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Commit | Line | Data |
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1 | /* | |
2 | comedi/drivers/jr3_pci.c | |
3 | hardware driver for JR3/PCI force sensor board | |
4 | ||
5 | COMEDI - Linux Control and Measurement Device Interface | |
6 | Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se> | |
7 | ||
8 | This program is free software; you can redistribute it and/or modify | |
9 | it under the terms of the GNU General Public License as published by | |
10 | the Free Software Foundation; either version 2 of the License, or | |
11 | (at your option) any later version. | |
12 | ||
13 | This program is distributed in the hope that it will be useful, | |
14 | but WITHOUT ANY WARRANTY; without even the implied warranty of | |
15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
16 | GNU General Public License for more details. | |
17 | ||
18 | You should have received a copy of the GNU General Public License | |
19 | along with this program; if not, write to the Free Software | |
20 | Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. | |
21 | ||
22 | */ | |
23 | /* | |
24 | Driver: jr3_pci | |
25 | Description: JR3/PCI force sensor board | |
26 | Author: Anders Blomdell <anders.blomdell@control.lth.se> | |
27 | Status: works | |
28 | Devices: [JR3] PCI force sensor board (jr3_pci) | |
29 | ||
30 | The DSP on the board requires initialization code, which can | |
31 | be loaded by placing it in /lib/firmware/comedi. | |
32 | The initialization code should be somewhere on the media you got | |
33 | with your card. One version is available from http://www.comedi.org | |
34 | in the comedi_nonfree_firmware tarball. | |
35 | ||
36 | Configuration options: | |
37 | [0] - PCI bus number - if bus number and slot number are 0, | |
38 | then driver search for first unused card | |
39 | [1] - PCI slot number | |
40 | ||
41 | */ | |
42 | ||
43 | #include "../comedidev.h" | |
44 | ||
45 | #include <linux/delay.h> | |
46 | #include <linux/ctype.h> | |
47 | #include <linux/firmware.h> | |
48 | #include <linux/jiffies.h> | |
49 | #include <linux/timer.h> | |
50 | #include "comedi_pci.h" | |
51 | #include "jr3_pci.h" | |
52 | ||
53 | #define PCI_VENDOR_ID_JR3 0x1762 | |
54 | #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111 | |
55 | #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112 | |
56 | #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113 | |
57 | #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114 | |
58 | ||
59 | static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it); | |
60 | static int jr3_pci_detach(struct comedi_device *dev); | |
61 | ||
62 | static struct comedi_driver driver_jr3_pci = { | |
63 | .driver_name = "jr3_pci", | |
64 | .module = THIS_MODULE, | |
65 | .attach = jr3_pci_attach, | |
66 | .detach = jr3_pci_detach, | |
67 | }; | |
68 | ||
69 | static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = { | |
70 | {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL, | |
71 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
72 | {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL, | |
73 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
74 | {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL, | |
75 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
76 | {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL, | |
77 | PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, | |
78 | {0} | |
79 | }; | |
80 | ||
81 | MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table); | |
82 | ||
83 | struct jr3_pci_dev_private { | |
84 | ||
85 | struct pci_dev *pci_dev; | |
86 | int pci_enabled; | |
87 | volatile struct jr3_t *iobase; | |
88 | int n_channels; | |
89 | struct timer_list timer; | |
90 | }; | |
91 | ||
92 | ||
93 | struct poll_delay_t { | |
94 | ||
95 | int min; | |
96 | int max; | |
97 | }; | |
98 | ||
99 | ||
100 | struct jr3_pci_subdev_private { | |
101 | volatile struct jr3_channel *channel; | |
102 | unsigned long next_time_min; | |
103 | unsigned long next_time_max; | |
104 | enum { state_jr3_poll, | |
105 | state_jr3_init_wait_for_offset, | |
106 | state_jr3_init_transform_complete, | |
107 | state_jr3_init_set_full_scale_complete, | |
108 | state_jr3_init_use_offset_complete, | |
109 | state_jr3_done | |
110 | } state; | |
111 | int channel_no; | |
112 | int serial_no; | |
113 | int model_no; | |
114 | struct { | |
115 | int length; | |
116 | struct comedi_krange range; | |
117 | } range[9]; | |
118 | const struct comedi_lrange *range_table_list[8 * 7 + 2]; | |
119 | unsigned int maxdata_list[8 * 7 + 2]; | |
120 | u16 errors; | |
121 | int retries; | |
122 | }; | |
123 | ||
124 | /* Hotplug firmware loading stuff */ | |
125 | ||
126 | typedef int comedi_firmware_callback(struct comedi_device *dev, | |
127 | const u8 *data, size_t size); | |
128 | ||
129 | static int comedi_load_firmware(struct comedi_device *dev, char *name, | |
130 | comedi_firmware_callback cb) | |
131 | { | |
132 | int result = 0; | |
133 | const struct firmware *fw; | |
134 | char *firmware_path; | |
135 | static const char *prefix = "comedi/"; | |
136 | struct jr3_pci_dev_private *devpriv = dev->private; | |
137 | ||
138 | firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL); | |
139 | if (!firmware_path) { | |
140 | result = -ENOMEM; | |
141 | } else { | |
142 | firmware_path[0] = '\0'; | |
143 | strcat(firmware_path, prefix); | |
144 | strcat(firmware_path, name); | |
145 | result = request_firmware(&fw, firmware_path, | |
146 | &devpriv->pci_dev->dev); | |
147 | if (result == 0) { | |
148 | if (!cb) | |
149 | result = -EINVAL; | |
150 | else | |
151 | result = cb(dev, fw->data, fw->size); | |
152 | release_firmware(fw); | |
153 | } | |
154 | kfree(firmware_path); | |
155 | } | |
156 | return result; | |
157 | } | |
158 | ||
159 | static struct poll_delay_t poll_delay_min_max(int min, int max) | |
160 | { | |
161 | struct poll_delay_t result; | |
162 | ||
163 | result.min = min; | |
164 | result.max = max; | |
165 | return result; | |
166 | } | |
167 | ||
168 | static int is_complete(volatile struct jr3_channel *channel) | |
169 | { | |
170 | return get_s16(&channel->command_word0) == 0; | |
171 | } | |
172 | ||
173 | struct transform_t { | |
174 | struct { | |
175 | u16 link_type; | |
176 | s16 link_amount; | |
177 | } link[8]; | |
178 | }; | |
179 | ||
180 | static void set_transforms(volatile struct jr3_channel *channel, | |
181 | struct transform_t transf, short num) | |
182 | { | |
183 | int i; | |
184 | ||
185 | num &= 0x000f; /* Make sure that 0 <= num <= 15 */ | |
186 | for (i = 0; i < 8; i++) { | |
187 | ||
188 | set_u16(&channel->transforms[num].link[i].link_type, | |
189 | transf.link[i].link_type); | |
190 | udelay(1); | |
191 | set_s16(&channel->transforms[num].link[i].link_amount, | |
192 | transf.link[i].link_amount); | |
193 | udelay(1); | |
194 | if (transf.link[i].link_type == end_x_form) { | |
195 | break; | |
196 | } | |
197 | } | |
198 | } | |
199 | ||
200 | static void use_transform(volatile struct jr3_channel *channel, short transf_num) | |
201 | { | |
202 | set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); | |
203 | } | |
204 | ||
205 | static void use_offset(volatile struct jr3_channel *channel, short offset_num) | |
206 | { | |
207 | set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f)); | |
208 | } | |
209 | ||
210 | static void set_offset(volatile struct jr3_channel *channel) | |
211 | { | |
212 | set_s16(&channel->command_word0, 0x0700); | |
213 | } | |
214 | ||
215 | struct six_axis_t { | |
216 | s16 fx; | |
217 | s16 fy; | |
218 | s16 fz; | |
219 | s16 mx; | |
220 | s16 my; | |
221 | s16 mz; | |
222 | }; | |
223 | ||
224 | static void set_full_scales(volatile struct jr3_channel *channel, | |
225 | struct six_axis_t full_scale) | |
226 | { | |
227 | printk("%d %d %d %d %d %d\n", | |
228 | full_scale.fx, | |
229 | full_scale.fy, | |
230 | full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz); | |
231 | set_s16(&channel->full_scale.fx, full_scale.fx); | |
232 | set_s16(&channel->full_scale.fy, full_scale.fy); | |
233 | set_s16(&channel->full_scale.fz, full_scale.fz); | |
234 | set_s16(&channel->full_scale.mx, full_scale.mx); | |
235 | set_s16(&channel->full_scale.my, full_scale.my); | |
236 | set_s16(&channel->full_scale.mz, full_scale.mz); | |
237 | set_s16(&channel->command_word0, 0x0a00); | |
238 | } | |
239 | ||
240 | static struct six_axis_t get_min_full_scales(volatile struct jr3_channel *channel) | |
241 | { | |
242 | struct six_axis_t result; | |
243 | result.fx = get_s16(&channel->min_full_scale.fx); | |
244 | result.fy = get_s16(&channel->min_full_scale.fy); | |
245 | result.fz = get_s16(&channel->min_full_scale.fz); | |
246 | result.mx = get_s16(&channel->min_full_scale.mx); | |
247 | result.my = get_s16(&channel->min_full_scale.my); | |
248 | result.mz = get_s16(&channel->min_full_scale.mz); | |
249 | return result; | |
250 | } | |
251 | ||
252 | static struct six_axis_t get_max_full_scales(volatile struct jr3_channel *channel) | |
253 | { | |
254 | struct six_axis_t result; | |
255 | result.fx = get_s16(&channel->max_full_scale.fx); | |
256 | result.fy = get_s16(&channel->max_full_scale.fy); | |
257 | result.fz = get_s16(&channel->max_full_scale.fz); | |
258 | result.mx = get_s16(&channel->max_full_scale.mx); | |
259 | result.my = get_s16(&channel->max_full_scale.my); | |
260 | result.mz = get_s16(&channel->max_full_scale.mz); | |
261 | return result; | |
262 | } | |
263 | ||
264 | static int jr3_pci_ai_insn_read(struct comedi_device *dev, struct comedi_subdevice *s, | |
265 | struct comedi_insn *insn, unsigned int *data) | |
266 | { | |
267 | int result; | |
268 | struct jr3_pci_subdev_private *p; | |
269 | int channel; | |
270 | ||
271 | p = s->private; | |
272 | channel = CR_CHAN(insn->chanspec); | |
273 | if (p == NULL || channel > 57) { | |
274 | result = -EINVAL; | |
275 | } else { | |
276 | int i; | |
277 | ||
278 | result = insn->n; | |
279 | if (p->state != state_jr3_done || | |
280 | (get_u16(&p->channel-> | |
281 | errors) & (watch_dog | watch_dog2 | | |
282 | sensor_change))) { | |
283 | /* No sensor or sensor changed */ | |
284 | if (p->state == state_jr3_done) { | |
285 | /* Restart polling */ | |
286 | p->state = state_jr3_poll; | |
287 | } | |
288 | result = -EAGAIN; | |
289 | } | |
290 | for (i = 0; i < insn->n; i++) { | |
291 | if (channel < 56) { | |
292 | int axis, filter; | |
293 | ||
294 | axis = channel % 8; | |
295 | filter = channel / 8; | |
296 | if (p->state != state_jr3_done) { | |
297 | data[i] = 0; | |
298 | } else { | |
299 | int F = 0; | |
300 | switch (axis) { | |
301 | case 0:{ | |
302 | F = get_s16(&p-> | |
303 | channel-> | |
304 | filter[filter]. | |
305 | fx); | |
306 | } | |
307 | break; | |
308 | case 1:{ | |
309 | F = get_s16(&p-> | |
310 | channel-> | |
311 | filter[filter]. | |
312 | fy); | |
313 | } | |
314 | break; | |
315 | case 2:{ | |
316 | F = get_s16(&p-> | |
317 | channel-> | |
318 | filter[filter]. | |
319 | fz); | |
320 | } | |
321 | break; | |
322 | case 3:{ | |
323 | F = get_s16(&p-> | |
324 | channel-> | |
325 | filter[filter]. | |
326 | mx); | |
327 | } | |
328 | break; | |
329 | case 4:{ | |
330 | F = get_s16(&p-> | |
331 | channel-> | |
332 | filter[filter]. | |
333 | my); | |
334 | } | |
335 | break; | |
336 | case 5:{ | |
337 | F = get_s16(&p-> | |
338 | channel-> | |
339 | filter[filter]. | |
340 | mz); | |
341 | } | |
342 | break; | |
343 | case 6:{ | |
344 | F = get_s16(&p-> | |
345 | channel-> | |
346 | filter[filter]. | |
347 | v1); | |
348 | } | |
349 | break; | |
350 | case 7:{ | |
351 | F = get_s16(&p-> | |
352 | channel-> | |
353 | filter[filter]. | |
354 | v2); | |
355 | } | |
356 | break; | |
357 | } | |
358 | data[i] = F + 0x4000; | |
359 | } | |
360 | } else if (channel == 56) { | |
361 | if (p->state != state_jr3_done) { | |
362 | data[i] = 0; | |
363 | } else { | |
364 | data[i] = | |
365 | get_u16(&p->channel->model_no); | |
366 | } | |
367 | } else if (channel == 57) { | |
368 | if (p->state != state_jr3_done) { | |
369 | data[i] = 0; | |
370 | } else { | |
371 | data[i] = | |
372 | get_u16(&p->channel->serial_no); | |
373 | } | |
374 | } | |
375 | } | |
376 | } | |
377 | return result; | |
378 | } | |
379 | ||
380 | static void jr3_pci_open(struct comedi_device *dev) | |
381 | { | |
382 | int i; | |
383 | struct jr3_pci_dev_private *devpriv = dev->private; | |
384 | ||
385 | printk("jr3_pci_open\n"); | |
386 | for (i = 0; i < devpriv->n_channels; i++) { | |
387 | struct jr3_pci_subdev_private *p; | |
388 | ||
389 | p = dev->subdevices[i].private; | |
390 | if (p) { | |
391 | printk("serial: %p %d (%d)\n", p, p->serial_no, | |
392 | p->channel_no); | |
393 | } | |
394 | } | |
395 | } | |
396 | ||
397 | int read_idm_word(const u8 *data, size_t size, int *pos, unsigned int *val) | |
398 | { | |
399 | int result = 0; | |
400 | if (pos != 0 && val != 0) { | |
401 | /* Skip over non hex */ | |
402 | for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) { | |
403 | } | |
404 | /* Collect value */ | |
405 | *val = 0; | |
406 | for (; *pos < size && isxdigit(data[*pos]); (*pos)++) { | |
407 | char ch = tolower(data[*pos]); | |
408 | result = 1; | |
409 | if ('0' <= ch && ch <= '9') { | |
410 | *val = (*val << 4) + (ch - '0'); | |
411 | } else if ('a' <= ch && ch <= 'f') { | |
412 | *val = (*val << 4) + (ch - 'a' + 10); | |
413 | } | |
414 | } | |
415 | } | |
416 | return result; | |
417 | } | |
418 | ||
419 | static int jr3_download_firmware(struct comedi_device *dev, const u8 *data, | |
420 | size_t size) | |
421 | { | |
422 | /* | |
423 | * IDM file format is: | |
424 | * { count, address, data <count> } * | |
425 | * ffff | |
426 | */ | |
427 | int result, more, pos, OK; | |
428 | ||
429 | result = 0; | |
430 | more = 1; | |
431 | pos = 0; | |
432 | OK = 0; | |
433 | while (more) { | |
434 | unsigned int count, addr; | |
435 | ||
436 | more = more && read_idm_word(data, size, &pos, &count); | |
437 | if (more && count == 0xffff) { | |
438 | OK = 1; | |
439 | break; | |
440 | } | |
441 | more = more && read_idm_word(data, size, &pos, &addr); | |
442 | while (more && count > 0) { | |
443 | unsigned int dummy; | |
444 | more = more && read_idm_word(data, size, &pos, &dummy); | |
445 | count--; | |
446 | } | |
447 | } | |
448 | ||
449 | if (!OK) { | |
450 | result = -ENODATA; | |
451 | } else { | |
452 | int i; | |
453 | struct jr3_pci_dev_private *p = dev->private; | |
454 | ||
455 | for (i = 0; i < p->n_channels; i++) { | |
456 | struct jr3_pci_subdev_private *sp; | |
457 | ||
458 | sp = dev->subdevices[i].private; | |
459 | more = 1; | |
460 | pos = 0; | |
461 | while (more) { | |
462 | unsigned int count, addr; | |
463 | more = more | |
464 | && read_idm_word(data, size, &pos, | |
465 | &count); | |
466 | if (more && count == 0xffff) { | |
467 | break; | |
468 | } | |
469 | more = more | |
470 | && read_idm_word(data, size, &pos, | |
471 | &addr); | |
472 | printk("Loading#%d %4.4x bytes at %4.4x\n", i, | |
473 | count, addr); | |
474 | while (more && count > 0) { | |
475 | if (addr & 0x4000) { | |
476 | /* 16 bit data, never seen in real life!! */ | |
477 | unsigned int data1; | |
478 | ||
479 | more = more | |
480 | && read_idm_word(data, | |
481 | size, &pos, &data1); | |
482 | count--; | |
483 | /* printk("jr3_data, not tested\n"); */ | |
484 | /* jr3[addr + 0x20000 * pnum] = data1; */ | |
485 | } else { | |
486 | /* Download 24 bit program */ | |
487 | unsigned int data1, data2; | |
488 | ||
489 | more = more | |
490 | && read_idm_word(data, | |
491 | size, &pos, &data1); | |
492 | more = more | |
493 | && read_idm_word(data, | |
494 | size, &pos, &data2); | |
495 | count -= 2; | |
496 | if (more) { | |
497 | set_u16(&p->iobase-> | |
498 | channel[i]. | |
499 | program_low | |
500 | [addr], data1); | |
501 | udelay(1); | |
502 | set_u16(&p->iobase-> | |
503 | channel[i]. | |
504 | program_high | |
505 | [addr], data2); | |
506 | udelay(1); | |
507 | ||
508 | } | |
509 | } | |
510 | addr++; | |
511 | } | |
512 | } | |
513 | } | |
514 | } | |
515 | return result; | |
516 | } | |
517 | ||
518 | static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) | |
519 | { | |
520 | struct poll_delay_t result = poll_delay_min_max(1000, 2000); | |
521 | struct jr3_pci_subdev_private *p = s->private; | |
522 | ||
523 | if (p) { | |
524 | volatile struct jr3_channel *channel = p->channel; | |
525 | int errors = get_u16(&channel->errors); | |
526 | ||
527 | if (errors != p->errors) { | |
528 | printk("Errors: %x -> %x\n", p->errors, errors); | |
529 | p->errors = errors; | |
530 | } | |
531 | if (errors & (watch_dog | watch_dog2 | sensor_change)) { | |
532 | /* Sensor communication lost, force poll mode */ | |
533 | p->state = state_jr3_poll; | |
534 | ||
535 | } | |
536 | switch (p->state) { | |
537 | case state_jr3_poll:{ | |
538 | u16 model_no = get_u16(&channel->model_no); | |
539 | u16 serial_no = get_u16(&channel->serial_no); | |
540 | if ((errors & (watch_dog | watch_dog2)) || | |
541 | model_no == 0 || serial_no == 0) { | |
542 | /* | |
543 | * Still no sensor, keep on polling. Since it takes up to 10 seconds | |
544 | * for offsets to stabilize, polling each second should suffice. | |
545 | */ | |
546 | result = poll_delay_min_max(1000, 2000); | |
547 | } else { | |
548 | p->retries = 0; | |
549 | p->state = | |
550 | state_jr3_init_wait_for_offset; | |
551 | result = poll_delay_min_max(1000, 2000); | |
552 | } | |
553 | } | |
554 | break; | |
555 | case state_jr3_init_wait_for_offset:{ | |
556 | p->retries++; | |
557 | if (p->retries < 10) { | |
558 | /* Wait for offeset to stabilize (< 10 s according to manual) */ | |
559 | result = poll_delay_min_max(1000, 2000); | |
560 | } else { | |
561 | struct transform_t transf; | |
562 | ||
563 | p->model_no = | |
564 | get_u16(&channel->model_no); | |
565 | p->serial_no = | |
566 | get_u16(&channel->serial_no); | |
567 | ||
568 | printk("Setting transform for channel %d\n", p->channel_no); | |
569 | printk("Sensor Model = %i\n", | |
570 | p->model_no); | |
571 | printk("Sensor Serial = %i\n", | |
572 | p->serial_no); | |
573 | ||
574 | /* Transformation all zeros */ | |
575 | transf.link[0].link_type = | |
576 | (enum link_types)0; | |
577 | transf.link[0].link_amount = 0; | |
578 | transf.link[1].link_type = | |
579 | (enum link_types)0; | |
580 | transf.link[1].link_amount = 0; | |
581 | transf.link[2].link_type = | |
582 | (enum link_types)0; | |
583 | transf.link[2].link_amount = 0; | |
584 | transf.link[3].link_type = | |
585 | (enum link_types)0; | |
586 | transf.link[3].link_amount = 0; | |
587 | ||
588 | set_transforms(channel, transf, 0); | |
589 | use_transform(channel, 0); | |
590 | p->state = | |
591 | state_jr3_init_transform_complete; | |
592 | result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ | |
593 | } | |
594 | } break; | |
595 | case state_jr3_init_transform_complete:{ | |
596 | if (!is_complete(channel)) { | |
597 | printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel)); | |
598 | result = poll_delay_min_max(20, 100); | |
599 | } else { | |
600 | /* Set full scale */ | |
601 | struct six_axis_t min_full_scale; | |
602 | struct six_axis_t max_full_scale; | |
603 | ||
604 | min_full_scale = | |
605 | get_min_full_scales(channel); | |
606 | printk("Obtained Min. Full Scales:\n"); | |
607 | printk("%i ", (min_full_scale).fx); | |
608 | printk("%i ", (min_full_scale).fy); | |
609 | printk("%i ", (min_full_scale).fz); | |
610 | printk("%i ", (min_full_scale).mx); | |
611 | printk("%i ", (min_full_scale).my); | |
612 | printk("%i ", (min_full_scale).mz); | |
613 | printk("\n"); | |
614 | ||
615 | max_full_scale = | |
616 | get_max_full_scales(channel); | |
617 | printk("Obtained Max. Full Scales:\n"); | |
618 | printk("%i ", (max_full_scale).fx); | |
619 | printk("%i ", (max_full_scale).fy); | |
620 | printk("%i ", (max_full_scale).fz); | |
621 | printk("%i ", (max_full_scale).mx); | |
622 | printk("%i ", (max_full_scale).my); | |
623 | printk("%i ", (max_full_scale).mz); | |
624 | printk("\n"); | |
625 | ||
626 | set_full_scales(channel, | |
627 | max_full_scale); | |
628 | ||
629 | p->state = | |
630 | state_jr3_init_set_full_scale_complete; | |
631 | result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ | |
632 | } | |
633 | } | |
634 | break; | |
635 | case state_jr3_init_set_full_scale_complete:{ | |
636 | if (!is_complete(channel)) { | |
637 | printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel)); | |
638 | result = poll_delay_min_max(20, 100); | |
639 | } else { | |
640 | volatile struct force_array *full_scale; | |
641 | ||
642 | /* Use ranges in kN or we will overflow arount 2000N! */ | |
643 | full_scale = &channel->full_scale; | |
644 | p->range[0].range.min = | |
645 | -get_s16(&full_scale->fx) * | |
646 | 1000; | |
647 | p->range[0].range.max = | |
648 | get_s16(&full_scale->fx) * 1000; | |
649 | p->range[1].range.min = | |
650 | -get_s16(&full_scale->fy) * | |
651 | 1000; | |
652 | p->range[1].range.max = | |
653 | get_s16(&full_scale->fy) * 1000; | |
654 | p->range[2].range.min = | |
655 | -get_s16(&full_scale->fz) * | |
656 | 1000; | |
657 | p->range[2].range.max = | |
658 | get_s16(&full_scale->fz) * 1000; | |
659 | p->range[3].range.min = | |
660 | -get_s16(&full_scale->mx) * 100; | |
661 | p->range[3].range.max = | |
662 | get_s16(&full_scale->mx) * 100; | |
663 | p->range[4].range.min = | |
664 | -get_s16(&full_scale->my) * 100; | |
665 | p->range[4].range.max = | |
666 | get_s16(&full_scale->my) * 100; | |
667 | p->range[5].range.min = | |
668 | -get_s16(&full_scale->mz) * 100; | |
669 | p->range[5].range.max = | |
670 | get_s16(&full_scale->mz) * 100; | |
671 | p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */ | |
672 | p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */ | |
673 | p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */ | |
674 | p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */ | |
675 | p->range[8].range.min = 0; | |
676 | p->range[8].range.max = 65535; | |
677 | ||
678 | { | |
679 | int i; | |
680 | for (i = 0; i < 9; i++) { | |
681 | printk("%d %d - %d\n", | |
682 | i, | |
683 | p->range[i]. | |
684 | range.min, | |
685 | p->range[i]. | |
686 | range.max); | |
687 | } | |
688 | } | |
689 | ||
690 | use_offset(channel, 0); | |
691 | p->state = | |
692 | state_jr3_init_use_offset_complete; | |
693 | result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */ | |
694 | } | |
695 | } | |
696 | break; | |
697 | case state_jr3_init_use_offset_complete:{ | |
698 | if (!is_complete(channel)) { | |
699 | printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel)); | |
700 | result = poll_delay_min_max(20, 100); | |
701 | } else { | |
702 | 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)); | |
703 | ||
704 | set_s16(&channel->offsets.fx, 0); | |
705 | set_s16(&channel->offsets.fy, 0); | |
706 | set_s16(&channel->offsets.fz, 0); | |
707 | set_s16(&channel->offsets.mx, 0); | |
708 | set_s16(&channel->offsets.my, 0); | |
709 | set_s16(&channel->offsets.mz, 0); | |
710 | ||
711 | set_offset(channel); | |
712 | ||
713 | p->state = state_jr3_done; | |
714 | } | |
715 | } | |
716 | break; | |
717 | case state_jr3_done:{ | |
718 | poll_delay_min_max(10000, 20000); | |
719 | } | |
720 | break; | |
721 | default:{ | |
722 | poll_delay_min_max(1000, 2000); | |
723 | } | |
724 | break; | |
725 | } | |
726 | } | |
727 | return result; | |
728 | } | |
729 | ||
730 | static void jr3_pci_poll_dev(unsigned long data) | |
731 | { | |
732 | unsigned long flags; | |
733 | struct comedi_device *dev = (struct comedi_device *) data; | |
734 | struct jr3_pci_dev_private *devpriv = dev->private; | |
735 | unsigned long now; | |
736 | int delay; | |
737 | int i; | |
738 | ||
739 | spin_lock_irqsave(&dev->spinlock, flags); | |
740 | delay = 1000; | |
741 | now = jiffies; | |
742 | /* Poll all channels that are ready to be polled */ | |
743 | for (i = 0; i < devpriv->n_channels; i++) { | |
744 | struct jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private; | |
745 | if (now > subdevpriv->next_time_min) { | |
746 | struct poll_delay_t sub_delay; | |
747 | ||
748 | sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]); | |
749 | subdevpriv->next_time_min = | |
750 | jiffies + msecs_to_jiffies(sub_delay.min); | |
751 | subdevpriv->next_time_max = | |
752 | jiffies + msecs_to_jiffies(sub_delay.max); | |
753 | if (sub_delay.max && sub_delay.max < delay) { | |
754 | /* | |
755 | * Wake up as late as possible -> poll as many channels as possible | |
756 | * at once | |
757 | */ | |
758 | delay = sub_delay.max; | |
759 | } | |
760 | } | |
761 | } | |
762 | spin_unlock_irqrestore(&dev->spinlock, flags); | |
763 | ||
764 | devpriv->timer.expires = jiffies + msecs_to_jiffies(delay); | |
765 | add_timer(&devpriv->timer); | |
766 | } | |
767 | ||
768 | static int jr3_pci_attach(struct comedi_device *dev, struct comedi_devconfig *it) | |
769 | { | |
770 | int result = 0; | |
771 | struct pci_dev *card = NULL; | |
772 | int opt_bus, opt_slot, i; | |
773 | struct jr3_pci_dev_private *devpriv; | |
774 | ||
775 | printk("comedi%d: jr3_pci\n", dev->minor); | |
776 | ||
777 | opt_bus = it->options[0]; | |
778 | opt_slot = it->options[1]; | |
779 | ||
780 | if (sizeof(struct jr3_channel) != 0xc00) { | |
781 | printk("sizeof(struct jr3_channel) = %x [expected %x]\n", | |
782 | (unsigned)sizeof(struct jr3_channel), 0xc00); | |
783 | return -EINVAL; | |
784 | } | |
785 | ||
786 | result = alloc_private(dev, sizeof(struct jr3_pci_dev_private)); | |
787 | if (result < 0) { | |
788 | return -ENOMEM; | |
789 | } | |
790 | card = NULL; | |
791 | devpriv = dev->private; | |
792 | init_timer(&devpriv->timer); | |
793 | while (1) { | |
794 | card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card); | |
795 | if (card == NULL) { | |
796 | /* No card found */ | |
797 | break; | |
798 | } else { | |
799 | switch (card->device) { | |
800 | case PCI_DEVICE_ID_JR3_1_CHANNEL:{ | |
801 | devpriv->n_channels = 1; | |
802 | } | |
803 | break; | |
804 | case PCI_DEVICE_ID_JR3_2_CHANNEL:{ | |
805 | devpriv->n_channels = 2; | |
806 | } | |
807 | break; | |
808 | case PCI_DEVICE_ID_JR3_3_CHANNEL:{ | |
809 | devpriv->n_channels = 3; | |
810 | } | |
811 | break; | |
812 | case PCI_DEVICE_ID_JR3_4_CHANNEL:{ | |
813 | devpriv->n_channels = 4; | |
814 | } | |
815 | break; | |
816 | default:{ | |
817 | devpriv->n_channels = 0; | |
818 | } | |
819 | } | |
820 | if (devpriv->n_channels >= 1) { | |
821 | if (opt_bus == 0 && opt_slot == 0) { | |
822 | /* Take first available card */ | |
823 | break; | |
824 | } else if (opt_bus == card->bus->number && | |
825 | opt_slot == PCI_SLOT(card->devfn)) { | |
826 | /* Take requested card */ | |
827 | break; | |
828 | } | |
829 | } | |
830 | } | |
831 | } | |
832 | if (!card) { | |
833 | printk(" no jr3_pci found\n"); | |
834 | return -EIO; | |
835 | } else { | |
836 | devpriv->pci_dev = card; | |
837 | dev->board_name = "jr3_pci"; | |
838 | } | |
839 | ||
840 | result = comedi_pci_enable(card, "jr3_pci"); | |
841 | if (result < 0) { | |
842 | return -EIO; | |
843 | } | |
844 | ||
845 | devpriv->pci_enabled = 1; | |
846 | devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t)); | |
847 | result = alloc_subdevices(dev, devpriv->n_channels); | |
848 | if (result < 0) | |
849 | goto out; | |
850 | ||
851 | dev->open = jr3_pci_open; | |
852 | for (i = 0; i < devpriv->n_channels; i++) { | |
853 | dev->subdevices[i].type = COMEDI_SUBD_AI; | |
854 | dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND; | |
855 | dev->subdevices[i].n_chan = 8 * 7 + 2; | |
856 | dev->subdevices[i].insn_read = jr3_pci_ai_insn_read; | |
857 | dev->subdevices[i].private = | |
858 | kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); | |
859 | if (dev->subdevices[i].private) { | |
860 | struct jr3_pci_subdev_private *p; | |
861 | int j; | |
862 | ||
863 | p = dev->subdevices[i].private; | |
864 | p->channel = &devpriv->iobase->channel[i].data; | |
865 | printk("p->channel %p %p (%tx)\n", | |
866 | p->channel, devpriv->iobase, | |
867 | ((char *)(p->channel) - | |
868 | (char *)(devpriv->iobase))); | |
869 | p->channel_no = i; | |
870 | for (j = 0; j < 8; j++) { | |
871 | int k; | |
872 | ||
873 | p->range[j].length = 1; | |
874 | p->range[j].range.min = -1000000; | |
875 | p->range[j].range.max = 1000000; | |
876 | for (k = 0; k < 7; k++) { | |
877 | p->range_table_list[j + k * 8] = | |
878 | (struct comedi_lrange *) &p->range[j]; | |
879 | p->maxdata_list[j + k * 8] = 0x7fff; | |
880 | } | |
881 | } | |
882 | p->range[8].length = 1; | |
883 | p->range[8].range.min = 0; | |
884 | p->range[8].range.max = 65536; | |
885 | ||
886 | p->range_table_list[56] = | |
887 | (struct comedi_lrange *) &p->range[8]; | |
888 | p->range_table_list[57] = | |
889 | (struct comedi_lrange *) &p->range[8]; | |
890 | p->maxdata_list[56] = 0xffff; | |
891 | p->maxdata_list[57] = 0xffff; | |
892 | /* Channel specific range and maxdata */ | |
893 | dev->subdevices[i].range_table = 0; | |
894 | dev->subdevices[i].range_table_list = | |
895 | p->range_table_list; | |
896 | dev->subdevices[i].maxdata = 0; | |
897 | dev->subdevices[i].maxdata_list = p->maxdata_list; | |
898 | } | |
899 | } | |
900 | ||
901 | /* Reset DSP card */ | |
902 | devpriv->iobase->channel[0].reset = 0; | |
903 | ||
904 | result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware); | |
905 | printk("Firmare load %d\n", result); | |
906 | ||
907 | if (result < 0) { | |
908 | goto out; | |
909 | } | |
910 | /* | |
911 | * TODO: use firmware to load preferred offset tables. Suggested | |
912 | * format: | |
913 | * model serial Fx Fy Fz Mx My Mz\n | |
914 | * | |
915 | * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware); | |
916 | */ | |
917 | ||
918 | /* | |
919 | * It takes a few milliseconds for software to settle as much as we | |
920 | * can read firmware version | |
921 | */ | |
922 | msleep_interruptible(25); | |
923 | for (i = 0; i < 0x18; i++) { | |
924 | printk("%c", | |
925 | get_u16(&devpriv->iobase->channel[0].data. | |
926 | copyright[i]) >> 8); | |
927 | } | |
928 | ||
929 | /* Start card timer */ | |
930 | for (i = 0; i < devpriv->n_channels; i++) { | |
931 | struct jr3_pci_subdev_private *p = dev->subdevices[i].private; | |
932 | ||
933 | p->next_time_min = jiffies + msecs_to_jiffies(500); | |
934 | p->next_time_max = jiffies + msecs_to_jiffies(2000); | |
935 | } | |
936 | ||
937 | devpriv->timer.data = (unsigned long)dev; | |
938 | devpriv->timer.function = jr3_pci_poll_dev; | |
939 | devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); | |
940 | add_timer(&devpriv->timer); | |
941 | ||
942 | out: | |
943 | return result; | |
944 | } | |
945 | ||
946 | static int jr3_pci_detach(struct comedi_device *dev) | |
947 | { | |
948 | int i; | |
949 | struct jr3_pci_dev_private *devpriv = dev->private; | |
950 | ||
951 | printk("comedi%d: jr3_pci: remove\n", dev->minor); | |
952 | if (devpriv) { | |
953 | del_timer_sync(&devpriv->timer); | |
954 | ||
955 | if (dev->subdevices) { | |
956 | for (i = 0; i < devpriv->n_channels; i++) { | |
957 | kfree(dev->subdevices[i].private); | |
958 | } | |
959 | } | |
960 | ||
961 | if (devpriv->iobase) { | |
962 | iounmap((void *)devpriv->iobase); | |
963 | } | |
964 | if (devpriv->pci_enabled) { | |
965 | comedi_pci_disable(devpriv->pci_dev); | |
966 | } | |
967 | ||
968 | if (devpriv->pci_dev) { | |
969 | pci_dev_put(devpriv->pci_dev); | |
970 | } | |
971 | } | |
972 | return 0; | |
973 | } | |
974 | ||
975 | COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table); |