jr3_pci.c revision c6a3b7b657fb91500bd6946117056284bb0a20c1
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 "comedi_pci.h" 49#include "jr3_pci.h" 50 51/* Hotplug firmware loading stuff */ 52 53static void comedi_fw_release(struct device *dev) 54{ 55 printk(KERN_DEBUG "firmware_sample_driver: ghost_release\n"); 56} 57 58static struct device comedi_fw_device = { 59 .init_name = "comedi", 60 .release = comedi_fw_release 61}; 62 63typedef int comedi_firmware_callback(struct comedi_device * dev, 64 const u8 * data, size_t size); 65 66static int comedi_load_firmware(struct 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 106static int jr3_pci_attach(struct comedi_device * dev, struct comedi_devconfig * it); 107static int jr3_pci_detach(struct comedi_device * dev); 108 109static struct 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 116static 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 128MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table); 129 130struct jr3_pci_dev_private { 131 132 struct pci_dev *pci_dev; 133 int pci_enabled; 134 volatile struct jr3_t *iobase; 135 int n_channels; 136 struct timer_list timer; 137}; 138 139 140struct poll_delay_t { 141 142 int min; 143 int max; 144}; 145 146 147struct jr3_pci_subdev_private { 148 volatile struct jr3_channel *channel; 149 unsigned long next_time_min; 150 unsigned long next_time_max; 151 enum { state_jr3_poll, 152 state_jr3_init_wait_for_offset, 153 state_jr3_init_transform_complete, 154 state_jr3_init_set_full_scale_complete, 155 state_jr3_init_use_offset_complete, 156 state_jr3_done 157 } state; 158 int channel_no; 159 int serial_no; 160 int model_no; 161 struct { 162 int length; 163 struct comedi_krange range; 164 } range[9]; 165 const struct comedi_lrange *range_table_list[8 * 7 + 2]; 166 unsigned int maxdata_list[8 * 7 + 2]; 167 u16 errors; 168 int retries; 169}; 170 171static struct poll_delay_t poll_delay_min_max(int min, int max) 172{ 173 struct poll_delay_t result; 174 175 result.min = min; 176 result.max = max; 177 return result; 178} 179 180static int is_complete(volatile struct jr3_channel *channel) 181{ 182 return get_s16(&channel->command_word0) == 0; 183} 184 185typedef struct { 186 struct { 187 u16 link_type; 188 s16 link_amount; 189 } link[8]; 190} transform_t; 191 192static void set_transforms(volatile struct jr3_channel *channel, 193 transform_t transf, short num) 194{ 195 int i; 196 197 num &= 0x000f; // Make sure that 0 <= num <= 15 198 for (i = 0; i < 8; i++) { 199 200 set_u16(&channel->transforms[num].link[i].link_type, 201 transf.link[i].link_type); 202 comedi_udelay(1); 203 set_s16(&channel->transforms[num].link[i].link_amount, 204 transf.link[i].link_amount); 205 comedi_udelay(1); 206 if (transf.link[i].link_type == end_x_form) { 207 break; 208 } 209 } 210} 211 212static void use_transform(volatile struct jr3_channel *channel, short transf_num) 213{ 214 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); 215} 216 217static void use_offset(volatile struct jr3_channel *channel, short offset_num) 218{ 219 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f)); 220} 221 222static void set_offset(volatile struct jr3_channel *channel) 223{ 224 set_s16(&channel->command_word0, 0x0700); 225} 226 227typedef struct { 228 s16 fx; 229 s16 fy; 230 s16 fz; 231 s16 mx; 232 s16 my; 233 s16 mz; 234} six_axis_t; 235 236static void set_full_scales(volatile struct jr3_channel *channel, 237 six_axis_t full_scale) 238{ 239 printk("%d %d %d %d %d %d\n", 240 full_scale.fx, 241 full_scale.fy, 242 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz); 243 set_s16(&channel->full_scale.fx, full_scale.fx); 244 set_s16(&channel->full_scale.fy, full_scale.fy); 245 set_s16(&channel->full_scale.fz, full_scale.fz); 246 set_s16(&channel->full_scale.mx, full_scale.mx); 247 set_s16(&channel->full_scale.my, full_scale.my); 248 set_s16(&channel->full_scale.mz, full_scale.mz); 249 set_s16(&channel->command_word0, 0x0a00); 250} 251 252static six_axis_t get_min_full_scales(volatile struct jr3_channel *channel) 253{ 254 six_axis_t result; 255 result.fx = get_s16(&channel->min_full_scale.fx); 256 result.fy = get_s16(&channel->min_full_scale.fy); 257 result.fz = get_s16(&channel->min_full_scale.fz); 258 result.mx = get_s16(&channel->min_full_scale.mx); 259 result.my = get_s16(&channel->min_full_scale.my); 260 result.mz = get_s16(&channel->min_full_scale.mz); 261 return result; 262} 263 264static six_axis_t get_max_full_scales(volatile struct jr3_channel *channel) 265{ 266 six_axis_t result; 267 result.fx = get_s16(&channel->max_full_scale.fx); 268 result.fy = get_s16(&channel->max_full_scale.fy); 269 result.fz = get_s16(&channel->max_full_scale.fz); 270 result.mx = get_s16(&channel->max_full_scale.mx); 271 result.my = get_s16(&channel->max_full_scale.my); 272 result.mz = get_s16(&channel->max_full_scale.mz); 273 return result; 274} 275 276static int jr3_pci_ai_insn_read(struct comedi_device * dev, struct comedi_subdevice * s, 277 struct comedi_insn * insn, unsigned int * data) 278{ 279 int result; 280 struct jr3_pci_subdev_private *p; 281 int channel; 282 283 p = s->private; 284 channel = CR_CHAN(insn->chanspec); 285 if (p == NULL || channel > 57) { 286 result = -EINVAL; 287 } else { 288 int i; 289 290 result = insn->n; 291 if (p->state != state_jr3_done || 292 (get_u16(&p->channel-> 293 errors) & (watch_dog | watch_dog2 | 294 sensor_change))) { 295 /* No sensor or sensor changed */ 296 if (p->state == state_jr3_done) { 297 /* Restart polling */ 298 p->state = state_jr3_poll; 299 } 300 result = -EAGAIN; 301 } 302 for (i = 0; i < insn->n; i++) { 303 if (channel < 56) { 304 int axis, filter; 305 306 axis = channel % 8; 307 filter = channel / 8; 308 if (p->state != state_jr3_done) { 309 data[i] = 0; 310 } else { 311 int F = 0; 312 switch (axis) { 313 case 0:{ 314 F = get_s16(&p-> 315 channel-> 316 filter[filter]. 317 fx); 318 } 319 break; 320 case 1:{ 321 F = get_s16(&p-> 322 channel-> 323 filter[filter]. 324 fy); 325 } 326 break; 327 case 2:{ 328 F = get_s16(&p-> 329 channel-> 330 filter[filter]. 331 fz); 332 } 333 break; 334 case 3:{ 335 F = get_s16(&p-> 336 channel-> 337 filter[filter]. 338 mx); 339 } 340 break; 341 case 4:{ 342 F = get_s16(&p-> 343 channel-> 344 filter[filter]. 345 my); 346 } 347 break; 348 case 5:{ 349 F = get_s16(&p-> 350 channel-> 351 filter[filter]. 352 mz); 353 } 354 break; 355 case 6:{ 356 F = get_s16(&p-> 357 channel-> 358 filter[filter]. 359 v1); 360 } 361 break; 362 case 7:{ 363 F = get_s16(&p-> 364 channel-> 365 filter[filter]. 366 v2); 367 } 368 break; 369 } 370 data[i] = F + 0x4000; 371 } 372 } else if (channel == 56) { 373 if (p->state != state_jr3_done) { 374 data[i] = 0; 375 } else { 376 data[i] = 377 get_u16(&p->channel->model_no); 378 } 379 } else if (channel == 57) { 380 if (p->state != state_jr3_done) { 381 data[i] = 0; 382 } else { 383 data[i] = 384 get_u16(&p->channel->serial_no); 385 } 386 } 387 } 388 } 389 return result; 390} 391 392static void jr3_pci_open(struct comedi_device * dev) 393{ 394 int i; 395 struct jr3_pci_dev_private *devpriv = dev->private; 396 397 printk("jr3_pci_open\n"); 398 for (i = 0; i < devpriv->n_channels; i++) { 399 struct jr3_pci_subdev_private *p; 400 401 p = dev->subdevices[i].private; 402 if (p) { 403 printk("serial: %p %d (%d)\n", p, p->serial_no, 404 p->channel_no); 405 } 406 } 407} 408 409int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val) 410{ 411 int result = 0; 412 if (pos != 0 && val != 0) { 413 // Skip over non hex 414 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) { 415 } 416 // Collect value 417 *val = 0; 418 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) { 419 char ch = tolower(data[*pos]); 420 result = 1; 421 if ('0' <= ch && ch <= '9') { 422 *val = (*val << 4) + (ch - '0'); 423 } else if ('a' <= ch && ch <= 'f') { 424 *val = (*val << 4) + (ch - 'a' + 10); 425 } 426 } 427 } 428 return result; 429} 430 431static int jr3_download_firmware(struct comedi_device * dev, const u8 * data, 432 size_t size) 433{ 434 /* 435 * IDM file format is: 436 * { count, address, data <count> } * 437 * ffff 438 */ 439 int result, more, pos, OK; 440 441 result = 0; 442 more = 1; 443 pos = 0; 444 OK = 0; 445 while (more) { 446 unsigned int count, addr; 447 448 more = more && read_idm_word(data, size, &pos, &count); 449 if (more && count == 0xffff) { 450 OK = 1; 451 break; 452 } 453 more = more && read_idm_word(data, size, &pos, &addr); 454 while (more && count > 0) { 455 unsigned int dummy; 456 more = more && read_idm_word(data, size, &pos, &dummy); 457 count--; 458 } 459 } 460 461 if (!OK) { 462 result = -ENODATA; 463 } else { 464 int i; 465 struct jr3_pci_dev_private *p = dev->private; 466 467 for (i = 0; i < p->n_channels; i++) { 468 struct jr3_pci_subdev_private *sp; 469 470 sp = dev->subdevices[i].private; 471 more = 1; 472 pos = 0; 473 while (more) { 474 unsigned int count, addr; 475 more = more 476 && read_idm_word(data, size, &pos, 477 &count); 478 if (more && count == 0xffff) { 479 break; 480 } 481 more = more 482 && read_idm_word(data, size, &pos, 483 &addr); 484 printk("Loading#%d %4.4x bytes at %4.4x\n", i, 485 count, addr); 486 while (more && count > 0) { 487 if (addr & 0x4000) { 488 // 16 bit data, never seen in real life!! 489 unsigned int data1; 490 491 more = more 492 && read_idm_word(data, 493 size, &pos, &data1); 494 count--; 495 // printk("jr3_data, not tested\n"); 496 // jr3[addr + 0x20000 * pnum] = data1; 497 } else { 498 // Download 24 bit program 499 unsigned int data1, data2; 500 501 more = more 502 && read_idm_word(data, 503 size, &pos, &data1); 504 more = more 505 && read_idm_word(data, 506 size, &pos, &data2); 507 count -= 2; 508 if (more) { 509 set_u16(&p->iobase-> 510 channel[i]. 511 program_low 512 [addr], data1); 513 comedi_udelay(1); 514 set_u16(&p->iobase-> 515 channel[i]. 516 program_high 517 [addr], data2); 518 comedi_udelay(1); 519 520 } 521 } 522 addr++; 523 } 524 } 525 } 526 } 527 return result; 528} 529 530static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice * s) 531{ 532 struct poll_delay_t result = poll_delay_min_max(1000, 2000); 533 struct jr3_pci_subdev_private *p = s->private; 534 535 if (p) { 536 volatile struct jr3_channel *channel = p->channel; 537 int errors = get_u16(&channel->errors); 538 539 if (errors != p->errors) { 540 printk("Errors: %x -> %x\n", p->errors, errors); 541 p->errors = errors; 542 } 543 if (errors & (watch_dog | watch_dog2 | sensor_change)) { 544 // Sensor communication lost, force poll mode 545 p->state = state_jr3_poll; 546 547 } 548 switch (p->state) { 549 case state_jr3_poll:{ 550 u16 model_no = get_u16(&channel->model_no); 551 u16 serial_no = get_u16(&channel->serial_no); 552 if ((errors & (watch_dog | watch_dog2)) || 553 model_no == 0 || serial_no == 0) { 554 // Still no sensor, keep on polling. Since it takes up to 555 // 10 seconds for offsets to stabilize, polling each 556 // second should suffice. 557 result = poll_delay_min_max(1000, 2000); 558 } else { 559 p->retries = 0; 560 p->state = 561 state_jr3_init_wait_for_offset; 562 result = poll_delay_min_max(1000, 2000); 563 } 564 } 565 break; 566 case state_jr3_init_wait_for_offset:{ 567 p->retries++; 568 if (p->retries < 10) { 569 // Wait for offeset to stabilize (< 10 s according to manual) 570 result = poll_delay_min_max(1000, 2000); 571 } else { 572 transform_t transf; 573 574 p->model_no = 575 get_u16(&channel->model_no); 576 p->serial_no = 577 get_u16(&channel->serial_no); 578 579 printk("Setting transform for channel %d\n", p->channel_no); 580 printk("Sensor Model = %i\n", 581 p->model_no); 582 printk("Sensor Serial = %i\n", 583 p->serial_no); 584 585 // Transformation all zeros 586 transf.link[0].link_type = 587 (enum link_types)0; 588 transf.link[0].link_amount = 0; 589 transf.link[1].link_type = 590 (enum link_types)0; 591 transf.link[1].link_amount = 0; 592 transf.link[2].link_type = 593 (enum link_types)0; 594 transf.link[2].link_amount = 0; 595 transf.link[3].link_type = 596 (enum link_types)0; 597 transf.link[3].link_amount = 0; 598 599 set_transforms(channel, transf, 0); 600 use_transform(channel, 0); 601 p->state = 602 state_jr3_init_transform_complete; 603 result = poll_delay_min_max(20, 100); // Allow 20 ms for completion 604 } 605 } break; 606 case state_jr3_init_transform_complete:{ 607 if (!is_complete(channel)) { 608 printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel)); 609 result = poll_delay_min_max(20, 100); 610 } else { 611 // Set full scale 612 six_axis_t min_full_scale; 613 six_axis_t max_full_scale; 614 615 min_full_scale = 616 get_min_full_scales(channel); 617 printk("Obtained Min. Full Scales:\n"); 618 printk("%i ", (min_full_scale).fx); 619 printk("%i ", (min_full_scale).fy); 620 printk("%i ", (min_full_scale).fz); 621 printk("%i ", (min_full_scale).mx); 622 printk("%i ", (min_full_scale).my); 623 printk("%i ", (min_full_scale).mz); 624 printk("\n"); 625 626 max_full_scale = 627 get_max_full_scales(channel); 628 printk("Obtained Max. Full Scales:\n"); 629 printk("%i ", (max_full_scale).fx); 630 printk("%i ", (max_full_scale).fy); 631 printk("%i ", (max_full_scale).fz); 632 printk("%i ", (max_full_scale).mx); 633 printk("%i ", (max_full_scale).my); 634 printk("%i ", (max_full_scale).mz); 635 printk("\n"); 636 637 set_full_scales(channel, 638 max_full_scale); 639 640 p->state = 641 state_jr3_init_set_full_scale_complete; 642 result = poll_delay_min_max(20, 100); // Allow 20 ms for completion 643 } 644 } 645 break; 646 case state_jr3_init_set_full_scale_complete:{ 647 if (!is_complete(channel)) { 648 printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel)); 649 result = poll_delay_min_max(20, 100); 650 } else { 651 volatile struct force_array *full_scale; 652 653 // Use ranges in kN or we will overflow arount 2000N! 654 full_scale = &channel->full_scale; 655 p->range[0].range.min = 656 -get_s16(&full_scale->fx) * 657 1000; 658 p->range[0].range.max = 659 get_s16(&full_scale->fx) * 1000; 660 p->range[1].range.min = 661 -get_s16(&full_scale->fy) * 662 1000; 663 p->range[1].range.max = 664 get_s16(&full_scale->fy) * 1000; 665 p->range[2].range.min = 666 -get_s16(&full_scale->fz) * 667 1000; 668 p->range[2].range.max = 669 get_s16(&full_scale->fz) * 1000; 670 p->range[3].range.min = 671 -get_s16(&full_scale->mx) * 100; 672 p->range[3].range.max = 673 get_s16(&full_scale->mx) * 100; 674 p->range[4].range.min = 675 -get_s16(&full_scale->my) * 100; 676 p->range[4].range.max = 677 get_s16(&full_scale->my) * 100; 678 p->range[5].range.min = 679 -get_s16(&full_scale->mz) * 100; 680 p->range[5].range.max = 681 get_s16(&full_scale->mz) * 100; 682 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; // ?? 683 p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ?? 684 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; // ?? 685 p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ?? 686 p->range[8].range.min = 0; 687 p->range[8].range.max = 65535; 688 689 { 690 int i; 691 for (i = 0; i < 9; i++) { 692 printk("%d %d - %d\n", 693 i, 694 p->range[i]. 695 range.min, 696 p->range[i]. 697 range.max); 698 } 699 } 700 701 use_offset(channel, 0); 702 p->state = 703 state_jr3_init_use_offset_complete; 704 result = poll_delay_min_max(40, 100); // Allow 40 ms for completion 705 } 706 } 707 break; 708 case state_jr3_init_use_offset_complete:{ 709 if (!is_complete(channel)) { 710 printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel)); 711 result = poll_delay_min_max(20, 100); 712 } else { 713 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)); 714 715 set_s16(&channel->offsets.fx, 0); 716 set_s16(&channel->offsets.fy, 0); 717 set_s16(&channel->offsets.fz, 0); 718 set_s16(&channel->offsets.mx, 0); 719 set_s16(&channel->offsets.my, 0); 720 set_s16(&channel->offsets.mz, 0); 721 722 set_offset(channel); 723 724 p->state = state_jr3_done; 725 } 726 } 727 break; 728 case state_jr3_done:{ 729 poll_delay_min_max(10000, 20000); 730 } 731 break; 732 default:{ 733 poll_delay_min_max(1000, 2000); 734 } 735 break; 736 } 737 } 738 return result; 739} 740 741static void jr3_pci_poll_dev(unsigned long data) 742{ 743 unsigned long flags; 744 struct comedi_device *dev = (struct comedi_device *) data; 745 struct jr3_pci_dev_private *devpriv = dev->private; 746 unsigned long now; 747 int delay; 748 int i; 749 750 comedi_spin_lock_irqsave(&dev->spinlock, flags); 751 delay = 1000; 752 now = jiffies; 753 // Poll all channels that are ready to be polled 754 for (i = 0; i < devpriv->n_channels; i++) { 755 struct jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private; 756 if (now > subdevpriv->next_time_min) { 757 struct poll_delay_t sub_delay; 758 759 sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]); 760 subdevpriv->next_time_min = 761 jiffies + msecs_to_jiffies(sub_delay.min); 762 subdevpriv->next_time_max = 763 jiffies + msecs_to_jiffies(sub_delay.max); 764 if (sub_delay.max && sub_delay.max < delay) { 765 // Wake up as late as possible -> poll as many channels as 766 // possible at once 767 delay = sub_delay.max; 768 } 769 } 770 } 771 comedi_spin_unlock_irqrestore(&dev->spinlock, flags); 772 773 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay); 774 add_timer(&devpriv->timer); 775} 776 777static int jr3_pci_attach(struct comedi_device * dev, struct comedi_devconfig * it) 778{ 779 int result = 0; 780 struct pci_dev *card = NULL; 781 int opt_bus, opt_slot, i; 782 struct jr3_pci_dev_private *devpriv; 783 784 printk("comedi%d: jr3_pci\n", dev->minor); 785 786 opt_bus = it->options[0]; 787 opt_slot = it->options[1]; 788 789 if (sizeof(struct jr3_channel) != 0xc00) { 790 printk("sizeof(struct jr3_channel) = %x [expected %x]\n", 791 (unsigned)sizeof(struct jr3_channel), 0xc00); 792 return -EINVAL; 793 } 794 795 result = alloc_private(dev, sizeof(struct jr3_pci_dev_private)); 796 if (result < 0) { 797 return -ENOMEM; 798 } 799 card = NULL; 800 devpriv = dev->private; 801 init_timer(&devpriv->timer); 802 while (1) { 803 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card); 804 if (card == NULL) { 805 /* No card found */ 806 break; 807 } else { 808 switch (card->device) { 809 case PCI_DEVICE_ID_JR3_1_CHANNEL:{ 810 devpriv->n_channels = 1; 811 } 812 break; 813 case PCI_DEVICE_ID_JR3_2_CHANNEL:{ 814 devpriv->n_channels = 2; 815 } 816 break; 817 case PCI_DEVICE_ID_JR3_3_CHANNEL:{ 818 devpriv->n_channels = 3; 819 } 820 break; 821 case PCI_DEVICE_ID_JR3_4_CHANNEL:{ 822 devpriv->n_channels = 4; 823 } 824 break; 825 default:{ 826 devpriv->n_channels = 0; 827 } 828 } 829 if (devpriv->n_channels >= 1) { 830 if (opt_bus == 0 && opt_slot == 0) { 831 /* Take first available card */ 832 break; 833 } else if (opt_bus == card->bus->number && 834 opt_slot == PCI_SLOT(card->devfn)) { 835 /* Take requested card */ 836 break; 837 } 838 } 839 } 840 } 841 if (!card) { 842 printk(" no jr3_pci found\n"); 843 return -EIO; 844 } else { 845 devpriv->pci_dev = card; 846 dev->board_name = "jr3_pci"; 847 } 848 if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) { 849 return -EIO; 850 } 851 devpriv->pci_enabled = 1; 852 devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t)); 853 result = alloc_subdevices(dev, devpriv->n_channels); 854 if (result < 0) 855 goto out; 856 857 dev->open = jr3_pci_open; 858 for (i = 0; i < devpriv->n_channels; i++) { 859 dev->subdevices[i].type = COMEDI_SUBD_AI; 860 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND; 861 dev->subdevices[i].n_chan = 8 * 7 + 2; 862 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read; 863 dev->subdevices[i].private = 864 kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); 865 if (dev->subdevices[i].private) { 866 struct jr3_pci_subdev_private *p; 867 int j; 868 869 p = dev->subdevices[i].private; 870 p->channel = &devpriv->iobase->channel[i].data; 871 printk("p->channel %p %p (%tx)\n", 872 p->channel, devpriv->iobase, 873 ((char *)(p->channel) - 874 (char *)(devpriv->iobase))); 875 p->channel_no = i; 876 for (j = 0; j < 8; j++) { 877 int k; 878 879 p->range[j].length = 1; 880 p->range[j].range.min = -1000000; 881 p->range[j].range.max = 1000000; 882 for (k = 0; k < 7; k++) { 883 p->range_table_list[j + k * 8] = 884 (struct comedi_lrange *) & p->range[j]; 885 p->maxdata_list[j + k * 8] = 0x7fff; 886 } 887 } 888 p->range[8].length = 1; 889 p->range[8].range.min = 0; 890 p->range[8].range.max = 65536; 891 892 p->range_table_list[56] = 893 (struct comedi_lrange *) & p->range[8]; 894 p->range_table_list[57] = 895 (struct comedi_lrange *) & p->range[8]; 896 p->maxdata_list[56] = 0xffff; 897 p->maxdata_list[57] = 0xffff; 898 // Channel specific range and maxdata 899 dev->subdevices[i].range_table = 0; 900 dev->subdevices[i].range_table_list = 901 p->range_table_list; 902 dev->subdevices[i].maxdata = 0; 903 dev->subdevices[i].maxdata_list = p->maxdata_list; 904 } 905 } 906 907 // Reset DSP card 908 devpriv->iobase->channel[0].reset = 0; 909 910 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware); 911 printk("Firmare load %d\n", result); 912 913 if (result < 0) { 914 goto out; 915 } 916 // TODO: use firmware to load preferred offset tables. Suggested format: 917 // model serial Fx Fy Fz Mx My Mz\n 918 // 919 // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware); 920 921 // It takes a few milliseconds for software to settle 922 // as much as we can read firmware version 923 msleep_interruptible(25); 924 for (i = 0; i < 0x18; i++) { 925 printk("%c", 926 get_u16(&devpriv->iobase->channel[0].data. 927 copyright[i]) >> 8); 928 } 929 930 // Start card timer 931 for (i = 0; i < devpriv->n_channels; i++) { 932 struct jr3_pci_subdev_private *p = dev->subdevices[i].private; 933 934 p->next_time_min = jiffies + msecs_to_jiffies(500); 935 p->next_time_max = jiffies + msecs_to_jiffies(2000); 936 } 937 938 devpriv->timer.data = (unsigned long)dev; 939 devpriv->timer.function = jr3_pci_poll_dev; 940 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); 941 add_timer(&devpriv->timer); 942 943 out: 944 return result; 945} 946 947static int jr3_pci_detach(struct comedi_device * dev) 948{ 949 int i; 950 struct jr3_pci_dev_private *devpriv = dev->private; 951 952 printk("comedi%d: jr3_pci: remove\n", dev->minor); 953 if (devpriv) { 954 del_timer_sync(&devpriv->timer); 955 956 if (dev->subdevices) { 957 for (i = 0; i < devpriv->n_channels; i++) { 958 kfree(dev->subdevices[i].private); 959 } 960 } 961 962 if (devpriv->iobase) { 963 iounmap((void *)devpriv->iobase); 964 } 965 if (devpriv->pci_enabled) { 966 comedi_pci_disable(devpriv->pci_dev); 967 } 968 969 if (devpriv->pci_dev) { 970 pci_dev_put(devpriv->pci_dev); 971 } 972 } 973 return 0; 974} 975 976COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table); 977