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Commit | Line | Data |
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b2be969b BP |
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 | ||
54298a8d | 5 | static inline u16 get_u16(volatile const u32 * p) |
07b509e6 AB |
6 | { |
7 | return (u16) readl(p); | |
8 | } | |
9 | ||
54298a8d | 10 | static inline void set_u16(volatile u32 * p, u16 val) |
07b509e6 AB |
11 | { |
12 | writel(val, p); | |
13 | } | |
14 | ||
0642feb3 | 15 | static inline s16 get_s16(volatile const s32 * p) |
07b509e6 AB |
16 | { |
17 | return (s16) readl(p); | |
18 | } | |
19 | ||
0642feb3 | 20 | static inline void set_s16(volatile s32 * p, s16 val) |
07b509e6 AB |
21 | { |
22 | writel(val, p); | |
23 | } | |
24 | ||
b2be969b BP |
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 | ||
2deee55e | 44 | struct raw_channel { |
54298a8d | 45 | u32 raw_time; |
0642feb3 BP |
46 | s32 raw_data; |
47 | s32 reserved[2]; | |
2deee55e | 48 | }; |
07b509e6 | 49 | |
b2be969b BP |
50 | /* The force_array structure shows the layout for the decoupled and |
51 | * filtered force data. | |
52 | */ | |
cdc14cd0 | 53 | struct force_array { |
0642feb3 BP |
54 | s32 fx; |
55 | s32 fy; | |
56 | s32 fz; | |
57 | s32 mx; | |
58 | s32 my; | |
59 | s32 mz; | |
60 | s32 v1; | |
61 | s32 v2; | |
cdc14cd0 | 62 | }; |
07b509e6 | 63 | |
b2be969b BP |
64 | /* The six_axis_array structure shows the layout for the offsets and |
65 | * the full scales. | |
66 | */ | |
5671c0c2 | 67 | struct six_axis_array { |
0642feb3 BP |
68 | s32 fx; |
69 | s32 fy; | |
70 | s32 fz; | |
71 | s32 mx; | |
72 | s32 my; | |
73 | s32 mz; | |
5671c0c2 | 74 | }; |
07b509e6 | 75 | |
b2be969b BP |
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 | */ | |
07b509e6 | 89 | |
f3fd0937 BP |
90 | /* vect_bits appears to be unused at this time */ |
91 | enum { | |
07b509e6 AB |
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 | } vect_bits_t; | |
101 | ||
b2be969b BP |
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 | */ | |
07b509e6 | 111 | |
f3fd0937 | 112 | enum { |
07b509e6 AB |
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 | } warning_bits_t; | |
120 | ||
b2be969b BP |
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 | */ | |
07b509e6 | 179 | |
f3fd0937 | 180 | enum error_bits_t { |
07b509e6 AB |
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 | |
f3fd0937 | 193 | }; |
07b509e6 | 194 | |
b2be969b BP |
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 | ||
38443673 | 207 | struct thresh_struct { |
07b509e6 AB |
208 | s32 data_address; |
209 | s32 threshold; | |
210 | s32 bit_pattern; | |
38443673 | 211 | }; |
07b509e6 | 212 | |
b2be969b BP |
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 | */ | |
0306b0cb | 223 | struct le_struct { |
07b509e6 AB |
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; | |
0306b0cb | 229 | }; |
07b509e6 | 230 | |
b2be969b BP |
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 | ||
4e1ccd97 | 244 | enum link_types { |
07b509e6 AB |
245 | end_x_form, |
246 | tx, | |
247 | ty, | |
248 | tz, | |
249 | rx, | |
250 | ry, | |
251 | rz, | |
252 | neg | |
4e1ccd97 | 253 | }; |
07b509e6 | 254 | |
b2be969b BP |
255 | /* TRANSFORM */ |
256 | /* Structure used to describe a transform. */ | |
1c31ddaf | 257 | struct intern_transform { |
07b509e6 | 258 | struct { |
54298a8d | 259 | u32 link_type; |
0642feb3 | 260 | s32 link_amount; |
07b509e6 | 261 | } link[8]; |
1c31ddaf | 262 | }; |
07b509e6 | 263 | |
b2be969b BP |
264 | /* JR3 force/torque sensor data definition. For more information see sensor and */ |
265 | /* hardware manuals. */ | |
07b509e6 | 266 | |
67080790 | 267 | struct jr3_channel { |
b2be969b BP |
268 | /* Raw_channels is the area used to store the raw data coming from */ |
269 | /* the sensor. */ | |
07b509e6 | 270 | |
2deee55e | 271 | struct raw_channel raw_channels[16]; /* offset 0x0000 */ |
07b509e6 | 272 | |
b2be969b BP |
273 | /* Copyright is a null terminated ASCII string containing the JR3 */ |
274 | /* copyright notice. */ | |
07b509e6 | 275 | |
54298a8d | 276 | u32 copyright[0x0018]; /* offset 0x0040 */ |
0642feb3 | 277 | s32 reserved1[0x0008]; /* offset 0x0058 */ |
07b509e6 | 278 | |
b2be969b BP |
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 | */ | |
07b509e6 | 299 | |
5671c0c2 | 300 | struct six_axis_array shunts; /* offset 0x0060 */ |
07b509e6 AB |
301 | s32 reserved2[2]; /* offset 0x0066 */ |
302 | ||
b2be969b BP |
303 | /* Default_FS contains the full scale that is used if the user does */ |
304 | /* not set a full scale. */ | |
07b509e6 | 305 | |
5671c0c2 | 306 | struct six_axis_array default_FS; /* offset 0x0068 */ |
0642feb3 | 307 | s32 reserved3; /* offset 0x006e */ |
07b509e6 | 308 | |
b2be969b BP |
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 | */ | |
07b509e6 | 313 | |
0642feb3 | 314 | s32 load_envelope_num; /* offset 0x006f */ |
07b509e6 | 315 | |
b2be969b BP |
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 | */ | |
07b509e6 | 342 | |
5671c0c2 | 343 | struct six_axis_array min_full_scale; /* offset 0x0070 */ |
0642feb3 | 344 | s32 reserved4; /* offset 0x0076 */ |
07b509e6 | 345 | |
b2be969b BP |
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 | */ | |
07b509e6 | 350 | |
0642feb3 | 351 | s32 transform_num; /* offset 0x0077 */ |
07b509e6 | 352 | |
b2be969b BP |
353 | /* Max_full_scale is the recommended maximum full scale. See */ |
354 | /* min_full_scale (pg. 9) for more details. */ | |
07b509e6 | 355 | |
5671c0c2 | 356 | struct six_axis_array max_full_scale; /* offset 0x0078 */ |
0642feb3 | 357 | s32 reserved5; /* offset 0x007e */ |
07b509e6 | 358 | |
b2be969b BP |
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 | */ | |
07b509e6 | 364 | |
0642feb3 | 365 | s32 peak_address; /* offset 0x007f */ |
07b509e6 | 366 | |
b2be969b BP |
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 | */ | |
07b509e6 | 378 | |
cdc14cd0 | 379 | struct force_array full_scale; /* offset 0x0080 */ |
07b509e6 | 380 | |
b2be969b BP |
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 | */ | |
07b509e6 | 393 | |
5671c0c2 | 394 | struct six_axis_array offsets; /* offset 0x0088 */ |
07b509e6 | 395 | |
b2be969b BP |
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 | */ | |
07b509e6 | 400 | |
0642feb3 | 401 | s32 offset_num; /* offset 0x008e */ |
07b509e6 | 402 | |
b2be969b BP |
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 | */ | |
07b509e6 | 407 | |
54298a8d | 408 | u32 vect_axes; /* offset 0x008f */ |
07b509e6 | 409 | |
b2be969b BP |
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 | */ | |
07b509e6 AB |
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 | ||
b2be969b BP |
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 | */ | |
07b509e6 | 435 | |
cdc14cd0 | 436 | struct force_array rate_data; /* offset 0x00c8 */ |
07b509e6 | 437 | |
b2be969b BP |
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 | */ | |
07b509e6 | 449 | |
cdc14cd0 BP |
450 | struct force_array minimum_data; /* offset 0x00d0 */ |
451 | struct force_array maximum_data; /* offset 0x00d8 */ | |
07b509e6 | 452 | |
b2be969b BP |
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 | */ | |
07b509e6 | 466 | |
0642feb3 BP |
467 | s32 near_sat_value; /* offset 0x00e0 */ |
468 | s32 sat_value; /* offset 0x00e1 */ | |
07b509e6 | 469 | |
b2be969b BP |
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 | */ | |
07b509e6 | 486 | |
0642feb3 | 487 | s32 rate_address; /* offset 0x00e2 */ |
54298a8d BP |
488 | u32 rate_divisor; /* offset 0x00e3 */ |
489 | u32 rate_count; /* offset 0x00e4 */ | |
07b509e6 | 490 | |
b2be969b BP |
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 | */ | |
07b509e6 | 503 | |
0642feb3 BP |
504 | s32 command_word2; /* offset 0x00e5 */ |
505 | s32 command_word1; /* offset 0x00e6 */ | |
506 | s32 command_word0; /* offset 0x00e7 */ | |
07b509e6 | 507 | |
b2be969b BP |
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 | */ | |
07b509e6 | 519 | |
54298a8d BP |
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 */ | |
07b509e6 | 526 | |
b2be969b BP |
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 | */ | |
07b509e6 | 536 | |
54298a8d | 537 | u32 error_count; /* offset 0x00ee */ |
07b509e6 | 538 | |
b2be969b BP |
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 | */ | |
07b509e6 | 545 | |
54298a8d | 546 | u32 count_x; /* offset 0x00ef */ |
07b509e6 | 547 | |
b2be969b BP |
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 | */ | |
07b509e6 | 552 | |
54298a8d BP |
553 | u32 warnings; /* offset 0x00f0 */ |
554 | u32 errors; /* offset 0x00f1 */ | |
07b509e6 | 555 | |
b2be969b BP |
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 | */ | |
07b509e6 | 560 | |
0642feb3 | 561 | s32 threshold_bits; /* offset 0x00f2 */ |
07b509e6 | 562 | |
b2be969b BP |
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 | */ | |
07b509e6 | 567 | |
0642feb3 | 568 | s32 last_CRC; /* offset 0x00f3 */ |
07b509e6 | 569 | |
b2be969b BP |
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 | */ | |
07b509e6 | 575 | |
0642feb3 BP |
576 | s32 eeprom_ver_no; /* offset 0x00f4 */ |
577 | s32 software_ver_no; /* offset 0x00f5 */ | |
07b509e6 | 578 | |
b2be969b BP |
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 | */ | |
07b509e6 | 584 | |
0642feb3 BP |
585 | s32 software_day; /* offset 0x00f6 */ |
586 | s32 software_year; /* offset 0x00f7 */ | |
07b509e6 | 587 | |
b2be969b BP |
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 | */ | |
07b509e6 | 593 | |
54298a8d BP |
594 | u32 serial_no; /* offset 0x00f8 */ |
595 | u32 model_no; /* offset 0x00f9 */ | |
07b509e6 | 596 | |
b2be969b BP |
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 | */ | |
07b509e6 | 601 | |
0642feb3 BP |
602 | s32 cal_day; /* offset 0x00fa */ |
603 | s32 cal_year; /* offset 0x00fb */ | |
07b509e6 | 604 | |
b2be969b BP |
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 | */ | |
07b509e6 | 627 | |
54298a8d | 628 | u32 units; /* offset 0x00fc */ |
0642feb3 BP |
629 | s32 bits; /* offset 0x00fd */ |
630 | s32 channels; /* offset 0x00fe */ | |
07b509e6 | 631 | |
b2be969b BP |
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 | */ | |
07b509e6 | 638 | |
0642feb3 | 639 | s32 thickness; /* offset 0x00ff */ |
07b509e6 | 640 | |
b2be969b BP |
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 | */ | |
07b509e6 | 654 | |
0306b0cb | 655 | struct le_struct load_envelopes[0x10]; /* offset 0x0100 */ |
07b509e6 | 656 | |
b2be969b BP |
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 | */ | |
07b509e6 | 668 | |
1c31ddaf | 669 | struct intern_transform transforms[0x10]; /* offset 0x0200 */ |
67080790 | 670 | }; |
07b509e6 | 671 | |
b2e1b3c2 | 672 | struct jr3_t { |
07b509e6 | 673 | struct { |
54298a8d | 674 | u32 program_low[0x4000]; /* 0x00000 - 0x10000 */ |
67080790 | 675 | struct jr3_channel data; /* 0x10000 - 0x10c00 */ |
b2be969b | 676 | char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */ |
54298a8d | 677 | u32 program_high[0x8000]; /* 0x40000 - 0x60000 */ |
b2be969b BP |
678 | u32 reset; /* 0x60000 - 0x60004 */ |
679 | char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */ | |
07b509e6 | 680 | } channel[4]; |
b2e1b3c2 | 681 | }; |