jr3_pci.h revision 54298a8d0696046874a644c9a2be71a1e582f688
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 5typedef s32 s_val_t; 6 7static inline u16 get_u16(volatile const u32 * p) 8{ 9 return (u16) readl(p); 10} 11 12static inline void set_u16(volatile u32 * p, u16 val) 13{ 14 writel(val, p); 15} 16 17static inline s16 get_s16(volatile const s_val_t * p) 18{ 19 return (s16) readl(p); 20} 21 22static inline void set_s16(volatile s_val_t * p, s16 val) 23{ 24 writel(val, p); 25} 26 27/* The raw data is stored in a format which facilitates rapid 28 * processing by the JR3 DSP chip. The raw_channel structure shows the 29 * format for a single channel of data. Each channel takes four, 30 * two-byte words. 31 * 32 * Raw_time is an unsigned integer which shows the value of the JR3 33 * DSP's internal clock at the time the sample was received. The clock 34 * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10 35 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz. 36 * 37 * Raw_data is the raw data received directly from the sensor. The 38 * sensor data stream is capable of representing 16 different 39 * channels. Channel 0 shows the excitation voltage at the sensor. It 40 * is used to regulate the voltage over various cable lengths. 41 * Channels 1-6 contain the coupled force data Fx through Mz. Channel 42 * 7 contains the sensor's calibration data. The use of channels 8-15 43 * varies with different sensors. 44 */ 45 46typedef struct raw_channel { 47 u32 raw_time; 48 s_val_t raw_data; 49 s_val_t reserved[2]; 50} raw_channel_t; 51 52/* The force_array structure shows the layout for the decoupled and 53 * filtered force data. 54 */ 55typedef struct force_array { 56 s_val_t fx; 57 s_val_t fy; 58 s_val_t fz; 59 s_val_t mx; 60 s_val_t my; 61 s_val_t mz; 62 s_val_t v1; 63 s_val_t v2; 64} force_array_t; 65 66/* The six_axis_array structure shows the layout for the offsets and 67 * the full scales. 68 */ 69typedef struct six_axis_array { 70 s_val_t fx; 71 s_val_t fy; 72 s_val_t fz; 73 s_val_t mx; 74 s_val_t my; 75 s_val_t mz; 76} six_axis_array_t; 77 78/* VECT_BITS */ 79/* The vect_bits structure shows the layout for indicating 80 * which axes to use in computing the vectors. Each bit signifies 81 * selection of a single axis. The V1x axis bit corresponds to a hex 82 * value of 0x0001 and the V2z bit corresponds to a hex value of 83 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the 84 * pattern would be 0x002b. Vector 1 defaults to a force vector and 85 * vector 2 defaults to a moment vector. It is possible to change one 86 * or the other so that two force vectors or two moment vectors are 87 * calculated. Setting the changeV1 bit or the changeV2 bit will 88 * change that vector to be the opposite of its default. Therefore to 89 * have two force vectors, set changeV1 to 1. 90 */ 91 92typedef enum { 93 fx = 0x0001, 94 fy = 0x0002, 95 fz = 0x0004, 96 mx = 0x0008, 97 my = 0x0010, 98 mz = 0x0020, 99 changeV2 = 0x0040, 100 changeV1 = 0x0080 101} vect_bits_t; 102 103/* WARNING_BITS */ 104/* The warning_bits structure shows the bit pattern for the warning 105 * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb). 106 */ 107 108/* XX_NEAR_SET */ 109/* The xx_near_sat bits signify that the indicated axis has reached or 110 * exceeded the near saturation value. 111 */ 112 113typedef enum { 114 fx_near_sat = 0x0001, 115 fy_near_sat = 0x0002, 116 fz_near_sat = 0x0004, 117 mx_near_sat = 0x0008, 118 my_near_sat = 0x0010, 119 mz_near_sat = 0x0020 120} warning_bits_t; 121 122/* ERROR_BITS */ 123/* XX_SAT */ 124/* MEMORY_ERROR */ 125/* SENSOR_CHANGE */ 126 127/* The error_bits structure shows the bit pattern for the error word. 128 * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The 129 * xx_sat bits signify that the indicated axis has reached or exceeded 130 * the saturation value. The memory_error bit indicates that a problem 131 * was detected in the on-board RAM during the power-up 132 * initialization. The sensor_change bit indicates that a sensor other 133 * than the one originally plugged in has passed its CRC check. This 134 * bit latches, and must be reset by the user. 135 * 136 */ 137 138/* SYSTEM_BUSY */ 139 140/* The system_busy bit indicates that the JR3 DSP is currently busy 141 * and is not calculating force data. This occurs when a new 142 * coordinate transformation, or new sensor full scale is set by the 143 * user. A very fast system using the force data for feedback might 144 * become unstable during the approximately 4 ms needed to accomplish 145 * these calculations. This bit will also become active when a new 146 * sensor is plugged in and the system needs to recalculate the 147 * calibration CRC. 148 */ 149 150/* CAL_CRC_BAD */ 151 152/* The cal_crc_bad bit indicates that the calibration CRC has not 153 * calculated to zero. CRC is short for cyclic redundancy code. It is 154 * a method for determining the integrity of messages in data 155 * communication. The calibration data stored inside the sensor is 156 * transmitted to the JR3 DSP along with the sensor data. The 157 * calibration data has a CRC attached to the end of it, to assist in 158 * determining the completeness and integrity of the calibration data 159 * received from the sensor. There are two reasons the CRC may not 160 * have calculated to zero. The first is that all the calibration data 161 * has not yet been received, the second is that the calibration data 162 * has been corrupted. A typical sensor transmits the entire contents 163 * of its calibration matrix over 30 times a second. Therefore, if 164 * this bit is not zero within a couple of seconds after the sensor 165 * has been plugged in, there is a problem with the sensor's 166 * calibration data. 167 */ 168 169/* WATCH_DOG */ 170/* WATCH_DOG2 */ 171 172/* The watch_dog and watch_dog2 bits are sensor, not processor, watch 173 * dog bits. Watch_dog indicates that the sensor data line seems to be 174 * acting correctly, while watch_dog2 indicates that sensor data and 175 * clock are being received. It is possible for watch_dog2 to go off 176 * while watch_dog does not. This would indicate an improper clock 177 * signal, while data is acting correctly. If either watch dog barks, 178 * the sensor data is not being received correctly. 179 */ 180 181typedef enum { 182 fx_sat = 0x0001, 183 fy_sat = 0x0002, 184 fz_sat = 0x0004, 185 mx_sat = 0x0008, 186 my_sat = 0x0010, 187 mz_sat = 0x0020, 188 memory_error = 0x0400, 189 sensor_change = 0x0800, 190 system_busy = 0x1000, 191 cal_crc_bad = 0x2000, 192 watch_dog2 = 0x4000, 193 watch_dog = 0x8000 194} error_bits_t; 195 196/* THRESH_STRUCT */ 197 198/* This structure shows the layout for a single threshold packet inside of a 199 * load envelope. Each load envelope can contain several threshold structures. 200 * 1. data_address contains the address of the data for that threshold. This 201 * includes filtered, unfiltered, raw, rate, counters, error and warning data 202 * 2. threshold is the is the value at which, if data is above or below, the 203 * bits will be set ... (pag.24). 204 * 3. bit_pattern contains the bits that will be set if the threshold value is 205 * met or exceeded. 206 */ 207 208typedef struct thresh_struct { 209 s32 data_address; 210 s32 threshold; 211 s32 bit_pattern; 212} thresh_struct; 213 214/* LE_STRUCT */ 215 216/* Layout of a load enveloped packet. Four thresholds are showed ... for more 217 * see manual (pag.25) 218 * 1. latch_bits is a bit pattern that show which bits the user wants to latch. 219 * The latched bits will not be reset once the threshold which set them is 220 * no longer true. In that case the user must reset them using the reset_bit 221 * command. 222 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are. 223 */ 224typedef struct { 225 s32 latch_bits; 226 s32 number_of_ge_thresholds; 227 s32 number_of_le_thresholds; 228 struct thresh_struct thresholds[4]; 229 s32 reserved; 230} le_struct_t; 231 232/* LINK_TYPES */ 233/* Link types is an enumerated value showing the different possible transform 234 * link types. 235 * 0 - end transform packet 236 * 1 - translate along X axis (TX) 237 * 2 - translate along Y axis (TY) 238 * 3 - translate along Z axis (TZ) 239 * 4 - rotate about X axis (RX) 240 * 5 - rotate about Y axis (RY) 241 * 6 - rotate about Z axis (RZ) 242 * 7 - negate all axes (NEG) 243 */ 244 245typedef enum link_types { 246 end_x_form, 247 tx, 248 ty, 249 tz, 250 rx, 251 ry, 252 rz, 253 neg 254} link_types; 255 256/* TRANSFORM */ 257/* Structure used to describe a transform. */ 258typedef struct { 259 struct { 260 u32 link_type; 261 s_val_t link_amount; 262 } link[8]; 263} intern_transform_t; 264 265/* JR3 force/torque sensor data definition. For more information see sensor and */ 266/* hardware manuals. */ 267 268typedef struct force_sensor_data { 269 /* Raw_channels is the area used to store the raw data coming from */ 270 /* the sensor. */ 271 272 raw_channel_t raw_channels[16]; /* offset 0x0000 */ 273 274 /* Copyright is a null terminated ASCII string containing the JR3 */ 275 /* copyright notice. */ 276 277 u32 copyright[0x0018]; /* offset 0x0040 */ 278 s_val_t reserved1[0x0008]; /* offset 0x0058 */ 279 280 /* Shunts contains the sensor shunt readings. Some JR3 sensors have 281 * the ability to have their gains adjusted. This allows the 282 * hardware full scales to be adjusted to potentially allow 283 * better resolution or dynamic range. For sensors that have 284 * this ability, the gain of each sensor channel is measured at 285 * the time of calibration using a shunt resistor. The shunt 286 * resistor is placed across one arm of the resistor bridge, and 287 * the resulting change in the output of that channel is 288 * measured. This measurement is called the shunt reading, and 289 * is recorded here. If the user has changed the gain of the // 290 * sensor, and made new shunt measurements, those shunt 291 * measurements can be placed here. The JR3 DSP will then scale 292 * the calibration matrix such so that the gains are again 293 * proper for the indicated shunt readings. If shunts is 0, then 294 * the sensor cannot have its gain changed. For details on 295 * changing the sensor gain, and making shunts readings, please 296 * see the sensor manual. To make these values take effect the 297 * user must call either command (5) use transform # (pg. 33) or 298 * command (10) set new full scales (pg. 38). 299 */ 300 301 six_axis_array_t shunts; /* offset 0x0060 */ 302 s32 reserved2[2]; /* offset 0x0066 */ 303 304 /* Default_FS contains the full scale that is used if the user does */ 305 /* not set a full scale. */ 306 307 six_axis_array_t default_FS; /* offset 0x0068 */ 308 s_val_t reserved3; /* offset 0x006e */ 309 310 /* Load_envelope_num is the load envelope number that is currently 311 * in use. This value is set by the user after one of the load 312 * envelopes has been initialized. 313 */ 314 315 s_val_t load_envelope_num; /* offset 0x006f */ 316 317 /* Min_full_scale is the recommend minimum full scale. */ 318 319 /* These values in conjunction with max_full_scale (pg. 9) helps 320 * determine the appropriate value for setting the full scales. The 321 * software allows the user to set the sensor full scale to an 322 * arbitrary value. But setting the full scales has some hazards. If 323 * the full scale is set too low, the data will saturate 324 * prematurely, and dynamic range will be lost. If the full scale is 325 * set too high, then resolution is lost as the data is shifted to 326 * the right and the least significant bits are lost. Therefore the 327 * maximum full scale is the maximum value at which no resolution is 328 * lost, and the minimum full scale is the value at which the data 329 * will not saturate prematurely. These values are calculated 330 * whenever a new coordinate transformation is calculated. It is 331 * possible for the recommended maximum to be less than the 332 * recommended minimum. This comes about primarily when using 333 * coordinate translations. If this is the case, it means that any 334 * full scale selection will be a compromise between dynamic range 335 * and resolution. It is usually recommended to compromise in favor 336 * of resolution which means that the recommend maximum full scale 337 * should be chosen. 338 * 339 * WARNING: Be sure that the full scale is no less than 0.4% of the 340 * recommended minimum full scale. Full scales below this value will 341 * cause erroneous results. 342 */ 343 344 six_axis_array_t min_full_scale; /* offset 0x0070 */ 345 s_val_t reserved4; /* offset 0x0076 */ 346 347 /* Transform_num is the transform number that is currently in use. 348 * This value is set by the JR3 DSP after the user has used command 349 * (5) use transform # (pg. 33). 350 */ 351 352 s_val_t transform_num; /* offset 0x0077 */ 353 354 /* Max_full_scale is the recommended maximum full scale. See */ 355 /* min_full_scale (pg. 9) for more details. */ 356 357 six_axis_array_t max_full_scale; /* offset 0x0078 */ 358 s_val_t reserved5; /* offset 0x007e */ 359 360 /* Peak_address is the address of the data which will be monitored 361 * by the peak routine. This value is set by the user. The peak 362 * routine will monitor any 8 contiguous addresses for peak values. 363 * (ex. to watch filter3 data for peaks, set this value to 0x00a8). 364 */ 365 366 s_val_t peak_address; /* offset 0x007f */ 367 368 /* Full_scale is the sensor full scales which are currently in use. 369 * Decoupled and filtered data is scaled so that +/- 16384 is equal 370 * to the full scales. The engineering units used are indicated by 371 * the units value discussed on page 16. The full scales for Fx, Fy, 372 * Fz, Mx, My and Mz can be written by the user prior to calling 373 * command (10) set new full scales (pg. 38). The full scales for V1 374 * and V2 are set whenever the full scales are changed or when the 375 * axes used to calculate the vectors are changed. The full scale of 376 * V1 and V2 will always be equal to the largest full scale of the 377 * axes used for each vector respectively. 378 */ 379 380 force_array_t full_scale; /* offset 0x0080 */ 381 382 /* Offsets contains the sensor offsets. These values are subtracted from 383 * the sensor data to obtain the decoupled data. The offsets are set a 384 * few seconds (< 10) after the calibration data has been received. 385 * They are set so that the output data will be zero. These values 386 * can be written as well as read. The JR3 DSP will use the values 387 * written here within 2 ms of being written. To set future 388 * decoupled data to zero, add these values to the current decoupled 389 * data values and place the sum here. The JR3 DSP will change these 390 * values when a new transform is applied. So if the offsets are 391 * such that FX is 5 and all other values are zero, after rotating 392 * about Z by 90 degrees, FY would be 5 and all others would be zero. 393 */ 394 395 six_axis_array_t offsets; /* offset 0x0088 */ 396 397 /* Offset_num is the number of the offset currently in use. This 398 * value is set by the JR3 DSP after the user has executed the use 399 * offset # command (pg. 34). It can vary between 0 and 15. 400 */ 401 402 s_val_t offset_num; /* offset 0x008e */ 403 404 /* Vect_axes is a bit map showing which of the axes are being used 405 * in the vector calculations. This value is set by the JR3 DSP 406 * after the user has executed the set vector axes command (pg. 37). 407 */ 408 409 u32 vect_axes; /* offset 0x008f */ 410 411 /* Filter0 is the decoupled, unfiltered data from the JR3 sensor. 412 * This data has had the offsets removed. 413 * 414 * These force_arrays hold the filtered data. The decoupled data is 415 * passed through cascaded low pass filters. Each succeeding filter 416 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff 417 * frequency of filter1 is 1/16 of the sample rate from the sensor. 418 * For a typical sensor with a sample rate of 8 kHz, the cutoff 419 * frequency of filter1 would be 500 Hz. The following filters would 420 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz. 421 */ 422 423 struct force_array filter[7]; /* offset 0x0090, 424 offset 0x0098, 425 offset 0x00a0, 426 offset 0x00a8, 427 offset 0x00b0, 428 offset 0x00b8 , 429 offset 0x00c0 */ 430 431 /* Rate_data is the calculated rate data. It is a first derivative 432 * calculation. It is calculated at a frequency specified by the 433 * variable rate_divisor (pg. 12). The data on which the rate is 434 * calculated is specified by the variable rate_address (pg. 12). 435 */ 436 437 force_array_t rate_data; /* offset 0x00c8 */ 438 439 /* Minimum_data & maximum_data are the minimum and maximum (peak) 440 * data values. The JR3 DSP can monitor any 8 contiguous data items 441 * for minimums and maximums at full sensor bandwidth. This area is 442 * only updated at user request. This is done so that the user does 443 * not miss any peaks. To read the data, use either the read peaks 444 * command (pg. 40), or the read and reset peaks command (pg. 39). 445 * The address of the data to watch for peaks is stored in the 446 * variable peak_address (pg. 10). Peak data is lost when executing 447 * a coordinate transformation or a full scale change. Peak data is 448 * also lost when plugging in a new sensor. 449 */ 450 451 force_array_t minimum_data; /* offset 0x00d0 */ 452 force_array_t maximum_data; /* offset 0x00d8 */ 453 454 /* Near_sat_value & sat_value contain the value used to determine if 455 * the raw sensor is saturated. Because of decoupling and offset 456 * removal, it is difficult to tell from the processed data if the 457 * sensor is saturated. These values, in conjunction with the error 458 * and warning words (pg. 14), provide this critical information. 459 * These two values may be set by the host processor. These values 460 * are positive signed values, since the saturation logic uses the 461 * absolute values of the raw data. The near_sat_value defaults to 462 * approximately 80% of the ADC's full scale, which is 26214, while 463 * sat_value defaults to the ADC's full scale: 464 * 465 * sat_value = 32768 - 2^(16 - ADC bits) 466 */ 467 468 s_val_t near_sat_value; /* offset 0x00e0 */ 469 s_val_t sat_value; /* offset 0x00e1 */ 470 471 /* Rate_address, rate_divisor & rate_count contain the data used to 472 * control the calculations of the rates. Rate_address is the 473 * address of the data used for the rate calculation. The JR3 DSP 474 * will calculate rates for any 8 contiguous values (ex. to 475 * calculate rates for filter3 data set rate_address to 0x00a8). 476 * Rate_divisor is how often the rate is calculated. If rate_divisor 477 * is 1, the rates are calculated at full sensor bandwidth. If 478 * rate_divisor is 200, rates are calculated every 200 samples. 479 * Rate_divisor can be any value between 1 and 65536. Set 480 * rate_divisor to 0 to calculate rates every 65536 samples. 481 * Rate_count starts at zero and counts until it equals 482 * rate_divisor, at which point the rates are calculated, and 483 * rate_count is reset to 0. When setting a new rate divisor, it is 484 * a good idea to set rate_count to one less than rate divisor. This 485 * will minimize the time necessary to start the rate calculations. 486 */ 487 488 s_val_t rate_address; /* offset 0x00e2 */ 489 u32 rate_divisor; /* offset 0x00e3 */ 490 u32 rate_count; /* offset 0x00e4 */ 491 492 /* Command_word2 through command_word0 are the locations used to 493 * send commands to the JR3 DSP. Their usage varies with the command 494 * and is detailed later in the Command Definitions section (pg. 495 * 29). In general the user places values into various memory 496 * locations, and then places the command word into command_word0. 497 * The JR3 DSP will process the command and place a 0 into 498 * command_word0 to indicate successful completion. Alternatively 499 * the JR3 DSP will place a negative number into command_word0 to 500 * indicate an error condition. Please note the command locations 501 * are numbered backwards. (I.E. command_word2 comes before 502 * command_word1). 503 */ 504 505 s_val_t command_word2; /* offset 0x00e5 */ 506 s_val_t command_word1; /* offset 0x00e6 */ 507 s_val_t command_word0; /* offset 0x00e7 */ 508 509 /* Count1 through count6 are unsigned counters which are incremented 510 * every time the matching filters are calculated. Filter1 is 511 * calculated at the sensor data bandwidth. So this counter would 512 * increment at 8 kHz for a typical sensor. The rest of the counters 513 * are incremented at 1/4 the interval of the counter immediately 514 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc. 515 * These counters can be used to wait for data. Each time the 516 * counter changes, the corresponding data set can be sampled, and 517 * this will insure that the user gets each sample, once, and only 518 * once. 519 */ 520 521 u32 count1; /* offset 0x00e8 */ 522 u32 count2; /* offset 0x00e9 */ 523 u32 count3; /* offset 0x00ea */ 524 u32 count4; /* offset 0x00eb */ 525 u32 count5; /* offset 0x00ec */ 526 u32 count6; /* offset 0x00ed */ 527 528 /* Error_count is a running count of data reception errors. If this 529 * counter is changing rapidly, it probably indicates a bad sensor 530 * cable connection or other hardware problem. In most installations 531 * error_count should not change at all. But it is possible in an 532 * extremely noisy environment to experience occasional errors even 533 * without a hardware problem. If the sensor is well grounded, this 534 * is probably unavoidable in these environments. On the occasions 535 * where this counter counts a bad sample, that sample is ignored. 536 */ 537 538 u32 error_count; /* offset 0x00ee */ 539 540 /* Count_x is a counter which is incremented every time the JR3 DSP 541 * searches its job queues and finds nothing to do. It indicates the 542 * amount of idle time the JR3 DSP has available. It can also be 543 * used to determine if the JR3 DSP is alive. See the Performance 544 * Issues section on pg. 49 for more details. 545 */ 546 547 u32 count_x; /* offset 0x00ef */ 548 549 /* Warnings & errors contain the warning and error bits 550 * respectively. The format of these two words is discussed on page 551 * 21 under the headings warnings_bits and error_bits. 552 */ 553 554 u32 warnings; /* offset 0x00f0 */ 555 u32 errors; /* offset 0x00f1 */ 556 557 /* Threshold_bits is a word containing the bits that are set by the 558 * load envelopes. See load_envelopes (pg. 17) and thresh_struct 559 * (pg. 23) for more details. 560 */ 561 562 s_val_t threshold_bits; /* offset 0x00f2 */ 563 564 /* Last_crc is the value that shows the actual calculated CRC. CRC 565 * is short for cyclic redundancy code. It should be zero. See the 566 * description for cal_crc_bad (pg. 21) for more information. 567 */ 568 569 s_val_t last_CRC; /* offset 0x00f3 */ 570 571 /* EEProm_ver_no contains the version number of the sensor EEProm. 572 * EEProm version numbers can vary between 0 and 255. 573 * Software_ver_no contains the software version number. Version 574 * 3.02 would be stored as 302. 575 */ 576 577 s_val_t eeprom_ver_no; /* offset 0x00f4 */ 578 s_val_t software_ver_no; /* offset 0x00f5 */ 579 580 /* Software_day & software_year are the release date of the software 581 * the JR3 DSP is currently running. Day is the day of the year, 582 * with January 1 being 1, and December 31, being 365 for non leap 583 * years. 584 */ 585 586 s_val_t software_day; /* offset 0x00f6 */ 587 s_val_t software_year; /* offset 0x00f7 */ 588 589 /* Serial_no & model_no are the two values which uniquely identify a 590 * sensor. This model number does not directly correspond to the JR3 591 * model number, but it will provide a unique identifier for 592 * different sensor configurations. 593 */ 594 595 u32 serial_no; /* offset 0x00f8 */ 596 u32 model_no; /* offset 0x00f9 */ 597 598 /* Cal_day & cal_year are the sensor calibration date. Day is the 599 * day of the year, with January 1 being 1, and December 31, being 600 * 366 for leap years. 601 */ 602 603 s_val_t cal_day; /* offset 0x00fa */ 604 s_val_t cal_year; /* offset 0x00fb */ 605 606 /* Units is an enumerated read only value defining the engineering 607 * units used in the sensor full scale. The meanings of particular 608 * values are discussed in the section detailing the force_units 609 * structure on page 22. The engineering units are setto customer 610 * specifications during sensor manufacture and cannot be changed by 611 * writing to Units. 612 * 613 * Bits contains the number of bits of resolution of the ADC 614 * currently in use. 615 * 616 * Channels is a bit field showing which channels the current sensor 617 * is capable of sending. If bit 0 is active, this sensor can send 618 * channel 0, if bit 13 is active, this sensor can send channel 13, 619 * etc. This bit can be active, even if the sensor is not currently 620 * sending this channel. Some sensors are configurable as to which 621 * channels to send, and this field only contains information on the 622 * channels available to send, not on the current configuration. To 623 * find which channels are currently being sent, monitor the 624 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If 625 * the time is changing periodically, then that channel is being 626 * received. 627 */ 628 629 u32 units; /* offset 0x00fc */ 630 s_val_t bits; /* offset 0x00fd */ 631 s_val_t channels; /* offset 0x00fe */ 632 633 /* Thickness specifies the overall thickness of the sensor from 634 * flange to flange. The engineering units for this value are 635 * contained in units (pg. 16). The sensor calibration is relative 636 * to the center of the sensor. This value allows easy coordinate 637 * transformation from the center of the sensor to either flange. 638 */ 639 640 s_val_t thickness; /* offset 0x00ff */ 641 642 /* Load_envelopes is a table containing the load envelope 643 * descriptions. There are 16 possible load envelope slots in the 644 * table. The slots are on 16 word boundaries and are numbered 0-15. 645 * Each load envelope needs to start at the beginning of a slot but 646 * need not be fully contained in that slot. That is to say that a 647 * single load envelope can be larger than a single slot. The 648 * software has been tested and ran satisfactorily with 50 649 * thresholds active. A single load envelope this large would take 650 * up 5 of the 16 slots. The load envelope data is laid out in an 651 * order that is most efficient for the JR3 DSP. The structure is 652 * detailed later in the section showing the definition of the 653 * le_struct structure (pg. 23). 654 */ 655 656 le_struct_t load_envelopes[0x10]; /* offset 0x0100 */ 657 658 /* Transforms is a table containing the transform descriptions. 659 * There are 16 possible transform slots in the table. The slots are 660 * on 16 word boundaries and are numbered 0-15. Each transform needs 661 * to start at the beginning of a slot but need not be fully 662 * contained in that slot. That is to say that a single transform 663 * can be larger than a single slot. A transform is 2 * no of links 664 * + 1 words in length. So a single slot can contain a transform 665 * with 7 links. Two slots can contain a transform that is 15 links. 666 * The layout is detailed later in the section showing the 667 * definition of the transform structure (pg. 26). 668 */ 669 670 intern_transform_t transforms[0x10]; /* offset 0x0200 */ 671} jr3_channel_t; 672 673typedef struct { 674 struct { 675 u32 program_low[0x4000]; /* 0x00000 - 0x10000 */ 676 jr3_channel_t data; /* 0x10000 - 0x10c00 */ 677 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */ 678 u32 program_high[0x8000]; /* 0x40000 - 0x60000 */ 679 u32 reset; /* 0x60000 - 0x60004 */ 680 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */ 681 } channel[4]; 682} jr3_t; 683