SAFE public projects git trees. - safe/jmp/linux-2.6/blob - drivers/staging/comedi/drivers/jr3_pci.c

   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 "comedi_pci.h"
  49 #include "jr3_pci.h"
  50
  51 /* Hotplug firmware loading stuff */
  52
  53 static void comedi_fw_release(struct device *dev)
  54 {
  55         printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n");
  56 }
  57
  58 static struct device comedi_fw_device = {
  59         .init_name = "comedi",
  60         .release = comedi_fw_release
  61 };
  62
  63 typedef int comedi_firmware_callback(comedi_device * dev,
  64         const u8 * data, size_t size);
  65
  66 static int comedi_load_firmware(comedi_device * dev,
  67         char *name, comedi_firmware_callback cb)
  68 {
  69         int result = 0;
  70         const struct firmware *fw;
  71         char *firmware_path;
  72         static const char *prefix = "comedi/";
  73
  74         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
  75         if (!firmware_path) {
  76                 result = -ENOMEM;
  77         } else {
  78                 firmware_path[0] = '\0';
  79                 strcat(firmware_path, prefix);
  80                 strcat(firmware_path, name);
  81                 result = device_register(&comedi_fw_device);
  82                 if (result == 0) {
  83                         result = request_firmware(&fw, firmware_path,
  84                                 &comedi_fw_device);
  85                         if (result == 0) {
  86                                 if (!cb) {
  87                                         result = -EINVAL;
  88                                 } else {
  89                                         result = cb(dev, fw->data, fw->size);
  90                                 }
  91                                 release_firmware(fw);
  92                         }
  93                         device_unregister(&comedi_fw_device);
  94                 }
  95                 kfree(firmware_path);
  96         }
  97         return result;
  98 }
  99
 100 #define PCI_VENDOR_ID_JR3 0x1762
 101 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
 102 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
 103 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
 104 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
 105
 106 static int jr3_pci_attach(comedi_device * dev, comedi_devconfig * it);
 107 static int jr3_pci_detach(comedi_device * dev);
 108
 109 static comedi_driver driver_jr3_pci = {
 110       driver_name:"jr3_pci",
 111       module:THIS_MODULE,
 112       attach:jr3_pci_attach,
 113       detach:jr3_pci_detach,
 114 };
 115
 116 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 117         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
 118                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 119         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
 120                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 121         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
 122                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 123         {PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
 124                 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
 125         {0}
 126 };
 127
 128 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 129
 130 typedef struct {
 131         struct pci_dev *pci_dev;
 132         int pci_enabled;
 133         volatile jr3_t *iobase;
 134         int n_channels;
 135         struct timer_list timer;
 136 } jr3_pci_dev_private;
 137
 138 typedef struct {
 139         int min;
 140         int max;
 141 } poll_delay_t;
 142
 143 typedef struct {
 144         volatile jr3_channel_t *channel;
 145         unsigned long next_time_min;
 146         unsigned long next_time_max;
 147         enum { state_jr3_poll,
 148                 state_jr3_init_wait_for_offset,
 149                 state_jr3_init_transform_complete,
 150                 state_jr3_init_set_full_scale_complete,
 151                 state_jr3_init_use_offset_complete,
 152                 state_jr3_done
 153         } state;
 154         int channel_no;
 155         int serial_no;
 156         int model_no;
 157         struct {
 158                 int length;
 159                 comedi_krange range;
 160         } range[9];
 161         const comedi_lrange *range_table_list[8 * 7 + 2];
 162         lsampl_t maxdata_list[8 * 7 + 2];
 163         u16 errors;
 164         int retries;
 165 } jr3_pci_subdev_private;
 166
 167 static poll_delay_t poll_delay_min_max(int min, int max)
 168 {
 169         poll_delay_t result;
 170
 171         result.min = min;
 172         result.max = max;
 173         return result;
 174 }
 175
 176 static int is_complete(volatile jr3_channel_t * channel)
 177 {
 178         return get_s16(&channel->command_word0) == 0;
 179 }
 180
 181 typedef struct {
 182         struct {
 183                 u16 link_type;
 184                 s16 link_amount;
 185         } link[8];
 186 } transform_t;
 187
 188 static void set_transforms(volatile jr3_channel_t * channel,
 189         transform_t transf, short num)
 190 {
 191         int i;
 192
 193         num &= 0x000f;          // Make sure that 0 <= num <= 15
 194         for (i = 0; i < 8; i++) {
 195
 196                 set_u16(&channel->transforms[num].link[i].link_type,
 197                         transf.link[i].link_type);
 198                 comedi_udelay(1);
 199                 set_s16(&channel->transforms[num].link[i].link_amount,
 200                         transf.link[i].link_amount);
 201                 comedi_udelay(1);
 202                 if (transf.link[i].link_type == end_x_form) {
 203                         break;
 204                 }
 205         }
 206 }
 207
 208 static void use_transform(volatile jr3_channel_t * channel, short transf_num)
 209 {
 210         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 211 }
 212
 213 static void use_offset(volatile jr3_channel_t * channel, short offset_num)
 214 {
 215         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 216 }
 217
 218 static void set_offset(volatile jr3_channel_t * channel)
 219 {
 220         set_s16(&channel->command_word0, 0x0700);
 221 }
 222
 223 typedef struct {
 224         s16 fx;
 225         s16 fy;
 226         s16 fz;
 227         s16 mx;
 228         s16 my;
 229         s16 mz;
 230 } six_axis_t;
 231
 232 static void set_full_scales(volatile jr3_channel_t * channel,
 233         six_axis_t full_scale)
 234 {
 235         printk("%d %d %d %d %d %d\n",
 236                 full_scale.fx,
 237                 full_scale.fy,
 238                 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 239         set_s16(&channel->full_scale.fx, full_scale.fx);
 240         set_s16(&channel->full_scale.fy, full_scale.fy);
 241         set_s16(&channel->full_scale.fz, full_scale.fz);
 242         set_s16(&channel->full_scale.mx, full_scale.mx);
 243         set_s16(&channel->full_scale.my, full_scale.my);
 244         set_s16(&channel->full_scale.mz, full_scale.mz);
 245         set_s16(&channel->command_word0, 0x0a00);
 246 }
 247
 248 static six_axis_t get_min_full_scales(volatile jr3_channel_t * channel)
 249 {
 250         six_axis_t result;
 251         result.fx = get_s16(&channel->min_full_scale.fx);
 252         result.fy = get_s16(&channel->min_full_scale.fy);
 253         result.fz = get_s16(&channel->min_full_scale.fz);
 254         result.mx = get_s16(&channel->min_full_scale.mx);
 255         result.my = get_s16(&channel->min_full_scale.my);
 256         result.mz = get_s16(&channel->min_full_scale.mz);
 257         return result;
 258 }
 259
 260 static six_axis_t get_max_full_scales(volatile jr3_channel_t * channel)
 261 {
 262         six_axis_t result;
 263         result.fx = get_s16(&channel->max_full_scale.fx);
 264         result.fy = get_s16(&channel->max_full_scale.fy);
 265         result.fz = get_s16(&channel->max_full_scale.fz);
 266         result.mx = get_s16(&channel->max_full_scale.mx);
 267         result.my = get_s16(&channel->max_full_scale.my);
 268         result.mz = get_s16(&channel->max_full_scale.mz);
 269         return result;
 270 }
 271
 272 static int jr3_pci_ai_insn_read(comedi_device * dev, comedi_subdevice * s,
 273         comedi_insn * insn, lsampl_t * data)
 274 {
 275         int result;
 276         jr3_pci_subdev_private *p;
 277         int channel;
 278
 279         p = s->private;
 280         channel = CR_CHAN(insn->chanspec);
 281         if (p == NULL || channel > 57) {
 282                 result = -EINVAL;
 283         } else {
 284                 int i;
 285
 286                 result = insn->n;
 287                 if (p->state != state_jr3_done ||
 288                         (get_u16(&p->channel->
 289                                         errors) & (watch_dog | watch_dog2 |
 290                                         sensor_change))) {
 291                         /* No sensor or sensor changed */
 292                         if (p->state == state_jr3_done) {
 293                                 /* Restart polling */
 294                                 p->state = state_jr3_poll;
 295                         }
 296                         result = -EAGAIN;
 297                 }
 298                 for (i = 0; i < insn->n; i++) {
 299                         if (channel < 56) {
 300                                 int axis, filter;
 301
 302                                 axis = channel % 8;
 303                                 filter = channel / 8;
 304                                 if (p->state != state_jr3_done) {
 305                                         data[i] = 0;
 306                                 } else {
 307                                         int F = 0;
 308                                         switch (axis) {
 309                                         case 0:{
 310                                                         F = get_s16(&p->
 311                                                                 channel->
 312                                                                 filter[filter].
 313                                                                 fx);
 314                                                 }
 315                                                 break;
 316                                         case 1:{
 317                                                         F = get_s16(&p->
 318                                                                 channel->
 319                                                                 filter[filter].
 320                                                                 fy);
 321                                                 }
 322                                                 break;
 323                                         case 2:{
 324                                                         F = get_s16(&p->
 325                                                                 channel->
 326                                                                 filter[filter].
 327                                                                 fz);
 328                                                 }
 329                                                 break;
 330                                         case 3:{
 331                                                         F = get_s16(&p->
 332                                                                 channel->
 333                                                                 filter[filter].
 334                                                                 mx);
 335                                                 }
 336                                                 break;
 337                                         case 4:{
 338                                                         F = get_s16(&p->
 339                                                                 channel->
 340                                                                 filter[filter].
 341                                                                 my);
 342                                                 }
 343                                                 break;
 344                                         case 5:{
 345                                                         F = get_s16(&p->
 346                                                                 channel->
 347                                                                 filter[filter].
 348                                                                 mz);
 349                                                 }
 350                                                 break;
 351                                         case 6:{
 352                                                         F = get_s16(&p->
 353                                                                 channel->
 354                                                                 filter[filter].
 355                                                                 v1);
 356                                                 }
 357                                                 break;
 358                                         case 7:{
 359                                                         F = get_s16(&p->
 360                                                                 channel->
 361                                                                 filter[filter].
 362                                                                 v2);
 363                                                 }
 364                                                 break;
 365                                         }
 366                                         data[i] = F + 0x4000;
 367                                 }
 368                         } else if (channel == 56) {
 369                                 if (p->state != state_jr3_done) {
 370                                         data[i] = 0;
 371                                 } else {
 372                                         data[i] =
 373                                                 get_u16(&p->channel->model_no);
 374                                 }
 375                         } else if (channel == 57) {
 376                                 if (p->state != state_jr3_done) {
 377                                         data[i] = 0;
 378                                 } else {
 379                                         data[i] =
 380                                                 get_u16(&p->channel->serial_no);
 381                                 }
 382                         }
 383                 }
 384         }
 385         return result;
 386 }
 387
 388 static void jr3_pci_open(comedi_device * dev)
 389 {
 390         int i;
 391         jr3_pci_dev_private *devpriv = dev->private;
 392
 393         printk("jr3_pci_open\n");
 394         for (i = 0; i < devpriv->n_channels; i++) {
 395                 jr3_pci_subdev_private *p;
 396
 397                 p = dev->subdevices[i].private;
 398                 if (p) {
 399                         printk("serial: %p %d (%d)\n", p, p->serial_no,
 400                                 p->channel_no);
 401                 }
 402         }
 403 }
 404
 405 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 406 {
 407         int result = 0;
 408         if (pos != 0 && val != 0) {
 409                 // Skip over non hex
 410                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 411                 }
 412                 // Collect value
 413                 *val = 0;
 414                 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
 415                         char ch = tolower(data[*pos]);
 416                         result = 1;
 417                         if ('0' <= ch && ch <= '9') {
 418                                 *val = (*val << 4) + (ch - '0');
 419                         } else if ('a' <= ch && ch <= 'f') {
 420                                 *val = (*val << 4) + (ch - 'a' + 10);
 421                         }
 422                 }
 423         }
 424         return result;
 425 }
 426
 427 static int jr3_download_firmware(comedi_device * dev, const u8 * data,
 428         size_t size)
 429 {
 430         /*
 431          * IDM file format is:
 432          *   { count, address, data <count> } *
 433          *   ffff
 434          */
 435         int result, more, pos, OK;
 436
 437         result = 0;
 438         more = 1;
 439         pos = 0;
 440         OK = 0;
 441         while (more) {
 442                 unsigned int count, addr;
 443
 444                 more = more && read_idm_word(data, size, &pos, &count);
 445                 if (more && count == 0xffff) {
 446                         OK = 1;
 447                         break;
 448                 }
 449                 more = more && read_idm_word(data, size, &pos, &addr);
 450                 while (more && count > 0) {
 451                         unsigned int dummy;
 452                         more = more && read_idm_word(data, size, &pos, &dummy);
 453                         count--;
 454                 }
 455         }
 456
 457         if (!OK) {
 458                 result = -ENODATA;
 459         } else {
 460                 int i;
 461                 jr3_pci_dev_private *p = dev->private;
 462
 463                 for (i = 0; i < p->n_channels; i++) {
 464                         jr3_pci_subdev_private *sp;
 465
 466                         sp = dev->subdevices[i].private;
 467                         more = 1;
 468                         pos = 0;
 469                         while (more) {
 470                                 unsigned int count, addr;
 471                                 more = more
 472                                         && read_idm_word(data, size, &pos,
 473                                         &count);
 474                                 if (more && count == 0xffff) {
 475                                         break;
 476                                 }
 477                                 more = more
 478                                         && read_idm_word(data, size, &pos,
 479                                         &addr);
 480                                 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
 481                                         count, addr);
 482                                 while (more && count > 0) {
 483                                         if (addr & 0x4000) {
 484                                                 // 16 bit data, never seen in real life!!
 485                                                 unsigned int data1;
 486
 487                                                 more = more
 488                                                         && read_idm_word(data,
 489                                                         size, &pos, &data1);
 490                                                 count--;
 491                                                 // printk("jr3_data, not tested\n");
 492                                                 //        jr3[addr + 0x20000 * pnum] = data1;
 493                                         } else {
 494                                                 //  Download 24 bit program
 495                                                 unsigned int data1, data2;
 496
 497                                                 more = more
 498                                                         && read_idm_word(data,
 499                                                         size, &pos, &data1);
 500                                                 more = more
 501                                                         && read_idm_word(data,
 502                                                         size, &pos, &data2);
 503                                                 count -= 2;
 504                                                 if (more) {
 505                                                         set_u16(&p->iobase->
 506                                                                 channel[i].
 507                                                                 program_low
 508                                                                 [addr], data1);
 509                                                         comedi_udelay(1);
 510                                                         set_u16(&p->iobase->
 511                                                                 channel[i].
 512                                                                 program_high
 513                                                                 [addr], data2);
 514                                                         comedi_udelay(1);
 515
 516                                                 }
 517                                         }
 518                                         addr++;
 519                                 }
 520                         }
 521                 }
 522         }
 523         return result;
 524 }
 525
 526 static poll_delay_t jr3_pci_poll_subdevice(comedi_subdevice * s)
 527 {
 528         poll_delay_t result = poll_delay_min_max(1000, 2000);
 529         jr3_pci_subdev_private *p = s->private;
 530
 531         if (p) {
 532                 volatile jr3_channel_t *channel = p->channel;
 533                 int errors = get_u16(&channel->errors);
 534
 535                 if (errors != p->errors) {
 536                         printk("Errors: %x -> %x\n", p->errors, errors);
 537                         p->errors = errors;
 538                 }
 539                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 540                         // Sensor communication lost, force poll mode
 541                         p->state = state_jr3_poll;
 542
 543                 }
 544                 switch (p->state) {
 545                 case state_jr3_poll:{
 546                                 u16 model_no = get_u16(&channel->model_no);
 547                                 u16 serial_no = get_u16(&channel->serial_no);
 548                                 if ((errors & (watch_dog | watch_dog2)) ||
 549                                         model_no == 0 || serial_no == 0) {
 550                                         // Still no sensor, keep on polling. Since it takes up to
 551                                         // 10 seconds for offsets to stabilize, polling each
 552                                         // second should suffice.
 553                                         result = poll_delay_min_max(1000, 2000);
 554                                 } else {
 555                                         p->retries = 0;
 556                                         p->state =
 557                                                 state_jr3_init_wait_for_offset;
 558                                         result = poll_delay_min_max(1000, 2000);
 559                                 }
 560                         }
 561                         break;
 562                 case state_jr3_init_wait_for_offset:{
 563                                 p->retries++;
 564                                 if (p->retries < 10) {
 565                                         // Wait for offeset to stabilize (< 10 s according to manual)
 566                                         result = poll_delay_min_max(1000, 2000);
 567                                 } else {
 568                                         transform_t transf;
 569
 570                                         p->model_no =
 571                                                 get_u16(&channel->model_no);
 572                                         p->serial_no =
 573                                                 get_u16(&channel->serial_no);
 574
 575                                         printk("Setting transform for channel %d\n", p->channel_no);
 576                                         printk("Sensor Model     = %i\n",
 577                                                 p->model_no);
 578                                         printk("Sensor Serial    = %i\n",
 579                                                 p->serial_no);
 580
 581                                         // Transformation all zeros
 582                                         transf.link[0].link_type =
 583                                                 (enum link_types)0;
 584                                         transf.link[0].link_amount = 0;
 585                                         transf.link[1].link_type =
 586                                                 (enum link_types)0;
 587                                         transf.link[1].link_amount = 0;
 588                                         transf.link[2].link_type =
 589                                                 (enum link_types)0;
 590                                         transf.link[2].link_amount = 0;
 591                                         transf.link[3].link_type =
 592                                                 (enum link_types)0;
 593                                         transf.link[3].link_amount = 0;
 594
 595                                         set_transforms(channel, transf, 0);
 596                                         use_transform(channel, 0);
 597                                         p->state =
 598                                                 state_jr3_init_transform_complete;
 599                                         result = poll_delay_min_max(20, 100);   // Allow 20 ms for completion
 600                                 }
 601                         } break;
 602                 case state_jr3_init_transform_complete:{
 603                                 if (!is_complete(channel)) {
 604                                         printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
 605                                         result = poll_delay_min_max(20, 100);
 606                                 } else {
 607                                         // Set full scale
 608                                         six_axis_t min_full_scale;
 609                                         six_axis_t max_full_scale;
 610
 611                                         min_full_scale =
 612                                                 get_min_full_scales(channel);
 613                                         printk("Obtained Min. Full Scales:\n");
 614                                         printk("%i   ", (min_full_scale).fx);
 615                                         printk("%i   ", (min_full_scale).fy);
 616                                         printk("%i   ", (min_full_scale).fz);
 617                                         printk("%i   ", (min_full_scale).mx);
 618                                         printk("%i   ", (min_full_scale).my);
 619                                         printk("%i   ", (min_full_scale).mz);
 620                                         printk("\n");
 621
 622                                         max_full_scale =
 623                                                 get_max_full_scales(channel);
 624                                         printk("Obtained Max. Full Scales:\n");
 625                                         printk("%i   ", (max_full_scale).fx);
 626                                         printk("%i   ", (max_full_scale).fy);
 627                                         printk("%i   ", (max_full_scale).fz);
 628                                         printk("%i   ", (max_full_scale).mx);
 629                                         printk("%i   ", (max_full_scale).my);
 630                                         printk("%i   ", (max_full_scale).mz);
 631                                         printk("\n");
 632
 633                                         set_full_scales(channel,
 634                                                 max_full_scale);
 635
 636                                         p->state =
 637                                                 state_jr3_init_set_full_scale_complete;
 638                                         result = poll_delay_min_max(20, 100);   // Allow 20 ms for completion
 639                                 }
 640                         }
 641                         break;
 642                 case state_jr3_init_set_full_scale_complete:{
 643                                 if (!is_complete(channel)) {
 644                                         printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
 645                                         result = poll_delay_min_max(20, 100);
 646                                 } else {
 647                                         volatile force_array_t *full_scale;
 648
 649                                         // Use ranges in kN or we will overflow arount 2000N!
 650                                         full_scale = &channel->full_scale;
 651                                         p->range[0].range.min =
 652                                                 -get_s16(&full_scale->fx) *
 653                                                 1000;
 654                                         p->range[0].range.max =
 655                                                 get_s16(&full_scale->fx) * 1000;
 656                                         p->range[1].range.min =
 657                                                 -get_s16(&full_scale->fy) *
 658                                                 1000;
 659                                         p->range[1].range.max =
 660                                                 get_s16(&full_scale->fy) * 1000;
 661                                         p->range[2].range.min =
 662                                                 -get_s16(&full_scale->fz) *
 663                                                 1000;
 664                                         p->range[2].range.max =
 665                                                 get_s16(&full_scale->fz) * 1000;
 666                                         p->range[3].range.min =
 667                                                 -get_s16(&full_scale->mx) * 100;
 668                                         p->range[3].range.max =
 669                                                 get_s16(&full_scale->mx) * 100;
 670                                         p->range[4].range.min =
 671                                                 -get_s16(&full_scale->my) * 100;
 672                                         p->range[4].range.max =
 673                                                 get_s16(&full_scale->my) * 100;
 674                                         p->range[5].range.min =
 675                                                 -get_s16(&full_scale->mz) * 100;
 676                                         p->range[5].range.max =
 677                                                 get_s16(&full_scale->mz) * 100;
 678                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        // ??
 679                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ??
 680                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        // ??
 681                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ??
 682                                         p->range[8].range.min = 0;
 683                                         p->range[8].range.max = 65535;
 684
 685                                         {
 686                                                 int i;
 687                                                 for (i = 0; i < 9; i++) {
 688                                                         printk("%d %d - %d\n",
 689                                                                 i,
 690                                                                 p->range[i].
 691                                                                 range.min,
 692                                                                 p->range[i].
 693                                                                 range.max);
 694                                                 }
 695                                         }
 696
 697                                         use_offset(channel, 0);
 698                                         p->state =
 699                                                 state_jr3_init_use_offset_complete;
 700                                         result = poll_delay_min_max(40, 100);   // Allow 40 ms for completion
 701                                 }
 702                         }
 703                         break;
 704                 case state_jr3_init_use_offset_complete:{
 705                                 if (!is_complete(channel)) {
 706                                         printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
 707                                         result = poll_delay_min_max(20, 100);
 708                                 } else {
 709                                         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));
 710
 711                                         set_s16(&channel->offsets.fx, 0);
 712                                         set_s16(&channel->offsets.fy, 0);
 713                                         set_s16(&channel->offsets.fz, 0);
 714                                         set_s16(&channel->offsets.mx, 0);
 715                                         set_s16(&channel->offsets.my, 0);
 716                                         set_s16(&channel->offsets.mz, 0);
 717
 718                                         set_offset(channel);
 719
 720                                         p->state = state_jr3_done;
 721                                 }
 722                         }
 723                         break;
 724                 case state_jr3_done:{
 725                                 poll_delay_min_max(10000, 20000);
 726                         }
 727                         break;
 728                 default:{
 729                                 poll_delay_min_max(1000, 2000);
 730                         }
 731                         break;
 732                 }
 733         }
 734         return result;
 735 }
 736
 737 static void jr3_pci_poll_dev(unsigned long data)
 738 {
 739         unsigned long flags;
 740         comedi_device *dev = (comedi_device *) data;
 741         jr3_pci_dev_private *devpriv = dev->private;
 742         unsigned long now;
 743         int delay;
 744         int i;
 745
 746         comedi_spin_lock_irqsave(&dev->spinlock, flags);
 747         delay = 1000;
 748         now = jiffies;
 749         // Poll all channels that are ready to be polled
 750         for (i = 0; i < devpriv->n_channels; i++) {
 751                 jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
 752                 if (now > subdevpriv->next_time_min) {
 753                         poll_delay_t sub_delay;
 754
 755                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 756                         subdevpriv->next_time_min =
 757                                 jiffies + msecs_to_jiffies(sub_delay.min);
 758                         subdevpriv->next_time_max =
 759                                 jiffies + msecs_to_jiffies(sub_delay.max);
 760                         if (sub_delay.max && sub_delay.max < delay) {
 761                                 // Wake up as late as possible -> poll as many channels as
 762                                 // possible at once
 763                                 delay = sub_delay.max;
 764                         }
 765                 }
 766         }
 767         comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
 768
 769         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 770         add_timer(&devpriv->timer);
 771 }
 772
 773 static int jr3_pci_attach(comedi_device * dev, comedi_devconfig * it)
 774 {
 775         int result = 0;
 776         struct pci_dev *card = NULL;
 777         int opt_bus, opt_slot, i;
 778         jr3_pci_dev_private *devpriv;
 779
 780         printk("comedi%d: jr3_pci\n", dev->minor);
 781
 782         opt_bus = it->options[0];
 783         opt_slot = it->options[1];
 784
 785         if (sizeof(jr3_channel_t) != 0xc00) {
 786                 printk("sizeof(jr3_channel_t) = %x [expected %x]\n",
 787                         (unsigned)sizeof(jr3_channel_t), 0xc00);
 788                 return -EINVAL;
 789         }
 790
 791         result = alloc_private(dev, sizeof(jr3_pci_dev_private));
 792         if (result < 0) {
 793                 return -ENOMEM;
 794         }
 795         card = NULL;
 796         devpriv = dev->private;
 797         init_timer(&devpriv->timer);
 798         while (1) {
 799                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 800                 if (card == NULL) {
 801                         /* No card found */
 802                         break;
 803                 } else {
 804                         switch (card->device) {
 805                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 806                                         devpriv->n_channels = 1;
 807                                 }
 808                                 break;
 809                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 810                                         devpriv->n_channels = 2;
 811                                 }
 812                                 break;
 813                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 814                                         devpriv->n_channels = 3;
 815                                 }
 816                                 break;
 817                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 818                                         devpriv->n_channels = 4;
 819                                 }
 820                                 break;
 821                         default:{
 822                                         devpriv->n_channels = 0;
 823                                 }
 824                         }
 825                         if (devpriv->n_channels >= 1) {
 826                                 if (opt_bus == 0 && opt_slot == 0) {
 827                                         /* Take first available card */
 828                                         break;
 829                                 } else if (opt_bus == card->bus->number &&
 830                                         opt_slot == PCI_SLOT(card->devfn)) {
 831                                         /* Take requested card */
 832                                         break;
 833                                 }
 834                         }
 835                 }
 836         }
 837         if (!card) {
 838                 printk(" no jr3_pci found\n");
 839                 return -EIO;
 840         } else {
 841                 devpriv->pci_dev = card;
 842                 dev->board_name = "jr3_pci";
 843         }
 844         if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) {
 845                 return -EIO;
 846         }
 847         devpriv->pci_enabled = 1;
 848         devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(jr3_t));
 849         result = alloc_subdevices(dev, devpriv->n_channels);
 850         if (result < 0)
 851                 goto out;
 852
 853         dev->open = jr3_pci_open;
 854         for (i = 0; i < devpriv->n_channels; i++) {
 855                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 856                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 857                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 858                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 859                 dev->subdevices[i].private =
 860                         kzalloc(sizeof(jr3_pci_subdev_private), GFP_KERNEL);
 861                 if (dev->subdevices[i].private) {
 862                         jr3_pci_subdev_private *p;
 863                         int j;
 864
 865                         p = dev->subdevices[i].private;
 866                         p->channel = &devpriv->iobase->channel[i].data;
 867                         printk("p->channel %p %p (%tx)\n",
 868                                 p->channel, devpriv->iobase,
 869                                 ((char *)(p->channel) -
 870                                         (char *)(devpriv->iobase)));
 871                         p->channel_no = i;
 872                         for (j = 0; j < 8; j++) {
 873                                 int k;
 874
 875                                 p->range[j].length = 1;
 876                                 p->range[j].range.min = -1000000;
 877                                 p->range[j].range.max = 1000000;
 878                                 for (k = 0; k < 7; k++) {
 879                                         p->range_table_list[j + k * 8] =
 880                                                 (comedi_lrange *) & p->range[j];
 881                                         p->maxdata_list[j + k * 8] = 0x7fff;
 882                                 }
 883                         }
 884                         p->range[8].length = 1;
 885                         p->range[8].range.min = 0;
 886                         p->range[8].range.max = 65536;
 887
 888                         p->range_table_list[56] =
 889                                 (comedi_lrange *) & p->range[8];
 890                         p->range_table_list[57] =
 891                                 (comedi_lrange *) & p->range[8];
 892                         p->maxdata_list[56] = 0xffff;
 893                         p->maxdata_list[57] = 0xffff;
 894                         // Channel specific range and maxdata
 895                         dev->subdevices[i].range_table = 0;
 896                         dev->subdevices[i].range_table_list =
 897                                 p->range_table_list;
 898                         dev->subdevices[i].maxdata = 0;
 899                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 900                 }
 901         }
 902
 903         // Reset DSP card
 904         devpriv->iobase->channel[0].reset = 0;
 905
 906         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 907         printk("Firmare load %d\n", result);
 908
 909         if (result < 0) {
 910                 goto out;
 911         }
 912         // TODO: use firmware to load preferred offset tables. Suggested 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         // It takes a few milliseconds for software to settle
 918         // as much as we can read firmware version
 919         msleep_interruptible(25);
 920         for (i = 0; i < 0x18; i++) {
 921                 printk("%c",
 922                         get_u16(&devpriv->iobase->channel[0].data.
 923                                 copyright[i]) >> 8);
 924         }
 925
 926         // Start card timer
 927         for (i = 0; i < devpriv->n_channels; i++) {
 928                 jr3_pci_subdev_private *p = dev->subdevices[i].private;
 929
 930                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 931                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 932         }
 933
 934         devpriv->timer.data = (unsigned long)dev;
 935         devpriv->timer.function = jr3_pci_poll_dev;
 936         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 937         add_timer(&devpriv->timer);
 938
 939       out:
 940         return result;
 941 }
 942
 943 static int jr3_pci_detach(comedi_device * dev)
 944 {
 945         int i;
 946         jr3_pci_dev_private *devpriv = dev->private;
 947
 948         printk("comedi%d: jr3_pci: remove\n", dev->minor);
 949         if (devpriv) {
 950                 del_timer_sync(&devpriv->timer);
 951
 952                 if (dev->subdevices) {
 953                         for (i = 0; i < devpriv->n_channels; i++) {
 954                                 kfree(dev->subdevices[i].private);
 955                         }
 956                 }
 957
 958                 if (devpriv->iobase) {
 959                         iounmap((void *)devpriv->iobase);
 960                 }
 961                 if (devpriv->pci_enabled) {
 962                         comedi_pci_disable(devpriv->pci_dev);
 963                 }
 964
 965                 if (devpriv->pci_dev) {
 966                         pci_dev_put(devpriv->pci_dev);
 967                 }
 968         }
 969         return 0;
 970 }
 971
 972 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);