jr3_pci.h revision 0642feb3e1ffe896ff0fd67cad5fc33a51fe4651
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(volatile const u32 * p) 6{ 7 return (u16) readl(p); 8} 9 10static inline void set_u16(volatile u32 * p, u16 val) 11{ 12 writel(val, p); 13} 14 15static inline s16 get_s16(volatile const s32 * p) 16{ 17 return (s16) readl(p); 18} 19 20static inline void set_s16(volatile s32 * 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 44typedef struct raw_channel { 45 u32 raw_time; 46 s32 raw_data; 47 s32 reserved[2]; 48} raw_channel_t; 49 50/* The force_array structure shows the layout for the decoupled and 51 * filtered force data. 52 */ 53typedef struct 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} force_array_t; 63 64/* The six_axis_array structure shows the layout for the offsets and 65 * the full scales. 66 */ 67typedef struct six_axis_array { 68 s32 fx; 69 s32 fy; 70 s32 fz; 71 s32 mx; 72 s32 my; 73 s32 mz; 74} six_axis_array_t; 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 90typedef enum { 91 fx = 0x0001, 92 fy = 0x0002, 93 fz = 0x0004, 94 mx = 0x0008, 95 my = 0x0010, 96 mz = 0x0020, 97 changeV2 = 0x0040, 98 changeV1 = 0x0080 99} vect_bits_t; 100 101/* WARNING_BITS */ 102/* The warning_bits structure shows the bit pattern for the warning 103 * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb). 104 */ 105 106/* XX_NEAR_SET */ 107/* The xx_near_sat bits signify that the indicated axis has reached or 108 * exceeded the near saturation value. 109 */ 110 111typedef enum { 112 fx_near_sat = 0x0001, 113 fy_near_sat = 0x0002, 114 fz_near_sat = 0x0004, 115 mx_near_sat = 0x0008, 116 my_near_sat = 0x0010, 117 mz_near_sat = 0x0020 118} warning_bits_t; 119 120/* ERROR_BITS */ 121/* XX_SAT */ 122/* MEMORY_ERROR */ 123/* SENSOR_CHANGE */ 124 125/* The error_bits structure shows the bit pattern for the error word. 126 * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The 127 * xx_sat bits signify that the indicated axis has reached or exceeded 128 * the saturation value. The memory_error bit indicates that a problem 129 * was detected in the on-board RAM during the power-up 130 * initialization. The sensor_change bit indicates that a sensor other 131 * than the one originally plugged in has passed its CRC check. This 132 * bit latches, and must be reset by the user. 133 * 134 */ 135 136/* SYSTEM_BUSY */ 137 138/* The system_busy bit indicates that the JR3 DSP is currently busy 139 * and is not calculating force data. This occurs when a new 140 * coordinate transformation, or new sensor full scale is set by the 141 * user. A very fast system using the force data for feedback might 142 * become unstable during the approximately 4 ms needed to accomplish 143 * these calculations. This bit will also become active when a new 144 * sensor is plugged in and the system needs to recalculate the 145 * calibration CRC. 146 */ 147 148/* CAL_CRC_BAD */ 149 150/* The cal_crc_bad bit indicates that the calibration CRC has not 151 * calculated to zero. CRC is short for cyclic redundancy code. It is 152 * a method for determining the integrity of messages in data 153 * communication. The calibration data stored inside the sensor is 154 * transmitted to the JR3 DSP along with the sensor data. The 155 * calibration data has a CRC attached to the end of it, to assist in 156 * determining the completeness and integrity of the calibration data 157 * received from the sensor. There are two reasons the CRC may not 158 * have calculated to zero. The first is that all the calibration data 159 * has not yet been received, the second is that the calibration data 160 * has been corrupted. A typical sensor transmits the entire contents 161 * of its calibration matrix over 30 times a second. Therefore, if 162 * this bit is not zero within a couple of seconds after the sensor 163 * has been plugged in, there is a problem with the sensor's 164 * calibration data. 165 */ 166 167/* WATCH_DOG */ 168/* WATCH_DOG2 */ 169 170/* The watch_dog and watch_dog2 bits are sensor, not processor, watch 171 * dog bits. Watch_dog indicates that the sensor data line seems to be 172 * acting correctly, while watch_dog2 indicates that sensor data and 173 * clock are being received. It is possible for watch_dog2 to go off 174 * while watch_dog does not. This would indicate an improper clock 175 * signal, while data is acting correctly. If either watch dog barks, 176 * the sensor data is not being received correctly. 177 */ 178 179typedef enum { 180 fx_sat = 0x0001, 181 fy_sat = 0x0002, 182 fz_sat = 0x0004, 183 mx_sat = 0x0008, 184 my_sat = 0x0010, 185 mz_sat = 0x0020, 186 memory_error = 0x0400, 187 sensor_change = 0x0800, 188 system_busy = 0x1000, 189 cal_crc_bad = 0x2000, 190 watch_dog2 = 0x4000, 191 watch_dog = 0x8000 192} error_bits_t; 193 194/* THRESH_STRUCT */ 195 196/* This structure shows the layout for a single threshold packet inside of a 197 * load envelope. Each load envelope can contain several threshold structures. 198 * 1. data_address contains the address of the data for that threshold. This 199 * includes filtered, unfiltered, raw, rate, counters, error and warning data 200 * 2. threshold is the is the value at which, if data is above or below, the 201 * bits will be set ... (pag.24). 202 * 3. bit_pattern contains the bits that will be set if the threshold value is 203 * met or exceeded. 204 */ 205 206typedef struct thresh_struct { 207 s32 data_address; 208 s32 threshold; 209 s32 bit_pattern; 210} thresh_struct; 211 212/* LE_STRUCT */ 213 214/* Layout of a load enveloped packet. Four thresholds are showed ... for more 215 * see manual (pag.25) 216 * 1. latch_bits is a bit pattern that show which bits the user wants to latch. 217 * The latched bits will not be reset once the threshold which set them is 218 * no longer true. In that case the user must reset them using the reset_bit 219 * command. 220 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are. 221 */ 222typedef struct { 223 s32 latch_bits; 224 s32 number_of_ge_thresholds; 225 s32 number_of_le_thresholds; 226 struct thresh_struct thresholds[4]; 227 s32 reserved; 228} le_struct_t; 229 230/* LINK_TYPES */ 231/* Link types is an enumerated value showing the different possible transform 232 * link types. 233 * 0 - end transform packet 234 * 1 - translate along X axis (TX) 235 * 2 - translate along Y axis (TY) 236 * 3 - translate along Z axis (TZ) 237 * 4 - rotate about X axis (RX) 238 * 5 - rotate about Y axis (RY) 239 * 6 - rotate about Z axis (RZ) 240 * 7 - negate all axes (NEG) 241 */ 242 243typedef enum link_types { 244 end_x_form, 245 tx, 246 ty, 247 tz, 248 rx, 249 ry, 250 rz, 251 neg 252} link_types; 253 254/* TRANSFORM */ 255/* Structure used to describe a transform. */ 256typedef struct { 257 struct { 258 u32 link_type; 259 s32 link_amount; 260 } link[8]; 261} intern_transform_t; 262 263/* JR3 force/torque sensor data definition. For more information see sensor and */ 264/* hardware manuals. */ 265 266typedef struct force_sensor_data { 267 /* Raw_channels is the area used to store the raw data coming from */ 268 /* the sensor. */ 269 270 raw_channel_t raw_channels[16]; /* offset 0x0000 */ 271 272 /* Copyright is a null terminated ASCII string containing the JR3 */ 273 /* copyright notice. */ 274 275 u32 copyright[0x0018]; /* offset 0x0040 */ 276 s32 reserved1[0x0008]; /* offset 0x0058 */ 277 278 /* Shunts contains the sensor shunt readings. Some JR3 sensors have 279 * the ability to have their gains adjusted. This allows the 280 * hardware full scales to be adjusted to potentially allow 281 * better resolution or dynamic range. For sensors that have 282 * this ability, the gain of each sensor channel is measured at 283 * the time of calibration using a shunt resistor. The shunt 284 * resistor is placed across one arm of the resistor bridge, and 285 * the resulting change in the output of that channel is 286 * measured. This measurement is called the shunt reading, and 287 * is recorded here. If the user has changed the gain of the // 288 * sensor, and made new shunt measurements, those shunt 289 * measurements can be placed here. The JR3 DSP will then scale 290 * the calibration matrix such so that the gains are again 291 * proper for the indicated shunt readings. If shunts is 0, then 292 * the sensor cannot have its gain changed. For details on 293 * changing the sensor gain, and making shunts readings, please 294 * see the sensor manual. To make these values take effect the 295 * user must call either command (5) use transform # (pg. 33) or 296 * command (10) set new full scales (pg. 38). 297 */ 298 299 six_axis_array_t shunts; /* offset 0x0060 */ 300 s32 reserved2[2]; /* offset 0x0066 */ 301 302 /* Default_FS contains the full scale that is used if the user does */ 303 /* not set a full scale. */ 304 305 six_axis_array_t default_FS; /* offset 0x0068 */ 306 s32 reserved3; /* offset 0x006e */ 307 308 /* Load_envelope_num is the load envelope number that is currently 309 * in use. This value is set by the user after one of the load 310 * envelopes has been initialized. 311 */ 312 313 s32 load_envelope_num; /* offset 0x006f */ 314 315 /* Min_full_scale is the recommend minimum full scale. */ 316 317 /* These values in conjunction with max_full_scale (pg. 9) helps 318 * determine the appropriate value for setting the full scales. The 319 * software allows the user to set the sensor full scale to an 320 * arbitrary value. But setting the full scales has some hazards. If 321 * the full scale is set too low, the data will saturate 322 * prematurely, and dynamic range will be lost. If the full scale is 323 * set too high, then resolution is lost as the data is shifted to 324 * the right and the least significant bits are lost. Therefore the 325 * maximum full scale is the maximum value at which no resolution is 326 * lost, and the minimum full scale is the value at which the data 327 * will not saturate prematurely. These values are calculated 328 * whenever a new coordinate transformation is calculated. It is 329 * possible for the recommended maximum to be less than the 330 * recommended minimum. This comes about primarily when using 331 * coordinate translations. If this is the case, it means that any 332 * full scale selection will be a compromise between dynamic range 333 * and resolution. It is usually recommended to compromise in favor 334 * of resolution which means that the recommend maximum full scale 335 * should be chosen. 336 * 337 * WARNING: Be sure that the full scale is no less than 0.4% of the 338 * recommended minimum full scale. Full scales below this value will 339 * cause erroneous results. 340 */ 341 342 six_axis_array_t min_full_scale; /* offset 0x0070 */ 343 s32 reserved4; /* offset 0x0076 */ 344 345 /* Transform_num is the transform number that is currently in use. 346 * This value is set by the JR3 DSP after the user has used command 347 * (5) use transform # (pg. 33). 348 */ 349 350 s32 transform_num; /* offset 0x0077 */ 351 352 /* Max_full_scale is the recommended maximum full scale. See */ 353 /* min_full_scale (pg. 9) for more details. */ 354 355 six_axis_array_t max_full_scale; /* offset 0x0078 */ 356 s32 reserved5; /* offset 0x007e */ 357 358 /* Peak_address is the address of the data which will be monitored 359 * by the peak routine. This value is set by the user. The peak 360 * routine will monitor any 8 contiguous addresses for peak values. 361 * (ex. to watch filter3 data for peaks, set this value to 0x00a8). 362 */ 363 364 s32 peak_address; /* offset 0x007f */ 365 366 /* Full_scale is the sensor full scales which are currently in use. 367 * Decoupled and filtered data is scaled so that +/- 16384 is equal 368 * to the full scales. The engineering units used are indicated by 369 * the units value discussed on page 16. The full scales for Fx, Fy, 370 * Fz, Mx, My and Mz can be written by the user prior to calling 371 * command (10) set new full scales (pg. 38). The full scales for V1 372 * and V2 are set whenever the full scales are changed or when the 373 * axes used to calculate the vectors are changed. The full scale of 374 * V1 and V2 will always be equal to the largest full scale of the 375 * axes used for each vector respectively. 376 */ 377 378 force_array_t full_scale; /* offset 0x0080 */ 379 380 /* Offsets contains the sensor offsets. These values are subtracted from 381 * the sensor data to obtain the decoupled data. The offsets are set a 382 * few seconds (< 10) after the calibration data has been received. 383 * They are set so that the output data will be zero. These values 384 * can be written as well as read. The JR3 DSP will use the values 385 * written here within 2 ms of being written. To set future 386 * decoupled data to zero, add these values to the current decoupled 387 * data values and place the sum here. The JR3 DSP will change these 388 * values when a new transform is applied. So if the offsets are 389 * such that FX is 5 and all other values are zero, after rotating 390 * about Z by 90 degrees, FY would be 5 and all others would be zero. 391 */ 392 393 six_axis_array_t offsets; /* offset 0x0088 */ 394 395 /* Offset_num is the number of the offset currently in use. This 396 * value is set by the JR3 DSP after the user has executed the use 397 * offset # command (pg. 34). It can vary between 0 and 15. 398 */ 399 400 s32 offset_num; /* offset 0x008e */ 401 402 /* Vect_axes is a bit map showing which of the axes are being used 403 * in the vector calculations. This value is set by the JR3 DSP 404 * after the user has executed the set vector axes command (pg. 37). 405 */ 406 407 u32 vect_axes; /* offset 0x008f */ 408 409 /* Filter0 is the decoupled, unfiltered data from the JR3 sensor. 410 * This data has had the offsets removed. 411 * 412 * These force_arrays hold the filtered data. The decoupled data is 413 * passed through cascaded low pass filters. Each succeeding filter 414 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff 415 * frequency of filter1 is 1/16 of the sample rate from the sensor. 416 * For a typical sensor with a sample rate of 8 kHz, the cutoff 417 * frequency of filter1 would be 500 Hz. The following filters would 418 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz. 419 */ 420 421 struct force_array filter[7]; /* offset 0x0090, 422 offset 0x0098, 423 offset 0x00a0, 424 offset 0x00a8, 425 offset 0x00b0, 426 offset 0x00b8 , 427 offset 0x00c0 */ 428 429 /* Rate_data is the calculated rate data. It is a first derivative 430 * calculation. It is calculated at a frequency specified by the 431 * variable rate_divisor (pg. 12). The data on which the rate is 432 * calculated is specified by the variable rate_address (pg. 12). 433 */ 434 435 force_array_t rate_data; /* offset 0x00c8 */ 436 437 /* Minimum_data & maximum_data are the minimum and maximum (peak) 438 * data values. The JR3 DSP can monitor any 8 contiguous data items 439 * for minimums and maximums at full sensor bandwidth. This area is 440 * only updated at user request. This is done so that the user does 441 * not miss any peaks. To read the data, use either the read peaks 442 * command (pg. 40), or the read and reset peaks command (pg. 39). 443 * The address of the data to watch for peaks is stored in the 444 * variable peak_address (pg. 10). Peak data is lost when executing 445 * a coordinate transformation or a full scale change. Peak data is 446 * also lost when plugging in a new sensor. 447 */ 448 449 force_array_t minimum_data; /* offset 0x00d0 */ 450 force_array_t maximum_data; /* offset 0x00d8 */ 451 452 /* Near_sat_value & sat_value contain the value used to determine if 453 * the raw sensor is saturated. Because of decoupling and offset 454 * removal, it is difficult to tell from the processed data if the 455 * sensor is saturated. These values, in conjunction with the error 456 * and warning words (pg. 14), provide this critical information. 457 * These two values may be set by the host processor. These values 458 * are positive signed values, since the saturation logic uses the 459 * absolute values of the raw data. The near_sat_value defaults to 460 * approximately 80% of the ADC's full scale, which is 26214, while 461 * sat_value defaults to the ADC's full scale: 462 * 463 * sat_value = 32768 - 2^(16 - ADC bits) 464 */ 465 466 s32 near_sat_value; /* offset 0x00e0 */ 467 s32 sat_value; /* offset 0x00e1 */ 468 469 /* Rate_address, rate_divisor & rate_count contain the data used to 470 * control the calculations of the rates. Rate_address is the 471 * address of the data used for the rate calculation. The JR3 DSP 472 * will calculate rates for any 8 contiguous values (ex. to 473 * calculate rates for filter3 data set rate_address to 0x00a8). 474 * Rate_divisor is how often the rate is calculated. If rate_divisor 475 * is 1, the rates are calculated at full sensor bandwidth. If 476 * rate_divisor is 200, rates are calculated every 200 samples. 477 * Rate_divisor can be any value between 1 and 65536. Set 478 * rate_divisor to 0 to calculate rates every 65536 samples. 479 * Rate_count starts at zero and counts until it equals 480 * rate_divisor, at which point the rates are calculated, and 481 * rate_count is reset to 0. When setting a new rate divisor, it is 482 * a good idea to set rate_count to one less than rate divisor. This 483 * will minimize the time necessary to start the rate calculations. 484 */ 485 486 s32 rate_address; /* offset 0x00e2 */ 487 u32 rate_divisor; /* offset 0x00e3 */ 488 u32 rate_count; /* offset 0x00e4 */ 489 490 /* Command_word2 through command_word0 are the locations used to 491 * send commands to the JR3 DSP. Their usage varies with the command 492 * and is detailed later in the Command Definitions section (pg. 493 * 29). In general the user places values into various memory 494 * locations, and then places the command word into command_word0. 495 * The JR3 DSP will process the command and place a 0 into 496 * command_word0 to indicate successful completion. Alternatively 497 * the JR3 DSP will place a negative number into command_word0 to 498 * indicate an error condition. Please note the command locations 499 * are numbered backwards. (I.E. command_word2 comes before 500 * command_word1). 501 */ 502 503 s32 command_word2; /* offset 0x00e5 */ 504 s32 command_word1; /* offset 0x00e6 */ 505 s32 command_word0; /* offset 0x00e7 */ 506 507 /* Count1 through count6 are unsigned counters which are incremented 508 * every time the matching filters are calculated. Filter1 is 509 * calculated at the sensor data bandwidth. So this counter would 510 * increment at 8 kHz for a typical sensor. The rest of the counters 511 * are incremented at 1/4 the interval of the counter immediately 512 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc. 513 * These counters can be used to wait for data. Each time the 514 * counter changes, the corresponding data set can be sampled, and 515 * this will insure that the user gets each sample, once, and only 516 * once. 517 */ 518 519 u32 count1; /* offset 0x00e8 */ 520 u32 count2; /* offset 0x00e9 */ 521 u32 count3; /* offset 0x00ea */ 522 u32 count4; /* offset 0x00eb */ 523 u32 count5; /* offset 0x00ec */ 524 u32 count6; /* offset 0x00ed */ 525 526 /* Error_count is a running count of data reception errors. If this 527 * counter is changing rapidly, it probably indicates a bad sensor 528 * cable connection or other hardware problem. In most installations 529 * error_count should not change at all. But it is possible in an 530 * extremely noisy environment to experience occasional errors even 531 * without a hardware problem. If the sensor is well grounded, this 532 * is probably unavoidable in these environments. On the occasions 533 * where this counter counts a bad sample, that sample is ignored. 534 */ 535 536 u32 error_count; /* offset 0x00ee */ 537 538 /* Count_x is a counter which is incremented every time the JR3 DSP 539 * searches its job queues and finds nothing to do. It indicates the 540 * amount of idle time the JR3 DSP has available. It can also be 541 * used to determine if the JR3 DSP is alive. See the Performance 542 * Issues section on pg. 49 for more details. 543 */ 544 545 u32 count_x; /* offset 0x00ef */ 546 547 /* Warnings & errors contain the warning and error bits 548 * respectively. The format of these two words is discussed on page 549 * 21 under the headings warnings_bits and error_bits. 550 */ 551 552 u32 warnings; /* offset 0x00f0 */ 553 u32 errors; /* offset 0x00f1 */ 554 555 /* Threshold_bits is a word containing the bits that are set by the 556 * load envelopes. See load_envelopes (pg. 17) and thresh_struct 557 * (pg. 23) for more details. 558 */ 559 560 s32 threshold_bits; /* offset 0x00f2 */ 561 562 /* Last_crc is the value that shows the actual calculated CRC. CRC 563 * is short for cyclic redundancy code. It should be zero. See the 564 * description for cal_crc_bad (pg. 21) for more information. 565 */ 566 567 s32 last_CRC; /* offset 0x00f3 */ 568 569 /* EEProm_ver_no contains the version number of the sensor EEProm. 570 * EEProm version numbers can vary between 0 and 255. 571 * Software_ver_no contains the software version number. Version 572 * 3.02 would be stored as 302. 573 */ 574 575 s32 eeprom_ver_no; /* offset 0x00f4 */ 576 s32 software_ver_no; /* offset 0x00f5 */ 577 578 /* Software_day & software_year are the release date of the software 579 * the JR3 DSP is currently running. Day is the day of the year, 580 * with January 1 being 1, and December 31, being 365 for non leap 581 * years. 582 */ 583 584 s32 software_day; /* offset 0x00f6 */ 585 s32 software_year; /* offset 0x00f7 */ 586 587 /* Serial_no & model_no are the two values which uniquely identify a 588 * sensor. This model number does not directly correspond to the JR3 589 * model number, but it will provide a unique identifier for 590 * different sensor configurations. 591 */ 592 593 u32 serial_no; /* offset 0x00f8 */ 594 u32 model_no; /* offset 0x00f9 */ 595 596 /* Cal_day & cal_year are the sensor calibration date. Day is the 597 * day of the year, with January 1 being 1, and December 31, being 598 * 366 for leap years. 599 */ 600 601 s32 cal_day; /* offset 0x00fa */ 602 s32 cal_year; /* offset 0x00fb */ 603 604 /* Units is an enumerated read only value defining the engineering 605 * units used in the sensor full scale. The meanings of particular 606 * values are discussed in the section detailing the force_units 607 * structure on page 22. The engineering units are setto customer 608 * specifications during sensor manufacture and cannot be changed by 609 * writing to Units. 610 * 611 * Bits contains the number of bits of resolution of the ADC 612 * currently in use. 613 * 614 * Channels is a bit field showing which channels the current sensor 615 * is capable of sending. If bit 0 is active, this sensor can send 616 * channel 0, if bit 13 is active, this sensor can send channel 13, 617 * etc. This bit can be active, even if the sensor is not currently 618 * sending this channel. Some sensors are configurable as to which 619 * channels to send, and this field only contains information on the 620 * channels available to send, not on the current configuration. To 621 * find which channels are currently being sent, monitor the 622 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If 623 * the time is changing periodically, then that channel is being 624 * received. 625 */ 626 627 u32 units; /* offset 0x00fc */ 628 s32 bits; /* offset 0x00fd */ 629 s32 channels; /* offset 0x00fe */ 630 631 /* Thickness specifies the overall thickness of the sensor from 632 * flange to flange. The engineering units for this value are 633 * contained in units (pg. 16). The sensor calibration is relative 634 * to the center of the sensor. This value allows easy coordinate 635 * transformation from the center of the sensor to either flange. 636 */ 637 638 s32 thickness; /* offset 0x00ff */ 639 640 /* Load_envelopes is a table containing the load envelope 641 * descriptions. There are 16 possible load envelope slots in the 642 * table. The slots are on 16 word boundaries and are numbered 0-15. 643 * Each load envelope needs to start at the beginning of a slot but 644 * need not be fully contained in that slot. That is to say that a 645 * single load envelope can be larger than a single slot. The 646 * software has been tested and ran satisfactorily with 50 647 * thresholds active. A single load envelope this large would take 648 * up 5 of the 16 slots. The load envelope data is laid out in an 649 * order that is most efficient for the JR3 DSP. The structure is 650 * detailed later in the section showing the definition of the 651 * le_struct structure (pg. 23). 652 */ 653 654 le_struct_t load_envelopes[0x10]; /* offset 0x0100 */ 655 656 /* Transforms is a table containing the transform descriptions. 657 * There are 16 possible transform slots in the table. The slots are 658 * on 16 word boundaries and are numbered 0-15. Each transform needs 659 * to start at the beginning of a slot but need not be fully 660 * contained in that slot. That is to say that a single transform 661 * can be larger than a single slot. A transform is 2 * no of links 662 * + 1 words in length. So a single slot can contain a transform 663 * with 7 links. Two slots can contain a transform that is 15 links. 664 * The layout is detailed later in the section showing the 665 * definition of the transform structure (pg. 26). 666 */ 667 668 intern_transform_t transforms[0x10]; /* offset 0x0200 */ 669} jr3_channel_t; 670 671typedef struct { 672 struct { 673 u32 program_low[0x4000]; /* 0x00000 - 0x10000 */ 674 jr3_channel_t data; /* 0x10000 - 0x10c00 */ 675 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */ 676 u32 program_high[0x8000]; /* 0x40000 - 0x60000 */ 677 u32 reset; /* 0x60000 - 0x60004 */ 678 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */ 679 } channel[4]; 680} jr3_t; 681