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path: root/drivers/staging/comedi/drivers/jr3_pci.c
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Diffstat (limited to 'drivers/staging/comedi/drivers/jr3_pci.c')
-rw-r--r--drivers/staging/comedi/drivers/jr3_pci.c976
1 files changed, 976 insertions, 0 deletions
diff --git a/drivers/staging/comedi/drivers/jr3_pci.c b/drivers/staging/comedi/drivers/jr3_pci.c
new file mode 100644
index 000000000000..a3c887f3b2c6
--- /dev/null
+++ b/drivers/staging/comedi/drivers/jr3_pci.c
@@ -0,0 +1,976 @@
+/*
+ comedi/drivers/jr3_pci.c
+ hardware driver for JR3/PCI force sensor board
+
+ COMEDI - Linux Control and Measurement Device Interface
+ Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+*/
+/*
+Driver: jr3_pci
+Description: JR3/PCI force sensor board
+Author: Anders Blomdell <anders.blomdell@control.lth.se>
+Status: works
+Devices: [JR3] PCI force sensor board (jr3_pci)
+
+ The DSP on the board requires initialization code, which can
+ be loaded by placing it in /lib/firmware/comedi.
+ The initialization code should be somewhere on the media you got
+ with your card. One version is available from http://www.comedi.org
+ in the comedi_nonfree_firmware tarball.
+
+ Configuration options:
+ [0] - PCI bus number - if bus number and slot number are 0,
+ then driver search for first unused card
+ [1] - PCI slot number
+
+*/
+
+#include "../comedidev.h"
+
+#include <linux/delay.h>
+#include <linux/ctype.h>
+#include <linux/firmware.h>
+#include "comedi_pci.h"
+#include "jr3_pci.h"
+
+/* Hotplug firmware loading stuff */
+
+static void comedi_fw_release(struct device *dev)
+{
+ printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n");
+}
+
+static struct device comedi_fw_device = {
+ .init_name = "comedi",
+ .release = comedi_fw_release
+};
+
+typedef int comedi_firmware_callback(struct comedi_device * dev,
+ const u8 * data, size_t size);
+
+static int comedi_load_firmware(struct comedi_device * dev,
+ char *name, comedi_firmware_callback cb)
+{
+ int result = 0;
+ const struct firmware *fw;
+ char *firmware_path;
+ static const char *prefix = "comedi/";
+
+ firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
+ if (!firmware_path) {
+ result = -ENOMEM;
+ } else {
+ firmware_path[0] = '\0';
+ strcat(firmware_path, prefix);
+ strcat(firmware_path, name);
+ result = device_register(&comedi_fw_device);
+ if (result == 0) {
+ result = request_firmware(&fw, firmware_path,
+ &comedi_fw_device);
+ if (result == 0) {
+ if (!cb) {
+ result = -EINVAL;
+ } else {
+ result = cb(dev, fw->data, fw->size);
+ }
+ release_firmware(fw);
+ }
+ device_unregister(&comedi_fw_device);
+ }
+ kfree(firmware_path);
+ }
+ return result;
+}
+
+#define PCI_VENDOR_ID_JR3 0x1762
+#define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
+#define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
+#define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
+#define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
+
+static int jr3_pci_attach(struct comedi_device * dev, struct comedi_devconfig * it);
+static int jr3_pci_detach(struct comedi_device * dev);
+
+static struct comedi_driver driver_jr3_pci = {
+ driver_name:"jr3_pci",
+ module:THIS_MODULE,
+ attach:jr3_pci_attach,
+ detach:jr3_pci_detach,
+};
+
+static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
+ PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {0}
+};
+
+MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
+
+struct jr3_pci_dev_private {
+
+ struct pci_dev *pci_dev;
+ int pci_enabled;
+ volatile struct jr3_t *iobase;
+ int n_channels;
+ struct timer_list timer;
+};
+
+
+struct poll_delay_t {
+
+ int min;
+ int max;
+};
+
+
+struct jr3_pci_subdev_private {
+ volatile struct jr3_channel *channel;
+ unsigned long next_time_min;
+ unsigned long next_time_max;
+ enum { state_jr3_poll,
+ state_jr3_init_wait_for_offset,
+ state_jr3_init_transform_complete,
+ state_jr3_init_set_full_scale_complete,
+ state_jr3_init_use_offset_complete,
+ state_jr3_done
+ } state;
+ int channel_no;
+ int serial_no;
+ int model_no;
+ struct {
+ int length;
+ struct comedi_krange range;
+ } range[9];
+ const struct comedi_lrange *range_table_list[8 * 7 + 2];
+ unsigned int maxdata_list[8 * 7 + 2];
+ u16 errors;
+ int retries;
+};
+
+static struct poll_delay_t poll_delay_min_max(int min, int max)
+{
+ struct poll_delay_t result;
+
+ result.min = min;
+ result.max = max;
+ return result;
+}
+
+static int is_complete(volatile struct jr3_channel *channel)
+{
+ return get_s16(&channel->command_word0) == 0;
+}
+
+struct transform_t {
+ struct {
+ u16 link_type;
+ s16 link_amount;
+ } link[8];
+};
+
+static void set_transforms(volatile struct jr3_channel *channel,
+ struct transform_t transf, short num)
+{
+ int i;
+
+ num &= 0x000f; // Make sure that 0 <= num <= 15
+ for (i = 0; i < 8; i++) {
+
+ set_u16(&channel->transforms[num].link[i].link_type,
+ transf.link[i].link_type);
+ comedi_udelay(1);
+ set_s16(&channel->transforms[num].link[i].link_amount,
+ transf.link[i].link_amount);
+ comedi_udelay(1);
+ if (transf.link[i].link_type == end_x_form) {
+ break;
+ }
+ }
+}
+
+static void use_transform(volatile struct jr3_channel *channel, short transf_num)
+{
+ set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
+}
+
+static void use_offset(volatile struct jr3_channel *channel, short offset_num)
+{
+ set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
+}
+
+static void set_offset(volatile struct jr3_channel *channel)
+{
+ set_s16(&channel->command_word0, 0x0700);
+}
+
+struct six_axis_t {
+ s16 fx;
+ s16 fy;
+ s16 fz;
+ s16 mx;
+ s16 my;
+ s16 mz;
+};
+
+static void set_full_scales(volatile struct jr3_channel *channel,
+ struct six_axis_t full_scale)
+{
+ printk("%d %d %d %d %d %d\n",
+ full_scale.fx,
+ full_scale.fy,
+ full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
+ set_s16(&channel->full_scale.fx, full_scale.fx);
+ set_s16(&channel->full_scale.fy, full_scale.fy);
+ set_s16(&channel->full_scale.fz, full_scale.fz);
+ set_s16(&channel->full_scale.mx, full_scale.mx);
+ set_s16(&channel->full_scale.my, full_scale.my);
+ set_s16(&channel->full_scale.mz, full_scale.mz);
+ set_s16(&channel->command_word0, 0x0a00);
+}
+
+static struct six_axis_t get_min_full_scales(volatile struct jr3_channel *channel)
+{
+ struct six_axis_t result;
+ result.fx = get_s16(&channel->min_full_scale.fx);
+ result.fy = get_s16(&channel->min_full_scale.fy);
+ result.fz = get_s16(&channel->min_full_scale.fz);
+ result.mx = get_s16(&channel->min_full_scale.mx);
+ result.my = get_s16(&channel->min_full_scale.my);
+ result.mz = get_s16(&channel->min_full_scale.mz);
+ return result;
+}
+
+static struct six_axis_t get_max_full_scales(volatile struct jr3_channel *channel)
+{
+ struct six_axis_t result;
+ result.fx = get_s16(&channel->max_full_scale.fx);
+ result.fy = get_s16(&channel->max_full_scale.fy);
+ result.fz = get_s16(&channel->max_full_scale.fz);
+ result.mx = get_s16(&channel->max_full_scale.mx);
+ result.my = get_s16(&channel->max_full_scale.my);
+ result.mz = get_s16(&channel->max_full_scale.mz);
+ return result;
+}
+
+static int jr3_pci_ai_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
+ struct comedi_insn * insn, unsigned int * data)
+{
+ int result;
+ struct jr3_pci_subdev_private *p;
+ int channel;
+
+ p = s->private;
+ channel = CR_CHAN(insn->chanspec);
+ if (p == NULL || channel > 57) {
+ result = -EINVAL;
+ } else {
+ int i;
+
+ result = insn->n;
+ if (p->state != state_jr3_done ||
+ (get_u16(&p->channel->
+ errors) & (watch_dog | watch_dog2 |
+ sensor_change))) {
+ /* No sensor or sensor changed */
+ if (p->state == state_jr3_done) {
+ /* Restart polling */
+ p->state = state_jr3_poll;
+ }
+ result = -EAGAIN;
+ }
+ for (i = 0; i < insn->n; i++) {
+ if (channel < 56) {
+ int axis, filter;
+
+ axis = channel % 8;
+ filter = channel / 8;
+ if (p->state != state_jr3_done) {
+ data[i] = 0;
+ } else {
+ int F = 0;
+ switch (axis) {
+ case 0:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ fx);
+ }
+ break;
+ case 1:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ fy);
+ }
+ break;
+ case 2:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ fz);
+ }
+ break;
+ case 3:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ mx);
+ }
+ break;
+ case 4:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ my);
+ }
+ break;
+ case 5:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ mz);
+ }
+ break;
+ case 6:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ v1);
+ }
+ break;
+ case 7:{
+ F = get_s16(&p->
+ channel->
+ filter[filter].
+ v2);
+ }
+ break;
+ }
+ data[i] = F + 0x4000;
+ }
+ } else if (channel == 56) {
+ if (p->state != state_jr3_done) {
+ data[i] = 0;
+ } else {
+ data[i] =
+ get_u16(&p->channel->model_no);
+ }
+ } else if (channel == 57) {
+ if (p->state != state_jr3_done) {
+ data[i] = 0;
+ } else {
+ data[i] =
+ get_u16(&p->channel->serial_no);
+ }
+ }
+ }
+ }
+ return result;
+}
+
+static void jr3_pci_open(struct comedi_device * dev)
+{
+ int i;
+ struct jr3_pci_dev_private *devpriv = dev->private;
+
+ printk("jr3_pci_open\n");
+ for (i = 0; i < devpriv->n_channels; i++) {
+ struct jr3_pci_subdev_private *p;
+
+ p = dev->subdevices[i].private;
+ if (p) {
+ printk("serial: %p %d (%d)\n", p, p->serial_no,
+ p->channel_no);
+ }
+ }
+}
+
+int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
+{
+ int result = 0;
+ if (pos != 0 && val != 0) {
+ // Skip over non hex
+ for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
+ }
+ // Collect value
+ *val = 0;
+ for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
+ char ch = tolower(data[*pos]);
+ result = 1;
+ if ('0' <= ch && ch <= '9') {
+ *val = (*val << 4) + (ch - '0');
+ } else if ('a' <= ch && ch <= 'f') {
+ *val = (*val << 4) + (ch - 'a' + 10);
+ }
+ }
+ }
+ return result;
+}
+
+static int jr3_download_firmware(struct comedi_device * dev, const u8 * data,
+ size_t size)
+{
+ /*
+ * IDM file format is:
+ * { count, address, data <count> } *
+ * ffff
+ */
+ int result, more, pos, OK;
+
+ result = 0;
+ more = 1;
+ pos = 0;
+ OK = 0;
+ while (more) {
+ unsigned int count, addr;
+
+ more = more && read_idm_word(data, size, &pos, &count);
+ if (more && count == 0xffff) {
+ OK = 1;
+ break;
+ }
+ more = more && read_idm_word(data, size, &pos, &addr);
+ while (more && count > 0) {
+ unsigned int dummy;
+ more = more && read_idm_word(data, size, &pos, &dummy);
+ count--;
+ }
+ }
+
+ if (!OK) {
+ result = -ENODATA;
+ } else {
+ int i;
+ struct jr3_pci_dev_private *p = dev->private;
+
+ for (i = 0; i < p->n_channels; i++) {
+ struct jr3_pci_subdev_private *sp;
+
+ sp = dev->subdevices[i].private;
+ more = 1;
+ pos = 0;
+ while (more) {
+ unsigned int count, addr;
+ more = more
+ && read_idm_word(data, size, &pos,
+ &count);
+ if (more && count == 0xffff) {
+ break;
+ }
+ more = more
+ && read_idm_word(data, size, &pos,
+ &addr);
+ printk("Loading#%d %4.4x bytes at %4.4x\n", i,
+ count, addr);
+ while (more && count > 0) {
+ if (addr & 0x4000) {
+ // 16 bit data, never seen in real life!!
+ unsigned int data1;
+
+ more = more
+ && read_idm_word(data,
+ size, &pos, &data1);
+ count--;
+ // printk("jr3_data, not tested\n");
+ // jr3[addr + 0x20000 * pnum] = data1;
+ } else {
+ // Download 24 bit program
+ unsigned int data1, data2;
+
+ more = more
+ && read_idm_word(data,
+ size, &pos, &data1);
+ more = more
+ && read_idm_word(data,
+ size, &pos, &data2);
+ count -= 2;
+ if (more) {
+ set_u16(&p->iobase->
+ channel[i].
+ program_low
+ [addr], data1);
+ comedi_udelay(1);
+ set_u16(&p->iobase->
+ channel[i].
+ program_high
+ [addr], data2);
+ comedi_udelay(1);
+
+ }
+ }
+ addr++;
+ }
+ }
+ }
+ }
+ return result;
+}
+
+static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice * s)
+{
+ struct poll_delay_t result = poll_delay_min_max(1000, 2000);
+ struct jr3_pci_subdev_private *p = s->private;
+
+ if (p) {
+ volatile struct jr3_channel *channel = p->channel;
+ int errors = get_u16(&channel->errors);
+
+ if (errors != p->errors) {
+ printk("Errors: %x -> %x\n", p->errors, errors);
+ p->errors = errors;
+ }
+ if (errors & (watch_dog | watch_dog2 | sensor_change)) {
+ // Sensor communication lost, force poll mode
+ p->state = state_jr3_poll;
+
+ }
+ switch (p->state) {
+ case state_jr3_poll:{
+ u16 model_no = get_u16(&channel->model_no);
+ u16 serial_no = get_u16(&channel->serial_no);
+ if ((errors & (watch_dog | watch_dog2)) ||
+ model_no == 0 || serial_no == 0) {
+ // Still no sensor, keep on polling. Since it takes up to
+ // 10 seconds for offsets to stabilize, polling each
+ // second should suffice.
+ result = poll_delay_min_max(1000, 2000);
+ } else {
+ p->retries = 0;
+ p->state =
+ state_jr3_init_wait_for_offset;
+ result = poll_delay_min_max(1000, 2000);
+ }
+ }
+ break;
+ case state_jr3_init_wait_for_offset:{
+ p->retries++;
+ if (p->retries < 10) {
+ // Wait for offeset to stabilize (< 10 s according to manual)
+ result = poll_delay_min_max(1000, 2000);
+ } else {
+ struct transform_t transf;
+
+ p->model_no =
+ get_u16(&channel->model_no);
+ p->serial_no =
+ get_u16(&channel->serial_no);
+
+ printk("Setting transform for channel %d\n", p->channel_no);
+ printk("Sensor Model = %i\n",
+ p->model_no);
+ printk("Sensor Serial = %i\n",
+ p->serial_no);
+
+ // Transformation all zeros
+ transf.link[0].link_type =
+ (enum link_types)0;
+ transf.link[0].link_amount = 0;
+ transf.link[1].link_type =
+ (enum link_types)0;
+ transf.link[1].link_amount = 0;
+ transf.link[2].link_type =
+ (enum link_types)0;
+ transf.link[2].link_amount = 0;
+ transf.link[3].link_type =
+ (enum link_types)0;
+ transf.link[3].link_amount = 0;
+
+ set_transforms(channel, transf, 0);
+ use_transform(channel, 0);
+ p->state =
+ state_jr3_init_transform_complete;
+ result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
+ }
+ } break;
+ case state_jr3_init_transform_complete:{
+ if (!is_complete(channel)) {
+ printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
+ result = poll_delay_min_max(20, 100);
+ } else {
+ // Set full scale
+ struct six_axis_t min_full_scale;
+ struct six_axis_t max_full_scale;
+
+ min_full_scale =
+ get_min_full_scales(channel);
+ printk("Obtained Min. Full Scales:\n");
+ printk("%i ", (min_full_scale).fx);
+ printk("%i ", (min_full_scale).fy);
+ printk("%i ", (min_full_scale).fz);
+ printk("%i ", (min_full_scale).mx);
+ printk("%i ", (min_full_scale).my);
+ printk("%i ", (min_full_scale).mz);
+ printk("\n");
+
+ max_full_scale =
+ get_max_full_scales(channel);
+ printk("Obtained Max. Full Scales:\n");
+ printk("%i ", (max_full_scale).fx);
+ printk("%i ", (max_full_scale).fy);
+ printk("%i ", (max_full_scale).fz);
+ printk("%i ", (max_full_scale).mx);
+ printk("%i ", (max_full_scale).my);
+ printk("%i ", (max_full_scale).mz);
+ printk("\n");
+
+ set_full_scales(channel,
+ max_full_scale);
+
+ p->state =
+ state_jr3_init_set_full_scale_complete;
+ result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
+ }
+ }
+ break;
+ case state_jr3_init_set_full_scale_complete:{
+ if (!is_complete(channel)) {
+ printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
+ result = poll_delay_min_max(20, 100);
+ } else {
+ volatile struct force_array *full_scale;
+
+ // Use ranges in kN or we will overflow arount 2000N!
+ full_scale = &channel->full_scale;
+ p->range[0].range.min =
+ -get_s16(&full_scale->fx) *
+ 1000;
+ p->range[0].range.max =
+ get_s16(&full_scale->fx) * 1000;
+ p->range[1].range.min =
+ -get_s16(&full_scale->fy) *
+ 1000;
+ p->range[1].range.max =
+ get_s16(&full_scale->fy) * 1000;
+ p->range[2].range.min =
+ -get_s16(&full_scale->fz) *
+ 1000;
+ p->range[2].range.max =
+ get_s16(&full_scale->fz) * 1000;
+ p->range[3].range.min =
+ -get_s16(&full_scale->mx) * 100;
+ p->range[3].range.max =
+ get_s16(&full_scale->mx) * 100;
+ p->range[4].range.min =
+ -get_s16(&full_scale->my) * 100;
+ p->range[4].range.max =
+ get_s16(&full_scale->my) * 100;
+ p->range[5].range.min =
+ -get_s16(&full_scale->mz) * 100;
+ p->range[5].range.max =
+ get_s16(&full_scale->mz) * 100;
+ p->range[6].range.min = -get_s16(&full_scale->v1) * 100; // ??
+ p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ??
+ p->range[7].range.min = -get_s16(&full_scale->v2) * 100; // ??
+ p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ??
+ p->range[8].range.min = 0;
+ p->range[8].range.max = 65535;
+
+ {
+ int i;
+ for (i = 0; i < 9; i++) {
+ printk("%d %d - %d\n",
+ i,
+ p->range[i].
+ range.min,
+ p->range[i].
+ range.max);
+ }
+ }
+
+ use_offset(channel, 0);
+ p->state =
+ state_jr3_init_use_offset_complete;
+ result = poll_delay_min_max(40, 100); // Allow 40 ms for completion
+ }
+ }
+ break;
+ case state_jr3_init_use_offset_complete:{
+ if (!is_complete(channel)) {
+ printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
+ result = poll_delay_min_max(20, 100);
+ } else {
+ 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));
+
+ set_s16(&channel->offsets.fx, 0);
+ set_s16(&channel->offsets.fy, 0);
+ set_s16(&channel->offsets.fz, 0);
+ set_s16(&channel->offsets.mx, 0);
+ set_s16(&channel->offsets.my, 0);
+ set_s16(&channel->offsets.mz, 0);
+
+ set_offset(channel);
+
+ p->state = state_jr3_done;
+ }
+ }
+ break;
+ case state_jr3_done:{
+ poll_delay_min_max(10000, 20000);
+ }
+ break;
+ default:{
+ poll_delay_min_max(1000, 2000);
+ }
+ break;
+ }
+ }
+ return result;
+}
+
+static void jr3_pci_poll_dev(unsigned long data)
+{
+ unsigned long flags;
+ struct comedi_device *dev = (struct comedi_device *) data;
+ struct jr3_pci_dev_private *devpriv = dev->private;
+ unsigned long now;
+ int delay;
+ int i;
+
+ comedi_spin_lock_irqsave(&dev->spinlock, flags);
+ delay = 1000;
+ now = jiffies;
+ // Poll all channels that are ready to be polled
+ for (i = 0; i < devpriv->n_channels; i++) {
+ struct jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
+ if (now > subdevpriv->next_time_min) {
+ struct poll_delay_t sub_delay;
+
+ sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
+ subdevpriv->next_time_min =
+ jiffies + msecs_to_jiffies(sub_delay.min);
+ subdevpriv->next_time_max =
+ jiffies + msecs_to_jiffies(sub_delay.max);
+ if (sub_delay.max && sub_delay.max < delay) {
+ // Wake up as late as possible -> poll as many channels as
+ // possible at once
+ delay = sub_delay.max;
+ }
+ }
+ }
+ comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
+
+ devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
+ add_timer(&devpriv->timer);
+}
+
+static int jr3_pci_attach(struct comedi_device * dev, struct comedi_devconfig * it)
+{
+ int result = 0;
+ struct pci_dev *card = NULL;
+ int opt_bus, opt_slot, i;
+ struct jr3_pci_dev_private *devpriv;
+
+ printk("comedi%d: jr3_pci\n", dev->minor);
+
+ opt_bus = it->options[0];
+ opt_slot = it->options[1];
+
+ if (sizeof(struct jr3_channel) != 0xc00) {
+ printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
+ (unsigned)sizeof(struct jr3_channel), 0xc00);
+ return -EINVAL;
+ }
+
+ result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
+ if (result < 0) {
+ return -ENOMEM;
+ }
+ card = NULL;
+ devpriv = dev->private;
+ init_timer(&devpriv->timer);
+ while (1) {
+ card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
+ if (card == NULL) {
+ /* No card found */
+ break;
+ } else {
+ switch (card->device) {
+ case PCI_DEVICE_ID_JR3_1_CHANNEL:{
+ devpriv->n_channels = 1;
+ }
+ break;
+ case PCI_DEVICE_ID_JR3_2_CHANNEL:{
+ devpriv->n_channels = 2;
+ }
+ break;
+ case PCI_DEVICE_ID_JR3_3_CHANNEL:{
+ devpriv->n_channels = 3;
+ }
+ break;
+ case PCI_DEVICE_ID_JR3_4_CHANNEL:{
+ devpriv->n_channels = 4;
+ }
+ break;
+ default:{
+ devpriv->n_channels = 0;
+ }
+ }
+ if (devpriv->n_channels >= 1) {
+ if (opt_bus == 0 && opt_slot == 0) {
+ /* Take first available card */
+ break;
+ } else if (opt_bus == card->bus->number &&
+ opt_slot == PCI_SLOT(card->devfn)) {
+ /* Take requested card */
+ break;
+ }
+ }
+ }
+ }
+ if (!card) {
+ printk(" no jr3_pci found\n");
+ return -EIO;
+ } else {
+ devpriv->pci_dev = card;
+ dev->board_name = "jr3_pci";
+ }
+ if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) {
+ return -EIO;
+ }
+ devpriv->pci_enabled = 1;
+ devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t));
+ result = alloc_subdevices(dev, devpriv->n_channels);
+ if (result < 0)
+ goto out;
+
+ dev->open = jr3_pci_open;
+ for (i = 0; i < devpriv->n_channels; i++) {
+ dev->subdevices[i].type = COMEDI_SUBD_AI;
+ dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
+ dev->subdevices[i].n_chan = 8 * 7 + 2;
+ dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
+ dev->subdevices[i].private =
+ kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
+ if (dev->subdevices[i].private) {
+ struct jr3_pci_subdev_private *p;
+ int j;
+
+ p = dev->subdevices[i].private;
+ p->channel = &devpriv->iobase->channel[i].data;
+ printk("p->channel %p %p (%tx)\n",
+ p->channel, devpriv->iobase,
+ ((char *)(p->channel) -
+ (char *)(devpriv->iobase)));
+ p->channel_no = i;
+ for (j = 0; j < 8; j++) {
+ int k;
+
+ p->range[j].length = 1;
+ p->range[j].range.min = -1000000;
+ p->range[j].range.max = 1000000;
+ for (k = 0; k < 7; k++) {
+ p->range_table_list[j + k * 8] =
+ (struct comedi_lrange *) & p->range[j];
+ p->maxdata_list[j + k * 8] = 0x7fff;
+ }
+ }
+ p->range[8].length = 1;
+ p->range[8].range.min = 0;
+ p->range[8].range.max = 65536;
+
+ p->range_table_list[56] =
+ (struct comedi_lrange *) & p->range[8];
+ p->range_table_list[57] =
+ (struct comedi_lrange *) & p->range[8];
+ p->maxdata_list[56] = 0xffff;
+ p->maxdata_list[57] = 0xffff;
+ // Channel specific range and maxdata
+ dev->subdevices[i].range_table = 0;
+ dev->subdevices[i].range_table_list =
+ p->range_table_list;
+ dev->subdevices[i].maxdata = 0;
+ dev->subdevices[i].maxdata_list = p->maxdata_list;
+ }
+ }
+
+ // Reset DSP card
+ devpriv->iobase->channel[0].reset = 0;
+
+ result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
+ printk("Firmare load %d\n", result);
+
+ if (result < 0) {
+ goto out;
+ }
+ // TODO: use firmware to load preferred offset tables. Suggested format:
+ // model serial Fx Fy Fz Mx My Mz\n
+ //
+ // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
+
+ // It takes a few milliseconds for software to settle
+ // as much as we can read firmware version
+ msleep_interruptible(25);
+ for (i = 0; i < 0x18; i++) {
+ printk("%c",
+ get_u16(&devpriv->iobase->channel[0].data.
+ copyright[i]) >> 8);
+ }
+
+ // Start card timer
+ for (i = 0; i < devpriv->n_channels; i++) {
+ struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
+
+ p->next_time_min = jiffies + msecs_to_jiffies(500);
+ p->next_time_max = jiffies + msecs_to_jiffies(2000);
+ }
+
+ devpriv->timer.data = (unsigned long)dev;
+ devpriv->timer.function = jr3_pci_poll_dev;
+ devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
+ add_timer(&devpriv->timer);
+
+ out:
+ return result;
+}
+
+static int jr3_pci_detach(struct comedi_device * dev)
+{
+ int i;
+ struct jr3_pci_dev_private *devpriv = dev->private;
+
+ printk("comedi%d: jr3_pci: remove\n", dev->minor);
+ if (devpriv) {
+ del_timer_sync(&devpriv->timer);
+
+ if (dev->subdevices) {
+ for (i = 0; i < devpriv->n_channels; i++) {
+ kfree(dev->subdevices[i].private);
+ }
+ }
+
+ if (devpriv->iobase) {
+ iounmap((void *)devpriv->iobase);
+ }
+ if (devpriv->pci_enabled) {
+ comedi_pci_disable(devpriv->pci_dev);
+ }
+
+ if (devpriv->pci_dev) {
+ pci_dev_put(devpriv->pci_dev);
+ }
+ }
+ return 0;
+}
+
+COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);
Copyright © 1996 – 2023 Jason A. Donenfeld. All Rights Reverse Engineered.