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Staging: comedi: Remove comedi_insn typedef
[deliverable/linux.git] / drivers / staging / comedi / drivers / jr3_pci.c
CommitLineData
07b509e6
AB		 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 = {
6fadb98d 59 .init_name = "comedi",
07b509e6
AB		 60 .release = comedi_fw_release
61};
62
71b5f4f1 63typedef int comedi_firmware_callback(struct comedi_device * dev,
07b509e6
AB		 64 const u8 * data, size_t size);
65
71b5f4f1 66static int comedi_load_firmware(struct comedi_device * dev,
07b509e6
AB		 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
71b5f4f1
BP		 106static int jr3_pci_attach(struct comedi_device * dev, comedi_devconfig * it);
107static int jr3_pci_detach(struct comedi_device * dev);
07b509e6 108
139dfbdf 109static struct comedi_driver driver_jr3_pci = {
07b509e6
AB		 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
130typedef struct {
131 struct pci_dev *pci_dev;
132 int pci_enabled;
133 volatile jr3_t *iobase;
134 int n_channels;
135 struct timer_list timer;
136} jr3_pci_dev_private;
137
138typedef struct {
139 int min;
140 int max;
141} poll_delay_t;
142
143typedef struct {
144 volatile jr3_channel_t *channel;
145 unsigned long next_time_min;
146 unsigned long next_time_max;
147 enum { state_jr3_poll,
148 state_jr3_init_wait_for_offset,
149 state_jr3_init_transform_complete,
150 state_jr3_init_set_full_scale_complete,
151 state_jr3_init_use_offset_complete,
152 state_jr3_done
153 } state;
154 int channel_no;
155 int serial_no;
156 int model_no;
157 struct {
158 int length;
159 comedi_krange range;
160 } range[9];
9ced1de6 161 const struct comedi_lrange *range_table_list[8 * 7 + 2];
790c5541 162 unsigned int maxdata_list[8 * 7 + 2];
07b509e6
AB		 163 u16 errors;
164 int retries;
165} jr3_pci_subdev_private;
166
167static poll_delay_t poll_delay_min_max(int min, int max)
168{
169 poll_delay_t result;
170
171 result.min = min;
172 result.max = max;
173 return result;
174}
175
176static int is_complete(volatile jr3_channel_t * channel)
177{
178 return get_s16(&channel->command_word0) == 0;
179}
180
181typedef struct {
182 struct {
183 u16 link_type;
184 s16 link_amount;
185 } link[8];
186} transform_t;
187
188static void set_transforms(volatile jr3_channel_t * channel,
189 transform_t transf, short num)
190{
191 int i;
192
193 num &= 0x000f; // Make sure that 0 <= num <= 15
194 for (i = 0; i < 8; i++) {
195
196 set_u16(&channel->transforms[num].link[i].link_type,
197 transf.link[i].link_type);
198 comedi_udelay(1);
199 set_s16(&channel->transforms[num].link[i].link_amount,
200 transf.link[i].link_amount);
201 comedi_udelay(1);
202 if (transf.link[i].link_type == end_x_form) {
203 break;
204 }
205 }
206}
207
208static void use_transform(volatile jr3_channel_t * channel, short transf_num)
209{
210 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
211}
212
213static void use_offset(volatile jr3_channel_t * channel, short offset_num)
214{
215 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
216}
217
218static void set_offset(volatile jr3_channel_t * channel)
219{
220 set_s16(&channel->command_word0, 0x0700);
221}
222
223typedef struct {
224 s16 fx;
225 s16 fy;
226 s16 fz;
227 s16 mx;
228 s16 my;
229 s16 mz;
230} six_axis_t;
231
232static void set_full_scales(volatile jr3_channel_t * channel,
233 six_axis_t full_scale)
234{
235 printk("%d %d %d %d %d %d\n",
236 full_scale.fx,
237 full_scale.fy,
238 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
239 set_s16(&channel->full_scale.fx, full_scale.fx);
240 set_s16(&channel->full_scale.fy, full_scale.fy);
241 set_s16(&channel->full_scale.fz, full_scale.fz);
242 set_s16(&channel->full_scale.mx, full_scale.mx);
243 set_s16(&channel->full_scale.my, full_scale.my);
244 set_s16(&channel->full_scale.mz, full_scale.mz);
245 set_s16(&channel->command_word0, 0x0a00);
246}
247
248static six_axis_t get_min_full_scales(volatile jr3_channel_t * channel)
249{
250 six_axis_t result;
251 result.fx = get_s16(&channel->min_full_scale.fx);
252 result.fy = get_s16(&channel->min_full_scale.fy);
253 result.fz = get_s16(&channel->min_full_scale.fz);
254 result.mx = get_s16(&channel->min_full_scale.mx);
255 result.my = get_s16(&channel->min_full_scale.my);
256 result.mz = get_s16(&channel->min_full_scale.mz);
257 return result;
258}
259
260static six_axis_t get_max_full_scales(volatile jr3_channel_t * channel)
261{
262 six_axis_t result;
263 result.fx = get_s16(&channel->max_full_scale.fx);
264 result.fy = get_s16(&channel->max_full_scale.fy);
265 result.fz = get_s16(&channel->max_full_scale.fz);
266 result.mx = get_s16(&channel->max_full_scale.mx);
267 result.my = get_s16(&channel->max_full_scale.my);
268 result.mz = get_s16(&channel->max_full_scale.mz);
269 return result;
270}
271
34c43922 272static int jr3_pci_ai_insn_read(struct comedi_device * dev, struct comedi_subdevice * s,
90035c08 273 struct comedi_insn * insn, unsigned int * data)
07b509e6
AB		 274{
275 int result;
276 jr3_pci_subdev_private *p;
277 int channel;
278
279 p = s->private;
280 channel = CR_CHAN(insn->chanspec);
281 if (p == NULL || channel > 57) {
282 result = -EINVAL;
283 } else {
284 int i;
285
286 result = insn->n;
287 if (p->state != state_jr3_done ||
288 (get_u16(&p->channel->
289 errors) & (watch_dog | watch_dog2 |
290 sensor_change))) {
291 /* No sensor or sensor changed */
292 if (p->state == state_jr3_done) {
293 /* Restart polling */
294 p->state = state_jr3_poll;
295 }
296 result = -EAGAIN;
297 }
298 for (i = 0; i < insn->n; i++) {
299 if (channel < 56) {
300 int axis, filter;
301
302 axis = channel % 8;
303 filter = channel / 8;
304 if (p->state != state_jr3_done) {
305 data[i] = 0;
306 } else {
307 int F = 0;
308 switch (axis) {
309 case 0:{
310 F = get_s16(&p->
311 channel->
312 filter[filter].
313 fx);
314 }
315 break;
316 case 1:{
317 F = get_s16(&p->
318 channel->
319 filter[filter].
320 fy);
321 }
322 break;
323 case 2:{
324 F = get_s16(&p->
325 channel->
326 filter[filter].
327 fz);
328 }
329 break;
330 case 3:{
331 F = get_s16(&p->
332 channel->
333 filter[filter].
334 mx);
335 }
336 break;
337 case 4:{
338 F = get_s16(&p->
339 channel->
340 filter[filter].
341 my);
342 }
343 break;
344 case 5:{
345 F = get_s16(&p->
346 channel->
347 filter[filter].
348 mz);
349 }
350 break;
351 case 6:{
352 F = get_s16(&p->
353 channel->
354 filter[filter].
355 v1);
356 }
357 break;
358 case 7:{
359 F = get_s16(&p->
360 channel->
361 filter[filter].
362 v2);
363 }
364 break;
365 }
366 data[i] = F + 0x4000;
367 }
368 } else if (channel == 56) {
369 if (p->state != state_jr3_done) {
370 data[i] = 0;
371 } else {
372 data[i] =
373 get_u16(&p->channel->model_no);
374 }
375 } else if (channel == 57) {
376 if (p->state != state_jr3_done) {
377 data[i] = 0;
378 } else {
379 data[i] =
380 get_u16(&p->channel->serial_no);
381 }
382 }
383 }
384 }
385 return result;
386}
387
71b5f4f1 388static void jr3_pci_open(struct comedi_device * dev)
07b509e6
AB		 389{
390 int i;
391 jr3_pci_dev_private *devpriv = dev->private;
392
393 printk("jr3_pci_open\n");
394 for (i = 0; i < devpriv->n_channels; i++) {
395 jr3_pci_subdev_private *p;
396
397 p = dev->subdevices[i].private;
398 if (p) {
399 printk("serial: %p %d (%d)\n", p, p->serial_no,
400 p->channel_no);
401 }
402 }
403}
404
405int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
406{
407 int result = 0;
408 if (pos != 0 && val != 0) {
409 // Skip over non hex
410 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
411 }
412 // Collect value
413 *val = 0;
414 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
415 char ch = tolower(data[*pos]);
416 result = 1;
417 if ('0' <= ch && ch <= '9') {
418 *val = (*val << 4) + (ch - '0');
419 } else if ('a' <= ch && ch <= 'f') {
420 *val = (*val << 4) + (ch - 'a' + 10);
421 }
422 }
423 }
424 return result;
425}
426
71b5f4f1 427static int jr3_download_firmware(struct comedi_device * dev, const u8 * data,
07b509e6
AB		 428 size_t size)
429{
430 /*
431 * IDM file format is:
432 * { count, address, data <count> } *
433 * ffff
434 */
435 int result, more, pos, OK;
436
437 result = 0;
438 more = 1;
439 pos = 0;
440 OK = 0;
441 while (more) {
442 unsigned int count, addr;
443
444 more = more && read_idm_word(data, size, &pos, &count);
445 if (more && count == 0xffff) {
446 OK = 1;
447 break;
448 }
449 more = more && read_idm_word(data, size, &pos, &addr);
450 while (more && count > 0) {
451 unsigned int dummy;
452 more = more && read_idm_word(data, size, &pos, &dummy);
453 count--;
454 }
455 }
456
457 if (!OK) {
458 result = -ENODATA;
459 } else {
460 int i;
461 jr3_pci_dev_private *p = dev->private;
462
463 for (i = 0; i < p->n_channels; i++) {
464 jr3_pci_subdev_private *sp;
465
466 sp = dev->subdevices[i].private;
467 more = 1;
468 pos = 0;
469 while (more) {
470 unsigned int count, addr;
471 more = more
472 && read_idm_word(data, size, &pos,
473 &count);
474 if (more && count == 0xffff) {
475 break;
476 }
477 more = more
478 && read_idm_word(data, size, &pos,
479 &addr);
480 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
481 count, addr);
482 while (more && count > 0) {
483 if (addr & 0x4000) {
484 // 16 bit data, never seen in real life!!
485 unsigned int data1;
486
487 more = more
488 && read_idm_word(data,
489 size, &pos, &data1);
490 count--;
491 // printk("jr3_data, not tested\n");
492 // jr3[addr + 0x20000 * pnum] = data1;
493 } else {
494 // Download 24 bit program
495 unsigned int data1, data2;
496
497 more = more
498 && read_idm_word(data,
499 size, &pos, &data1);
500 more = more
501 && read_idm_word(data,
502 size, &pos, &data2);
503 count -= 2;
504 if (more) {
505 set_u16(&p->iobase->
506 channel[i].
507 program_low
508 [addr], data1);
509 comedi_udelay(1);
510 set_u16(&p->iobase->
511 channel[i].
512 program_high
513 [addr], data2);
514 comedi_udelay(1);
515
516 }
517 }
518 addr++;
519 }
520 }
521 }
522 }
523 return result;
524}
525
34c43922 526static poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice * s)
07b509e6
AB		 527{
528 poll_delay_t result = poll_delay_min_max(1000, 2000);
529 jr3_pci_subdev_private *p = s->private;
530
531 if (p) {
532 volatile jr3_channel_t *channel = p->channel;
533 int errors = get_u16(&channel->errors);
534
535 if (errors != p->errors) {
536 printk("Errors: %x -> %x\n", p->errors, errors);
537 p->errors = errors;
538 }
539 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
540 // Sensor communication lost, force poll mode
541 p->state = state_jr3_poll;
542
543 }
544 switch (p->state) {
545 case state_jr3_poll:{
546 u16 model_no = get_u16(&channel->model_no);
547 u16 serial_no = get_u16(&channel->serial_no);
548 if ((errors & (watch_dog | watch_dog2)) ||
549 model_no == 0 || serial_no == 0) {
550 // Still no sensor, keep on polling. Since it takes up to
551 // 10 seconds for offsets to stabilize, polling each
552 // second should suffice.
553 result = poll_delay_min_max(1000, 2000);
554 } else {
555 p->retries = 0;
556 p->state =
557 state_jr3_init_wait_for_offset;
558 result = poll_delay_min_max(1000, 2000);
559 }
560 }
561 break;
562 case state_jr3_init_wait_for_offset:{
563 p->retries++;
564 if (p->retries < 10) {
565 // Wait for offeset to stabilize (< 10 s according to manual)
566 result = poll_delay_min_max(1000, 2000);
567 } else {
568 transform_t transf;
569
570 p->model_no =
571 get_u16(&channel->model_no);
572 p->serial_no =
573 get_u16(&channel->serial_no);
574
575 printk("Setting transform for channel %d\n", p->channel_no);
576 printk("Sensor Model = %i\n",
577 p->model_no);
578 printk("Sensor Serial = %i\n",
579 p->serial_no);
580
581 // Transformation all zeros
582 transf.link[0].link_type =
583 (enum link_types)0;
584 transf.link[0].link_amount = 0;
585 transf.link[1].link_type =
586 (enum link_types)0;
587 transf.link[1].link_amount = 0;
588 transf.link[2].link_type =
589 (enum link_types)0;
590 transf.link[2].link_amount = 0;
591 transf.link[3].link_type =
592 (enum link_types)0;
593 transf.link[3].link_amount = 0;
594
595 set_transforms(channel, transf, 0);
596 use_transform(channel, 0);
597 p->state =
598 state_jr3_init_transform_complete;
599 result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
600 }
601 } break;
602 case state_jr3_init_transform_complete:{
603 if (!is_complete(channel)) {
604 printk("state_jr3_init_transform_complete complete = %d\n", is_complete(channel));
605 result = poll_delay_min_max(20, 100);
606 } else {
607 // Set full scale
608 six_axis_t min_full_scale;
609 six_axis_t max_full_scale;
610
611 min_full_scale =
612 get_min_full_scales(channel);
613 printk("Obtained Min. Full Scales:\n");
614 printk("%i ", (min_full_scale).fx);
615 printk("%i ", (min_full_scale).fy);
616 printk("%i ", (min_full_scale).fz);
617 printk("%i ", (min_full_scale).mx);
618 printk("%i ", (min_full_scale).my);
619 printk("%i ", (min_full_scale).mz);
620 printk("\n");
621
622 max_full_scale =
623 get_max_full_scales(channel);
624 printk("Obtained Max. Full Scales:\n");
625 printk("%i ", (max_full_scale).fx);
626 printk("%i ", (max_full_scale).fy);
627 printk("%i ", (max_full_scale).fz);
628 printk("%i ", (max_full_scale).mx);
629 printk("%i ", (max_full_scale).my);
630 printk("%i ", (max_full_scale).mz);
631 printk("\n");
632
633 set_full_scales(channel,
634 max_full_scale);
635
636 p->state =
637 state_jr3_init_set_full_scale_complete;
638 result = poll_delay_min_max(20, 100); // Allow 20 ms for completion
639 }
640 }
641 break;
642 case state_jr3_init_set_full_scale_complete:{
643 if (!is_complete(channel)) {
644 printk("state_jr3_init_set_full_scale_complete complete = %d\n", is_complete(channel));
645 result = poll_delay_min_max(20, 100);
646 } else {
647 volatile force_array_t *full_scale;
648
649 // Use ranges in kN or we will overflow arount 2000N!
650 full_scale = &channel->full_scale;
651 p->range[0].range.min =
652 -get_s16(&full_scale->fx) *
653 1000;
654 p->range[0].range.max =
655 get_s16(&full_scale->fx) * 1000;
656 p->range[1].range.min =
657 -get_s16(&full_scale->fy) *
658 1000;
659 p->range[1].range.max =
660 get_s16(&full_scale->fy) * 1000;
661 p->range[2].range.min =
662 -get_s16(&full_scale->fz) *
663 1000;
664 p->range[2].range.max =
665 get_s16(&full_scale->fz) * 1000;
666 p->range[3].range.min =
667 -get_s16(&full_scale->mx) * 100;
668 p->range[3].range.max =
669 get_s16(&full_scale->mx) * 100;
670 p->range[4].range.min =
671 -get_s16(&full_scale->my) * 100;
672 p->range[4].range.max =
673 get_s16(&full_scale->my) * 100;
674 p->range[5].range.min =
675 -get_s16(&full_scale->mz) * 100;
676 p->range[5].range.max =
677 get_s16(&full_scale->mz) * 100;
678 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; // ??
679 p->range[6].range.max = get_s16(&full_scale->v1) * 100; // ??
680 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; // ??
681 p->range[7].range.max = get_s16(&full_scale->v2) * 100; // ??
682 p->range[8].range.min = 0;
683 p->range[8].range.max = 65535;
684
685 {
686 int i;
687 for (i = 0; i < 9; i++) {
688 printk("%d %d - %d\n",
689 i,
690 p->range[i].
691 range.min,
692 p->range[i].
693 range.max);
694 }
695 }
696
697 use_offset(channel, 0);
698 p->state =
699 state_jr3_init_use_offset_complete;
700 result = poll_delay_min_max(40, 100); // Allow 40 ms for completion
701 }
702 }
703 break;
704 case state_jr3_init_use_offset_complete:{
705 if (!is_complete(channel)) {
706 printk("state_jr3_init_use_offset_complete complete = %d\n", is_complete(channel));
707 result = poll_delay_min_max(20, 100);
708 } else {
709 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));
710
711 set_s16(&channel->offsets.fx, 0);
712 set_s16(&channel->offsets.fy, 0);
713 set_s16(&channel->offsets.fz, 0);
714 set_s16(&channel->offsets.mx, 0);
715 set_s16(&channel->offsets.my, 0);
716 set_s16(&channel->offsets.mz, 0);
717
718 set_offset(channel);
719
720 p->state = state_jr3_done;
721 }
722 }
723 break;
724 case state_jr3_done:{
725 poll_delay_min_max(10000, 20000);
726 }
727 break;
728 default:{
729 poll_delay_min_max(1000, 2000);
730 }
731 break;
732 }
733 }
734 return result;
735}
736
737static void jr3_pci_poll_dev(unsigned long data)
738{
739 unsigned long flags;
71b5f4f1 740 struct comedi_device *dev = (struct comedi_device *) data;
07b509e6
AB		 741 jr3_pci_dev_private *devpriv = dev->private;
742 unsigned long now;
743 int delay;
744 int i;
745
746 comedi_spin_lock_irqsave(&dev->spinlock, flags);
747 delay = 1000;
748 now = jiffies;
749 // Poll all channels that are ready to be polled
750 for (i = 0; i < devpriv->n_channels; i++) {
751 jr3_pci_subdev_private *subdevpriv = dev->subdevices[i].private;
752 if (now > subdevpriv->next_time_min) {
753 poll_delay_t sub_delay;
754
755 sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
756 subdevpriv->next_time_min =
757 jiffies + msecs_to_jiffies(sub_delay.min);
758 subdevpriv->next_time_max =
759 jiffies + msecs_to_jiffies(sub_delay.max);
760 if (sub_delay.max && sub_delay.max < delay) {
761 // Wake up as late as possible -> poll as many channels as
762 // possible at once
763 delay = sub_delay.max;
764 }
765 }
766 }
767 comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
768
769 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
770 add_timer(&devpriv->timer);
771}
772
71b5f4f1 773static int jr3_pci_attach(struct comedi_device * dev, comedi_devconfig * it)
07b509e6
AB		 774{
775 int result = 0;
776 struct pci_dev *card = NULL;
777 int opt_bus, opt_slot, i;
778 jr3_pci_dev_private *devpriv;
779
780 printk("comedi%d: jr3_pci\n", dev->minor);
781
782 opt_bus = it->options[0];
783 opt_slot = it->options[1];
784
785 if (sizeof(jr3_channel_t) != 0xc00) {
786 printk("sizeof(jr3_channel_t) = %x [expected %x]\n",
787 (unsigned)sizeof(jr3_channel_t), 0xc00);
788 return -EINVAL;
789 }
790
791 result = alloc_private(dev, sizeof(jr3_pci_dev_private));
792 if (result < 0) {
793 return -ENOMEM;
794 }
795 card = NULL;
796 devpriv = dev->private;
797 init_timer(&devpriv->timer);
798 while (1) {
799 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
800 if (card == NULL) {
801 /* No card found */
802 break;
803 } else {
804 switch (card->device) {
805 case PCI_DEVICE_ID_JR3_1_CHANNEL:{
806 devpriv->n_channels = 1;
807 }
808 break;
809 case PCI_DEVICE_ID_JR3_2_CHANNEL:{
810 devpriv->n_channels = 2;
811 }
812 break;
813 case PCI_DEVICE_ID_JR3_3_CHANNEL:{
814 devpriv->n_channels = 3;
815 }
816 break;
817 case PCI_DEVICE_ID_JR3_4_CHANNEL:{
818 devpriv->n_channels = 4;
819 }
820 break;
821 default:{
822 devpriv->n_channels = 0;
823 }
824 }
825 if (devpriv->n_channels >= 1) {
826 if (opt_bus == 0 && opt_slot == 0) {
827 /* Take first available card */
828 break;
829 } else if (opt_bus == card->bus->number &&
830 opt_slot == PCI_SLOT(card->devfn)) {
831 /* Take requested card */
832 break;
833 }
834 }
835 }
836 }
837 if (!card) {
838 printk(" no jr3_pci found\n");
839 return -EIO;
840 } else {
841 devpriv->pci_dev = card;
842 dev->board_name = "jr3_pci";
843 }
844 if ((result = comedi_pci_enable(card, "jr3_pci")) < 0) {
845 return -EIO;
846 }
847 devpriv->pci_enabled = 1;
848 devpriv->iobase = ioremap(pci_resource_start(card, 0), sizeof(jr3_t));
849 result = alloc_subdevices(dev, devpriv->n_channels);
850 if (result < 0)
851 goto out;
852
853 dev->open = jr3_pci_open;
854 for (i = 0; i < devpriv->n_channels; i++) {
855 dev->subdevices[i].type = COMEDI_SUBD_AI;
856 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
857 dev->subdevices[i].n_chan = 8 * 7 + 2;
858 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
859 dev->subdevices[i].private =
860 kzalloc(sizeof(jr3_pci_subdev_private), GFP_KERNEL);
861 if (dev->subdevices[i].private) {
862 jr3_pci_subdev_private *p;
863 int j;
864
865 p = dev->subdevices[i].private;
866 p->channel = &devpriv->iobase->channel[i].data;
867 printk("p->channel %p %p (%tx)\n",
868 p->channel, devpriv->iobase,
869 ((char *)(p->channel) -
870 (char *)(devpriv->iobase)));
871 p->channel_no = i;
872 for (j = 0; j < 8; j++) {
873 int k;
874
875 p->range[j].length = 1;
876 p->range[j].range.min = -1000000;
877 p->range[j].range.max = 1000000;
878 for (k = 0; k < 7; k++) {
879 p->range_table_list[j + k * 8] =
9ced1de6 880 (struct comedi_lrange *) & p->range[j];
07b509e6
AB		 881 p->maxdata_list[j + k * 8] = 0x7fff;
882 }
883 }
884 p->range[8].length = 1;
885 p->range[8].range.min = 0;
886 p->range[8].range.max = 65536;
887
888 p->range_table_list[56] =
9ced1de6 889 (struct comedi_lrange *) & p->range[8];
07b509e6 890 p->range_table_list[57] =
9ced1de6 891 (struct comedi_lrange *) & p->range[8];
07b509e6
AB		 892 p->maxdata_list[56] = 0xffff;
893 p->maxdata_list[57] = 0xffff;
894 // Channel specific range and maxdata
895 dev->subdevices[i].range_table = 0;
896 dev->subdevices[i].range_table_list =
897 p->range_table_list;
898 dev->subdevices[i].maxdata = 0;
899 dev->subdevices[i].maxdata_list = p->maxdata_list;
900 }
901 }
902
903 // Reset DSP card
904 devpriv->iobase->channel[0].reset = 0;
905
906 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
907 printk("Firmare load %d\n", result);
908
909 if (result < 0) {
910 goto out;
911 }
912 // TODO: use firmware to load preferred offset tables. Suggested format:
913 // model serial Fx Fy Fz Mx My Mz\n
914 //
915 // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
916
917 // It takes a few milliseconds for software to settle
918 // as much as we can read firmware version
919 msleep_interruptible(25);
920 for (i = 0; i < 0x18; i++) {
921 printk("%c",
922 get_u16(&devpriv->iobase->channel[0].data.
923 copyright[i]) >> 8);
924 }
925
926 // Start card timer
927 for (i = 0; i < devpriv->n_channels; i++) {
928 jr3_pci_subdev_private *p = dev->subdevices[i].private;
929
930 p->next_time_min = jiffies + msecs_to_jiffies(500);
931 p->next_time_max = jiffies + msecs_to_jiffies(2000);
932 }
933
934 devpriv->timer.data = (unsigned long)dev;
935 devpriv->timer.function = jr3_pci_poll_dev;
936 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
937 add_timer(&devpriv->timer);
938
939 out:
940 return result;
941}
942
71b5f4f1 943static int jr3_pci_detach(struct comedi_device * dev)
07b509e6
AB		 944{
945 int i;
946 jr3_pci_dev_private *devpriv = dev->private;
947
948 printk("comedi%d: jr3_pci: remove\n", dev->minor);
949 if (devpriv) {
950 del_timer_sync(&devpriv->timer);
951
952 if (dev->subdevices) {
953 for (i = 0; i < devpriv->n_channels; i++) {
954 kfree(dev->subdevices[i].private);
955 }
956 }
957
958 if (devpriv->iobase) {
959 iounmap((void *)devpriv->iobase);
960 }
961 if (devpriv->pci_enabled) {
962 comedi_pci_disable(devpriv->pci_dev);
963 }
964
965 if (devpriv->pci_dev) {
966 pci_dev_put(devpriv->pci_dev);
967 }
968 }
969 return 0;
970}
971
972COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);
Linux kernel - Deliverables
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