drivers/staging/comedi/drivers/jr3_pci.h

   1 /* Helper types to take care of the fact that the DSP card memory
   2  * is 16 bits, but aligned on a 32 bit PCI boundary
   3  */
   4
   5 static inline u16 get_u16(const u32 __iomem *p)
   6 {
   7         return (u16)readl(p);
   8 }
   9
  10 static inline void set_u16(u32 __iomem *p, u16 val)
  11 {
  12         writel(val, p);
  13 }
  14
  15 static inline s16 get_s16(const s32 __iomem *p)
  16 {
  17         return (s16)readl(p);
  18 }
  19
  20 static inline void set_s16(s32 __iomem *p, s16 val)
  21 {
  22         writel(val, p);
  23 }
  24
  25 /* The raw data is stored in a format which facilitates rapid
  26  * processing by the JR3 DSP chip. The raw_channel structure shows the
  27  * format for a single channel of data. Each channel takes four,
  28  * two-byte words.
  29  *
  30  * Raw_time is an unsigned integer which shows the value of the JR3
  31  * DSP's internal clock at the time the sample was received. The clock
  32  * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
  33  * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
  34  *
  35  * Raw_data is the raw data received directly from the sensor. The
  36  * sensor data stream is capable of representing 16 different
  37  * channels. Channel 0 shows the excitation voltage at the sensor. It
  38  * is used to regulate the voltage over various cable lengths.
  39  * Channels 1-6 contain the coupled force data Fx through Mz. Channel
  40  * 7 contains the sensor's calibration data. The use of channels 8-15
  41  * varies with different sensors.
  42  */
  43
  44 struct raw_channel {
  45         u32 raw_time;
  46         s32 raw_data;
  47         s32 reserved[2];
  48 };
  49
  50 /* The force_array structure shows the layout for the decoupled and
  51  * filtered force data.
  52  */
  53 struct force_array {
  54         s32 fx;
  55         s32 fy;
  56         s32 fz;
  57         s32 mx;
  58         s32 my;
  59         s32 mz;
  60         s32 v1;
  61         s32 v2;
  62 };
  63
  64 /* The six_axis_array structure shows the layout for the offsets and
  65  * the full scales.
  66  */
  67 struct six_axis_array {
  68         s32 fx;
  69         s32 fy;
  70         s32 fz;
  71         s32 mx;
  72         s32 my;
  73         s32 mz;
  74 };
  75
  76 /* VECT_BITS */
  77 /* The vect_bits structure shows the layout for indicating
  78  * which axes to use in computing the vectors. Each bit signifies
  79  * selection of a single axis. The V1x axis bit corresponds to a hex
  80  * value of 0x0001 and the V2z bit corresponds to a hex value of
  81  * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
  82  * pattern would be 0x002b. Vector 1 defaults to a force vector and
  83  * vector 2 defaults to a moment vector. It is possible to change one
  84  * or the other so that two force vectors or two moment vectors are
  85  * calculated. Setting the changeV1 bit or the changeV2 bit will
  86  * change that vector to be the opposite of its default. Therefore to
  87  * have two force vectors, set changeV1 to 1.
  88  */
  89
  90 /* vect_bits appears to be unused at this time */
  91 enum {
  92         fx = 0x0001,
  93         fy = 0x0002,
  94         fz = 0x0004,
  95         mx = 0x0008,
  96         my = 0x0010,
  97         mz = 0x0020,
  98         changeV2 = 0x0040,
  99         changeV1 = 0x0080
 100 };
 101
 102 /* WARNING_BITS */
 103 /* The warning_bits structure shows the bit pattern for the warning
 104  * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb).
 105  */
 106
 107 /*  XX_NEAR_SET */
 108 /* The xx_near_sat bits signify that the indicated axis has reached or
 109  * exceeded the near saturation value.
 110  */
 111
 112 enum {
 113         fx_near_sat = 0x0001,
 114         fy_near_sat = 0x0002,
 115         fz_near_sat = 0x0004,
 116         mx_near_sat = 0x0008,
 117         my_near_sat = 0x0010,
 118         mz_near_sat = 0x0020
 119 };
 120
 121 /*  ERROR_BITS */
 122 /*  XX_SAT */
 123 /*  MEMORY_ERROR */
 124 /*  SENSOR_CHANGE */
 125
 126 /* The error_bits structure shows the bit pattern for the error word.
 127  * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The
 128  * xx_sat bits signify that the indicated axis has reached or exceeded
 129  * the saturation value. The memory_error bit indicates that a problem
 130  * was detected in the on-board RAM during the power-up
 131  * initialization. The sensor_change bit indicates that a sensor other
 132  * than the one originally plugged in has passed its CRC check. This
 133  * bit latches, and must be reset by the user.
 134  *
 135  */
 136
 137 /*  SYSTEM_BUSY */
 138
 139 /* The system_busy bit indicates that the JR3 DSP is currently busy
 140  * and is not calculating force data. This occurs when a new
 141  * coordinate transformation, or new sensor full scale is set by the
 142  * user. A very fast system using the force data for feedback might
 143  * become unstable during the approximately 4 ms needed to accomplish
 144  * these calculations. This bit will also become active when a new
 145  * sensor is plugged in and the system needs to recalculate the
 146  * calibration CRC.
 147  */
 148
 149 /*  CAL_CRC_BAD */
 150
 151 /* The cal_crc_bad bit indicates that the calibration CRC has not
 152  * calculated to zero. CRC is short for cyclic redundancy code. It is
 153  * a method for determining the integrity of messages in data
 154  * communication. The calibration data stored inside the sensor is
 155  * transmitted to the JR3 DSP along with the sensor data. The
 156  * calibration data has a CRC attached to the end of it, to assist in
 157  * determining the completeness and integrity of the calibration data
 158  * received from the sensor. There are two reasons the CRC may not
 159  * have calculated to zero. The first is that all the calibration data
 160  * has not yet been received, the second is that the calibration data
 161  * has been corrupted. A typical sensor transmits the entire contents
 162  * of its calibration matrix over 30 times a second. Therefore, if
 163  * this bit is not zero within a couple of seconds after the sensor
 164  * has been plugged in, there is a problem with the sensor's
 165  * calibration data.
 166  */
 167
 168 /* WATCH_DOG */
 169 /* WATCH_DOG2 */
 170
 171 /* The watch_dog and watch_dog2 bits are sensor, not processor, watch
 172  * dog bits. Watch_dog indicates that the sensor data line seems to be
 173  * acting correctly, while watch_dog2 indicates that sensor data and
 174  * clock are being received. It is possible for watch_dog2 to go off
 175  * while watch_dog does not. This would indicate an improper clock
 176  * signal, while data is acting correctly. If either watch dog barks,
 177  * the sensor data is not being received correctly.
 178  */
 179
 180 enum error_bits_t {
 181         fx_sat = 0x0001,
 182         fy_sat = 0x0002,
 183         fz_sat = 0x0004,
 184         mx_sat = 0x0008,
 185         my_sat = 0x0010,
 186         mz_sat = 0x0020,
 187         memory_error = 0x0400,
 188         sensor_change = 0x0800,
 189         system_busy = 0x1000,
 190         cal_crc_bad = 0x2000,
 191         watch_dog2 = 0x4000,
 192         watch_dog = 0x8000
 193 };
 194
 195 /*  THRESH_STRUCT */
 196
 197 /* This structure shows the layout for a single threshold packet inside of a
 198  * load envelope. Each load envelope can contain several threshold structures.
 199  * 1. data_address contains the address of the data for that threshold. This
 200  *    includes filtered, unfiltered, raw, rate, counters, error and warning data
 201  * 2. threshold is the is the value at which, if data is above or below, the
 202  *    bits will be set ... (pag.24).
 203  * 3. bit_pattern contains the bits that will be set if the threshold value is
 204  *    met or exceeded.
 205  */
 206
 207 struct thresh_struct {
 208         s32 data_address;
 209         s32 threshold;
 210         s32 bit_pattern;
 211 };
 212
 213 /*  LE_STRUCT */
 214
 215 /* Layout of a load enveloped packet. Four thresholds are showed ... for more
 216  * see manual (pag.25)
 217  * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
 218  *    The latched bits will not be reset once the threshold which set them is
 219  *    no longer true. In that case the user must reset them using the reset_bit
 220  *    command.
 221  * 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
 222  */
 223 struct le_struct {
 224         s32 latch_bits;
 225         s32 number_of_ge_thresholds;
 226         s32 number_of_le_thresholds;
 227         struct thresh_struct thresholds[4];
 228         s32 reserved;
 229 };
 230
 231 /*  LINK_TYPES */
 232 /* Link types is an enumerated value showing the different possible transform
 233  * link types.
 234  * 0 - end transform packet
 235  * 1 - translate along X axis (TX)
 236  * 2 - translate along Y axis (TY)
 237  * 3 - translate along Z axis (TZ)
 238  * 4 - rotate about X axis (RX)
 239  * 5 - rotate about Y axis (RY)
 240  * 6 - rotate about Z axis (RZ)
 241  * 7 - negate all axes (NEG)
 242  */
 243
 244 enum link_types {
 245         end_x_form,
 246         tx,
 247         ty,
 248         tz,
 249         rx,
 250         ry,
 251         rz,
 252         neg
 253 };
 254
 255 /*  TRANSFORM */
 256 /*  Structure used to describe a transform. */
 257 struct intern_transform {
 258         struct {
 259                 u32 link_type;
 260                 s32 link_amount;
 261         } link[8];
 262 };
 263
 264 /*  JR3 force/torque sensor data definition. For more information see sensor and */
 265 /*  hardware manuals. */
 266
 267 struct jr3_channel {
 268         /*  Raw_channels is the area used to store the raw data coming from */
 269         /*  the sensor. */
 270
 271         struct raw_channel raw_channels[16];    /* offset 0x0000 */
 272
 273         /*  Copyright is a null terminated ASCII string containing the JR3 */
 274         /*  copyright notice. */
 275
 276         u32 copyright[0x0018];  /* offset 0x0040 */
 277         s32 reserved1[0x0008];  /* offset 0x0058 */
 278
 279         /* Shunts contains the sensor shunt readings. Some JR3 sensors have
 280          * the ability to have their gains adjusted. This allows the
 281          * hardware full scales to be adjusted to potentially allow
 282          * better resolution or dynamic range. For sensors that have
 283          * this ability, the gain of each sensor channel is measured at
 284          * the time of calibration using a shunt resistor. The shunt
 285          * resistor is placed across one arm of the resistor bridge, and
 286          * the resulting change in the output of that channel is
 287          * measured. This measurement is called the shunt reading, and
 288          * is recorded here. If the user has changed the gain of the //
 289          * sensor, and made new shunt measurements, those shunt
 290          * measurements can be placed here. The JR3 DSP will then scale
 291          * the calibration matrix such so that the gains are again
 292          * proper for the indicated shunt readings. If shunts is 0, then
 293          * the sensor cannot have its gain changed. For details on
 294          * changing the sensor gain, and making shunts readings, please
 295          * see the sensor manual. To make these values take effect the
 296          * user must call either command (5) use transform # (pg. 33) or
 297          * command (10) set new full scales (pg. 38).
 298          */
 299
 300         struct six_axis_array shunts;   /* offset 0x0060 */
 301         s32 reserved2[2];       /* offset 0x0066 */
 302
 303         /* Default_FS contains the full scale that is used if the user does */
 304         /* not set a full scale. */
 305
 306         struct six_axis_array default_FS;       /* offset 0x0068 */
 307         s32 reserved3;          /* offset 0x006e */
 308
 309         /* Load_envelope_num is the load envelope number that is currently
 310          * in use. This value is set by the user after one of the load
 311          * envelopes has been initialized.
 312          */
 313
 314         s32 load_envelope_num;  /* offset 0x006f */
 315
 316         /* Min_full_scale is the recommend minimum full scale. */
 317
 318         /* These values in conjunction with max_full_scale (pg. 9) helps
 319          * determine the appropriate value for setting the full scales. The
 320          * software allows the user to set the sensor full scale to an
 321          * arbitrary value. But setting the full scales has some hazards. If
 322          * the full scale is set too low, the data will saturate
 323          * prematurely, and dynamic range will be lost. If the full scale is
 324          * set too high, then resolution is lost as the data is shifted to
 325          * the right and the least significant bits are lost. Therefore the
 326          * maximum full scale is the maximum value at which no resolution is
 327          * lost, and the minimum full scale is the value at which the data
 328          * will not saturate prematurely. These values are calculated
 329          * whenever a new coordinate transformation is calculated. It is
 330          * possible for the recommended maximum to be less than the
 331          * recommended minimum. This comes about primarily when using
 332          * coordinate translations. If this is the case, it means that any
 333          * full scale selection will be a compromise between dynamic range
 334          * and resolution. It is usually recommended to compromise in favor
 335          * of resolution which means that the recommend maximum full scale
 336          * should be chosen.
 337          *
 338          * WARNING: Be sure that the full scale is no less than 0.4% of the
 339          * recommended minimum full scale. Full scales below this value will
 340          * cause erroneous results.
 341          */
 342
 343         struct six_axis_array min_full_scale;   /* offset 0x0070 */
 344         s32 reserved4;          /* offset 0x0076 */
 345
 346         /* Transform_num is the transform number that is currently in use.
 347          * This value is set by the JR3 DSP after the user has used command
 348          * (5) use transform # (pg. 33).
 349          */
 350
 351         s32 transform_num;      /* offset 0x0077 */
 352
 353         /*  Max_full_scale is the recommended maximum full scale. See */
 354         /*  min_full_scale (pg. 9) for more details. */
 355
 356         struct six_axis_array max_full_scale;   /* offset 0x0078 */
 357         s32 reserved5;          /* offset 0x007e */
 358
 359         /* Peak_address is the address of the data which will be monitored
 360          * by the peak routine. This value is set by the user. The peak
 361          * routine will monitor any 8 contiguous addresses for peak values.
 362          * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
 363          */
 364
 365         s32 peak_address;       /* offset 0x007f */
 366
 367         /* Full_scale is the sensor full scales which are currently in use.
 368          * Decoupled and filtered data is scaled so that +/- 16384 is equal
 369          * to the full scales. The engineering units used are indicated by
 370          * the units value discussed on page 16. The full scales for Fx, Fy,
 371          * Fz, Mx, My and Mz can be written by the user prior to calling
 372          * command (10) set new full scales (pg. 38). The full scales for V1
 373          * and V2 are set whenever the full scales are changed or when the
 374          * axes used to calculate the vectors are changed. The full scale of
 375          * V1 and V2 will always be equal to the largest full scale of the
 376          * axes used for each vector respectively.
 377          */
 378
 379         struct force_array full_scale;  /* offset 0x0080 */
 380
 381         /* Offsets contains the sensor offsets. These values are subtracted from
 382          * the sensor data to obtain the decoupled data. The offsets are set a
 383          * few seconds (< 10) after the calibration data has been received.
 384          * They are set so that the output data will be zero. These values
 385          * can be written as well as read. The JR3 DSP will use the values
 386          * written here within 2 ms of being written. To set future
 387          * decoupled data to zero, add these values to the current decoupled
 388          * data values and place the sum here. The JR3 DSP will change these
 389          * values when a new transform is applied. So if the offsets are
 390          * such that FX is 5 and all other values are zero, after rotating
 391          * about Z by 90 degrees, FY would be 5 and all others would be zero.
 392          */
 393
 394         struct six_axis_array offsets;  /* offset 0x0088 */
 395
 396         /* Offset_num is the number of the offset currently in use. This
 397          * value is set by the JR3 DSP after the user has executed the use
 398          * offset # command (pg. 34). It can vary between 0 and 15.
 399          */
 400
 401         s32 offset_num;         /* offset 0x008e */
 402
 403         /* Vect_axes is a bit map showing which of the axes are being used
 404          * in the vector calculations. This value is set by the JR3 DSP
 405          * after the user has executed the set vector axes command (pg. 37).
 406          */
 407
 408         u32 vect_axes;          /* offset 0x008f */
 409
 410         /* Filter0 is the decoupled, unfiltered data from the JR3 sensor.
 411          * This data has had the offsets removed.
 412          *
 413          * These force_arrays hold the filtered data. The decoupled data is
 414          * passed through cascaded low pass filters. Each succeeding filter
 415          * has a cutoff frequency of 1/4 of the preceding filter. The cutoff
 416          * frequency of filter1 is 1/16 of the sample rate from the sensor.
 417          * For a typical sensor with a sample rate of 8 kHz, the cutoff
 418          * frequency of filter1 would be 500 Hz. The following filters would
 419          * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
 420          */
 421
 422         struct force_array filter[7];   /* offset 0x0090,
 423                                            offset 0x0098,
 424                                            offset 0x00a0,
 425                                            offset 0x00a8,
 426                                            offset 0x00b0,
 427                                            offset 0x00b8 ,
 428                                            offset 0x00c0 */
 429
 430         /* Rate_data is the calculated rate data. It is a first derivative
 431          * calculation. It is calculated at a frequency specified by the
 432          * variable rate_divisor (pg. 12). The data on which the rate is
 433          * calculated is specified by the variable rate_address (pg. 12).
 434          */
 435
 436         struct force_array rate_data;   /* offset 0x00c8 */
 437
 438         /* Minimum_data & maximum_data are the minimum and maximum (peak)
 439          * data values. The JR3 DSP can monitor any 8 contiguous data items
 440          * for minimums and maximums at full sensor bandwidth. This area is
 441          * only updated at user request. This is done so that the user does
 442          * not miss any peaks. To read the data, use either the read peaks
 443          * command (pg. 40), or the read and reset peaks command (pg. 39).
 444          * The address of the data to watch for peaks is stored in the
 445          * variable peak_address (pg. 10). Peak data is lost when executing
 446          * a coordinate transformation or a full scale change. Peak data is
 447          * also lost when plugging in a new sensor.
 448          */
 449
 450         struct force_array minimum_data;        /* offset 0x00d0 */
 451         struct force_array maximum_data;        /* offset 0x00d8 */
 452
 453         /* Near_sat_value & sat_value contain the value used to determine if
 454          * the raw sensor is saturated. Because of decoupling and offset
 455          * removal, it is difficult to tell from the processed data if the
 456          * sensor is saturated. These values, in conjunction with the error
 457          * and warning words (pg. 14), provide this critical information.
 458          * These two values may be set by the host processor. These values
 459          * are positive signed values, since the saturation logic uses the
 460          * absolute values of the raw data. The near_sat_value defaults to
 461          * approximately 80% of the ADC's full scale, which is 26214, while
 462          * sat_value defaults to the ADC's full scale:
 463          *
 464          *   sat_value = 32768 - 2^(16 - ADC bits)
 465          */
 466
 467         s32 near_sat_value;     /* offset 0x00e0 */
 468         s32 sat_value;          /* offset 0x00e1 */
 469
 470         /* Rate_address, rate_divisor & rate_count contain the data used to
 471          * control the calculations of the rates. Rate_address is the
 472          * address of the data used for the rate calculation. The JR3 DSP
 473          * will calculate rates for any 8 contiguous values (ex. to
 474          * calculate rates for filter3 data set rate_address to 0x00a8).
 475          * Rate_divisor is how often the rate is calculated. If rate_divisor
 476          * is 1, the rates are calculated at full sensor bandwidth. If
 477          * rate_divisor is 200, rates are calculated every 200 samples.
 478          * Rate_divisor can be any value between 1 and 65536. Set
 479          * rate_divisor to 0 to calculate rates every 65536 samples.
 480          * Rate_count starts at zero and counts until it equals
 481          * rate_divisor, at which point the rates are calculated, and
 482          * rate_count is reset to 0. When setting a new rate divisor, it is
 483          * a good idea to set rate_count to one less than rate divisor. This
 484          * will minimize the time necessary to start the rate calculations.
 485          */
 486
 487         s32 rate_address;       /* offset 0x00e2 */
 488         u32 rate_divisor;       /* offset 0x00e3 */
 489         u32 rate_count;         /* offset 0x00e4 */
 490
 491         /* Command_word2 through command_word0 are the locations used to
 492          * send commands to the JR3 DSP. Their usage varies with the command
 493          * and is detailed later in the Command Definitions section (pg.
 494          * 29). In general the user places values into various memory
 495          * locations, and then places the command word into command_word0.
 496          * The JR3 DSP will process the command and place a 0 into
 497          * command_word0 to indicate successful completion. Alternatively
 498          * the JR3 DSP will place a negative number into command_word0 to
 499          * indicate an error condition. Please note the command locations
 500          * are numbered backwards. (I.E. command_word2 comes before
 501          * command_word1).
 502          */
 503
 504         s32 command_word2;      /* offset 0x00e5 */
 505         s32 command_word1;      /* offset 0x00e6 */
 506         s32 command_word0;      /* offset 0x00e7 */
 507
 508         /* Count1 through count6 are unsigned counters which are incremented
 509          * every time the matching filters are calculated. Filter1 is
 510          * calculated at the sensor data bandwidth. So this counter would
 511          * increment at 8 kHz for a typical sensor. The rest of the counters
 512          * are incremented at 1/4 the interval of the counter immediately
 513          * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
 514          * These counters can be used to wait for data. Each time the
 515          * counter changes, the corresponding data set can be sampled, and
 516          * this will insure that the user gets each sample, once, and only
 517          * once.
 518          */
 519
 520         u32 count1;             /* offset 0x00e8 */
 521         u32 count2;             /* offset 0x00e9 */
 522         u32 count3;             /* offset 0x00ea */
 523         u32 count4;             /* offset 0x00eb */
 524         u32 count5;             /* offset 0x00ec */
 525         u32 count6;             /* offset 0x00ed */
 526
 527         /* Error_count is a running count of data reception errors. If this
 528          * counter is changing rapidly, it probably indicates a bad sensor
 529          * cable connection or other hardware problem. In most installations
 530          * error_count should not change at all. But it is possible in an
 531          * extremely noisy environment to experience occasional errors even
 532          * without a hardware problem. If the sensor is well grounded, this
 533          * is probably unavoidable in these environments. On the occasions
 534          * where this counter counts a bad sample, that sample is ignored.
 535          */
 536
 537         u32 error_count;        /* offset 0x00ee */
 538
 539         /* Count_x is a counter which is incremented every time the JR3 DSP
 540          * searches its job queues and finds nothing to do. It indicates the
 541          * amount of idle time the JR3 DSP has available. It can also be
 542          * used to determine if the JR3 DSP is alive. See the Performance
 543          * Issues section on pg. 49 for more details.
 544          */
 545
 546         u32 count_x;            /* offset 0x00ef */
 547
 548         /* Warnings & errors contain the warning and error bits
 549          * respectively. The format of these two words is discussed on page
 550          * 21 under the headings warnings_bits and error_bits.
 551          */
 552
 553         u32 warnings;           /* offset 0x00f0 */
 554         u32 errors;             /* offset 0x00f1 */
 555
 556         /* Threshold_bits is a word containing the bits that are set by the
 557          * load envelopes. See load_envelopes (pg. 17) and thresh_struct
 558          * (pg. 23) for more details.
 559          */
 560
 561         s32 threshold_bits;     /* offset 0x00f2 */
 562
 563         /* Last_crc is the value that shows the actual calculated CRC. CRC
 564          * is short for cyclic redundancy code. It should be zero. See the
 565          * description for cal_crc_bad (pg. 21) for more information.
 566          */
 567
 568         s32 last_CRC;           /* offset 0x00f3 */
 569
 570         /* EEProm_ver_no contains the version number of the sensor EEProm.
 571          * EEProm version numbers can vary between 0 and 255.
 572          * Software_ver_no contains the software version number. Version
 573          * 3.02 would be stored as 302.
 574          */
 575
 576         s32 eeprom_ver_no;      /* offset 0x00f4 */
 577         s32 software_ver_no;    /* offset 0x00f5 */
 578
 579         /* Software_day & software_year are the release date of the software
 580          * the JR3 DSP is currently running. Day is the day of the year,
 581          * with January 1 being 1, and December 31, being 365 for non leap
 582          * years.
 583          */
 584
 585         s32 software_day;       /* offset 0x00f6 */
 586         s32 software_year;      /* offset 0x00f7 */
 587
 588         /* Serial_no & model_no are the two values which uniquely identify a
 589          * sensor. This model number does not directly correspond to the JR3
 590          * model number, but it will provide a unique identifier for
 591          * different sensor configurations.
 592          */
 593
 594         u32 serial_no;          /* offset 0x00f8 */
 595         u32 model_no;           /* offset 0x00f9 */
 596
 597         /* Cal_day & cal_year are the sensor calibration date. Day is the
 598          * day of the year, with January 1 being 1, and December 31, being
 599          * 366 for leap years.
 600          */
 601
 602         s32 cal_day;            /* offset 0x00fa */
 603         s32 cal_year;           /* offset 0x00fb */
 604
 605         /* Units is an enumerated read only value defining the engineering
 606          * units used in the sensor full scale. The meanings of particular
 607          * values are discussed in the section detailing the force_units
 608          * structure on page 22. The engineering units are setto customer
 609          * specifications during sensor manufacture and cannot be changed by
 610          * writing to Units.
 611          *
 612          * Bits contains the number of bits of resolution of the ADC
 613          * currently in use.
 614          *
 615          * Channels is a bit field showing which channels the current sensor
 616          * is capable of sending. If bit 0 is active, this sensor can send
 617          * channel 0, if bit 13 is active, this sensor can send channel 13,
 618          * etc. This bit can be active, even if the sensor is not currently
 619          * sending this channel. Some sensors are configurable as to which
 620          * channels to send, and this field only contains information on the
 621          * channels available to send, not on the current configuration. To
 622          * find which channels are currently being sent, monitor the
 623          * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
 624          * the time is changing periodically, then that channel is being
 625          * received.
 626          */
 627
 628         u32 units;              /* offset 0x00fc */
 629         s32 bits;               /* offset 0x00fd */
 630         s32 channels;           /* offset 0x00fe */
 631
 632         /* Thickness specifies the overall thickness of the sensor from
 633          * flange to flange. The engineering units for this value are
 634          * contained in units (pg. 16). The sensor calibration is relative
 635          * to the center of the sensor. This value allows easy coordinate
 636          * transformation from the center of the sensor to either flange.
 637          */
 638
 639         s32 thickness;          /* offset 0x00ff */
 640
 641         /* Load_envelopes is a table containing the load envelope
 642          * descriptions. There are 16 possible load envelope slots in the
 643          * table. The slots are on 16 word boundaries and are numbered 0-15.
 644          * Each load envelope needs to start at the beginning of a slot but
 645          * need not be fully contained in that slot. That is to say that a
 646          * single load envelope can be larger than a single slot. The
 647          * software has been tested and ran satisfactorily with 50
 648          * thresholds active. A single load envelope this large would take
 649          * up 5 of the 16 slots. The load envelope data is laid out in an
 650          * order that is most efficient for the JR3 DSP. The structure is
 651          * detailed later in the section showing the definition of the
 652          * le_struct structure (pg. 23).
 653          */
 654
 655         struct le_struct load_envelopes[0x10];  /* offset 0x0100 */
 656
 657         /* Transforms is a table containing the transform descriptions.
 658          * There are 16 possible transform slots in the table. The slots are
 659          * on 16 word boundaries and are numbered 0-15. Each transform needs
 660          * to start at the beginning of a slot but need not be fully
 661          * contained in that slot. That is to say that a single transform
 662          * can be larger than a single slot. A transform is 2 * no of links
 663          * + 1 words in length. So a single slot can contain a transform
 664          * with 7 links. Two slots can contain a transform that is 15 links.
 665          * The layout is detailed later in the section showing the
 666          * definition of the transform structure (pg. 26).
 667          */
 668
 669         struct intern_transform transforms[0x10];       /* offset 0x0200 */
 670 };
 671
 672 struct jr3_t {
 673         struct {
 674                 u32 program_low[0x4000];        /*  0x00000 - 0x10000 */
 675                 struct jr3_channel data;        /*  0x10000 - 0x10c00 */
 676                 char pad2[0x30000 - 0x00c00];   /*  0x10c00 - 0x40000 */
 677                 u32 program_high[0x8000];       /*  0x40000 - 0x60000 */
 678                 u32 reset;      /*  0x60000 - 0x60004 */
 679                 char pad3[0x20000 - 0x00004];   /*  0x60004 - 0x80000 */
 680         } channel[4];
 681 };