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