jr3_pci.c revision fa5c5f4ce0c9ba03a670c640cad17e14cb35678b
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/timer.h> 50#include "comedi_pci.h" 51#include "jr3_pci.h" 52 53#define PCI_VENDOR_ID_JR3 0x1762 54#define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111 55#define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112 56#define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113 57#define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114 58 59static int jr3_pci_attach(struct comedi_device *dev, 60 struct comedi_devconfig *it); 61static int jr3_pci_detach(struct comedi_device *dev); 62 63static struct comedi_driver driver_jr3_pci = { 64 .driver_name = "jr3_pci", 65 .module = THIS_MODULE, 66 .attach = jr3_pci_attach, 67 .detach = jr3_pci_detach, 68}; 69 70static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = { 71 { 72 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL, 73 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 74 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL, 75 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 76 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL, 77 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 78 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL, 79 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, { 80 0} 81}; 82 83MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table); 84 85struct jr3_pci_dev_private { 86 87 struct pci_dev *pci_dev; 88 int pci_enabled; 89 volatile struct jr3_t *iobase; 90 int n_channels; 91 struct timer_list timer; 92}; 93 94struct poll_delay_t { 95 96 int min; 97 int max; 98}; 99 100struct jr3_pci_subdev_private { 101 volatile struct jr3_channel *channel; 102 unsigned long next_time_min; 103 unsigned long next_time_max; 104 enum { state_jr3_poll, 105 state_jr3_init_wait_for_offset, 106 state_jr3_init_transform_complete, 107 state_jr3_init_set_full_scale_complete, 108 state_jr3_init_use_offset_complete, 109 state_jr3_done 110 } state; 111 int channel_no; 112 int serial_no; 113 int model_no; 114 struct { 115 int length; 116 struct comedi_krange range; 117 } range[9]; 118 const struct comedi_lrange *range_table_list[8 * 7 + 2]; 119 unsigned int maxdata_list[8 * 7 + 2]; 120 u16 errors; 121 int retries; 122}; 123 124/* Hotplug firmware loading stuff */ 125 126typedef int comedi_firmware_callback(struct comedi_device *dev, 127 const u8 * data, size_t size); 128 129static int comedi_load_firmware(struct comedi_device *dev, char *name, 130 comedi_firmware_callback cb) 131{ 132 int result = 0; 133 const struct firmware *fw; 134 char *firmware_path; 135 static const char *prefix = "comedi/"; 136 struct jr3_pci_dev_private *devpriv = dev->private; 137 138 firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL); 139 if (!firmware_path) { 140 result = -ENOMEM; 141 } else { 142 firmware_path[0] = '\0'; 143 strcat(firmware_path, prefix); 144 strcat(firmware_path, name); 145 result = request_firmware(&fw, firmware_path, 146 &devpriv->pci_dev->dev); 147 if (result == 0) { 148 if (!cb) 149 result = -EINVAL; 150 else 151 result = cb(dev, fw->data, fw->size); 152 release_firmware(fw); 153 } 154 kfree(firmware_path); 155 } 156 return result; 157} 158 159static struct poll_delay_t poll_delay_min_max(int min, int max) 160{ 161 struct poll_delay_t result; 162 163 result.min = min; 164 result.max = max; 165 return result; 166} 167 168static int is_complete(volatile struct jr3_channel *channel) 169{ 170 return get_s16(&channel->command_word0) == 0; 171} 172 173struct transform_t { 174 struct { 175 u16 link_type; 176 s16 link_amount; 177 } link[8]; 178}; 179 180static void set_transforms(volatile struct jr3_channel *channel, 181 struct transform_t transf, short num) 182{ 183 int i; 184 185 num &= 0x000f; /* Make sure that 0 <= num <= 15 */ 186 for (i = 0; i < 8; i++) { 187 188 set_u16(&channel->transforms[num].link[i].link_type, 189 transf.link[i].link_type); 190 udelay(1); 191 set_s16(&channel->transforms[num].link[i].link_amount, 192 transf.link[i].link_amount); 193 udelay(1); 194 if (transf.link[i].link_type == end_x_form) { 195 break; 196 } 197 } 198} 199 200static void use_transform(volatile struct jr3_channel *channel, 201 short transf_num) 202{ 203 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f)); 204} 205 206static void use_offset(volatile struct jr3_channel *channel, short offset_num) 207{ 208 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f)); 209} 210 211static void set_offset(volatile struct jr3_channel *channel) 212{ 213 set_s16(&channel->command_word0, 0x0700); 214} 215 216struct six_axis_t { 217 s16 fx; 218 s16 fy; 219 s16 fz; 220 s16 mx; 221 s16 my; 222 s16 mz; 223}; 224 225static void set_full_scales(volatile struct jr3_channel *channel, 226 struct six_axis_t full_scale) 227{ 228 printk("%d %d %d %d %d %d\n", 229 full_scale.fx, 230 full_scale.fy, 231 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz); 232 set_s16(&channel->full_scale.fx, full_scale.fx); 233 set_s16(&channel->full_scale.fy, full_scale.fy); 234 set_s16(&channel->full_scale.fz, full_scale.fz); 235 set_s16(&channel->full_scale.mx, full_scale.mx); 236 set_s16(&channel->full_scale.my, full_scale.my); 237 set_s16(&channel->full_scale.mz, full_scale.mz); 238 set_s16(&channel->command_word0, 0x0a00); 239} 240 241static struct six_axis_t get_min_full_scales(volatile struct jr3_channel 242 *channel) 243{ 244 struct six_axis_t result; 245 result.fx = get_s16(&channel->min_full_scale.fx); 246 result.fy = get_s16(&channel->min_full_scale.fy); 247 result.fz = get_s16(&channel->min_full_scale.fz); 248 result.mx = get_s16(&channel->min_full_scale.mx); 249 result.my = get_s16(&channel->min_full_scale.my); 250 result.mz = get_s16(&channel->min_full_scale.mz); 251 return result; 252} 253 254static struct six_axis_t get_max_full_scales(volatile struct jr3_channel 255 *channel) 256{ 257 struct six_axis_t result; 258 result.fx = get_s16(&channel->max_full_scale.fx); 259 result.fy = get_s16(&channel->max_full_scale.fy); 260 result.fz = get_s16(&channel->max_full_scale.fz); 261 result.mx = get_s16(&channel->max_full_scale.mx); 262 result.my = get_s16(&channel->max_full_scale.my); 263 result.mz = get_s16(&channel->max_full_scale.mz); 264 return result; 265} 266 267static int jr3_pci_ai_insn_read(struct comedi_device *dev, 268 struct comedi_subdevice *s, 269 struct comedi_insn *insn, unsigned int *data) 270{ 271 int result; 272 struct jr3_pci_subdev_private *p; 273 int channel; 274 275 p = s->private; 276 channel = CR_CHAN(insn->chanspec); 277 if (p == NULL || channel > 57) { 278 result = -EINVAL; 279 } else { 280 int i; 281 282 result = insn->n; 283 if (p->state != state_jr3_done || 284 (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 | 285 sensor_change))) { 286 /* No sensor or sensor changed */ 287 if (p->state == state_jr3_done) { 288 /* Restart polling */ 289 p->state = state_jr3_poll; 290 } 291 result = -EAGAIN; 292 } 293 for (i = 0; i < insn->n; i++) { 294 if (channel < 56) { 295 int axis, filter; 296 297 axis = channel % 8; 298 filter = channel / 8; 299 if (p->state != state_jr3_done) { 300 data[i] = 0; 301 } else { 302 int F = 0; 303 switch (axis) { 304 case 0:{ 305 F = get_s16 306 (&p->channel->filter 307 [filter].fx); 308 } 309 break; 310 case 1:{ 311 F = get_s16 312 (&p->channel->filter 313 [filter].fy); 314 } 315 break; 316 case 2:{ 317 F = get_s16 318 (&p->channel->filter 319 [filter].fz); 320 } 321 break; 322 case 3:{ 323 F = get_s16 324 (&p->channel->filter 325 [filter].mx); 326 } 327 break; 328 case 4:{ 329 F = get_s16 330 (&p->channel->filter 331 [filter].my); 332 } 333 break; 334 case 5:{ 335 F = get_s16 336 (&p->channel->filter 337 [filter].mz); 338 } 339 break; 340 case 6:{ 341 F = get_s16 342 (&p->channel->filter 343 [filter].v1); 344 } 345 break; 346 case 7:{ 347 F = get_s16 348 (&p->channel->filter 349 [filter].v2); 350 } 351 break; 352 } 353 data[i] = F + 0x4000; 354 } 355 } else if (channel == 56) { 356 if (p->state != state_jr3_done) { 357 data[i] = 0; 358 } else { 359 data[i] = 360 get_u16(&p->channel->model_no); 361 } 362 } else if (channel == 57) { 363 if (p->state != state_jr3_done) { 364 data[i] = 0; 365 } else { 366 data[i] = 367 get_u16(&p->channel->serial_no); 368 } 369 } 370 } 371 } 372 return result; 373} 374 375static void jr3_pci_open(struct comedi_device *dev) 376{ 377 int i; 378 struct jr3_pci_dev_private *devpriv = dev->private; 379 380 printk("jr3_pci_open\n"); 381 for (i = 0; i < devpriv->n_channels; i++) { 382 struct jr3_pci_subdev_private *p; 383 384 p = dev->subdevices[i].private; 385 if (p) { 386 printk("serial: %p %d (%d)\n", p, p->serial_no, 387 p->channel_no); 388 } 389 } 390} 391 392int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val) 393{ 394 int result = 0; 395 if (pos != 0 && val != 0) { 396 /* Skip over non hex */ 397 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) { 398 } 399 /* Collect value */ 400 *val = 0; 401 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) { 402 char ch = tolower(data[*pos]); 403 result = 1; 404 if ('0' <= ch && ch <= '9') { 405 *val = (*val << 4) + (ch - '0'); 406 } else if ('a' <= ch && ch <= 'f') { 407 *val = (*val << 4) + (ch - 'a' + 10); 408 } 409 } 410 } 411 return result; 412} 413 414static int jr3_download_firmware(struct comedi_device *dev, const u8 * data, 415 size_t size) 416{ 417 /* 418 * IDM file format is: 419 * { count, address, data <count> } * 420 * ffff 421 */ 422 int result, more, pos, OK; 423 424 result = 0; 425 more = 1; 426 pos = 0; 427 OK = 0; 428 while (more) { 429 unsigned int count, addr; 430 431 more = more && read_idm_word(data, size, &pos, &count); 432 if (more && count == 0xffff) { 433 OK = 1; 434 break; 435 } 436 more = more && read_idm_word(data, size, &pos, &addr); 437 while (more && count > 0) { 438 unsigned int dummy; 439 more = more && read_idm_word(data, size, &pos, &dummy); 440 count--; 441 } 442 } 443 444 if (!OK) { 445 result = -ENODATA; 446 } else { 447 int i; 448 struct jr3_pci_dev_private *p = dev->private; 449 450 for (i = 0; i < p->n_channels; i++) { 451 struct jr3_pci_subdev_private *sp; 452 453 sp = dev->subdevices[i].private; 454 more = 1; 455 pos = 0; 456 while (more) { 457 unsigned int count, addr; 458 more = more 459 && read_idm_word(data, size, &pos, &count); 460 if (more && count == 0xffff) { 461 break; 462 } 463 more = more 464 && read_idm_word(data, size, &pos, &addr); 465 printk("Loading#%d %4.4x bytes at %4.4x\n", i, 466 count, addr); 467 while (more && count > 0) { 468 if (addr & 0x4000) { 469 /* 16 bit data, never seen in real life!! */ 470 unsigned int data1; 471 472 more = more 473 && read_idm_word(data, 474 size, &pos, 475 &data1); 476 count--; 477 /* printk("jr3_data, not tested\n"); */ 478 /* jr3[addr + 0x20000 * pnum] = data1; */ 479 } else { 480 /* Download 24 bit program */ 481 unsigned int data1, data2; 482 483 more = more 484 && read_idm_word(data, 485 size, &pos, 486 &data1); 487 more = more 488 && read_idm_word(data, size, 489 &pos, 490 &data2); 491 count -= 2; 492 if (more) { 493 set_u16(&p-> 494 iobase->channel 495 [i].program_low 496 [addr], data1); 497 udelay(1); 498 set_u16(&p-> 499 iobase->channel 500 [i].program_high 501 [addr], data2); 502 udelay(1); 503 504 } 505 } 506 addr++; 507 } 508 } 509 } 510 } 511 return result; 512} 513 514static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s) 515{ 516 struct poll_delay_t result = poll_delay_min_max(1000, 2000); 517 struct jr3_pci_subdev_private *p = s->private; 518 int i; 519 520 if (p) { 521 volatile struct jr3_channel *channel = p->channel; 522 int errors = get_u16(&channel->errors); 523 524 if (errors != p->errors) { 525 printk("Errors: %x -> %x\n", p->errors, errors); 526 p->errors = errors; 527 } 528 if (errors & (watch_dog | watch_dog2 | sensor_change)) { 529 /* Sensor communication lost, force poll mode */ 530 p->state = state_jr3_poll; 531 532 } 533 switch (p->state) { 534 case state_jr3_poll:{ 535 u16 model_no = get_u16(&channel->model_no); 536 u16 serial_no = get_u16(&channel->serial_no); 537 if ((errors & (watch_dog | watch_dog2)) || 538 model_no == 0 || serial_no == 0) { 539/* 540 * Still no sensor, keep on polling. Since it takes up to 10 seconds 541 * for offsets to stabilize, polling each second should suffice. 542 */ 543 result = poll_delay_min_max(1000, 2000); 544 } else { 545 p->retries = 0; 546 p->state = 547 state_jr3_init_wait_for_offset; 548 result = poll_delay_min_max(1000, 2000); 549 } 550 } 551 break; 552 case state_jr3_init_wait_for_offset:{ 553 p->retries++; 554 if (p->retries < 10) { 555 /* Wait for offeset to stabilize (< 10 s according to manual) */ 556 result = poll_delay_min_max(1000, 2000); 557 } else { 558 struct transform_t transf; 559 560 p->model_no = 561 get_u16(&channel->model_no); 562 p->serial_no = 563 get_u16(&channel->serial_no); 564 565 printk 566 ("Setting transform for channel %d\n", 567 p->channel_no); 568 printk("Sensor Model = %i\n", 569 p->model_no); 570 printk("Sensor Serial = %i\n", 571 p->serial_no); 572 573 /* Transformation all zeros */ 574 for (i = 0; i < ARRAY_SIZE(transf.link); i++) { 575 transf.link[i].link_type = 576 (enum link_types)0; 577 transf.link[i].link_amount = 0; 578 } 579 580 set_transforms(channel, transf, 0); 581 use_transform(channel, 0); 582 p->state = 583 state_jr3_init_transform_complete; 584 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ 585 } 586 } break; 587 case state_jr3_init_transform_complete:{ 588 if (!is_complete(channel)) { 589 printk 590 ("state_jr3_init_transform_complete complete = %d\n", 591 is_complete(channel)); 592 result = poll_delay_min_max(20, 100); 593 } else { 594 /* Set full scale */ 595 struct six_axis_t min_full_scale; 596 struct six_axis_t max_full_scale; 597 598 min_full_scale = 599 get_min_full_scales(channel); 600 printk("Obtained Min. Full Scales:\n"); 601 printk("%i ", (min_full_scale).fx); 602 printk("%i ", (min_full_scale).fy); 603 printk("%i ", (min_full_scale).fz); 604 printk("%i ", (min_full_scale).mx); 605 printk("%i ", (min_full_scale).my); 606 printk("%i ", (min_full_scale).mz); 607 printk("\n"); 608 609 max_full_scale = 610 get_max_full_scales(channel); 611 printk("Obtained Max. Full Scales:\n"); 612 printk("%i ", (max_full_scale).fx); 613 printk("%i ", (max_full_scale).fy); 614 printk("%i ", (max_full_scale).fz); 615 printk("%i ", (max_full_scale).mx); 616 printk("%i ", (max_full_scale).my); 617 printk("%i ", (max_full_scale).mz); 618 printk("\n"); 619 620 set_full_scales(channel, 621 max_full_scale); 622 623 p->state = 624 state_jr3_init_set_full_scale_complete; 625 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */ 626 } 627 } 628 break; 629 case state_jr3_init_set_full_scale_complete:{ 630 if (!is_complete(channel)) { 631 printk 632 ("state_jr3_init_set_full_scale_complete complete = %d\n", 633 is_complete(channel)); 634 result = poll_delay_min_max(20, 100); 635 } else { 636 volatile struct force_array *full_scale; 637 638 /* Use ranges in kN or we will overflow arount 2000N! */ 639 full_scale = &channel->full_scale; 640 p->range[0].range.min = 641 -get_s16(&full_scale->fx) * 1000; 642 p->range[0].range.max = 643 get_s16(&full_scale->fx) * 1000; 644 p->range[1].range.min = 645 -get_s16(&full_scale->fy) * 1000; 646 p->range[1].range.max = 647 get_s16(&full_scale->fy) * 1000; 648 p->range[2].range.min = 649 -get_s16(&full_scale->fz) * 1000; 650 p->range[2].range.max = 651 get_s16(&full_scale->fz) * 1000; 652 p->range[3].range.min = 653 -get_s16(&full_scale->mx) * 100; 654 p->range[3].range.max = 655 get_s16(&full_scale->mx) * 100; 656 p->range[4].range.min = 657 -get_s16(&full_scale->my) * 100; 658 p->range[4].range.max = 659 get_s16(&full_scale->my) * 100; 660 p->range[5].range.min = 661 -get_s16(&full_scale->mz) * 100; 662 p->range[5].range.max = 663 get_s16(&full_scale->mz) * 100; 664 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */ 665 p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */ 666 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */ 667 p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */ 668 p->range[8].range.min = 0; 669 p->range[8].range.max = 65535; 670 671 { 672 int i; 673 for (i = 0; i < 9; i++) { 674 printk("%d %d - %d\n", 675 i, 676 p-> 677 range[i].range. 678 min, 679 p-> 680 range[i].range. 681 max); 682 } 683 } 684 685 use_offset(channel, 0); 686 p->state = 687 state_jr3_init_use_offset_complete; 688 result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */ 689 } 690 } 691 break; 692 case state_jr3_init_use_offset_complete:{ 693 if (!is_complete(channel)) { 694 printk 695 ("state_jr3_init_use_offset_complete complete = %d\n", 696 is_complete(channel)); 697 result = poll_delay_min_max(20, 100); 698 } else { 699 printk 700 ("Default offsets %d %d %d %d %d %d\n", 701 get_s16(&channel->offsets.fx), 702 get_s16(&channel->offsets.fy), 703 get_s16(&channel->offsets.fz), 704 get_s16(&channel->offsets.mx), 705 get_s16(&channel->offsets.my), 706 get_s16(&channel->offsets.mz)); 707 708 set_s16(&channel->offsets.fx, 0); 709 set_s16(&channel->offsets.fy, 0); 710 set_s16(&channel->offsets.fz, 0); 711 set_s16(&channel->offsets.mx, 0); 712 set_s16(&channel->offsets.my, 0); 713 set_s16(&channel->offsets.mz, 0); 714 715 set_offset(channel); 716 717 p->state = state_jr3_done; 718 } 719 } 720 break; 721 case state_jr3_done:{ 722 poll_delay_min_max(10000, 20000); 723 } 724 break; 725 default:{ 726 poll_delay_min_max(1000, 2000); 727 } 728 break; 729 } 730 } 731 return result; 732} 733 734static void jr3_pci_poll_dev(unsigned long data) 735{ 736 unsigned long flags; 737 struct comedi_device *dev = (struct comedi_device *)data; 738 struct jr3_pci_dev_private *devpriv = dev->private; 739 unsigned long now; 740 int delay; 741 int i; 742 743 spin_lock_irqsave(&dev->spinlock, flags); 744 delay = 1000; 745 now = jiffies; 746 /* Poll all channels that are ready to be polled */ 747 for (i = 0; i < devpriv->n_channels; i++) { 748 struct jr3_pci_subdev_private *subdevpriv = 749 dev->subdevices[i].private; 750 if (now > subdevpriv->next_time_min) { 751 struct poll_delay_t sub_delay; 752 753 sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]); 754 subdevpriv->next_time_min = 755 jiffies + msecs_to_jiffies(sub_delay.min); 756 subdevpriv->next_time_max = 757 jiffies + msecs_to_jiffies(sub_delay.max); 758 if (sub_delay.max && sub_delay.max < delay) { 759/* 760* Wake up as late as possible -> poll as many channels as possible 761* at once 762*/ 763 delay = sub_delay.max; 764 } 765 } 766 } 767 spin_unlock_irqrestore(&dev->spinlock, flags); 768 769 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay); 770 add_timer(&devpriv->timer); 771} 772 773static int jr3_pci_attach(struct comedi_device *dev, 774 struct comedi_devconfig *it) 775{ 776 int result = 0; 777 struct pci_dev *card = NULL; 778 int opt_bus, opt_slot, i; 779 struct jr3_pci_dev_private *devpriv; 780 781 printk("comedi%d: jr3_pci\n", dev->minor); 782 783 opt_bus = it->options[0]; 784 opt_slot = it->options[1]; 785 786 if (sizeof(struct jr3_channel) != 0xc00) { 787 printk("sizeof(struct jr3_channel) = %x [expected %x]\n", 788 (unsigned)sizeof(struct jr3_channel), 0xc00); 789 return -EINVAL; 790 } 791 792 result = alloc_private(dev, sizeof(struct jr3_pci_dev_private)); 793 if (result < 0) { 794 return -ENOMEM; 795 } 796 card = NULL; 797 devpriv = dev->private; 798 init_timer(&devpriv->timer); 799 while (1) { 800 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card); 801 if (card == NULL) { 802 /* No card found */ 803 break; 804 } else { 805 switch (card->device) { 806 case PCI_DEVICE_ID_JR3_1_CHANNEL:{ 807 devpriv->n_channels = 1; 808 } 809 break; 810 case PCI_DEVICE_ID_JR3_2_CHANNEL:{ 811 devpriv->n_channels = 2; 812 } 813 break; 814 case PCI_DEVICE_ID_JR3_3_CHANNEL:{ 815 devpriv->n_channels = 3; 816 } 817 break; 818 case PCI_DEVICE_ID_JR3_4_CHANNEL:{ 819 devpriv->n_channels = 4; 820 } 821 break; 822 default:{ 823 devpriv->n_channels = 0; 824 } 825 } 826 if (devpriv->n_channels >= 1) { 827 if (opt_bus == 0 && opt_slot == 0) { 828 /* Take first available card */ 829 break; 830 } else if (opt_bus == card->bus->number && 831 opt_slot == PCI_SLOT(card->devfn)) { 832 /* Take requested card */ 833 break; 834 } 835 } 836 } 837 } 838 if (!card) { 839 printk(" no jr3_pci found\n"); 840 return -EIO; 841 } else { 842 devpriv->pci_dev = card; 843 dev->board_name = "jr3_pci"; 844 } 845 846 result = comedi_pci_enable(card, "jr3_pci"); 847 if (result < 0) { 848 return -EIO; 849 } 850 851 devpriv->pci_enabled = 1; 852 devpriv->iobase = ioremap(pci_resource_start(card, 0), 853 offsetof(struct jr3_t, channel[devpriv->n_channels])); 854 if (!devpriv->iobase) 855 return -ENOMEM; 856 857 result = alloc_subdevices(dev, devpriv->n_channels); 858 if (result < 0) 859 goto out; 860 861 dev->open = jr3_pci_open; 862 for (i = 0; i < devpriv->n_channels; i++) { 863 dev->subdevices[i].type = COMEDI_SUBD_AI; 864 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND; 865 dev->subdevices[i].n_chan = 8 * 7 + 2; 866 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read; 867 dev->subdevices[i].private = 868 kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL); 869 if (dev->subdevices[i].private) { 870 struct jr3_pci_subdev_private *p; 871 int j; 872 873 p = dev->subdevices[i].private; 874 p->channel = &devpriv->iobase->channel[i].data; 875 printk("p->channel %p %p (%tx)\n", 876 p->channel, devpriv->iobase, 877 ((char *)(p->channel) - 878 (char *)(devpriv->iobase))); 879 p->channel_no = i; 880 for (j = 0; j < 8; j++) { 881 int k; 882 883 p->range[j].length = 1; 884 p->range[j].range.min = -1000000; 885 p->range[j].range.max = 1000000; 886 for (k = 0; k < 7; k++) { 887 p->range_table_list[j + k * 8] = 888 (struct comedi_lrange *)&p-> 889 range[j]; 890 p->maxdata_list[j + k * 8] = 0x7fff; 891 } 892 } 893 p->range[8].length = 1; 894 p->range[8].range.min = 0; 895 p->range[8].range.max = 65536; 896 897 p->range_table_list[56] = 898 (struct comedi_lrange *)&p->range[8]; 899 p->range_table_list[57] = 900 (struct comedi_lrange *)&p->range[8]; 901 p->maxdata_list[56] = 0xffff; 902 p->maxdata_list[57] = 0xffff; 903 /* Channel specific range and maxdata */ 904 dev->subdevices[i].range_table = 0; 905 dev->subdevices[i].range_table_list = 906 p->range_table_list; 907 dev->subdevices[i].maxdata = 0; 908 dev->subdevices[i].maxdata_list = p->maxdata_list; 909 } 910 } 911 912 /* Reset DSP card */ 913 devpriv->iobase->channel[0].reset = 0; 914 915 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware); 916 printk("Firmare load %d\n", result); 917 918 if (result < 0) { 919 goto out; 920 } 921/* 922 * TODO: use firmware to load preferred offset tables. Suggested 923 * format: 924 * model serial Fx Fy Fz Mx My Mz\n 925 * 926 * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware); 927 */ 928 929/* 930 * It takes a few milliseconds for software to settle as much as we 931 * can read firmware version 932 */ 933 msleep_interruptible(25); 934 for (i = 0; i < 0x18; i++) { 935 printk("%c", 936 get_u16(&devpriv->iobase->channel[0]. 937 data.copyright[i]) >> 8); 938 } 939 940 /* Start card timer */ 941 for (i = 0; i < devpriv->n_channels; i++) { 942 struct jr3_pci_subdev_private *p = dev->subdevices[i].private; 943 944 p->next_time_min = jiffies + msecs_to_jiffies(500); 945 p->next_time_max = jiffies + msecs_to_jiffies(2000); 946 } 947 948 devpriv->timer.data = (unsigned long)dev; 949 devpriv->timer.function = jr3_pci_poll_dev; 950 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000); 951 add_timer(&devpriv->timer); 952 953out: 954 return result; 955} 956 957static int jr3_pci_detach(struct comedi_device *dev) 958{ 959 int i; 960 struct jr3_pci_dev_private *devpriv = dev->private; 961 962 printk("comedi%d: jr3_pci: remove\n", dev->minor); 963 if (devpriv) { 964 del_timer_sync(&devpriv->timer); 965 966 if (dev->subdevices) { 967 for (i = 0; i < devpriv->n_channels; i++) { 968 kfree(dev->subdevices[i].private); 969 } 970 } 971 972 if (devpriv->iobase) { 973 iounmap((void *)devpriv->iobase); 974 } 975 if (devpriv->pci_enabled) { 976 comedi_pci_disable(devpriv->pci_dev); 977 } 978 979 if (devpriv->pci_dev) { 980 pci_dev_put(devpriv->pci_dev); 981 } 982 } 983 return 0; 984} 985 986COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table); 987