 292                         (get_u16(&p->channel->
 293                                         errors) & (watch_dog | watch_dog2 |
 294                                         sensor_change))) {
 295                         /* No sensor or sensor changed */
 296                         if (p->state == state_jr3_done) {
 297                                 /* Restart polling */
 298                                 p->state = state_jr3_poll;
 299                         }
 300                         result = -EAGAIN;
 301                 }
 302                 for (i = 0; i < insn->n; i++) {
 303                         if (channel < 56) {
 304                                 int axis, filter;
 305
 306                                 axis = channel % 8;
 307                                 filter = channel / 8;
 308                                 if (p->state != state_jr3_done) {
 309                                         data[i] = 0;
 310                                 } else {
 311                                         int F = 0;
 312                                         switch (axis) {
 313                                         case 0:{
 314                                                         F = get_s16(&p->
 315                                                                 channel->
 316                                                                 filter[filter].
 317                                                                 fx);
 318                                                 }
 319                                                 break;
 320                                         case 1:{
 321                                                         F = get_s16(&p->
 322                                                                 channel->
 323                                                                 filter[filter].
 324                                                                 fy);
 325                                                 }
 326                                                 break;
 327                                         case 2:{
 328                                                         F = get_s16(&p->
 329                                                                 channel->
 330                                                                 filter[filter].
 331                                                                 fz);
 332                                                 }
 333                                                 break;
 334                                         case 3:{
 335                                                         F = get_s16(&p->
 336                                                                 channel->
 337                                                                 filter[filter].
 338                                                                 mx);
 339                                                 }
 340                                                 break;
 341                                         case 4:{
 342                                                         F = get_s16(&p->
 343                                                                 channel->
 344                                                                 filter[filter].
 345                                                                 my);
 346                                                 }
 347                                                 break;
 348                                         case 5:{
 349                                                         F = get_s16(&p->
 350                                                                 channel->
 351                                                                 filter[filter].
 352                                                                 mz);
 353                                                 }
 354                                                 break;
 355                                         case 6:{
 356                                                         F = get_s16(&p->
 357                                                                 channel->
 358                                                                 filter[filter].
 359                                                                 v1);
 360                                                 }
 361                                                 break;
 362                                         case 7:{
 363                                                         F = get_s16(&p->
 364                                                                 channel->
 365                                                                 filter[filter].
 366                                                                 v2);
 367                                                 }
 368                                                 break;
 369                                         }
 370                                         data[i] = F + 0x4000;
 371                                 }
 372                         } else if (channel == 56) {
 373                                 if (p->state != state_jr3_done) {
 374                                         data[i] = 0;
 375                                 } else {
 376                                         data[i] =
 377                                                 get_u16(&p->channel->model_no);
 378                                 }
 379                         } else if (channel == 57) {
 380                                 if (p->state != state_jr3_done) {
 381                                         data[i] = 0;
 382                                 } else {
 383                                         data[i] =
 384                                                 get_u16(&p->channel->serial_no);
 385                                 }
 386                         }
 387                 }
 388         }
 389         return result;
 390 }
 391
 392 static void jr3_pci_open(struct comedi_device * dev)
 393 {
 394         int i;
 395         struct jr3_pci_dev_private *devpriv = dev->private;
 396
 397         printk("jr3_pci_open\n");
 398         for (i = 0; i < devpriv->n_channels; i++) {
 399                 struct jr3_pci_subdev_private *p;
 400
 401                 p = dev->subdevices[i].private;
 402                 if (p) {
 403                         printk("serial: %p %d (%d)\n", p, p->serial_no,
 404                                 p->channel_no);
 405                 }
 406         }
 407 }
 408
 409 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 410 {
 411         int result = 0;
 412         if (pos != 0 && val != 0) {
 413                 // Skip over non hex
 414                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 415                 }
 416                 // Collect value
 417                 *val = 0;
 418                 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
 419                         char ch = tolower(data[*pos]);
 420                         result = 1;
 421                         if ('0' <= ch && ch <= '9') {
 422                                 *val = (*val << 4) + (ch - '0');
 423                         } else if ('a' <= ch && ch <= 'f') {
 424                                 *val = (*val << 4) + (ch - 'a' + 10);
 425                         }
 426                 }
 427         }
 428         return result;
 429 }
 430
 431 static int jr3_download_firmware(struct comedi_device * dev, const u8 * data,
 432         size_t size)
 433 {
 434         /*
 435          * IDM file format is:
 436          *   { count, address, data <count> } *
 437          *   ffff
 438          */
 439         int result, more, pos, OK;
 440
 441         result = 0;
 442         more = 1;
 443         pos = 0;
 444         OK = 0;
 445         while (more) {
 446                 unsigned int count, addr;
 447
 448                 more = more && read_idm_word(data, size, &pos, &count);
 449                 if (more && count == 0xffff) {
 450                         OK = 1;
 451                         break;
 452                 }
 453                 more = more && read_idm_word(data, size, &pos, &addr);
 454                 while (more && count > 0) {
 455                         unsigned int dummy;
 456                         more = more && read_idm_word(data, size, &pos, &dummy);
 457                         count--;
 458                 }
 459         }
 460
 461         if (!OK) {
 462                 result = -ENODATA;
 463         } else {
 464                 int i;
 465                 struct jr3_pci_dev_private *p = dev->private;
 466
 467                 for (i = 0; i < p->n_channels; i++) {
 468                         struct jr3_pci_subdev_private *sp;
 469
 470                         sp = dev->subdevices[i].private;
 471                         more = 1;
 472                         pos = 0;
 473                         while (more) {
 474                                 unsigned int count, addr;
 475                                 more = more
 476                                         && read_idm_word(data, size, &pos,
 477                                         &count);
 478                                 if (more && count == 0xffff) {
 479                                         break;
 480                                 }
 481                                 more = more
 482                                         && read_idm_word(data, size, &pos,
 483                                         &addr);
 484                                 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
 485                                         count, addr);
 486                                 while (more && count > 0) {
 487                                         if (addr & 0x4000) {
 488                                                 // 16 bit data, never seen in real life!!
 489                                                 unsigned int data1;
 490
 491                                                 more = more
 492                                                         && read_idm_word(data,
 493                                                         size, &pos, &data1);
 494                                                 count--;
 495                                                 // printk("jr3_data, not tested\n");
 496                                                 //        jr3[addr + 0x20000 * pnum] = data1;
 497                                         } else {
 498                                                 //  Download 24 bit program
 499                                                 unsigned int data1, data2;
 500
 501                                                 more = more
 502                                                         && read_idm_word(data,
 503                                                         size, &pos, &data1);
 504                                                 more = more
 505                                                         && read_idm_word(data,
 506                                                         size, &pos, &data2);
 507                                                 count -= 2;
 508                                                 if (more) {
 509                                                         set_u16(&p->iobase->
 510                                                                 channel[i].
 511                                                                 program_low
 512                                                                 [addr], data1);
 513                                                         comedi_udelay(1);
 514                                                         set_u16(&p->iobase->
 515                                                                 channel[i].
 516                                                                 program_high
 517                                                                 [addr], data2);
 518                                                         comedi_udelay(1);
 519
 520                                                 }
 521                                         }
 522                                         addr++;
 523                                 }
 524                         }
 525                 }
 526         }
 527         return result;
 528 }
 529
 530 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice * s)
 531 {
 532         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 533         struct jr3_pci_subdev_private *p = s->private;
 534
 535         if (p) {
 536                 volatile struct jr3_channel *channel = p->channel;
 537                 int errors = get_u16(&channel->errors);
 538
 539                 if (errors != p->errors) {
 540                         printk("Errors: %x -> %x\n", p->errors, errors);
 541                         p->errors = errors;
 542                 }
 543                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 544                         // Sensor communication lost, force poll mode
 545                         p->state = state_jr3_poll;
 546
 547                 }
 548                 switch (p->state) {
 549                 case state_jr3_poll:{
 550                                 u16 model_no = get_u16(&channel->model_no);
 551                                 u16 serial_no = get_u16(&channel->serial_no);
 552                                 if ((errors & (watch_dog | watch_dog2)) ||
 553                                         model_no == 0 || serial_no == 0) {
 554                                         // Still no sensor, keep on polling. Since it takes up to
 555                                         // 10 seconds for offsets to stabilize, polling each
 556                                         // second should suffice.
 557                                         result = poll_delay_min_max(1000, 2000);
 558                                 } else {
 559                                         p->retries = 0;
 560                                         p->state =
 561                                                 state_jr3_init_wait_for_offset;
 562                                         result = poll_delay_min_max(1000, 2000);
 563                                 }
 564                         }
 565                         break;
 566                 case state_jr3_init_wait_for_offset:{
 567                                 p->retries++;
 568                                 if (p->retries < 10) {
 569                                         // Wait for offeset to stabilize (< 10 s according to manual)
 570                                         result = poll_delay_min_max(1000, 2000);
 571                                 } else {
 572                                         struct transform_t transf;
 573
 574                                         p->model_no =
 575                                                 get_u16(&channel->model_no);
 576                                         p->serial_no =
 577                                                 get_u16(&channel->serial_no);
 578
 579                                         printk("Setting transform for channel %d\n", p->channel_no);
 580                                         printk("Sensor Model     = %i\n",
 581                                                 p->model_no);
 582                                         printk("Sensor Serial    = %i\n",
 583                                                 p->serial_no);
 584
 585                                         // Transformation all zeros
 586                                         transf.link[0].link_type =
 587                                                 (enum link_types)0;
 588                                         transf.link[0].link_amount = 0;
 589                                         transf.link[1].link_type =
 590                                                 (enum link_types)0;
 591                                         transf.link[1].link_amount = 0;
 592                                         transf.link[2].link_type =
 593                                                 (enum link_types)0;
 594                                         transf.link[2].link_amount = 0;
 595                                         transf.link[3].link_type =
 596                                                 (enum link_types)0;
 597                                         transf.link[3].link_amount = 0;
 598
 599                                         set_transforms(channel, transf, 0);
 600                                         use_transform(channel, 0);
 601                                         p->state =
 602                                                 state_jr3_init_transform_complete;
 603                                         result = poll_delay_min_max(20, 100);   // Allow 20 ms for completion
 604                                 }
 605                         } break;
 606                 case state_jr3_init_transform_complete:{
 607                                 if (!is_complete(channel)) {
 608                                         printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
 609                                         result = poll_delay_min_max(20, 100);
 610                                 } else {
 611                                         // Set full scale
 612                                         struct six_axis_t min_full_scale;
 613                                         struct six_axis_t max_full_scale;
 614
 615                                         min_full_scale =
 616                                                 get_min_full_scales(channel);
 617                                         printk("Obtained Min. Full Scales:\n");
 618                                         printk("%i   ", (min_full_scale).fx);
 619                                         printk("%i   ", (min_full_scale).fy);
 620                                         printk("%i   ", (min_full_scale).fz);
 621                                         printk("%i   ", (min_full_scale).mx);
 622                                         printk("%i   ", (min_full_scale).my);
 623                                         printk("%i   ", (min_full_scale).mz);
 624                                         printk("\n");
 625
 626                                         max_full_scale =
 627                                                 get_max_full_scales(channel);
 628                                         printk("Obtained Max. Full Scales:\n");
 629                                         printk("%i   ", (max_full_scale).fx);
 630                                         printk("%i   ", (max_full_scale).fy);
 631                                         printk("%i   ", (max_full_scale).fz);
 632                                         printk("%i   ", (max_full_scale).mx);
 633                                         printk("%i   ", (max_full_scale).my);
 634                                         printk("%i   ", (max_full_scale).mz);
 635                                         printk("\n");
 636
 637                                         set_full_scales(channel,
 638                                                 max_full_scale);
 639
 640                                         p->state =
 641                                                 state_jr3_init_set_full_scale_complete;
 642                                         result = poll_delay_min_max(20, 100);   // Allow 20 ms for completion
 643                                 }
 644                         }
 645                         break;
 646                 case state_jr3_init_set_full_scale_complete:{
 647                                 if (!is_complete(channel)) {
 648                                         printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
 649                                         result = poll_delay_min_max(20, 100);
 650                                 } else {
 651                                         volatile struct force_array *full_scale;
 652
 653                                         // Use ranges in kN or we will overflow arount 2000N!
 654                                         full_scale = &channel->full_scale;
 655                                         p->range[0].range.min =
 656                                                 -get_s16(&full_scale->fx) *
 657                                                 1000;
 658                                         p->range[0].range.max =
 659                                                 get_s16(&full_scale->fx) * 1000;
 660                                         p->range[1].range.min =
 661                                                 -get_s16(&full_scale->fy) *
 662                                                 1000;
 663                                         p->range[1].range.max =
 664                                                 get_s16(&full_scale->fy) * 1000;
 665                                         p->range[2].range.min =
 666                                                 -get_s16(&full_scale->fz) *
 667                                                 1000;
 668                                         p->range[2].range.max =
 669                                                 get_s16(&full_scale->fz) * 1000;
 670                                         p->range[3].range.min =
 671                                                 -get_s16(&full_scale->mx) * 100;
 672                                         p->range[3].range.max =
 673                                                 get_s16(&full_scale->mx) * 100;
 674                                         p->range[4].range.min =
 675                                                 -get_s16(&full_scale->my) * 100;
 676                                         p->range[4].range.max =
 677                                                 get_s16(&full_scale->my) * 100;
 678                                         p->range[5].range.min =
 679                                                 -get_s16(&full_scale->mz) * 100;
 680                                         p->range[5].range.max =
 681                                                 get_s16(&full_scale->mz) * 100;
 682                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        // ??
 683                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ??
 684                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        // ??
 685                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ??
 686                                         p->range[8].range.min = 0;
 687                                         p->range[8].range.max = 65535;
 688
 689                                         {
 690                                                 int i;
 691                                                 for (i = 0; i < 9; i++) {
 692                                                         printk("%d %d - %d\n",
 693                                                                 i,
 694                                                                 p->range[i].
 695                                                                 range.min,
 696                                                                 p->range[i].
 697                                                                 range.max);
 698                                                 }
 699                                         }
 700
 701                                         use_offset(channel, 0);
 702                                         p->state =
 703                                                 state_jr3_init_use_offset_complete;
 704                                         result = poll_delay_min_max(40, 100);   // Allow 40 ms for completion
 705                                 }
 706                         }
 707                         break;
 708                 case state_jr3_init_use_offset_complete:{
 709                                 if (!is_complete(channel)) {
 710                                         printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
 711                                         result = poll_delay_min_max(20, 100);
 712                                 } else {
 713                                         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));
 714
 715                                         set_s16(&channel->offsets.fx, 0);
 716                                         set_s16(&channel->offsets.fy, 0);
 717                                         set_s16(&channel->offsets.fz, 0);
 718                                         set_s16(&channel->offsets.mx, 0);
 719                                         set_s16(&channel->offsets.my, 0);
 720                                         set_s16(&channel->offsets.mz, 0);
 721
 722                                         set_offset(channel);
 723
 724                                         p->state = state_jr3_done;
 725                                 }
 726                         }
 727                         break;
 728                 case state_jr3_done:{
 729                                 poll_delay_min_max(10000, 20000);
 730                         }
 731                         break;
 732                 default:{
 733                                 poll_delay_min_max(1000, 2000);
 734                         }
 735                         break;
 736                 }
 737         }
 738         return result;
 739 }
 740
 741 static void jr3_pci_poll_dev(unsigned long data)
 742 {
 743         unsigned long flags;
 744         struct comedi_device *dev = (struct comedi_device *) data;
 745         struct jr3_pci_dev_private *devpriv = dev->private;
 746         unsigned long now;
 747         int delay;
 748         int i;
 749
 750         comedi_spin_lock_irqsave(&dev->spinlock, flags);
 751         delay = 1000;
 752         now = jiffies;
 753         // Poll all channels that are ready to be polled
 754         for (i = 0; i < devpriv->n_channels; i++) {
 755                 struct jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
 756                 if (now > subdevpriv->next_time_min) {
 757                         struct poll_delay_t sub_delay;
 758
 759                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 760                         subdevpriv->next_time_min =
 761                                 jiffies + msecs_to_jiffies(sub_delay.min);
 762                         subdevpriv->next_time_max =
 763                                 jiffies + msecs_to_jiffies(sub_delay.max);
 764                         if (sub_delay.max && sub_delay.max < delay) {
 765                                 // Wake up as late as possible -> poll as many channels as
 766                                 // possible at once
 767                                 delay = sub_delay.max;
 768                         }
 769                 }
 770         }
 771         comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
 772
 773         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 774         add_timer(&devpriv->timer);
 775 }
 776
 777 static int jr3_pci_attach(struct comedi_device * dev, 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_2_CHANNEL:{
 814                                         devpriv->n_channels = 2;
 815                                 }
 816                                 break;
 817                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 818                                         devpriv->n_channels = 3;
 819                                 }
 820                                 break;
 821                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 822                                         devpriv->n_channels = 4;
 823                                 }
 824                                 break;
 825                         default:{
 826                                         devpriv->n_channels = 0;
 827                                 }
 828                         }
 829                         if (devpriv->n_channels >= 1) {
 830                                 if (opt_bus == 0 && opt_slot == 0) {
 831                                         /* Take first available card */
 832                                         break;
 833                                 } else if (opt_bus == card->bus->number &&
 834                                         opt_slot == PCI_SLOT(card->devfn)) {
 835                                         /* Take requested card */
 836                                         break;
 837                                 }
 838                         }
 839                 }
 840         }
 841         if (!card) {
 842                 printk(" no jr3_pci found\n");
 843                 return -EIO;
 844         } else {
 845                 devpriv->pci_dev = card;
 846                 dev->board_name = "jr3_pci";
 847         }
 848         if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) {
 849                 return -EIO;
 850         }
 851         devpriv->pci_enabled = 1;
 852         devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t));
 853         result = alloc_subdevices(dev, devpriv->n_channels);
 854         if (result < 0)
 855                 goto out;
 856
 857         dev->open = jr3_pci_open;
 858         for (i = 0; i < devpriv->n_channels; i++) {
 859                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 860                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 861                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 862                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 863                 dev->subdevices[i].private =
 864                         kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 865                 if (dev->subdevices[i].private) {
 866                         struct jr3_pci_subdev_private *p;
 867                         int j;
 868
 869                         p = dev->subdevices[i].private;
 870                         p->channel = &devpriv->iobase->channel[i].data;
 871                         printk("p->channel %p %p (%tx)\n",
 872                                 p->channel, devpriv->iobase,
 873                                 ((char *)(p->channel) -
 874                                         (char *)(devpriv->iobase)));
 875                         p->channel_no = i;
 876                         for (j = 0; j < 8; j++) {
 877                                 int k;
 878
 879                                 p->range[j].length = 1;
 880                                 p->range[j].range.min = -1000000;
 881                                 p->range[j].range.max = 1000000;
 882                                 for (k = 0; k < 7; k++) {
 883                                         p->range_table_list[j + k * 8] =
 884                                                 (struct comedi_lrange *) & p->range[j];
 885                                         p->maxdata_list[j + k * 8] = 0x7fff;
 886                                 }
 887                         }
 888                         p->range[8].length = 1;
 889                         p->range[8].range.min = 0;
 890                         p->range[8].range.max = 65536;
 891
 892                         p->range_table_list[56] =
 893                                 (struct comedi_lrange *) & p->range[8];
 894                         p->range_table_list[57] =
 895                                 (struct comedi_lrange *) & p->range[8];
 896                         p->maxdata_list[56] = 0xffff;
 897                         p->maxdata_list[57] = 0xffff;
 898                         // Channel specific range and maxdata
 899                         dev->subdevices[i].range_table = 0;
 900                         dev->subdevices[i].range_table_list =
 901                                 p->range_table_list;
 902                         dev->subdevices[i].maxdata = 0;
 903                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 904                 }
 905         }
 906
 907         // Reset DSP card
 908         devpriv->iobase->channel[0].reset = 0;
 909
 910         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 911         printk("Firmare load %d\n", result);
 912
 913         if (result < 0) {
 914                 goto out;
 915         }
 916         // TODO: use firmware to load preferred offset tables. Suggested format:
 917         // model serial Fx Fy Fz Mx My Mz\n
 918         //
 919         // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 920
 921         // It takes a few milliseconds for software to settle
 922         // as much as we can read firmware version
 923         msleep_interruptible(25);
 924         for (i = 0; i < 0x18; i++) {
 925                 printk("%c",
 926                         get_u16(&devpriv->iobase->channel[0].data.
 927                                 copyright[i]) >> 8);
 928         }
 929
 930         // Start card timer
 931         for (i = 0; i < devpriv->n_channels; i++) {
 932                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 933
 934                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 935                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 936         }
 937
 938         devpriv->timer.data = (unsigned long)dev;
 939         devpriv->timer.function = jr3_pci_poll_dev;
 940         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 941         add_timer(&devpriv->timer);
 942
 943       out:
 944         return result;
 945 }
 946
 947 static int jr3_pci_detach(struct comedi_device * dev)
 948 {
 949         int i;
 950         struct jr3_pci_dev_private *devpriv = dev->private;
 951
 952         printk("comedi%d: jr3_pci: remove\n", dev->minor);
 953         if (devpriv) {
 954                 del_timer_sync(&devpriv->timer);
 955
 956                 if (dev->subdevices) {
 957                         for (i = 0; i < devpriv->n_channels; i++) {
 958                                 kfree(dev->subdevices[i].private);
 959                         }
 960                 }
 961
 962                 if (devpriv->iobase) {
 963                         iounmap((void *)devpriv->iobase);
 964                 }
 965                 if (devpriv->pci_enabled) {
 966                         comedi_pci_disable(devpriv->pci_dev);
 967                 }
 968
 969                 if (devpriv->pci_dev) {
 970                         pci_dev_put(devpriv->pci_dev);
 971                 }
 972         }
 973         return 0;
 974 }
 975
 976 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);