Commit | Line | Data |
---|---|---|
07b509e6 AB |
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> | |
9b5de0a0 | 48 | #include <linux/jiffies.h> |
5a0e3ad6 | 49 | #include <linux/slab.h> |
9b5de0a0 | 50 | #include <linux/timer.h> |
07b509e6 AB |
51 | #include "comedi_pci.h" |
52 | #include "jr3_pci.h" | |
53 | ||
07b509e6 AB |
54 | #define PCI_VENDOR_ID_JR3 0x1762 |
55 | #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111 | |
56 | #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112 | |
57 | #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113 | |
58 | #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114 | |
59 | ||
0a85b6f0 MT |
60 | static int jr3_pci_attach(struct comedi_device *dev, |
61 | struct comedi_devconfig *it); | |
da91b269 | 62 | static int jr3_pci_detach(struct comedi_device *dev); |
07b509e6 | 63 | |
139dfbdf | 64 | static struct comedi_driver driver_jr3_pci = { |
68c3dbff BP |
65 | .driver_name = "jr3_pci", |
66 | .module = THIS_MODULE, | |
67 | .attach = jr3_pci_attach, | |
68 | .detach = jr3_pci_detach, | |
07b509e6 AB |
69 | }; |
70 | ||
71 | static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = { | |
0a85b6f0 MT |
72 | { |
73 | PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL, | |
74 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { | |
75 | PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL, | |
76 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { | |
77 | PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL, | |
78 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { | |
79 | PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL, | |
80 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { | |
81 | 0} | |
07b509e6 AB |
82 | }; |
83 | ||
84 | MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table); | |
85 | ||
217fbbbc BP |
86 | struct jr3_pci_dev_private { |
87 | ||
07b509e6 AB |
88 | struct pci_dev *pci_dev; |
89 | int pci_enabled; | |
b2e1b3c2 | 90 | volatile struct jr3_t *iobase; |
07b509e6 AB |
91 | int n_channels; |
92 | struct timer_list timer; | |
217fbbbc BP |
93 | }; |
94 | ||
83101a17 BP |
95 | struct poll_delay_t { |
96 | ||
07b509e6 AB |
97 | int min; |
98 | int max; | |
83101a17 BP |
99 | }; |
100 | ||
c6a3b7b6 | 101 | struct jr3_pci_subdev_private { |
67080790 | 102 | volatile struct jr3_channel *channel; |
07b509e6 AB |
103 | unsigned long next_time_min; |
104 | unsigned long next_time_max; | |
105 | enum { state_jr3_poll, | |
106 | state_jr3_init_wait_for_offset, | |
107 | state_jr3_init_transform_complete, | |
108 | state_jr3_init_set_full_scale_complete, | |
109 | state_jr3_init_use_offset_complete, | |
110 | state_jr3_done | |
111 | } state; | |
112 | int channel_no; | |
113 | int serial_no; | |
114 | int model_no; | |
115 | struct { | |
116 | int length; | |
1f6325d6 | 117 | struct comedi_krange range; |
07b509e6 | 118 | } range[9]; |
9ced1de6 | 119 | const struct comedi_lrange *range_table_list[8 * 7 + 2]; |
790c5541 | 120 | unsigned int maxdata_list[8 * 7 + 2]; |
07b509e6 AB |
121 | u16 errors; |
122 | int retries; | |
c6a3b7b6 | 123 | }; |
07b509e6 | 124 | |
c5331be1 FMH |
125 | /* Hotplug firmware loading stuff */ |
126 | ||
127 | typedef int comedi_firmware_callback(struct comedi_device *dev, | |
0a85b6f0 | 128 | const u8 * data, size_t size); |
c5331be1 FMH |
129 | |
130 | static int comedi_load_firmware(struct comedi_device *dev, char *name, | |
131 | comedi_firmware_callback cb) | |
132 | { | |
133 | int result = 0; | |
134 | const struct firmware *fw; | |
135 | char *firmware_path; | |
136 | static const char *prefix = "comedi/"; | |
137 | struct jr3_pci_dev_private *devpriv = dev->private; | |
138 | ||
139 | firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL); | |
140 | if (!firmware_path) { | |
141 | result = -ENOMEM; | |
142 | } else { | |
143 | firmware_path[0] = '\0'; | |
144 | strcat(firmware_path, prefix); | |
145 | strcat(firmware_path, name); | |
146 | result = request_firmware(&fw, firmware_path, | |
0a85b6f0 | 147 | &devpriv->pci_dev->dev); |
c5331be1 FMH |
148 | if (result == 0) { |
149 | if (!cb) | |
150 | result = -EINVAL; | |
151 | else | |
152 | result = cb(dev, fw->data, fw->size); | |
153 | release_firmware(fw); | |
154 | } | |
155 | kfree(firmware_path); | |
156 | } | |
157 | return result; | |
158 | } | |
159 | ||
83101a17 | 160 | static struct poll_delay_t poll_delay_min_max(int min, int max) |
07b509e6 | 161 | { |
83101a17 | 162 | struct poll_delay_t result; |
07b509e6 AB |
163 | |
164 | result.min = min; | |
165 | result.max = max; | |
166 | return result; | |
167 | } | |
168 | ||
67080790 | 169 | static int is_complete(volatile struct jr3_channel *channel) |
07b509e6 AB |
170 | { |
171 | return get_s16(&channel->command_word0) == 0; | |
172 | } | |
173 | ||
6ae9488b | 174 | struct transform_t { |
07b509e6 AB |
175 | struct { |
176 | u16 link_type; | |
177 | s16 link_amount; | |
178 | } link[8]; | |
6ae9488b | 179 | }; |
07b509e6 | 180 | |
67080790 | 181 | static void set_transforms(volatile struct jr3_channel *channel, |
0a85b6f0 | 182 | struct transform_t transf, short num) |
07b509e6 AB |
183 | { |
184 | int i; | |
185 | ||
2696fb57 | 186 | num &= 0x000f; /* Make sure that 0 <= num <= 15 */ |
07b509e6 AB |
187 | for (i = 0; i < 8; i++) { |
188 | ||
189 | set_u16(&channel->transforms[num].link[i].link_type, | |
190 | transf.link[i].link_type); | |
5f74ea14 | 191 | udelay(1); |
07b509e6 AB |
192 | set_s16(&channel->transforms[num].link[i].link_amount, |
193 | transf.link[i].link_amount); | |
5f74ea14 | 194 | udelay(1); |
07b509e6 AB |
195 | if (transf.link[i].link_type == end_x_form) { |
196 | break; | |
197 | } | |
198 | } | |
199 | } | |
200 | ||
0a85b6f0 MT |
201 | static void use_transform(volatile struct jr3_channel *channel, |
202 | short transf_num) | |
07b509e6 AB |
203 | { |
204 | set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); | |
205 | } | |
206 | ||
67080790 | 207 | static void use_offset(volatile struct jr3_channel *channel, short offset_num) |
07b509e6 AB |
208 | { |
209 | set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f)); | |
210 | } | |
211 | ||
67080790 | 212 | static void set_offset(volatile struct jr3_channel *channel) |
07b509e6 AB |
213 | { |
214 | set_s16(&channel->command_word0, 0x0700); | |
215 | } | |
216 | ||
050509fa | 217 | struct six_axis_t { |
07b509e6 AB |
218 | s16 fx; |
219 | s16 fy; | |
220 | s16 fz; | |
221 | s16 mx; | |
222 | s16 my; | |
223 | s16 mz; | |
050509fa | 224 | }; |
07b509e6 | 225 | |
67080790 | 226 | static void set_full_scales(volatile struct jr3_channel *channel, |
0a85b6f0 | 227 | struct six_axis_t full_scale) |
07b509e6 AB |
228 | { |
229 | printk("%d %d %d %d %d %d\n", | |
0a85b6f0 MT |
230 | full_scale.fx, |
231 | full_scale.fy, | |
232 | full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz); | |
07b509e6 AB |
233 | set_s16(&channel->full_scale.fx, full_scale.fx); |
234 | set_s16(&channel->full_scale.fy, full_scale.fy); | |
235 | set_s16(&channel->full_scale.fz, full_scale.fz); | |
236 | set_s16(&channel->full_scale.mx, full_scale.mx); | |
237 | set_s16(&channel->full_scale.my, full_scale.my); | |
238 | set_s16(&channel->full_scale.mz, full_scale.mz); | |
239 | set_s16(&channel->command_word0, 0x0a00); | |
240 | } | |
241 | ||
0a85b6f0 MT |
242 | static struct six_axis_t get_min_full_scales(volatile struct jr3_channel |
243 | *channel) | |
07b509e6 | 244 | { |
050509fa | 245 | struct six_axis_t result; |
07b509e6 AB |
246 | result.fx = get_s16(&channel->min_full_scale.fx); |
247 | result.fy = get_s16(&channel->min_full_scale.fy); | |
248 | result.fz = get_s16(&channel->min_full_scale.fz); | |
249 | result.mx = get_s16(&channel->min_full_scale.mx); | |
250 | result.my = get_s16(&channel->min_full_scale.my); | |
251 | result.mz = get_s16(&channel->min_full_scale.mz); | |
252 | return result; | |
253 | } | |
254 | ||
0a85b6f0 MT |
255 | static struct six_axis_t get_max_full_scales(volatile struct jr3_channel |
256 | *channel) | |
07b509e6 | 257 | { |
050509fa | 258 | struct six_axis_t result; |
07b509e6 AB |
259 | result.fx = get_s16(&channel->max_full_scale.fx); |
260 | result.fy = get_s16(&channel->max_full_scale.fy); | |
261 | result.fz = get_s16(&channel->max_full_scale.fz); | |
262 | result.mx = get_s16(&channel->max_full_scale.mx); | |
263 | result.my = get_s16(&channel->max_full_scale.my); | |
264 | result.mz = get_s16(&channel->max_full_scale.mz); | |
265 | return result; | |
266 | } | |
267 | ||
0a85b6f0 MT |
268 | static int jr3_pci_ai_insn_read(struct comedi_device *dev, |
269 | struct comedi_subdevice *s, | |
270 | struct comedi_insn *insn, unsigned int *data) | |
07b509e6 AB |
271 | { |
272 | int result; | |
c6a3b7b6 | 273 | struct jr3_pci_subdev_private *p; |
07b509e6 AB |
274 | int channel; |
275 | ||
276 | p = s->private; | |
277 | channel = CR_CHAN(insn->chanspec); | |
278 | if (p == NULL || channel > 57) { | |
279 | result = -EINVAL; | |
280 | } else { | |
281 | int i; | |
282 | ||
283 | result = insn->n; | |
284 | if (p->state != state_jr3_done || | |
0a85b6f0 MT |
285 | (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 | |
286 | sensor_change))) { | |
07b509e6 AB |
287 | /* No sensor or sensor changed */ |
288 | if (p->state == state_jr3_done) { | |
289 | /* Restart polling */ | |
290 | p->state = state_jr3_poll; | |
291 | } | |
292 | result = -EAGAIN; | |
293 | } | |
294 | for (i = 0; i < insn->n; i++) { | |
295 | if (channel < 56) { | |
296 | int axis, filter; | |
297 | ||
298 | axis = channel % 8; | |
299 | filter = channel / 8; | |
300 | if (p->state != state_jr3_done) { | |
301 | data[i] = 0; | |
302 | } else { | |
303 | int F = 0; | |
304 | switch (axis) { | |
305 | case 0:{ | |
0a85b6f0 MT |
306 | F = get_s16 |
307 | (&p->channel->filter | |
308 | [filter].fx); | |
07b509e6 AB |
309 | } |
310 | break; | |
311 | case 1:{ | |
0a85b6f0 MT |
312 | F = get_s16 |
313 | (&p->channel->filter | |
314 | [filter].fy); | |
07b509e6 AB |
315 | } |
316 | break; | |
317 | case 2:{ | |
0a85b6f0 MT |
318 | F = get_s16 |
319 | (&p->channel->filter | |
320 | [filter].fz); | |
07b509e6 AB |
321 | } |
322 | break; | |
323 | case 3:{ | |
0a85b6f0 MT |
324 | F = get_s16 |
325 | (&p->channel->filter | |
326 | [filter].mx); | |
07b509e6 AB |
327 | } |
328 | break; | |
329 | case 4:{ | |
0a85b6f0 MT |
330 | F = get_s16 |
331 | (&p->channel->filter | |
332 | [filter].my); | |
07b509e6 AB |
333 | } |
334 | break; | |
335 | case 5:{ | |
0a85b6f0 MT |
336 | F = get_s16 |
337 | (&p->channel->filter | |
338 | [filter].mz); | |
07b509e6 AB |
339 | } |
340 | break; | |
341 | case 6:{ | |
0a85b6f0 MT |
342 | F = get_s16 |
343 | (&p->channel->filter | |
344 | [filter].v1); | |
07b509e6 AB |
345 | } |
346 | break; | |
347 | case 7:{ | |
0a85b6f0 MT |
348 | F = get_s16 |
349 | (&p->channel->filter | |
350 | [filter].v2); | |
07b509e6 AB |
351 | } |
352 | break; | |
353 | } | |
354 | data[i] = F + 0x4000; | |
355 | } | |
356 | } else if (channel == 56) { | |
357 | if (p->state != state_jr3_done) { | |
358 | data[i] = 0; | |
359 | } else { | |
360 | data[i] = | |
0a85b6f0 | 361 | get_u16(&p->channel->model_no); |
07b509e6 AB |
362 | } |
363 | } else if (channel == 57) { | |
364 | if (p->state != state_jr3_done) { | |
365 | data[i] = 0; | |
366 | } else { | |
367 | data[i] = | |
0a85b6f0 | 368 | get_u16(&p->channel->serial_no); |
07b509e6 AB |
369 | } |
370 | } | |
371 | } | |
372 | } | |
373 | return result; | |
374 | } | |
375 | ||
da91b269 | 376 | static void jr3_pci_open(struct comedi_device *dev) |
07b509e6 AB |
377 | { |
378 | int i; | |
217fbbbc | 379 | struct jr3_pci_dev_private *devpriv = dev->private; |
07b509e6 AB |
380 | |
381 | printk("jr3_pci_open\n"); | |
382 | for (i = 0; i < devpriv->n_channels; i++) { | |
c6a3b7b6 | 383 | struct jr3_pci_subdev_private *p; |
07b509e6 AB |
384 | |
385 | p = dev->subdevices[i].private; | |
386 | if (p) { | |
387 | printk("serial: %p %d (%d)\n", p, p->serial_no, | |
0a85b6f0 | 388 | p->channel_no); |
07b509e6 AB |
389 | } |
390 | } | |
391 | } | |
392 | ||
0a85b6f0 | 393 | int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val) |
07b509e6 AB |
394 | { |
395 | int result = 0; | |
396 | if (pos != 0 && val != 0) { | |
2696fb57 | 397 | /* Skip over non hex */ |
07b509e6 AB |
398 | for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) { |
399 | } | |
2696fb57 | 400 | /* Collect value */ |
07b509e6 AB |
401 | *val = 0; |
402 | for (; *pos < size && isxdigit(data[*pos]); (*pos)++) { | |
403 | char ch = tolower(data[*pos]); | |
404 | result = 1; | |
405 | if ('0' <= ch && ch <= '9') { | |
406 | *val = (*val << 4) + (ch - '0'); | |
407 | } else if ('a' <= ch && ch <= 'f') { | |
408 | *val = (*val << 4) + (ch - 'a' + 10); | |
409 | } | |
410 | } | |
411 | } | |
412 | return result; | |
413 | } | |
414 | ||
0a85b6f0 MT |
415 | static int jr3_download_firmware(struct comedi_device *dev, const u8 * data, |
416 | size_t size) | |
07b509e6 AB |
417 | { |
418 | /* | |
419 | * IDM file format is: | |
420 | * { count, address, data <count> } * | |
421 | * ffff | |
422 | */ | |
423 | int result, more, pos, OK; | |
424 | ||
425 | result = 0; | |
426 | more = 1; | |
427 | pos = 0; | |
428 | OK = 0; | |
429 | while (more) { | |
430 | unsigned int count, addr; | |
431 | ||
432 | more = more && read_idm_word(data, size, &pos, &count); | |
433 | if (more && count == 0xffff) { | |
434 | OK = 1; | |
435 | break; | |
436 | } | |
437 | more = more && read_idm_word(data, size, &pos, &addr); | |
438 | while (more && count > 0) { | |
439 | unsigned int dummy; | |
440 | more = more && read_idm_word(data, size, &pos, &dummy); | |
441 | count--; | |
442 | } | |
443 | } | |
444 | ||
445 | if (!OK) { | |
446 | result = -ENODATA; | |
447 | } else { | |
448 | int i; | |
217fbbbc | 449 | struct jr3_pci_dev_private *p = dev->private; |
07b509e6 AB |
450 | |
451 | for (i = 0; i < p->n_channels; i++) { | |
c6a3b7b6 | 452 | struct jr3_pci_subdev_private *sp; |
07b509e6 AB |
453 | |
454 | sp = dev->subdevices[i].private; | |
455 | more = 1; | |
456 | pos = 0; | |
457 | while (more) { | |
458 | unsigned int count, addr; | |
459 | more = more | |
0a85b6f0 | 460 | && read_idm_word(data, size, &pos, &count); |
07b509e6 AB |
461 | if (more && count == 0xffff) { |
462 | break; | |
463 | } | |
464 | more = more | |
0a85b6f0 | 465 | && read_idm_word(data, size, &pos, &addr); |
07b509e6 | 466 | printk("Loading#%d %4.4x bytes at %4.4x\n", i, |
0a85b6f0 | 467 | count, addr); |
07b509e6 AB |
468 | while (more && count > 0) { |
469 | if (addr & 0x4000) { | |
2696fb57 | 470 | /* 16 bit data, never seen in real life!! */ |
07b509e6 AB |
471 | unsigned int data1; |
472 | ||
473 | more = more | |
0a85b6f0 MT |
474 | && read_idm_word(data, |
475 | size, &pos, | |
476 | &data1); | |
07b509e6 | 477 | count--; |
2696fb57 BP |
478 | /* printk("jr3_data, not tested\n"); */ |
479 | /* jr3[addr + 0x20000 * pnum] = data1; */ | |
07b509e6 | 480 | } else { |
2696fb57 | 481 | /* Download 24 bit program */ |
07b509e6 AB |
482 | unsigned int data1, data2; |
483 | ||
484 | more = more | |
0a85b6f0 MT |
485 | && read_idm_word(data, |
486 | size, &pos, | |
487 | &data1); | |
07b509e6 | 488 | more = more |
0a85b6f0 MT |
489 | && read_idm_word(data, size, |
490 | &pos, | |
491 | &data2); | |
07b509e6 AB |
492 | count -= 2; |
493 | if (more) { | |
0a85b6f0 MT |
494 | set_u16(&p-> |
495 | iobase->channel | |
496 | [i].program_low | |
07b509e6 | 497 | [addr], data1); |
5f74ea14 | 498 | udelay(1); |
0a85b6f0 MT |
499 | set_u16(&p-> |
500 | iobase->channel | |
501 | [i].program_high | |
07b509e6 | 502 | [addr], data2); |
5f74ea14 | 503 | udelay(1); |
07b509e6 AB |
504 | |
505 | } | |
506 | } | |
507 | addr++; | |
508 | } | |
509 | } | |
510 | } | |
511 | } | |
512 | return result; | |
513 | } | |
514 | ||
da91b269 | 515 | static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) |
07b509e6 | 516 | { |
83101a17 | 517 | struct poll_delay_t result = poll_delay_min_max(1000, 2000); |
c6a3b7b6 | 518 | struct jr3_pci_subdev_private *p = s->private; |
b1f68dc1 | 519 | int i; |
07b509e6 AB |
520 | |
521 | if (p) { | |
67080790 | 522 | volatile struct jr3_channel *channel = p->channel; |
07b509e6 AB |
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)) { | |
2696fb57 | 530 | /* Sensor communication lost, force poll mode */ |
07b509e6 AB |
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)) || | |
0a85b6f0 | 539 | model_no == 0 || serial_no == 0) { |
2696fb57 BP |
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 | */ | |
07b509e6 AB |
544 | result = poll_delay_min_max(1000, 2000); |
545 | } else { | |
546 | p->retries = 0; | |
547 | p->state = | |
0a85b6f0 | 548 | state_jr3_init_wait_for_offset; |
07b509e6 AB |
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) { | |
2696fb57 | 556 | /* Wait for offeset to stabilize (< 10 s according to manual) */ |
07b509e6 AB |
557 | result = poll_delay_min_max(1000, 2000); |
558 | } else { | |
6ae9488b | 559 | struct transform_t transf; |
07b509e6 AB |
560 | |
561 | p->model_no = | |
0a85b6f0 | 562 | get_u16(&channel->model_no); |
07b509e6 | 563 | p->serial_no = |
0a85b6f0 | 564 | get_u16(&channel->serial_no); |
07b509e6 | 565 | |
0a85b6f0 MT |
566 | printk |
567 | ("Setting transform for channel %d\n", | |
568 | p->channel_no); | |
07b509e6 | 569 | printk("Sensor Model = %i\n", |
0a85b6f0 | 570 | p->model_no); |
07b509e6 | 571 | printk("Sensor Serial = %i\n", |
0a85b6f0 | 572 | p->serial_no); |
07b509e6 | 573 | |
2696fb57 | 574 | /* Transformation all zeros */ |
b1f68dc1 IA |
575 | for (i = 0; i < ARRAY_SIZE(transf.link); i++) { |
576 | transf.link[i].link_type = | |
577 | (enum link_types)0; | |
578 | transf.link[i].link_amount = 0; | |
579 | } | |
07b509e6 AB |
580 | |
581 | set_transforms(channel, transf, 0); | |
582 | use_transform(channel, 0); | |
583 | p->state = | |
0a85b6f0 | 584 | state_jr3_init_transform_complete; |
2696fb57 | 585 | result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ |
07b509e6 AB |
586 | } |
587 | } break; | |
588 | case state_jr3_init_transform_complete:{ | |
589 | if (!is_complete(channel)) { | |
0a85b6f0 MT |
590 | printk |
591 | ("state_jr3_init_transform_complete complete = %d\n", | |
592 | is_complete(channel)); | |
07b509e6 AB |
593 | result = poll_delay_min_max(20, 100); |
594 | } else { | |
2696fb57 | 595 | /* Set full scale */ |
050509fa BP |
596 | struct six_axis_t min_full_scale; |
597 | struct six_axis_t max_full_scale; | |
07b509e6 AB |
598 | |
599 | min_full_scale = | |
0a85b6f0 | 600 | get_min_full_scales(channel); |
07b509e6 AB |
601 | printk("Obtained Min. Full Scales:\n"); |
602 | printk("%i ", (min_full_scale).fx); | |
603 | printk("%i ", (min_full_scale).fy); | |
604 | printk("%i ", (min_full_scale).fz); | |
605 | printk("%i ", (min_full_scale).mx); | |
606 | printk("%i ", (min_full_scale).my); | |
607 | printk("%i ", (min_full_scale).mz); | |
608 | printk("\n"); | |
609 | ||
610 | max_full_scale = | |
0a85b6f0 | 611 | get_max_full_scales(channel); |
07b509e6 AB |
612 | printk("Obtained Max. Full Scales:\n"); |
613 | printk("%i ", (max_full_scale).fx); | |
614 | printk("%i ", (max_full_scale).fy); | |
615 | printk("%i ", (max_full_scale).fz); | |
616 | printk("%i ", (max_full_scale).mx); | |
617 | printk("%i ", (max_full_scale).my); | |
618 | printk("%i ", (max_full_scale).mz); | |
619 | printk("\n"); | |
620 | ||
621 | set_full_scales(channel, | |
0a85b6f0 | 622 | max_full_scale); |
07b509e6 AB |
623 | |
624 | p->state = | |
0a85b6f0 | 625 | state_jr3_init_set_full_scale_complete; |
2696fb57 | 626 | result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ |
07b509e6 AB |
627 | } |
628 | } | |
629 | break; | |
630 | case state_jr3_init_set_full_scale_complete:{ | |
631 | if (!is_complete(channel)) { | |
0a85b6f0 MT |
632 | printk |
633 | ("state_jr3_init_set_full_scale_complete complete = %d\n", | |
634 | is_complete(channel)); | |
07b509e6 AB |
635 | result = poll_delay_min_max(20, 100); |
636 | } else { | |
cdc14cd0 | 637 | volatile struct force_array *full_scale; |
07b509e6 | 638 | |
2696fb57 | 639 | /* Use ranges in kN or we will overflow arount 2000N! */ |
07b509e6 AB |
640 | full_scale = &channel->full_scale; |
641 | p->range[0].range.min = | |
0a85b6f0 | 642 | -get_s16(&full_scale->fx) * 1000; |
07b509e6 | 643 | p->range[0].range.max = |
0a85b6f0 | 644 | get_s16(&full_scale->fx) * 1000; |
07b509e6 | 645 | p->range[1].range.min = |
0a85b6f0 | 646 | -get_s16(&full_scale->fy) * 1000; |
07b509e6 | 647 | p->range[1].range.max = |
0a85b6f0 | 648 | get_s16(&full_scale->fy) * 1000; |
07b509e6 | 649 | p->range[2].range.min = |
0a85b6f0 | 650 | -get_s16(&full_scale->fz) * 1000; |
07b509e6 | 651 | p->range[2].range.max = |
0a85b6f0 | 652 | get_s16(&full_scale->fz) * 1000; |
07b509e6 | 653 | p->range[3].range.min = |
0a85b6f0 | 654 | -get_s16(&full_scale->mx) * 100; |
07b509e6 | 655 | p->range[3].range.max = |
0a85b6f0 | 656 | get_s16(&full_scale->mx) * 100; |
07b509e6 | 657 | p->range[4].range.min = |
0a85b6f0 | 658 | -get_s16(&full_scale->my) * 100; |
07b509e6 | 659 | p->range[4].range.max = |
0a85b6f0 | 660 | get_s16(&full_scale->my) * 100; |
07b509e6 | 661 | p->range[5].range.min = |
0a85b6f0 | 662 | -get_s16(&full_scale->mz) * 100; |
07b509e6 | 663 | p->range[5].range.max = |
0a85b6f0 | 664 | get_s16(&full_scale->mz) * 100; |
2696fb57 BP |
665 | p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */ |
666 | p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */ | |
667 | p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */ | |
668 | p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */ | |
07b509e6 AB |
669 | p->range[8].range.min = 0; |
670 | p->range[8].range.max = 65535; | |
671 | ||
672 | { | |
673 | int i; | |
674 | for (i = 0; i < 9; i++) { | |
675 | printk("%d %d - %d\n", | |
0a85b6f0 MT |
676 | i, |
677 | p-> | |
678 | range[i].range. | |
679 | min, | |
680 | p-> | |
681 | range[i].range. | |
682 | max); | |
07b509e6 AB |
683 | } |
684 | } | |
685 | ||
686 | use_offset(channel, 0); | |
687 | p->state = | |
0a85b6f0 | 688 | state_jr3_init_use_offset_complete; |
2696fb57 | 689 | result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */ |
07b509e6 AB |
690 | } |
691 | } | |
692 | break; | |
693 | case state_jr3_init_use_offset_complete:{ | |
694 | if (!is_complete(channel)) { | |
0a85b6f0 MT |
695 | printk |
696 | ("state_jr3_init_use_offset_complete complete = %d\n", | |
697 | is_complete(channel)); | |
07b509e6 AB |
698 | result = poll_delay_min_max(20, 100); |
699 | } else { | |
0a85b6f0 MT |
700 | printk |
701 | ("Default offsets %d %d %d %d %d %d\n", | |
702 | get_s16(&channel->offsets.fx), | |
703 | get_s16(&channel->offsets.fy), | |
704 | get_s16(&channel->offsets.fz), | |
705 | get_s16(&channel->offsets.mx), | |
706 | get_s16(&channel->offsets.my), | |
707 | get_s16(&channel->offsets.mz)); | |
07b509e6 AB |
708 | |
709 | set_s16(&channel->offsets.fx, 0); | |
710 | set_s16(&channel->offsets.fy, 0); | |
711 | set_s16(&channel->offsets.fz, 0); | |
712 | set_s16(&channel->offsets.mx, 0); | |
713 | set_s16(&channel->offsets.my, 0); | |
714 | set_s16(&channel->offsets.mz, 0); | |
715 | ||
716 | set_offset(channel); | |
717 | ||
718 | p->state = state_jr3_done; | |
719 | } | |
720 | } | |
721 | break; | |
722 | case state_jr3_done:{ | |
723 | poll_delay_min_max(10000, 20000); | |
724 | } | |
725 | break; | |
726 | default:{ | |
727 | poll_delay_min_max(1000, 2000); | |
728 | } | |
729 | break; | |
730 | } | |
731 | } | |
732 | return result; | |
733 | } | |
734 | ||
735 | static void jr3_pci_poll_dev(unsigned long data) | |
736 | { | |
737 | unsigned long flags; | |
0a85b6f0 | 738 | struct comedi_device *dev = (struct comedi_device *)data; |
217fbbbc | 739 | struct jr3_pci_dev_private *devpriv = dev->private; |
07b509e6 AB |
740 | unsigned long now; |
741 | int delay; | |
742 | int i; | |
743 | ||
5f74ea14 | 744 | spin_lock_irqsave(&dev->spinlock, flags); |
07b509e6 AB |
745 | delay = 1000; |
746 | now = jiffies; | |
2696fb57 | 747 | /* Poll all channels that are ready to be polled */ |
07b509e6 | 748 | for (i = 0; i < devpriv->n_channels; i++) { |
0a85b6f0 MT |
749 | struct jr3_pci_subdev_private *subdevpriv = |
750 | dev->subdevices[i].private; | |
07b509e6 | 751 | if (now > subdevpriv->next_time_min) { |
83101a17 | 752 | struct poll_delay_t sub_delay; |
07b509e6 AB |
753 | |
754 | sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]); | |
755 | subdevpriv->next_time_min = | |
0a85b6f0 | 756 | jiffies + msecs_to_jiffies(sub_delay.min); |
07b509e6 | 757 | subdevpriv->next_time_max = |
0a85b6f0 | 758 | jiffies + msecs_to_jiffies(sub_delay.max); |
07b509e6 | 759 | if (sub_delay.max && sub_delay.max < delay) { |
2696fb57 BP |
760 | /* |
761 | * Wake up as late as possible -> poll as many channels as possible | |
762 | * at once | |
763 | */ | |
07b509e6 AB |
764 | delay = sub_delay.max; |
765 | } | |
766 | } | |
767 | } | |
5f74ea14 | 768 | spin_unlock_irqrestore(&dev->spinlock, flags); |
07b509e6 AB |
769 | |
770 | devpriv->timer.expires = jiffies + msecs_to_jiffies(delay); | |
771 | add_timer(&devpriv->timer); | |
772 | } | |
773 | ||
0a85b6f0 MT |
774 | static int jr3_pci_attach(struct comedi_device *dev, |
775 | struct comedi_devconfig *it) | |
07b509e6 AB |
776 | { |
777 | int result = 0; | |
778 | struct pci_dev *card = NULL; | |
779 | int opt_bus, opt_slot, i; | |
217fbbbc | 780 | struct jr3_pci_dev_private *devpriv; |
07b509e6 AB |
781 | |
782 | printk("comedi%d: jr3_pci\n", dev->minor); | |
783 | ||
784 | opt_bus = it->options[0]; | |
785 | opt_slot = it->options[1]; | |
786 | ||
67080790 BP |
787 | if (sizeof(struct jr3_channel) != 0xc00) { |
788 | printk("sizeof(struct jr3_channel) = %x [expected %x]\n", | |
0a85b6f0 | 789 | (unsigned)sizeof(struct jr3_channel), 0xc00); |
07b509e6 AB |
790 | return -EINVAL; |
791 | } | |
792 | ||
217fbbbc | 793 | result = alloc_private(dev, sizeof(struct jr3_pci_dev_private)); |
07b509e6 AB |
794 | if (result < 0) { |
795 | return -ENOMEM; | |
796 | } | |
797 | card = NULL; | |
798 | devpriv = dev->private; | |
799 | init_timer(&devpriv->timer); | |
800 | while (1) { | |
801 | card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card); | |
802 | if (card == NULL) { | |
803 | /* No card found */ | |
804 | break; | |
805 | } else { | |
806 | switch (card->device) { | |
807 | case PCI_DEVICE_ID_JR3_1_CHANNEL:{ | |
808 | devpriv->n_channels = 1; | |
809 | } | |
810 | break; | |
811 | case PCI_DEVICE_ID_JR3_2_CHANNEL:{ | |
812 | devpriv->n_channels = 2; | |
813 | } | |
814 | break; | |
815 | case PCI_DEVICE_ID_JR3_3_CHANNEL:{ | |
816 | devpriv->n_channels = 3; | |
817 | } | |
818 | break; | |
819 | case PCI_DEVICE_ID_JR3_4_CHANNEL:{ | |
820 | devpriv->n_channels = 4; | |
821 | } | |
822 | break; | |
823 | default:{ | |
824 | devpriv->n_channels = 0; | |
825 | } | |
826 | } | |
827 | if (devpriv->n_channels >= 1) { | |
828 | if (opt_bus == 0 && opt_slot == 0) { | |
829 | /* Take first available card */ | |
830 | break; | |
831 | } else if (opt_bus == card->bus->number && | |
0a85b6f0 | 832 | opt_slot == PCI_SLOT(card->devfn)) { |
07b509e6 AB |
833 | /* Take requested card */ |
834 | break; | |
835 | } | |
836 | } | |
837 | } | |
838 | } | |
839 | if (!card) { | |
840 | printk(" no jr3_pci found\n"); | |
841 | return -EIO; | |
842 | } else { | |
843 | devpriv->pci_dev = card; | |
844 | dev->board_name = "jr3_pci"; | |
845 | } | |
c3744138 BP |
846 | |
847 | result = comedi_pci_enable(card, "jr3_pci"); | |
848 | if (result < 0) { | |
07b509e6 AB |
849 | return -EIO; |
850 | } | |
c3744138 | 851 | |
07b509e6 | 852 | devpriv->pci_enabled = 1; |
fa5c5f4c IA |
853 | devpriv->iobase = ioremap(pci_resource_start(card, 0), |
854 | offsetof(struct jr3_t, channel[devpriv->n_channels])); | |
855 | if (!devpriv->iobase) | |
856 | return -ENOMEM; | |
857 | ||
07b509e6 AB |
858 | result = alloc_subdevices(dev, devpriv->n_channels); |
859 | if (result < 0) | |
860 | goto out; | |
861 | ||
862 | dev->open = jr3_pci_open; | |
863 | for (i = 0; i < devpriv->n_channels; i++) { | |
864 | dev->subdevices[i].type = COMEDI_SUBD_AI; | |
865 | dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND; | |
866 | dev->subdevices[i].n_chan = 8 * 7 + 2; | |
867 | dev->subdevices[i].insn_read = jr3_pci_ai_insn_read; | |
868 | dev->subdevices[i].private = | |
0a85b6f0 | 869 | kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); |
07b509e6 | 870 | if (dev->subdevices[i].private) { |
c6a3b7b6 | 871 | struct jr3_pci_subdev_private *p; |
07b509e6 AB |
872 | int j; |
873 | ||
874 | p = dev->subdevices[i].private; | |
875 | p->channel = &devpriv->iobase->channel[i].data; | |
876 | printk("p->channel %p %p (%tx)\n", | |
0a85b6f0 MT |
877 | p->channel, devpriv->iobase, |
878 | ((char *)(p->channel) - | |
879 | (char *)(devpriv->iobase))); | |
07b509e6 AB |
880 | p->channel_no = i; |
881 | for (j = 0; j < 8; j++) { | |
882 | int k; | |
883 | ||
884 | p->range[j].length = 1; | |
885 | p->range[j].range.min = -1000000; | |
886 | p->range[j].range.max = 1000000; | |
887 | for (k = 0; k < 7; k++) { | |
888 | p->range_table_list[j + k * 8] = | |
0a85b6f0 MT |
889 | (struct comedi_lrange *)&p-> |
890 | range[j]; | |
07b509e6 AB |
891 | p->maxdata_list[j + k * 8] = 0x7fff; |
892 | } | |
893 | } | |
894 | p->range[8].length = 1; | |
895 | p->range[8].range.min = 0; | |
896 | p->range[8].range.max = 65536; | |
897 | ||
898 | p->range_table_list[56] = | |
0a85b6f0 | 899 | (struct comedi_lrange *)&p->range[8]; |
07b509e6 | 900 | p->range_table_list[57] = |
0a85b6f0 | 901 | (struct comedi_lrange *)&p->range[8]; |
07b509e6 AB |
902 | p->maxdata_list[56] = 0xffff; |
903 | p->maxdata_list[57] = 0xffff; | |
2696fb57 | 904 | /* Channel specific range and maxdata */ |
07b509e6 AB |
905 | dev->subdevices[i].range_table = 0; |
906 | dev->subdevices[i].range_table_list = | |
0a85b6f0 | 907 | p->range_table_list; |
07b509e6 AB |
908 | dev->subdevices[i].maxdata = 0; |
909 | dev->subdevices[i].maxdata_list = p->maxdata_list; | |
910 | } | |
911 | } | |
912 | ||
2696fb57 | 913 | /* Reset DSP card */ |
07b509e6 AB |
914 | devpriv->iobase->channel[0].reset = 0; |
915 | ||
916 | result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware); | |
917 | printk("Firmare load %d\n", result); | |
918 | ||
919 | if (result < 0) { | |
920 | goto out; | |
921 | } | |
2696fb57 BP |
922 | /* |
923 | * TODO: use firmware to load preferred offset tables. Suggested | |
924 | * format: | |
925 | * model serial Fx Fy Fz Mx My Mz\n | |
926 | * | |
927 | * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware); | |
928 | */ | |
07b509e6 | 929 | |
2696fb57 BP |
930 | /* |
931 | * It takes a few milliseconds for software to settle as much as we | |
932 | * can read firmware version | |
933 | */ | |
07b509e6 AB |
934 | msleep_interruptible(25); |
935 | for (i = 0; i < 0x18; i++) { | |
936 | printk("%c", | |
0a85b6f0 MT |
937 | get_u16(&devpriv->iobase->channel[0]. |
938 | data.copyright[i]) >> 8); | |
07b509e6 AB |
939 | } |
940 | ||
2696fb57 | 941 | /* Start card timer */ |
07b509e6 | 942 | for (i = 0; i < devpriv->n_channels; i++) { |
c6a3b7b6 | 943 | struct jr3_pci_subdev_private *p = dev->subdevices[i].private; |
07b509e6 AB |
944 | |
945 | p->next_time_min = jiffies + msecs_to_jiffies(500); | |
946 | p->next_time_max = jiffies + msecs_to_jiffies(2000); | |
947 | } | |
948 | ||
949 | devpriv->timer.data = (unsigned long)dev; | |
950 | devpriv->timer.function = jr3_pci_poll_dev; | |
951 | devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); | |
952 | add_timer(&devpriv->timer); | |
953 | ||
0a85b6f0 | 954 | out: |
07b509e6 AB |
955 | return result; |
956 | } | |
957 | ||
5d929a71 BH |
958 | MODULE_FIRMWARE("comedi/jr3pci.idm"); |
959 | ||
da91b269 | 960 | static int jr3_pci_detach(struct comedi_device *dev) |
07b509e6 AB |
961 | { |
962 | int i; | |
217fbbbc | 963 | struct jr3_pci_dev_private *devpriv = dev->private; |
07b509e6 AB |
964 | |
965 | printk("comedi%d: jr3_pci: remove\n", dev->minor); | |
966 | if (devpriv) { | |
967 | del_timer_sync(&devpriv->timer); | |
968 | ||
969 | if (dev->subdevices) { | |
970 | for (i = 0; i < devpriv->n_channels; i++) { | |
971 | kfree(dev->subdevices[i].private); | |
972 | } | |
973 | } | |
974 | ||
975 | if (devpriv->iobase) { | |
976 | iounmap((void *)devpriv->iobase); | |
977 | } | |
978 | if (devpriv->pci_enabled) { | |
979 | comedi_pci_disable(devpriv->pci_dev); | |
980 | } | |
981 | ||
982 | if (devpriv->pci_dev) { | |
983 | pci_dev_put(devpriv->pci_dev); | |
984 | } | |
985 | } | |
986 | return 0; | |
987 | } | |
988 | ||
989 | COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table); |