jr3_pci.c revision 90f703d30dd3e0c16ff80f35e34e511385a05ad5
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/* 24Driver: jr3_pci 25Description: JR3/PCI force sensor board 26Author: Anders Blomdell <anders.blomdell@control.lth.se> 27Status: works 28Devices: [JR3] PCI force sensor board (jr3_pci) 29 30 The DSP on the board requires initialization code, which can 31 be loaded by placing it in /lib/firmware/comedi. 32 The initialization code should be somewhere on the media you got 33 with your card. One version is available from http://www.comedi.org 34 in the comedi_nonfree_firmware tarball. 35 36 Configuration options: 37 [0] - PCI bus number - if bus number and slot number are 0, 38 then driver search for first unused card 39 [1] - PCI slot number 40 41*/ 42 43#include "../comedidev.h" 44 45#include <linux/delay.h> 46#include <linux/ctype.h> 47#include <linux/firmware.h> 48#include <linux/jiffies.h> 49#include <linux/slab.h> 50#include <linux/timer.h> 51#include "comedi_pci.h" 52#include "jr3_pci.h" 53 54#define PCI_VENDOR_ID_JR3 0x1762 55#define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111 56#define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112 57#define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113 58#define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114 59 60static int jr3_pci_attach(struct comedi_device *dev, 61 struct comedi_devconfig *it); 62static int jr3_pci_detach(struct comedi_device *dev); 63 64static struct comedi_driver driver_jr3_pci = { 65 .driver_name = "jr3_pci", 66 .module = THIS_MODULE, 67 .attach = jr3_pci_attach, 68 .detach = jr3_pci_detach, 69}; 70 71static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = { 72 { 73 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL, 74 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 75 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL, 76 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 77 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL, 78 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 79 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL, 80 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 81 0} 82}; 83 84MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table); 85 86struct jr3_pci_dev_private { 87 88 struct pci_dev *pci_dev; 89 int pci_enabled; 90 volatile struct jr3_t *iobase; 91 int n_channels; 92 struct timer_list timer; 93}; 94 95struct poll_delay_t { 96 97 int min; 98 int max; 99}; 100 101struct jr3_pci_subdev_private { 102 volatile struct jr3_channel *channel; 103 unsigned long next_time_min; 104 unsigned long next_time_max; 105 enum { state_jr3_poll, 106 state_jr3_init_wait_for_offset, 107 state_jr3_init_transform_complete, 108 state_jr3_init_set_full_scale_complete, 109 state_jr3_init_use_offset_complete, 110 state_jr3_done 111 } state; 112 int channel_no; 113 int serial_no; 114 int model_no; 115 struct { 116 int length; 117 struct comedi_krange range; 118 } range[9]; 119 const struct comedi_lrange *range_table_list[8 * 7 + 2]; 120 unsigned int maxdata_list[8 * 7 + 2]; 121 u16 errors; 122 int retries; 123}; 124 125/* Hotplug firmware loading stuff */ 126 127typedef int comedi_firmware_callback(struct comedi_device *dev, 128 const u8 * data, size_t size); 129 130static int comedi_load_firmware(struct comedi_device *dev, char *name, 131 comedi_firmware_callback cb) 132{ 133 int result = 0; 134 const struct firmware *fw; 135 char *firmware_path; 136 static const char *prefix = "comedi/"; 137 struct jr3_pci_dev_private *devpriv = dev->private; 138 139 firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL); 140 if (!firmware_path) { 141 result = -ENOMEM; 142 } else { 143 firmware_path[0] = '\0'; 144 strcat(firmware_path, prefix); 145 strcat(firmware_path, name); 146 result = request_firmware(&fw, firmware_path, 147 &devpriv->pci_dev->dev); 148 if (result == 0) { 149 if (!cb) 150 result = -EINVAL; 151 else 152 result = cb(dev, fw->data, fw->size); 153 release_firmware(fw); 154 } 155 kfree(firmware_path); 156 } 157 return result; 158} 159 160static struct poll_delay_t poll_delay_min_max(int min, int max) 161{ 162 struct poll_delay_t result; 163 164 result.min = min; 165 result.max = max; 166 return result; 167} 168 169static int is_complete(volatile struct jr3_channel *channel) 170{ 171 return get_s16(&channel->command_word0) == 0; 172} 173 174struct transform_t { 175 struct { 176 u16 link_type; 177 s16 link_amount; 178 } link[8]; 179}; 180 181static void set_transforms(volatile struct jr3_channel *channel, 182 struct transform_t transf, short num) 183{ 184 int i; 185 186 num &= 0x000f; /* Make sure that 0 <= num <= 15 */ 187 for (i = 0; i < 8; i++) { 188 189 set_u16(&channel->transforms[num].link[i].link_type, 190 transf.link[i].link_type); 191 udelay(1); 192 set_s16(&channel->transforms[num].link[i].link_amount, 193 transf.link[i].link_amount); 194 udelay(1); 195 if (transf.link[i].link_type == end_x_form) { 196 break; 197 } 198 } 199} 200 201static void use_transform(volatile struct jr3_channel *channel, 202 short transf_num) 203{ 204 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); 205} 206 207static void use_offset(volatile struct jr3_channel *channel, short offset_num) 208{ 209 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f)); 210} 211 212static void set_offset(volatile struct jr3_channel *channel) 213{ 214 set_s16(&channel->command_word0, 0x0700); 215} 216 217struct six_axis_t { 218 s16 fx; 219 s16 fy; 220 s16 fz; 221 s16 mx; 222 s16 my; 223 s16 mz; 224}; 225 226static void set_full_scales(volatile struct jr3_channel *channel, 227 struct six_axis_t full_scale) 228{ 229 printk("%d %d %d %d %d %d\n", 230 full_scale.fx, 231 full_scale.fy, 232 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz); 233 set_s16(&channel->full_scale.fx, full_scale.fx); 234 set_s16(&channel->full_scale.fy, full_scale.fy); 235 set_s16(&channel->full_scale.fz, full_scale.fz); 236 set_s16(&channel->full_scale.mx, full_scale.mx); 237 set_s16(&channel->full_scale.my, full_scale.my); 238 set_s16(&channel->full_scale.mz, full_scale.mz); 239 set_s16(&channel->command_word0, 0x0a00); 240} 241 242static struct six_axis_t get_min_full_scales(volatile struct jr3_channel 243 *channel) 244{ 245 struct six_axis_t result; 246 result.fx = get_s16(&channel->min_full_scale.fx); 247 result.fy = get_s16(&channel->min_full_scale.fy); 248 result.fz = get_s16(&channel->min_full_scale.fz); 249 result.mx = get_s16(&channel->min_full_scale.mx); 250 result.my = get_s16(&channel->min_full_scale.my); 251 result.mz = get_s16(&channel->min_full_scale.mz); 252 return result; 253} 254 255static struct six_axis_t get_max_full_scales(volatile struct jr3_channel 256 *channel) 257{ 258 struct six_axis_t result; 259 result.fx = get_s16(&channel->max_full_scale.fx); 260 result.fy = get_s16(&channel->max_full_scale.fy); 261 result.fz = get_s16(&channel->max_full_scale.fz); 262 result.mx = get_s16(&channel->max_full_scale.mx); 263 result.my = get_s16(&channel->max_full_scale.my); 264 result.mz = get_s16(&channel->max_full_scale.mz); 265 return result; 266} 267 268static int jr3_pci_ai_insn_read(struct comedi_device *dev, 269 struct comedi_subdevice *s, 270 struct comedi_insn *insn, unsigned int *data) 271{ 272 int result; 273 struct jr3_pci_subdev_private *p; 274 int channel; 275 276 p = s->private; 277 channel = CR_CHAN(insn->chanspec); 278 if (p == NULL || channel > 57) { 279 result = -EINVAL; 280 } else { 281 int i; 282 283 result = insn->n; 284 if (p->state != state_jr3_done || 285 (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 | 286 sensor_change))) { 287 /* No sensor or sensor changed */ 288 if (p->state == state_jr3_done) { 289 /* Restart polling */ 290 p->state = state_jr3_poll; 291 } 292 result = -EAGAIN; 293 } 294 for (i = 0; i < insn->n; i++) { 295 if (channel < 56) { 296 int axis, filter; 297 298 axis = channel % 8; 299 filter = channel / 8; 300 if (p->state != state_jr3_done) { 301 data[i] = 0; 302 } else { 303 int F = 0; 304 switch (axis) { 305 case 0:{ 306 F = get_s16 307 (&p->channel->filter 308 [filter].fx); 309 } 310 break; 311 case 1:{ 312 F = get_s16 313 (&p->channel->filter 314 [filter].fy); 315 } 316 break; 317 case 2:{ 318 F = get_s16 319 (&p->channel->filter 320 [filter].fz); 321 } 322 break; 323 case 3:{ 324 F = get_s16 325 (&p->channel->filter 326 [filter].mx); 327 } 328 break; 329 case 4:{ 330 F = get_s16 331 (&p->channel->filter 332 [filter].my); 333 } 334 break; 335 case 5:{ 336 F = get_s16 337 (&p->channel->filter 338 [filter].mz); 339 } 340 break; 341 case 6:{ 342 F = get_s16 343 (&p->channel->filter 344 [filter].v1); 345 } 346 break; 347 case 7:{ 348 F = get_s16 349 (&p->channel->filter 350 [filter].v2); 351 } 352 break; 353 } 354 data[i] = F + 0x4000; 355 } 356 } else if (channel == 56) { 357 if (p->state != state_jr3_done) { 358 data[i] = 0; 359 } else { 360 data[i] = 361 get_u16(&p->channel->model_no); 362 } 363 } else if (channel == 57) { 364 if (p->state != state_jr3_done) { 365 data[i] = 0; 366 } else { 367 data[i] = 368 get_u16(&p->channel->serial_no); 369 } 370 } 371 } 372 } 373 return result; 374} 375 376static int jr3_pci_open(struct comedi_device *dev) 377{ 378 int i; 379 struct jr3_pci_dev_private *devpriv = dev->private; 380 381 printk("jr3_pci_open\n"); 382 for (i = 0; i < devpriv->n_channels; i++) { 383 struct jr3_pci_subdev_private *p; 384 385 p = dev->subdevices[i].private; 386 if (p) { 387 printk("serial: %p %d (%d)\n", p, p->serial_no, 388 p->channel_no); 389 } 390 } 391 return 0; 392} 393 394int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val) 395{ 396 int result = 0; 397 if (pos != 0 && val != 0) { 398 /* Skip over non hex */ 399 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) { 400 } 401 /* Collect value */ 402 *val = 0; 403 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) { 404 char ch = tolower(data[*pos]); 405 result = 1; 406 if ('0' <= ch && ch <= '9') { 407 *val = (*val << 4) + (ch - '0'); 408 } else if ('a' <= ch && ch <= 'f') { 409 *val = (*val << 4) + (ch - 'a' + 10); 410 } 411 } 412 } 413 return result; 414} 415 416static int jr3_download_firmware(struct comedi_device *dev, const u8 * data, 417 size_t size) 418{ 419 /* 420 * IDM file format is: 421 * { count, address, data <count> } * 422 * ffff 423 */ 424 int result, more, pos, OK; 425 426 result = 0; 427 more = 1; 428 pos = 0; 429 OK = 0; 430 while (more) { 431 unsigned int count, addr; 432 433 more = more && read_idm_word(data, size, &pos, &count); 434 if (more && count == 0xffff) { 435 OK = 1; 436 break; 437 } 438 more = more && read_idm_word(data, size, &pos, &addr); 439 while (more && count > 0) { 440 unsigned int dummy; 441 more = more && read_idm_word(data, size, &pos, &dummy); 442 count--; 443 } 444 } 445 446 if (!OK) { 447 result = -ENODATA; 448 } else { 449 int i; 450 struct jr3_pci_dev_private *p = dev->private; 451 452 for (i = 0; i < p->n_channels; i++) { 453 struct jr3_pci_subdev_private *sp; 454 455 sp = dev->subdevices[i].private; 456 more = 1; 457 pos = 0; 458 while (more) { 459 unsigned int count, addr; 460 more = more 461 && read_idm_word(data, size, &pos, &count); 462 if (more && count == 0xffff) { 463 break; 464 } 465 more = more 466 && read_idm_word(data, size, &pos, &addr); 467 printk("Loading#%d %4.4x bytes at %4.4x\n", i, 468 count, addr); 469 while (more && count > 0) { 470 if (addr & 0x4000) { 471 /* 16 bit data, never seen in real life!! */ 472 unsigned int data1; 473 474 more = more 475 && read_idm_word(data, 476 size, &pos, 477 &data1); 478 count--; 479 /* printk("jr3_data, not tested\n"); */ 480 /* jr3[addr + 0x20000 * pnum] = data1; */ 481 } else { 482 /* Download 24 bit program */ 483 unsigned int data1, data2; 484 485 more = more 486 && read_idm_word(data, 487 size, &pos, 488 &data1); 489 more = more 490 && read_idm_word(data, size, 491 &pos, 492 &data2); 493 count -= 2; 494 if (more) { 495 set_u16(&p-> 496 iobase->channel 497 [i].program_low 498 [addr], data1); 499 udelay(1); 500 set_u16(&p-> 501 iobase->channel 502 [i].program_high 503 [addr], data2); 504 udelay(1); 505 506 } 507 } 508 addr++; 509 } 510 } 511 } 512 } 513 return result; 514} 515 516static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) 517{ 518 struct poll_delay_t result = poll_delay_min_max(1000, 2000); 519 struct jr3_pci_subdev_private *p = s->private; 520 int i; 521 522 if (p) { 523 volatile struct jr3_channel *channel = p->channel; 524 int errors = get_u16(&channel->errors); 525 526 if (errors != p->errors) { 527 printk("Errors: %x -> %x\n", p->errors, errors); 528 p->errors = errors; 529 } 530 if (errors & (watch_dog | watch_dog2 | sensor_change)) { 531 /* Sensor communication lost, force poll mode */ 532 p->state = state_jr3_poll; 533 534 } 535 switch (p->state) { 536 case state_jr3_poll:{ 537 u16 model_no = get_u16(&channel->model_no); 538 u16 serial_no = get_u16(&channel->serial_no); 539 if ((errors & (watch_dog | watch_dog2)) || 540 model_no == 0 || serial_no == 0) { 541/* 542 * Still no sensor, keep on polling. Since it takes up to 10 seconds 543 * for offsets to stabilize, polling each second should suffice. 544 */ 545 result = poll_delay_min_max(1000, 2000); 546 } else { 547 p->retries = 0; 548 p->state = 549 state_jr3_init_wait_for_offset; 550 result = poll_delay_min_max(1000, 2000); 551 } 552 } 553 break; 554 case state_jr3_init_wait_for_offset:{ 555 p->retries++; 556 if (p->retries < 10) { 557 /* Wait for offeset to stabilize (< 10 s according to manual) */ 558 result = poll_delay_min_max(1000, 2000); 559 } else { 560 struct transform_t transf; 561 562 p->model_no = 563 get_u16(&channel->model_no); 564 p->serial_no = 565 get_u16(&channel->serial_no); 566 567 printk 568 ("Setting transform for channel %d\n", 569 p->channel_no); 570 printk("Sensor Model = %i\n", 571 p->model_no); 572 printk("Sensor Serial = %i\n", 573 p->serial_no); 574 575 /* Transformation all zeros */ 576 for (i = 0; i < ARRAY_SIZE(transf.link); i++) { 577 transf.link[i].link_type = 578 (enum link_types)0; 579 transf.link[i].link_amount = 0; 580 } 581 582 set_transforms(channel, transf, 0); 583 use_transform(channel, 0); 584 p->state = 585 state_jr3_init_transform_complete; 586 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ 587 } 588 } break; 589 case state_jr3_init_transform_complete:{ 590 if (!is_complete(channel)) { 591 printk 592 ("state_jr3_init_transform_complete complete = %d\n", 593 is_complete(channel)); 594 result = poll_delay_min_max(20, 100); 595 } else { 596 /* Set full scale */ 597 struct six_axis_t min_full_scale; 598 struct six_axis_t max_full_scale; 599 600 min_full_scale = 601 get_min_full_scales(channel); 602 printk("Obtained Min. Full Scales:\n"); 603 printk("%i ", (min_full_scale).fx); 604 printk("%i ", (min_full_scale).fy); 605 printk("%i ", (min_full_scale).fz); 606 printk("%i ", (min_full_scale).mx); 607 printk("%i ", (min_full_scale).my); 608 printk("%i ", (min_full_scale).mz); 609 printk("\n"); 610 611 max_full_scale = 612 get_max_full_scales(channel); 613 printk("Obtained Max. Full Scales:\n"); 614 printk("%i ", (max_full_scale).fx); 615 printk("%i ", (max_full_scale).fy); 616 printk("%i ", (max_full_scale).fz); 617 printk("%i ", (max_full_scale).mx); 618 printk("%i ", (max_full_scale).my); 619 printk("%i ", (max_full_scale).mz); 620 printk("\n"); 621 622 set_full_scales(channel, 623 max_full_scale); 624 625 p->state = 626 state_jr3_init_set_full_scale_complete; 627 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ 628 } 629 } 630 break; 631 case state_jr3_init_set_full_scale_complete:{ 632 if (!is_complete(channel)) { 633 printk 634 ("state_jr3_init_set_full_scale_complete complete = %d\n", 635 is_complete(channel)); 636 result = poll_delay_min_max(20, 100); 637 } else { 638 volatile struct force_array *full_scale; 639 640 /* 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) * 1000; 644 p->range[0].range.max = 645 get_s16(&full_scale->fx) * 1000; 646 p->range[1].range.min = 647 -get_s16(&full_scale->fy) * 1000; 648 p->range[1].range.max = 649 get_s16(&full_scale->fy) * 1000; 650 p->range[2].range.min = 651 -get_s16(&full_scale->fz) * 1000; 652 p->range[2].range.max = 653 get_s16(&full_scale->fz) * 1000; 654 p->range[3].range.min = 655 -get_s16(&full_scale->mx) * 100; 656 p->range[3].range.max = 657 get_s16(&full_scale->mx) * 100; 658 p->range[4].range.min = 659 -get_s16(&full_scale->my) * 100; 660 p->range[4].range.max = 661 get_s16(&full_scale->my) * 100; 662 p->range[5].range.min = 663 -get_s16(&full_scale->mz) * 100; 664 p->range[5].range.max = 665 get_s16(&full_scale->mz) * 100; 666 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */ 667 p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */ 668 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */ 669 p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */ 670 p->range[8].range.min = 0; 671 p->range[8].range.max = 65535; 672 673 { 674 int i; 675 for (i = 0; i < 9; i++) { 676 printk("%d %d - %d\n", 677 i, 678 p-> 679 range[i].range. 680 min, 681 p-> 682 range[i].range. 683 max); 684 } 685 } 686 687 use_offset(channel, 0); 688 p->state = 689 state_jr3_init_use_offset_complete; 690 result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */ 691 } 692 } 693 break; 694 case state_jr3_init_use_offset_complete:{ 695 if (!is_complete(channel)) { 696 printk 697 ("state_jr3_init_use_offset_complete complete = %d\n", 698 is_complete(channel)); 699 result = poll_delay_min_max(20, 100); 700 } else { 701 printk 702 ("Default offsets %d %d %d %d %d %d\n", 703 get_s16(&channel->offsets.fx), 704 get_s16(&channel->offsets.fy), 705 get_s16(&channel->offsets.fz), 706 get_s16(&channel->offsets.mx), 707 get_s16(&channel->offsets.my), 708 get_s16(&channel->offsets.mz)); 709 710 set_s16(&channel->offsets.fx, 0); 711 set_s16(&channel->offsets.fy, 0); 712 set_s16(&channel->offsets.fz, 0); 713 set_s16(&channel->offsets.mx, 0); 714 set_s16(&channel->offsets.my, 0); 715 set_s16(&channel->offsets.mz, 0); 716 717 set_offset(channel); 718 719 p->state = state_jr3_done; 720 } 721 } 722 break; 723 case state_jr3_done:{ 724 poll_delay_min_max(10000, 20000); 725 } 726 break; 727 default:{ 728 poll_delay_min_max(1000, 2000); 729 } 730 break; 731 } 732 } 733 return result; 734} 735 736static void jr3_pci_poll_dev(unsigned long data) 737{ 738 unsigned long flags; 739 struct comedi_device *dev = (struct comedi_device *)data; 740 struct jr3_pci_dev_private *devpriv = dev->private; 741 unsigned long now; 742 int delay; 743 int i; 744 745 spin_lock_irqsave(&dev->spinlock, flags); 746 delay = 1000; 747 now = jiffies; 748 /* Poll all channels that are ready to be polled */ 749 for (i = 0; i < devpriv->n_channels; i++) { 750 struct jr3_pci_subdev_private *subdevpriv = 751 dev->subdevices[i].private; 752 if (now > subdevpriv->next_time_min) { 753 struct 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/* 762* Wake up as late as possible -> poll as many channels as possible 763* at once 764*/ 765 delay = sub_delay.max; 766 } 767 } 768 } 769 spin_unlock_irqrestore(&dev->spinlock, flags); 770 771 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay); 772 add_timer(&devpriv->timer); 773} 774 775static int jr3_pci_attach(struct comedi_device *dev, 776 struct comedi_devconfig *it) 777{ 778 int result = 0; 779 struct pci_dev *card = NULL; 780 int opt_bus, opt_slot, i; 781 struct jr3_pci_dev_private *devpriv; 782 783 printk("comedi%d: jr3_pci\n", dev->minor); 784 785 opt_bus = it->options[0]; 786 opt_slot = it->options[1]; 787 788 if (sizeof(struct jr3_channel) != 0xc00) { 789 printk("sizeof(struct jr3_channel) = %x [expected %x]\n", 790 (unsigned)sizeof(struct jr3_channel), 0xc00); 791 return -EINVAL; 792 } 793 794 result = alloc_private(dev, sizeof(struct jr3_pci_dev_private)); 795 if (result < 0) { 796 return -ENOMEM; 797 } 798 card = NULL; 799 devpriv = dev->private; 800 init_timer(&devpriv->timer); 801 while (1) { 802 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card); 803 if (card == NULL) { 804 /* No card found */ 805 break; 806 } else { 807 switch (card->device) { 808 case PCI_DEVICE_ID_JR3_1_CHANNEL:{ 809 devpriv->n_channels = 1; 810 } 811 break; 812 case PCI_DEVICE_ID_JR3_2_CHANNEL:{ 813 devpriv->n_channels = 2; 814 } 815 break; 816 case PCI_DEVICE_ID_JR3_3_CHANNEL:{ 817 devpriv->n_channels = 3; 818 } 819 break; 820 case PCI_DEVICE_ID_JR3_4_CHANNEL:{ 821 devpriv->n_channels = 4; 822 } 823 break; 824 default:{ 825 devpriv->n_channels = 0; 826 } 827 } 828 if (devpriv->n_channels >= 1) { 829 if (opt_bus == 0 && opt_slot == 0) { 830 /* Take first available card */ 831 break; 832 } else if (opt_bus == card->bus->number && 833 opt_slot == PCI_SLOT(card->devfn)) { 834 /* Take requested card */ 835 break; 836 } 837 } 838 } 839 } 840 if (!card) { 841 printk(" no jr3_pci found\n"); 842 return -EIO; 843 } else { 844 devpriv->pci_dev = card; 845 dev->board_name = "jr3_pci"; 846 } 847 848 result = comedi_pci_enable(card, "jr3_pci"); 849 if (result < 0) { 850 return -EIO; 851 } 852 853 devpriv->pci_enabled = 1; 854 devpriv->iobase = ioremap(pci_resource_start(card, 0), 855 offsetof(struct jr3_t, channel[devpriv->n_channels])); 856 if (!devpriv->iobase) 857 return -ENOMEM; 858 859 result = alloc_subdevices(dev, devpriv->n_channels); 860 if (result < 0) 861 goto out; 862 863 dev->open = jr3_pci_open; 864 for (i = 0; i < devpriv->n_channels; i++) { 865 dev->subdevices[i].type = COMEDI_SUBD_AI; 866 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND; 867 dev->subdevices[i].n_chan = 8 * 7 + 2; 868 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read; 869 dev->subdevices[i].private = 870 kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); 871 if (dev->subdevices[i].private) { 872 struct jr3_pci_subdev_private *p; 873 int j; 874 875 p = dev->subdevices[i].private; 876 p->channel = &devpriv->iobase->channel[i].data; 877 printk("p->channel %p %p (%tx)\n", 878 p->channel, devpriv->iobase, 879 ((char *)(p->channel) - 880 (char *)(devpriv->iobase))); 881 p->channel_no = i; 882 for (j = 0; j < 8; j++) { 883 int k; 884 885 p->range[j].length = 1; 886 p->range[j].range.min = -1000000; 887 p->range[j].range.max = 1000000; 888 for (k = 0; k < 7; k++) { 889 p->range_table_list[j + k * 8] = 890 (struct comedi_lrange *)&p-> 891 range[j]; 892 p->maxdata_list[j + k * 8] = 0x7fff; 893 } 894 } 895 p->range[8].length = 1; 896 p->range[8].range.min = 0; 897 p->range[8].range.max = 65536; 898 899 p->range_table_list[56] = 900 (struct comedi_lrange *)&p->range[8]; 901 p->range_table_list[57] = 902 (struct comedi_lrange *)&p->range[8]; 903 p->maxdata_list[56] = 0xffff; 904 p->maxdata_list[57] = 0xffff; 905 /* Channel specific range and maxdata */ 906 dev->subdevices[i].range_table = 0; 907 dev->subdevices[i].range_table_list = 908 p->range_table_list; 909 dev->subdevices[i].maxdata = 0; 910 dev->subdevices[i].maxdata_list = p->maxdata_list; 911 } 912 } 913 914 /* Reset DSP card */ 915 devpriv->iobase->channel[0].reset = 0; 916 917 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware); 918 printk("Firmare load %d\n", result); 919 920 if (result < 0) { 921 goto out; 922 } 923/* 924 * TODO: use firmware to load preferred offset tables. Suggested 925 * format: 926 * model serial Fx Fy Fz Mx My Mz\n 927 * 928 * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware); 929 */ 930 931/* 932 * It takes a few milliseconds for software to settle as much as we 933 * can read firmware version 934 */ 935 msleep_interruptible(25); 936 for (i = 0; i < 0x18; i++) { 937 printk("%c", 938 get_u16(&devpriv->iobase->channel[0]. 939 data.copyright[i]) >> 8); 940 } 941 942 /* Start card timer */ 943 for (i = 0; i < devpriv->n_channels; i++) { 944 struct jr3_pci_subdev_private *p = dev->subdevices[i].private; 945 946 p->next_time_min = jiffies + msecs_to_jiffies(500); 947 p->next_time_max = jiffies + msecs_to_jiffies(2000); 948 } 949 950 devpriv->timer.data = (unsigned long)dev; 951 devpriv->timer.function = jr3_pci_poll_dev; 952 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); 953 add_timer(&devpriv->timer); 954 955out: 956 return result; 957} 958 959MODULE_FIRMWARE("comedi/jr3pci.idm"); 960 961static int jr3_pci_detach(struct comedi_device *dev) 962{ 963 int i; 964 struct jr3_pci_dev_private *devpriv = dev->private; 965 966 printk("comedi%d: jr3_pci: remove\n", dev->minor); 967 if (devpriv) { 968 del_timer_sync(&devpriv->timer); 969 970 if (dev->subdevices) { 971 for (i = 0; i < devpriv->n_channels; i++) { 972 kfree(dev->subdevices[i].private); 973 } 974 } 975 976 if (devpriv->iobase) { 977 iounmap((void *)devpriv->iobase); 978 } 979 if (devpriv->pci_enabled) { 980 comedi_pci_disable(devpriv->pci_dev); 981 } 982 983 if (devpriv->pci_dev) { 984 pci_dev_put(devpriv->pci_dev); 985 } 986 } 987 return 0; 988} 989 990COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table); 991 992MODULE_AUTHOR("Comedi http://www.comedi.org"); 993MODULE_DESCRIPTION("Comedi low-level driver"); 994MODULE_LICENSE("GPL"); 995