2 comedi/drivers/jr3_pci.c
3 hardware driver for JR3/PCI force sensor board
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
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.
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.
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.
25 Description: JR3/PCI force sensor board
26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
28 Devices: [JR3] PCI force sensor board (jr3_pci)
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.
36 Configuration options:
37 [0] - PCI bus number - if bus number and slot number are 0,
38 then driver search for first unused card
43 #include "../comedidev.h"
45 #include <linux/delay.h>
46 #include <linux/ctype.h>
47 #include <linux/firmware.h>
48 #include "comedi_pci.h"
51 #define PCI_VENDOR_ID_JR3 0x1762
52 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
53 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
54 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
55 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
57 static int jr3_pci_attach(struct comedi_device
*dev
, struct comedi_devconfig
*it
);
58 static int jr3_pci_detach(struct comedi_device
*dev
);
60 static struct comedi_driver driver_jr3_pci
= {
61 .driver_name
= "jr3_pci",
62 .module
= THIS_MODULE
,
63 .attach
= jr3_pci_attach
,
64 .detach
= jr3_pci_detach
,
67 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table
) = {
68 {PCI_VENDOR_ID_JR3
, PCI_DEVICE_ID_JR3_1_CHANNEL
,
69 PCI_ANY_ID
, PCI_ANY_ID
, 0, 0, 0},
70 {PCI_VENDOR_ID_JR3
, PCI_DEVICE_ID_JR3_2_CHANNEL
,
71 PCI_ANY_ID
, PCI_ANY_ID
, 0, 0, 0},
72 {PCI_VENDOR_ID_JR3
, PCI_DEVICE_ID_JR3_3_CHANNEL
,
73 PCI_ANY_ID
, PCI_ANY_ID
, 0, 0, 0},
74 {PCI_VENDOR_ID_JR3
, PCI_DEVICE_ID_JR3_4_CHANNEL
,
75 PCI_ANY_ID
, PCI_ANY_ID
, 0, 0, 0},
79 MODULE_DEVICE_TABLE(pci
, jr3_pci_pci_table
);
81 struct jr3_pci_dev_private
{
83 struct pci_dev
*pci_dev
;
85 volatile struct jr3_t
*iobase
;
87 struct timer_list timer
;
98 struct jr3_pci_subdev_private
{
99 volatile struct jr3_channel
*channel
;
100 unsigned long next_time_min
;
101 unsigned long next_time_max
;
102 enum { state_jr3_poll
,
103 state_jr3_init_wait_for_offset
,
104 state_jr3_init_transform_complete
,
105 state_jr3_init_set_full_scale_complete
,
106 state_jr3_init_use_offset_complete
,
114 struct comedi_krange range
;
116 const struct comedi_lrange
*range_table_list
[8 * 7 + 2];
117 unsigned int maxdata_list
[8 * 7 + 2];
122 /* Hotplug firmware loading stuff */
124 typedef int comedi_firmware_callback(struct comedi_device
*dev
,
125 const u8
*data
, size_t size
);
127 static int comedi_load_firmware(struct comedi_device
*dev
, char *name
,
128 comedi_firmware_callback cb
)
131 const struct firmware
*fw
;
133 static const char *prefix
= "comedi/";
134 struct jr3_pci_dev_private
*devpriv
= dev
->private;
136 firmware_path
= kmalloc(strlen(prefix
) + strlen(name
) + 1, GFP_KERNEL
);
137 if (!firmware_path
) {
140 firmware_path
[0] = '\0';
141 strcat(firmware_path
, prefix
);
142 strcat(firmware_path
, name
);
143 result
= request_firmware(&fw
, firmware_path
,
144 &devpriv
->pci_dev
->dev
);
149 result
= cb(dev
, fw
->data
, fw
->size
);
150 release_firmware(fw
);
152 kfree(firmware_path
);
157 static struct poll_delay_t
poll_delay_min_max(int min
, int max
)
159 struct poll_delay_t result
;
166 static int is_complete(volatile struct jr3_channel
*channel
)
168 return get_s16(&channel
->command_word0
) == 0;
178 static void set_transforms(volatile struct jr3_channel
*channel
,
179 struct transform_t transf
, short num
)
183 num
&= 0x000f; /* Make sure that 0 <= num <= 15 */
184 for (i
= 0; i
< 8; i
++) {
186 set_u16(&channel
->transforms
[num
].link
[i
].link_type
,
187 transf
.link
[i
].link_type
);
189 set_s16(&channel
->transforms
[num
].link
[i
].link_amount
,
190 transf
.link
[i
].link_amount
);
192 if (transf
.link
[i
].link_type
== end_x_form
) {
198 static void use_transform(volatile struct jr3_channel
*channel
, short transf_num
)
200 set_s16(&channel
->command_word0
, 0x0500 + (transf_num
& 0x000f));
203 static void use_offset(volatile struct jr3_channel
*channel
, short offset_num
)
205 set_s16(&channel
->command_word0
, 0x0600 + (offset_num
& 0x000f));
208 static void set_offset(volatile struct jr3_channel
*channel
)
210 set_s16(&channel
->command_word0
, 0x0700);
222 static void set_full_scales(volatile struct jr3_channel
*channel
,
223 struct six_axis_t full_scale
)
225 printk("%d %d %d %d %d %d\n",
228 full_scale
.fz
, full_scale
.mx
, full_scale
.my
, full_scale
.mz
);
229 set_s16(&channel
->full_scale
.fx
, full_scale
.fx
);
230 set_s16(&channel
->full_scale
.fy
, full_scale
.fy
);
231 set_s16(&channel
->full_scale
.fz
, full_scale
.fz
);
232 set_s16(&channel
->full_scale
.mx
, full_scale
.mx
);
233 set_s16(&channel
->full_scale
.my
, full_scale
.my
);
234 set_s16(&channel
->full_scale
.mz
, full_scale
.mz
);
235 set_s16(&channel
->command_word0
, 0x0a00);
238 static struct six_axis_t
get_min_full_scales(volatile struct jr3_channel
*channel
)
240 struct six_axis_t result
;
241 result
.fx
= get_s16(&channel
->min_full_scale
.fx
);
242 result
.fy
= get_s16(&channel
->min_full_scale
.fy
);
243 result
.fz
= get_s16(&channel
->min_full_scale
.fz
);
244 result
.mx
= get_s16(&channel
->min_full_scale
.mx
);
245 result
.my
= get_s16(&channel
->min_full_scale
.my
);
246 result
.mz
= get_s16(&channel
->min_full_scale
.mz
);
250 static struct six_axis_t
get_max_full_scales(volatile struct jr3_channel
*channel
)
252 struct six_axis_t result
;
253 result
.fx
= get_s16(&channel
->max_full_scale
.fx
);
254 result
.fy
= get_s16(&channel
->max_full_scale
.fy
);
255 result
.fz
= get_s16(&channel
->max_full_scale
.fz
);
256 result
.mx
= get_s16(&channel
->max_full_scale
.mx
);
257 result
.my
= get_s16(&channel
->max_full_scale
.my
);
258 result
.mz
= get_s16(&channel
->max_full_scale
.mz
);
262 static int jr3_pci_ai_insn_read(struct comedi_device
*dev
, struct comedi_subdevice
*s
,
263 struct comedi_insn
*insn
, unsigned int *data
)
266 struct jr3_pci_subdev_private
*p
;
270 channel
= CR_CHAN(insn
->chanspec
);
271 if (p
== NULL
|| channel
> 57) {
277 if (p
->state
!= state_jr3_done
||
278 (get_u16(&p
->channel
->
279 errors
) & (watch_dog
| watch_dog2
|
281 /* No sensor or sensor changed */
282 if (p
->state
== state_jr3_done
) {
283 /* Restart polling */
284 p
->state
= state_jr3_poll
;
288 for (i
= 0; i
< insn
->n
; i
++) {
293 filter
= channel
/ 8;
294 if (p
->state
!= state_jr3_done
) {
356 data
[i
] = F
+ 0x4000;
358 } else if (channel
== 56) {
359 if (p
->state
!= state_jr3_done
) {
363 get_u16(&p
->channel
->model_no
);
365 } else if (channel
== 57) {
366 if (p
->state
!= state_jr3_done
) {
370 get_u16(&p
->channel
->serial_no
);
378 static void jr3_pci_open(struct comedi_device
*dev
)
381 struct jr3_pci_dev_private
*devpriv
= dev
->private;
383 printk("jr3_pci_open\n");
384 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
385 struct jr3_pci_subdev_private
*p
;
387 p
= dev
->subdevices
[i
].private;
389 printk("serial: %p %d (%d)\n", p
, p
->serial_no
,
395 int read_idm_word(const u8
*data
, size_t size
, int *pos
, unsigned int *val
)
398 if (pos
!= 0 && val
!= 0) {
399 /* Skip over non hex */
400 for (; *pos
< size
&& !isxdigit(data
[*pos
]); (*pos
)++) {
404 for (; *pos
< size
&& isxdigit(data
[*pos
]); (*pos
)++) {
405 char ch
= tolower(data
[*pos
]);
407 if ('0' <= ch
&& ch
<= '9') {
408 *val
= (*val
<< 4) + (ch
- '0');
409 } else if ('a' <= ch
&& ch
<= 'f') {
410 *val
= (*val
<< 4) + (ch
- 'a' + 10);
417 static int jr3_download_firmware(struct comedi_device
*dev
, const u8
*data
,
421 * IDM file format is:
422 * { count, address, data <count> } *
425 int result
, more
, pos
, OK
;
432 unsigned int count
, addr
;
434 more
= more
&& read_idm_word(data
, size
, &pos
, &count
);
435 if (more
&& count
== 0xffff) {
439 more
= more
&& read_idm_word(data
, size
, &pos
, &addr
);
440 while (more
&& count
> 0) {
442 more
= more
&& read_idm_word(data
, size
, &pos
, &dummy
);
451 struct jr3_pci_dev_private
*p
= dev
->private;
453 for (i
= 0; i
< p
->n_channels
; i
++) {
454 struct jr3_pci_subdev_private
*sp
;
456 sp
= dev
->subdevices
[i
].private;
460 unsigned int count
, addr
;
462 && read_idm_word(data
, size
, &pos
,
464 if (more
&& count
== 0xffff) {
468 && read_idm_word(data
, size
, &pos
,
470 printk("Loading#%d %4.4x bytes at %4.4x\n", i
,
472 while (more
&& count
> 0) {
474 /* 16 bit data, never seen in real life!! */
478 && read_idm_word(data
,
481 /* printk("jr3_data, not tested\n"); */
482 /* jr3[addr + 0x20000 * pnum] = data1; */
484 /* Download 24 bit program */
485 unsigned int data1
, data2
;
488 && read_idm_word(data
,
491 && read_idm_word(data
,
516 static struct poll_delay_t
jr3_pci_poll_subdevice(struct comedi_subdevice
*s
)
518 struct poll_delay_t result
= poll_delay_min_max(1000, 2000);
519 struct jr3_pci_subdev_private
*p
= s
->private;
522 volatile struct jr3_channel
*channel
= p
->channel
;
523 int errors
= get_u16(&channel
->errors
);
525 if (errors
!= p
->errors
) {
526 printk("Errors: %x -> %x\n", p
->errors
, errors
);
529 if (errors
& (watch_dog
| watch_dog2
| sensor_change
)) {
530 /* Sensor communication lost, force poll mode */
531 p
->state
= state_jr3_poll
;
535 case state_jr3_poll
:{
536 u16 model_no
= get_u16(&channel
->model_no
);
537 u16 serial_no
= get_u16(&channel
->serial_no
);
538 if ((errors
& (watch_dog
| watch_dog2
)) ||
539 model_no
== 0 || serial_no
== 0) {
541 * Still no sensor, keep on polling. Since it takes up to 10 seconds
542 * for offsets to stabilize, polling each second should suffice.
544 result
= poll_delay_min_max(1000, 2000);
548 state_jr3_init_wait_for_offset
;
549 result
= poll_delay_min_max(1000, 2000);
553 case state_jr3_init_wait_for_offset
:{
555 if (p
->retries
< 10) {
556 /* Wait for offeset to stabilize (< 10 s according to manual) */
557 result
= poll_delay_min_max(1000, 2000);
559 struct transform_t transf
;
562 get_u16(&channel
->model_no
);
564 get_u16(&channel
->serial_no
);
566 printk("Setting transform for channel %d\n", p
->channel_no
);
567 printk("Sensor Model = %i\n",
569 printk("Sensor Serial = %i\n",
572 /* Transformation all zeros */
573 transf
.link
[0].link_type
=
575 transf
.link
[0].link_amount
= 0;
576 transf
.link
[1].link_type
=
578 transf
.link
[1].link_amount
= 0;
579 transf
.link
[2].link_type
=
581 transf
.link
[2].link_amount
= 0;
582 transf
.link
[3].link_type
=
584 transf
.link
[3].link_amount
= 0;
586 set_transforms(channel
, transf
, 0);
587 use_transform(channel
, 0);
589 state_jr3_init_transform_complete
;
590 result
= poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
593 case state_jr3_init_transform_complete
:{
594 if (!is_complete(channel
)) {
595 printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel
));
596 result
= poll_delay_min_max(20, 100);
599 struct six_axis_t min_full_scale
;
600 struct six_axis_t max_full_scale
;
603 get_min_full_scales(channel
);
604 printk("Obtained Min. Full Scales:\n");
605 printk("%i ", (min_full_scale
).fx
);
606 printk("%i ", (min_full_scale
).fy
);
607 printk("%i ", (min_full_scale
).fz
);
608 printk("%i ", (min_full_scale
).mx
);
609 printk("%i ", (min_full_scale
).my
);
610 printk("%i ", (min_full_scale
).mz
);
614 get_max_full_scales(channel
);
615 printk("Obtained Max. Full Scales:\n");
616 printk("%i ", (max_full_scale
).fx
);
617 printk("%i ", (max_full_scale
).fy
);
618 printk("%i ", (max_full_scale
).fz
);
619 printk("%i ", (max_full_scale
).mx
);
620 printk("%i ", (max_full_scale
).my
);
621 printk("%i ", (max_full_scale
).mz
);
624 set_full_scales(channel
,
628 state_jr3_init_set_full_scale_complete
;
629 result
= poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
633 case state_jr3_init_set_full_scale_complete
:{
634 if (!is_complete(channel
)) {
635 printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel
));
636 result
= poll_delay_min_max(20, 100);
638 volatile struct force_array
*full_scale
;
640 /* Use ranges in kN or we will overflow arount 2000N! */
641 full_scale
= &channel
->full_scale
;
642 p
->range
[0].range
.min
=
643 -get_s16(&full_scale
->fx
) *
645 p
->range
[0].range
.max
=
646 get_s16(&full_scale
->fx
) * 1000;
647 p
->range
[1].range
.min
=
648 -get_s16(&full_scale
->fy
) *
650 p
->range
[1].range
.max
=
651 get_s16(&full_scale
->fy
) * 1000;
652 p
->range
[2].range
.min
=
653 -get_s16(&full_scale
->fz
) *
655 p
->range
[2].range
.max
=
656 get_s16(&full_scale
->fz
) * 1000;
657 p
->range
[3].range
.min
=
658 -get_s16(&full_scale
->mx
) * 100;
659 p
->range
[3].range
.max
=
660 get_s16(&full_scale
->mx
) * 100;
661 p
->range
[4].range
.min
=
662 -get_s16(&full_scale
->my
) * 100;
663 p
->range
[4].range
.max
=
664 get_s16(&full_scale
->my
) * 100;
665 p
->range
[5].range
.min
=
666 -get_s16(&full_scale
->mz
) * 100;
667 p
->range
[5].range
.max
=
668 get_s16(&full_scale
->mz
) * 100;
669 p
->range
[6].range
.min
= -get_s16(&full_scale
->v1
) * 100; /* ?? */
670 p
->range
[6].range
.max
= get_s16(&full_scale
->v1
) * 100; /* ?? */
671 p
->range
[7].range
.min
= -get_s16(&full_scale
->v2
) * 100; /* ?? */
672 p
->range
[7].range
.max
= get_s16(&full_scale
->v2
) * 100; /* ?? */
673 p
->range
[8].range
.min
= 0;
674 p
->range
[8].range
.max
= 65535;
678 for (i
= 0; i
< 9; i
++) {
679 printk("%d %d - %d\n",
688 use_offset(channel
, 0);
690 state_jr3_init_use_offset_complete
;
691 result
= poll_delay_min_max(40, 100); /* Allow 40 ms for completion */
695 case state_jr3_init_use_offset_complete
:{
696 if (!is_complete(channel
)) {
697 printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel
));
698 result
= poll_delay_min_max(20, 100);
700 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
));
702 set_s16(&channel
->offsets
.fx
, 0);
703 set_s16(&channel
->offsets
.fy
, 0);
704 set_s16(&channel
->offsets
.fz
, 0);
705 set_s16(&channel
->offsets
.mx
, 0);
706 set_s16(&channel
->offsets
.my
, 0);
707 set_s16(&channel
->offsets
.mz
, 0);
711 p
->state
= state_jr3_done
;
715 case state_jr3_done
:{
716 poll_delay_min_max(10000, 20000);
720 poll_delay_min_max(1000, 2000);
728 static void jr3_pci_poll_dev(unsigned long data
)
731 struct comedi_device
*dev
= (struct comedi_device
*) data
;
732 struct jr3_pci_dev_private
*devpriv
= dev
->private;
737 comedi_spin_lock_irqsave(&dev
->spinlock
, flags
);
740 /* Poll all channels that are ready to be polled */
741 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
742 struct jr3_pci_subdev_private
*subdevpriv
= dev
->subdevices
[i
].private;
743 if (now
> subdevpriv
->next_time_min
) {
744 struct poll_delay_t sub_delay
;
746 sub_delay
= jr3_pci_poll_subdevice(&dev
->subdevices
[i
]);
747 subdevpriv
->next_time_min
=
748 jiffies
+ msecs_to_jiffies(sub_delay
.min
);
749 subdevpriv
->next_time_max
=
750 jiffies
+ msecs_to_jiffies(sub_delay
.max
);
751 if (sub_delay
.max
&& sub_delay
.max
< delay
) {
753 * Wake up as late as possible -> poll as many channels as possible
756 delay
= sub_delay
.max
;
760 comedi_spin_unlock_irqrestore(&dev
->spinlock
, flags
);
762 devpriv
->timer
.expires
= jiffies
+ msecs_to_jiffies(delay
);
763 add_timer(&devpriv
->timer
);
766 static int jr3_pci_attach(struct comedi_device
*dev
, struct comedi_devconfig
*it
)
769 struct pci_dev
*card
= NULL
;
770 int opt_bus
, opt_slot
, i
;
771 struct jr3_pci_dev_private
*devpriv
;
773 printk("comedi%d: jr3_pci\n", dev
->minor
);
775 opt_bus
= it
->options
[0];
776 opt_slot
= it
->options
[1];
778 if (sizeof(struct jr3_channel
) != 0xc00) {
779 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
780 (unsigned)sizeof(struct jr3_channel
), 0xc00);
784 result
= alloc_private(dev
, sizeof(struct jr3_pci_dev_private
));
789 devpriv
= dev
->private;
790 init_timer(&devpriv
->timer
);
792 card
= pci_get_device(PCI_VENDOR_ID_JR3
, PCI_ANY_ID
, card
);
797 switch (card
->device
) {
798 case PCI_DEVICE_ID_JR3_1_CHANNEL
:{
799 devpriv
->n_channels
= 1;
802 case PCI_DEVICE_ID_JR3_2_CHANNEL
:{
803 devpriv
->n_channels
= 2;
806 case PCI_DEVICE_ID_JR3_3_CHANNEL
:{
807 devpriv
->n_channels
= 3;
810 case PCI_DEVICE_ID_JR3_4_CHANNEL
:{
811 devpriv
->n_channels
= 4;
815 devpriv
->n_channels
= 0;
818 if (devpriv
->n_channels
>= 1) {
819 if (opt_bus
== 0 && opt_slot
== 0) {
820 /* Take first available card */
822 } else if (opt_bus
== card
->bus
->number
&&
823 opt_slot
== PCI_SLOT(card
->devfn
)) {
824 /* Take requested card */
831 printk(" no jr3_pci found\n");
834 devpriv
->pci_dev
= card
;
835 dev
->board_name
= "jr3_pci";
838 result
= comedi_pci_enable(card
, "jr3_pci");
843 devpriv
->pci_enabled
= 1;
844 devpriv
->iobase
= ioremap(pci_resource_start(card
, 0), sizeof(struct jr3_t
));
845 result
= alloc_subdevices(dev
, devpriv
->n_channels
);
849 dev
->open
= jr3_pci_open
;
850 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
851 dev
->subdevices
[i
].type
= COMEDI_SUBD_AI
;
852 dev
->subdevices
[i
].subdev_flags
= SDF_READABLE
| SDF_GROUND
;
853 dev
->subdevices
[i
].n_chan
= 8 * 7 + 2;
854 dev
->subdevices
[i
].insn_read
= jr3_pci_ai_insn_read
;
855 dev
->subdevices
[i
].private =
856 kzalloc(sizeof(struct jr3_pci_subdev_private
), GFP_KERNEL
);
857 if (dev
->subdevices
[i
].private) {
858 struct jr3_pci_subdev_private
*p
;
861 p
= dev
->subdevices
[i
].private;
862 p
->channel
= &devpriv
->iobase
->channel
[i
].data
;
863 printk("p->channel %p %p (%tx)\n",
864 p
->channel
, devpriv
->iobase
,
865 ((char *)(p
->channel
) -
866 (char *)(devpriv
->iobase
)));
868 for (j
= 0; j
< 8; j
++) {
871 p
->range
[j
].length
= 1;
872 p
->range
[j
].range
.min
= -1000000;
873 p
->range
[j
].range
.max
= 1000000;
874 for (k
= 0; k
< 7; k
++) {
875 p
->range_table_list
[j
+ k
* 8] =
876 (struct comedi_lrange
*) & p
->range
[j
];
877 p
->maxdata_list
[j
+ k
* 8] = 0x7fff;
880 p
->range
[8].length
= 1;
881 p
->range
[8].range
.min
= 0;
882 p
->range
[8].range
.max
= 65536;
884 p
->range_table_list
[56] =
885 (struct comedi_lrange
*) & p
->range
[8];
886 p
->range_table_list
[57] =
887 (struct comedi_lrange
*) & p
->range
[8];
888 p
->maxdata_list
[56] = 0xffff;
889 p
->maxdata_list
[57] = 0xffff;
890 /* Channel specific range and maxdata */
891 dev
->subdevices
[i
].range_table
= 0;
892 dev
->subdevices
[i
].range_table_list
=
894 dev
->subdevices
[i
].maxdata
= 0;
895 dev
->subdevices
[i
].maxdata_list
= p
->maxdata_list
;
900 devpriv
->iobase
->channel
[0].reset
= 0;
902 result
= comedi_load_firmware(dev
, "jr3pci.idm", jr3_download_firmware
);
903 printk("Firmare load %d\n", result
);
909 * TODO: use firmware to load preferred offset tables. Suggested
911 * model serial Fx Fy Fz Mx My Mz\n
913 * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
917 * It takes a few milliseconds for software to settle as much as we
918 * can read firmware version
920 msleep_interruptible(25);
921 for (i
= 0; i
< 0x18; i
++) {
923 get_u16(&devpriv
->iobase
->channel
[0].data
.
927 /* Start card timer */
928 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
929 struct jr3_pci_subdev_private
*p
= dev
->subdevices
[i
].private;
931 p
->next_time_min
= jiffies
+ msecs_to_jiffies(500);
932 p
->next_time_max
= jiffies
+ msecs_to_jiffies(2000);
935 devpriv
->timer
.data
= (unsigned long)dev
;
936 devpriv
->timer
.function
= jr3_pci_poll_dev
;
937 devpriv
->timer
.expires
= jiffies
+ msecs_to_jiffies(1000);
938 add_timer(&devpriv
->timer
);
944 static int jr3_pci_detach(struct comedi_device
*dev
)
947 struct jr3_pci_dev_private
*devpriv
= dev
->private;
949 printk("comedi%d: jr3_pci: remove\n", dev
->minor
);
951 del_timer_sync(&devpriv
->timer
);
953 if (dev
->subdevices
) {
954 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
955 kfree(dev
->subdevices
[i
].private);
959 if (devpriv
->iobase
) {
960 iounmap((void *)devpriv
->iobase
);
962 if (devpriv
->pci_enabled
) {
963 comedi_pci_disable(devpriv
->pci_dev
);
966 if (devpriv
->pci_dev
) {
967 pci_dev_put(devpriv
->pci_dev
);
973 COMEDI_PCI_INITCLEANUP(driver_jr3_pci
, jr3_pci_pci_table
);