1/* Helper types to take care of the fact that the DSP card memory 2 * is 16 bits, but aligned on a 32 bit PCI boundary 3 */ 4 5static inline u16 get_u16(const u32 __iomem *p) 6{ 7 return (u16)readl(p); 8} 9 10static inline void set_u16(u32 __iomem *p, u16 val) 11{ 12 writel(val, p); 13} 14 15static inline s16 get_s16(const s32 __iomem *p) 16{ 17 return (s16)readl(p); 18} 19 20static inline void set_s16(s32 __iomem *p, s16 val) 21{ 22 writel(val, p); 23} 24 25/* The raw data is stored in a format which facilitates rapid 26 * processing by the JR3 DSP chip. The raw_channel structure shows the 27 * format for a single channel of data. Each channel takes four, 28 * two-byte words. 29 * 30 * Raw_time is an unsigned integer which shows the value of the JR3 31 * DSP's internal clock at the time the sample was received. The clock 32 * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10 33 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz. 34 * 35 * Raw_data is the raw data received directly from the sensor. The 36 * sensor data stream is capable of representing 16 different 37 * channels. Channel 0 shows the excitation voltage at the sensor. It 38 * is used to regulate the voltage over various cable lengths. 39 * Channels 1-6 contain the coupled force data Fx through Mz. Channel 40 * 7 contains the sensor's calibration data. The use of channels 8-15 41 * varies with different sensors. 42 */ 43 44struct raw_channel { 45 u32 raw_time; 46 s32 raw_data; 47 s32 reserved[2]; 48}; 49 50/* The force_array structure shows the layout for the decoupled and 51 * filtered force data. 52 */ 53struct force_array { 54 s32 fx; 55 s32 fy; 56 s32 fz; 57 s32 mx; 58 s32 my; 59 s32 mz; 60 s32 v1; 61 s32 v2; 62}; 63 64/* The six_axis_array structure shows the layout for the offsets and 65 * the full scales. 66 */ 67struct six_axis_array { 68 s32 fx; 69 s32 fy; 70 s32 fz; 71 s32 mx; 72 s32 my; 73 s32 mz; 74}; 75 76/* VECT_BITS */ 77/* The vect_bits structure shows the layout for indicating 78 * which axes to use in computing the vectors. Each bit signifies 79 * selection of a single axis. The V1x axis bit corresponds to a hex 80 * value of 0x0001 and the V2z bit corresponds to a hex value of 81 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the 82 * pattern would be 0x002b. Vector 1 defaults to a force vector and 83 * vector 2 defaults to a moment vector. It is possible to change one 84 * or the other so that two force vectors or two moment vectors are 85 * calculated. Setting the changeV1 bit or the changeV2 bit will 86 * change that vector to be the opposite of its default. Therefore to 87 * have two force vectors, set changeV1 to 1. 88 */ 89 90/* vect_bits appears to be unused at this time */ 91enum { 92 fx = 0x0001, 93 fy = 0x0002, 94 fz = 0x0004, 95 mx = 0x0008, 96 my = 0x0010, 97 mz = 0x0020, 98 changeV2 = 0x0040, 99 changeV1 = 0x0080 100}; 101 102/* WARNING_BITS */ 103/* The warning_bits structure shows the bit pattern for the warning 104 * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb). 105 */ 106 107/* XX_NEAR_SET */ 108/* The xx_near_sat bits signify that the indicated axis has reached or 109 * exceeded the near saturation value. 110 */ 111 112enum { 113 fx_near_sat = 0x0001, 114 fy_near_sat = 0x0002, 115 fz_near_sat = 0x0004, 116 mx_near_sat = 0x0008, 117 my_near_sat = 0x0010, 118 mz_near_sat = 0x0020 119}; 120 121/* ERROR_BITS */ 122/* XX_SAT */ 123/* MEMORY_ERROR */ 124/* SENSOR_CHANGE */ 125 126/* The error_bits structure shows the bit pattern for the error word. 127 * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The 128 * xx_sat bits signify that the indicated axis has reached or exceeded 129 * the saturation value. The memory_error bit indicates that a problem 130 * was detected in the on-board RAM during the power-up 131 * initialization. The sensor_change bit indicates that a sensor other 132 * than the one originally plugged in has passed its CRC check. This 133 * bit latches, and must be reset by the user. 134 * 135 */ 136 137/* SYSTEM_BUSY */ 138 139/* The system_busy bit indicates that the JR3 DSP is currently busy 140 * and is not calculating force data. This occurs when a new 141 * coordinate transformation, or new sensor full scale is set by the 142 * user. A very fast system using the force data for feedback might 143 * become unstable during the approximately 4 ms needed to accomplish 144 * these calculations. This bit will also become active when a new 145 * sensor is plugged in and the system needs to recalculate the 146 * calibration CRC. 147 */ 148 149/* CAL_CRC_BAD */ 150 151/* The cal_crc_bad bit indicates that the calibration CRC has not 152 * calculated to zero. CRC is short for cyclic redundancy code. It is 153 * a method for determining the integrity of messages in data 154 * communication. The calibration data stored inside the sensor is 155 * transmitted to the JR3 DSP along with the sensor data. The 156 * calibration data has a CRC attached to the end of it, to assist in 157 * determining the completeness and integrity of the calibration data 158 * received from the sensor. There are two reasons the CRC may not 159 * have calculated to zero. The first is that all the calibration data 160 * has not yet been received, the second is that the calibration data 161 * has been corrupted. A typical sensor transmits the entire contents 162 * of its calibration matrix over 30 times a second. Therefore, if 163 * this bit is not zero within a couple of seconds after the sensor 164 * has been plugged in, there is a problem with the sensor's 165 * calibration data. 166 */ 167 168/* WATCH_DOG */ 169/* WATCH_DOG2 */ 170 171/* The watch_dog and watch_dog2 bits are sensor, not processor, watch 172 * dog bits. Watch_dog indicates that the sensor data line seems to be 173 * acting correctly, while watch_dog2 indicates that sensor data and 174 * clock are being received. It is possible for watch_dog2 to go off 175 * while watch_dog does not. This would indicate an improper clock 176 * signal, while data is acting correctly. If either watch dog barks, 177 * the sensor data is not being received correctly. 178 */ 179 180enum error_bits_t { 181 fx_sat = 0x0001, 182 fy_sat = 0x0002, 183 fz_sat = 0x0004, 184 mx_sat = 0x0008, 185 my_sat = 0x0010, 186 mz_sat = 0x0020, 187 memory_error = 0x0400, 188 sensor_change = 0x0800, 189 system_busy = 0x1000, 190 cal_crc_bad = 0x2000, 191 watch_dog2 = 0x4000, 192 watch_dog = 0x8000 193}; 194 195/* THRESH_STRUCT */ 196 197/* This structure shows the layout for a single threshold packet inside of a 198 * load envelope. Each load envelope can contain several threshold structures. 199 * 1. data_address contains the address of the data for that threshold. This 200 * includes filtered, unfiltered, raw, rate, counters, error and warning data 201 * 2. threshold is the is the value at which, if data is above or below, the 202 * bits will be set ... (pag.24). 203 * 3. bit_pattern contains the bits that will be set if the threshold value is 204 * met or exceeded. 205 */ 206 207struct thresh_struct { 208 s32 data_address; 209 s32 threshold; 210 s32 bit_pattern; 211}; 212 213/* LE_STRUCT */ 214 215/* Layout of a load enveloped packet. Four thresholds are showed ... for more 216 * see manual (pag.25) 217 * 1. latch_bits is a bit pattern that show which bits the user wants to latch. 218 * The latched bits will not be reset once the threshold which set them is 219 * no longer true. In that case the user must reset them using the reset_bit 220 * command. 221 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are. 222 */ 223struct le_struct { 224 s32 latch_bits; 225 s32 number_of_ge_thresholds; 226 s32 number_of_le_thresholds; 227 struct thresh_struct thresholds[4]; 228 s32 reserved; 229}; 230 231/* LINK_TYPES */ 232/* Link types is an enumerated value showing the different possible transform 233 * link types. 234 * 0 - end transform packet 235 * 1 - translate along X axis (TX) 236 * 2 - translate along Y axis (TY) 237 * 3 - translate along Z axis (TZ) 238 * 4 - rotate about X axis (RX) 239 * 5 - rotate about Y axis (RY) 240 * 6 - rotate about Z axis (RZ) 241 * 7 - negate all axes (NEG) 242 */ 243 244enum link_types { 245 end_x_form, 246 tx, 247 ty, 248 tz, 249 rx, 250 ry, 251 rz, 252 neg 253}; 254 255/* TRANSFORM */ 256/* Structure used to describe a transform. */ 257struct intern_transform { 258 struct { 259 u32 link_type; 260 s32 link_amount; 261 } link[8]; 262}; 263 264/* JR3 force/torque sensor data definition. For more information see sensor and */ 265/* hardware manuals. */ 266 267struct jr3_channel { 268 /* Raw_channels is the area used to store the raw data coming from */ 269 /* the sensor. */ 270 271 struct raw_channel raw_channels[16]; /* offset 0x0000 */ 272 273 /* Copyright is a null terminated ASCII string containing the JR3 */ 274 /* copyright notice. */ 275 276 u32 copyright[0x0018]; /* offset 0x0040 */ 277 s32 reserved1[0x0008]; /* offset 0x0058 */ 278 279 /* Shunts contains the sensor shunt readings. Some JR3 sensors have 280 * the ability to have their gains adjusted. This allows the 281 * hardware full scales to be adjusted to potentially allow 282 * better resolution or dynamic range. For sensors that have 283 * this ability, the gain of each sensor channel is measured at 284 * the time of calibration using a shunt resistor. The shunt 285 * resistor is placed across one arm of the resistor bridge, and 286 * the resulting change in the output of that channel is 287 * measured. This measurement is called the shunt reading, and 288 * is recorded here. If the user has changed the gain of the // 289 * sensor, and made new shunt measurements, those shunt 290 * measurements can be placed here. The JR3 DSP will then scale 291 * the calibration matrix such so that the gains are again 292 * proper for the indicated shunt readings. If shunts is 0, then 293 * the sensor cannot have its gain changed. For details on 294 * changing the sensor gain, and making shunts readings, please 295 * see the sensor manual. To make these values take effect the 296 * user must call either command (5) use transform # (pg. 33) or 297 * command (10) set new full scales (pg. 38). 298 */ 299 300 struct six_axis_array shunts; /* offset 0x0060 */ 301 s32 reserved2[2]; /* offset 0x0066 */ 302 303 /* Default_FS contains the full scale that is used if the user does */ 304 /* not set a full scale. */ 305 306 struct six_axis_array default_FS; /* offset 0x0068 */ 307 s32 reserved3; /* offset 0x006e */ 308 309 /* Load_envelope_num is the load envelope number that is currently 310 * in use. This value is set by the user after one of the load 311 * envelopes has been initialized. 312 */ 313 314 s32 load_envelope_num; /* offset 0x006f */ 315 316 /* Min_full_scale is the recommend minimum full scale. */ 317 318 /* These values in conjunction with max_full_scale (pg. 9) helps 319 * determine the appropriate value for setting the full scales. The 320 * software allows the user to set the sensor full scale to an 321 * arbitrary value. But setting the full scales has some hazards. If 322 * the full scale is set too low, the data will saturate 323 * prematurely, and dynamic range will be lost. If the full scale is 324 * set too high, then resolution is lost as the data is shifted to 325 * the right and the least significant bits are lost. Therefore the 326 * maximum full scale is the maximum value at which no resolution is 327 * lost, and the minimum full scale is the value at which the data 328 * will not saturate prematurely. These values are calculated 329 * whenever a new coordinate transformation is calculated. It is 330 * possible for the recommended maximum to be less than the 331 * recommended minimum. This comes about primarily when using 332 * coordinate translations. If this is the case, it means that any 333 * full scale selection will be a compromise between dynamic range 334 * and resolution. It is usually recommended to compromise in favor 335 * of resolution which means that the recommend maximum full scale 336 * should be chosen. 337 * 338 * WARNING: Be sure that the full scale is no less than 0.4% of the 339 * recommended minimum full scale. Full scales below this value will 340 * cause erroneous results. 341 */ 342 343 struct six_axis_array min_full_scale; /* offset 0x0070 */ 344 s32 reserved4; /* offset 0x0076 */ 345 346 /* Transform_num is the transform number that is currently in use. 347 * This value is set by the JR3 DSP after the user has used command 348 * (5) use transform # (pg. 33). 349 */ 350 351 s32 transform_num; /* offset 0x0077 */ 352 353 /* Max_full_scale is the recommended maximum full scale. See */ 354 /* min_full_scale (pg. 9) for more details. */ 355 356 struct six_axis_array max_full_scale; /* offset 0x0078 */ 357 s32 reserved5; /* offset 0x007e */ 358 359 /* Peak_address is the address of the data which will be monitored 360 * by the peak routine. This value is set by the user. The peak 361 * routine will monitor any 8 contiguous addresses for peak values. 362 * (ex. to watch filter3 data for peaks, set this value to 0x00a8). 363 */ 364 365 s32 peak_address; /* offset 0x007f */ 366 367 /* Full_scale is the sensor full scales which are currently in use. 368 * Decoupled and filtered data is scaled so that +/- 16384 is equal 369 * to the full scales. The engineering units used are indicated by 370 * the units value discussed on page 16. The full scales for Fx, Fy, 371 * Fz, Mx, My and Mz can be written by the user prior to calling 372 * command (10) set new full scales (pg. 38). The full scales for V1 373 * and V2 are set whenever the full scales are changed or when the 374 * axes used to calculate the vectors are changed. The full scale of 375 * V1 and V2 will always be equal to the largest full scale of the 376 * axes used for each vector respectively. 377 */ 378 379 struct force_array full_scale; /* offset 0x0080 */ 380 381 /* Offsets contains the sensor offsets. These values are subtracted from 382 * the sensor data to obtain the decoupled data. The offsets are set a 383 * few seconds (< 10) after the calibration data has been received. 384 * They are set so that the output data will be zero. These values 385 * can be written as well as read. The JR3 DSP will use the values 386 * written here within 2 ms of being written. To set future 387 * decoupled data to zero, add these values to the current decoupled 388 * data values and place the sum here. The JR3 DSP will change these 389 * values when a new transform is applied. So if the offsets are 390 * such that FX is 5 and all other values are zero, after rotating 391 * about Z by 90 degrees, FY would be 5 and all others would be zero. 392 */ 393 394 struct six_axis_array offsets; /* offset 0x0088 */ 395 396 /* Offset_num is the number of the offset currently in use. This 397 * value is set by the JR3 DSP after the user has executed the use 398 * offset # command (pg. 34). It can vary between 0 and 15. 399 */ 400 401 s32 offset_num; /* offset 0x008e */ 402 403 /* Vect_axes is a bit map showing which of the axes are being used 404 * in the vector calculations. This value is set by the JR3 DSP 405 * after the user has executed the set vector axes command (pg. 37). 406 */ 407 408 u32 vect_axes; /* offset 0x008f */ 409 410 /* Filter0 is the decoupled, unfiltered data from the JR3 sensor. 411 * This data has had the offsets removed. 412 * 413 * These force_arrays hold the filtered data. The decoupled data is 414 * passed through cascaded low pass filters. Each succeeding filter 415 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff 416 * frequency of filter1 is 1/16 of the sample rate from the sensor. 417 * For a typical sensor with a sample rate of 8 kHz, the cutoff 418 * frequency of filter1 would be 500 Hz. The following filters would 419 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz. 420 */ 421 422 struct force_array filter[7]; /* offset 0x0090, 423 offset 0x0098, 424 offset 0x00a0, 425 offset 0x00a8, 426 offset 0x00b0, 427 offset 0x00b8 , 428 offset 0x00c0 */ 429 430 /* Rate_data is the calculated rate data. It is a first derivative 431 * calculation. It is calculated at a frequency specified by the 432 * variable rate_divisor (pg. 12). The data on which the rate is 433 * calculated is specified by the variable rate_address (pg. 12). 434 */ 435 436 struct force_array rate_data; /* offset 0x00c8 */ 437 438 /* Minimum_data & maximum_data are the minimum and maximum (peak) 439 * data values. The JR3 DSP can monitor any 8 contiguous data items 440 * for minimums and maximums at full sensor bandwidth. This area is 441 * only updated at user request. This is done so that the user does 442 * not miss any peaks. To read the data, use either the read peaks 443 * command (pg. 40), or the read and reset peaks command (pg. 39). 444 * The address of the data to watch for peaks is stored in the 445 * variable peak_address (pg. 10). Peak data is lost when executing 446 * a coordinate transformation or a full scale change. Peak data is 447 * also lost when plugging in a new sensor. 448 */ 449 450 struct force_array minimum_data; /* offset 0x00d0 */ 451 struct force_array maximum_data; /* offset 0x00d8 */ 452 453 /* Near_sat_value & sat_value contain the value used to determine if 454 * the raw sensor is saturated. Because of decoupling and offset 455 * removal, it is difficult to tell from the processed data if the 456 * sensor is saturated. These values, in conjunction with the error 457 * and warning words (pg. 14), provide this critical information. 458 * These two values may be set by the host processor. These values 459 * are positive signed values, since the saturation logic uses the 460 * absolute values of the raw data. The near_sat_value defaults to 461 * approximately 80% of the ADC's full scale, which is 26214, while 462 * sat_value defaults to the ADC's full scale: 463 * 464 * sat_value = 32768 - 2^(16 - ADC bits) 465 */ 466 467 s32 near_sat_value; /* offset 0x00e0 */ 468 s32 sat_value; /* offset 0x00e1 */ 469 470 /* Rate_address, rate_divisor & rate_count contain the data used to 471 * control the calculations of the rates. Rate_address is the 472 * address of the data used for the rate calculation. The JR3 DSP 473 * will calculate rates for any 8 contiguous values (ex. to 474 * calculate rates for filter3 data set rate_address to 0x00a8). 475 * Rate_divisor is how often the rate is calculated. If rate_divisor 476 * is 1, the rates are calculated at full sensor bandwidth. If 477 * rate_divisor is 200, rates are calculated every 200 samples. 478 * Rate_divisor can be any value between 1 and 65536. Set 479 * rate_divisor to 0 to calculate rates every 65536 samples. 480 * Rate_count starts at zero and counts until it equals 481 * rate_divisor, at which point the rates are calculated, and 482 * rate_count is reset to 0. When setting a new rate divisor, it is 483 * a good idea to set rate_count to one less than rate divisor. This 484 * will minimize the time necessary to start the rate calculations. 485 */ 486 487 s32 rate_address; /* offset 0x00e2 */ 488 u32 rate_divisor; /* offset 0x00e3 */ 489 u32 rate_count; /* offset 0x00e4 */ 490 491 /* Command_word2 through command_word0 are the locations used to 492 * send commands to the JR3 DSP. Their usage varies with the command 493 * and is detailed later in the Command Definitions section (pg. 494 * 29). In general the user places values into various memory 495 * locations, and then places the command word into command_word0. 496 * The JR3 DSP will process the command and place a 0 into 497 * command_word0 to indicate successful completion. Alternatively 498 * the JR3 DSP will place a negative number into command_word0 to 499 * indicate an error condition. Please note the command locations 500 * are numbered backwards. (I.E. command_word2 comes before 501 * command_word1). 502 */ 503 504 s32 command_word2; /* offset 0x00e5 */ 505 s32 command_word1; /* offset 0x00e6 */ 506 s32 command_word0; /* offset 0x00e7 */ 507 508 /* Count1 through count6 are unsigned counters which are incremented 509 * every time the matching filters are calculated. Filter1 is 510 * calculated at the sensor data bandwidth. So this counter would 511 * increment at 8 kHz for a typical sensor. The rest of the counters 512 * are incremented at 1/4 the interval of the counter immediately 513 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc. 514 * These counters can be used to wait for data. Each time the 515 * counter changes, the corresponding data set can be sampled, and 516 * this will insure that the user gets each sample, once, and only 517 * once. 518 */ 519 520 u32 count1; /* offset 0x00e8 */ 521 u32 count2; /* offset 0x00e9 */ 522 u32 count3; /* offset 0x00ea */ 523 u32 count4; /* offset 0x00eb */ 524 u32 count5; /* offset 0x00ec */ 525 u32 count6; /* offset 0x00ed */ 526 527 /* Error_count is a running count of data reception errors. If this 528 * counter is changing rapidly, it probably indicates a bad sensor 529 * cable connection or other hardware problem. In most installations 530 * error_count should not change at all. But it is possible in an 531 * extremely noisy environment to experience occasional errors even 532 * without a hardware problem. If the sensor is well grounded, this 533 * is probably unavoidable in these environments. On the occasions 534 * where this counter counts a bad sample, that sample is ignored. 535 */ 536 537 u32 error_count; /* offset 0x00ee */ 538 539 /* Count_x is a counter which is incremented every time the JR3 DSP 540 * searches its job queues and finds nothing to do. It indicates the 541 * amount of idle time the JR3 DSP has available. It can also be 542 * used to determine if the JR3 DSP is alive. See the Performance 543 * Issues section on pg. 49 for more details. 544 */ 545 546 u32 count_x; /* offset 0x00ef */ 547 548 /* Warnings & errors contain the warning and error bits 549 * respectively. The format of these two words is discussed on page 550 * 21 under the headings warnings_bits and error_bits. 551 */ 552 553 u32 warnings; /* offset 0x00f0 */ 554 u32 errors; /* offset 0x00f1 */ 555 556 /* Threshold_bits is a word containing the bits that are set by the 557 * load envelopes. See load_envelopes (pg. 17) and thresh_struct 558 * (pg. 23) for more details. 559 */ 560 561 s32 threshold_bits; /* offset 0x00f2 */ 562 563 /* Last_crc is the value that shows the actual calculated CRC. CRC 564 * is short for cyclic redundancy code. It should be zero. See the 565 * description for cal_crc_bad (pg. 21) for more information. 566 */ 567 568 s32 last_CRC; /* offset 0x00f3 */ 569 570 /* EEProm_ver_no contains the version number of the sensor EEProm. 571 * EEProm version numbers can vary between 0 and 255. 572 * Software_ver_no contains the software version number. Version 573 * 3.02 would be stored as 302. 574 */ 575 576 s32 eeprom_ver_no; /* offset 0x00f4 */ 577 s32 software_ver_no; /* offset 0x00f5 */ 578 579 /* Software_day & software_year are the release date of the software 580 * the JR3 DSP is currently running. Day is the day of the year, 581 * with January 1 being 1, and December 31, being 365 for non leap 582 * years. 583 */ 584 585 s32 software_day; /* offset 0x00f6 */ 586 s32 software_year; /* offset 0x00f7 */ 587 588 /* Serial_no & model_no are the two values which uniquely identify a 589 * sensor. This model number does not directly correspond to the JR3 590 * model number, but it will provide a unique identifier for 591 * different sensor configurations. 592 */ 593 594 u32 serial_no; /* offset 0x00f8 */ 595 u32 model_no; /* offset 0x00f9 */ 596 597 /* Cal_day & cal_year are the sensor calibration date. Day is the 598 * day of the year, with January 1 being 1, and December 31, being 599 * 366 for leap years. 600 */ 601 602 s32 cal_day; /* offset 0x00fa */ 603 s32 cal_year; /* offset 0x00fb */ 604 605 /* Units is an enumerated read only value defining the engineering 606 * units used in the sensor full scale. The meanings of particular 607 * values are discussed in the section detailing the force_units 608 * structure on page 22. The engineering units are setto customer 609 * specifications during sensor manufacture and cannot be changed by 610 * writing to Units. 611 * 612 * Bits contains the number of bits of resolution of the ADC 613 * currently in use. 614 * 615 * Channels is a bit field showing which channels the current sensor 616 * is capable of sending. If bit 0 is active, this sensor can send 617 * channel 0, if bit 13 is active, this sensor can send channel 13, 618 * etc. This bit can be active, even if the sensor is not currently 619 * sending this channel. Some sensors are configurable as to which 620 * channels to send, and this field only contains information on the 621 * channels available to send, not on the current configuration. To 622 * find which channels are currently being sent, monitor the 623 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If 624 * the time is changing periodically, then that channel is being 625 * received. 626 */ 627 628 u32 units; /* offset 0x00fc */ 629 s32 bits; /* offset 0x00fd */ 630 s32 channels; /* offset 0x00fe */ 631 632 /* Thickness specifies the overall thickness of the sensor from 633 * flange to flange. The engineering units for this value are 634 * contained in units (pg. 16). The sensor calibration is relative 635 * to the center of the sensor. This value allows easy coordinate 636 * transformation from the center of the sensor to either flange. 637 */ 638 639 s32 thickness; /* offset 0x00ff */ 640 641 /* Load_envelopes is a table containing the load envelope 642 * descriptions. There are 16 possible load envelope slots in the 643 * table. The slots are on 16 word boundaries and are numbered 0-15. 644 * Each load envelope needs to start at the beginning of a slot but 645 * need not be fully contained in that slot. That is to say that a 646 * single load envelope can be larger than a single slot. The 647 * software has been tested and ran satisfactorily with 50 648 * thresholds active. A single load envelope this large would take 649 * up 5 of the 16 slots. The load envelope data is laid out in an 650 * order that is most efficient for the JR3 DSP. The structure is 651 * detailed later in the section showing the definition of the 652 * le_struct structure (pg. 23). 653 */ 654 655 struct le_struct load_envelopes[0x10]; /* offset 0x0100 */ 656 657 /* Transforms is a table containing the transform descriptions. 658 * There are 16 possible transform slots in the table. The slots are 659 * on 16 word boundaries and are numbered 0-15. Each transform needs 660 * to start at the beginning of a slot but need not be fully 661 * contained in that slot. That is to say that a single transform 662 * can be larger than a single slot. A transform is 2 * no of links 663 * + 1 words in length. So a single slot can contain a transform 664 * with 7 links. Two slots can contain a transform that is 15 links. 665 * The layout is detailed later in the section showing the 666 * definition of the transform structure (pg. 26). 667 */ 668 669 struct intern_transform transforms[0x10]; /* offset 0x0200 */ 670}; 671 672struct jr3_t { 673 struct { 674 u32 program_lo[0x4000]; /* 0x00000 - 0x10000 */ 675 struct jr3_channel data; /* 0x10000 - 0x10c00 */ 676 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */ 677 u32 program_hi[0x8000]; /* 0x40000 - 0x60000 */ 678 u32 reset; /* 0x60000 - 0x60004 */ 679 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */ 680 } channel[4]; 681}; 682