2 comedi/drivers/jr3_pci.c
3 hardware driver for JR3/PCI force sensor board
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
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.
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.
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.
25 Description: JR3/PCI force sensor board
26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
28 Devices: [JR3] PCI force sensor board (jr3_pci)
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.
36 Configuration options:
37 [0] - PCI bus number - if bus number and slot number are 0,
38 then driver search for first unused card
43 #include "../comedidev.h"
45 #include <linux/delay.h>
46 #include <linux/ctype.h>
47 #include <linux/firmware.h>
48 #include "comedi_pci.h"
51 /* Hotplug firmware loading stuff */
53 static void comedi_fw_release(struct device
*dev
)
55 printk(KERN_DEBUG
"firmware_sample_driver: ghost_release\n");
58 static struct device comedi_fw_device
= {
59 .init_name
= "comedi",
60 .release
= comedi_fw_release
63 typedef int comedi_firmware_callback(struct comedi_device
* dev
,
64 const u8
* data
, size_t size
);
66 static int comedi_load_firmware(struct comedi_device
* dev
,
67 char *name
, comedi_firmware_callback cb
)
70 const struct firmware
*fw
;
72 static const char *prefix
= "comedi/";
74 firmware_path
= kmalloc(strlen(prefix
) + strlen(name
) + 1, GFP_KERNEL
);
78 firmware_path
[0] = '\0';
79 strcat(firmware_path
, prefix
);
80 strcat(firmware_path
, name
);
81 result
= device_register(&comedi_fw_device
);
83 result
= request_firmware(&fw
, firmware_path
,
89 result
= cb(dev
, fw
->data
, fw
->size
);
93 device_unregister(&comedi_fw_device
);
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
106 static int jr3_pci_attach(struct comedi_device
* dev
, comedi_devconfig
* it
);
107 static int jr3_pci_detach(struct comedi_device
* dev
);
109 static struct comedi_driver driver_jr3_pci
= {
110 driver_name
:"jr3_pci",
112 attach
:jr3_pci_attach
,
113 detach
:jr3_pci_detach
,
116 static 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},
128 MODULE_DEVICE_TABLE(pci
, jr3_pci_pci_table
);
131 struct pci_dev
*pci_dev
;
133 volatile jr3_t
*iobase
;
135 struct timer_list timer
;
136 } jr3_pci_dev_private
;
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
,
161 const struct comedi_lrange
*range_table_list
[8 * 7 + 2];
162 unsigned int maxdata_list
[8 * 7 + 2];
165 } jr3_pci_subdev_private
;
167 static poll_delay_t
poll_delay_min_max(int min
, int max
)
176 static int is_complete(volatile jr3_channel_t
* channel
)
178 return get_s16(&channel
->command_word0
) == 0;
188 static void set_transforms(volatile jr3_channel_t
* channel
,
189 transform_t transf
, short num
)
193 num
&= 0x000f; // Make sure that 0 <= num <= 15
194 for (i
= 0; i
< 8; i
++) {
196 set_u16(&channel
->transforms
[num
].link
[i
].link_type
,
197 transf
.link
[i
].link_type
);
199 set_s16(&channel
->transforms
[num
].link
[i
].link_amount
,
200 transf
.link
[i
].link_amount
);
202 if (transf
.link
[i
].link_type
== end_x_form
) {
208 static void use_transform(volatile jr3_channel_t
* channel
, short transf_num
)
210 set_s16(&channel
->command_word0
, 0x0500 + (transf_num
& 0x000f));
213 static void use_offset(volatile jr3_channel_t
* channel
, short offset_num
)
215 set_s16(&channel
->command_word0
, 0x0600 + (offset_num
& 0x000f));
218 static void set_offset(volatile jr3_channel_t
* channel
)
220 set_s16(&channel
->command_word0
, 0x0700);
232 static void set_full_scales(volatile jr3_channel_t
* channel
,
233 six_axis_t full_scale
)
235 printk("%d %d %d %d %d %d\n",
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);
248 static six_axis_t
get_min_full_scales(volatile jr3_channel_t
* channel
)
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
);
260 static six_axis_t
get_max_full_scales(volatile jr3_channel_t
* channel
)
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
);
272 static int jr3_pci_ai_insn_read(struct comedi_device
* dev
, struct comedi_subdevice
* s
,
273 struct comedi_insn
* insn
, unsigned int * data
)
276 jr3_pci_subdev_private
*p
;
280 channel
= CR_CHAN(insn
->chanspec
);
281 if (p
== NULL
|| channel
> 57) {
287 if (p
->state
!= state_jr3_done
||
288 (get_u16(&p
->channel
->
289 errors
) & (watch_dog
| watch_dog2
|
291 /* No sensor or sensor changed */
292 if (p
->state
== state_jr3_done
) {
293 /* Restart polling */
294 p
->state
= state_jr3_poll
;
298 for (i
= 0; i
< insn
->n
; i
++) {
303 filter
= channel
/ 8;
304 if (p
->state
!= state_jr3_done
) {
366 data
[i
] = F
+ 0x4000;
368 } else if (channel
== 56) {
369 if (p
->state
!= state_jr3_done
) {
373 get_u16(&p
->channel
->model_no
);
375 } else if (channel
== 57) {
376 if (p
->state
!= state_jr3_done
) {
380 get_u16(&p
->channel
->serial_no
);
388 static void jr3_pci_open(struct comedi_device
* dev
)
391 jr3_pci_dev_private
*devpriv
= dev
->private;
393 printk("jr3_pci_open\n");
394 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
395 jr3_pci_subdev_private
*p
;
397 p
= dev
->subdevices
[i
].private;
399 printk("serial: %p %d (%d)\n", p
, p
->serial_no
,
405 int read_idm_word(const u8
* data
, size_t size
, int *pos
, unsigned int *val
)
408 if (pos
!= 0 && val
!= 0) {
410 for (; *pos
< size
&& !isxdigit(data
[*pos
]); (*pos
)++) {
414 for (; *pos
< size
&& isxdigit(data
[*pos
]); (*pos
)++) {
415 char ch
= tolower(data
[*pos
]);
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);
427 static int jr3_download_firmware(struct comedi_device
* dev
, const u8
* data
,
431 * IDM file format is:
432 * { count, address, data <count> } *
435 int result
, more
, pos
, OK
;
442 unsigned int count
, addr
;
444 more
= more
&& read_idm_word(data
, size
, &pos
, &count
);
445 if (more
&& count
== 0xffff) {
449 more
= more
&& read_idm_word(data
, size
, &pos
, &addr
);
450 while (more
&& count
> 0) {
452 more
= more
&& read_idm_word(data
, size
, &pos
, &dummy
);
461 jr3_pci_dev_private
*p
= dev
->private;
463 for (i
= 0; i
< p
->n_channels
; i
++) {
464 jr3_pci_subdev_private
*sp
;
466 sp
= dev
->subdevices
[i
].private;
470 unsigned int count
, addr
;
472 && read_idm_word(data
, size
, &pos
,
474 if (more
&& count
== 0xffff) {
478 && read_idm_word(data
, size
, &pos
,
480 printk("Loading#%d %4.4x bytes at %4.4x\n", i
,
482 while (more
&& count
> 0) {
484 // 16 bit data, never seen in real life!!
488 && read_idm_word(data
,
491 // printk("jr3_data, not tested\n");
492 // jr3[addr + 0x20000 * pnum] = data1;
494 // Download 24 bit program
495 unsigned int data1
, data2
;
498 && read_idm_word(data
,
501 && read_idm_word(data
,
526 static poll_delay_t
jr3_pci_poll_subdevice(struct comedi_subdevice
* s
)
528 poll_delay_t result
= poll_delay_min_max(1000, 2000);
529 jr3_pci_subdev_private
*p
= s
->private;
532 volatile jr3_channel_t
*channel
= p
->channel
;
533 int errors
= get_u16(&channel
->errors
);
535 if (errors
!= p
->errors
) {
536 printk("Errors: %x -> %x\n", p
->errors
, errors
);
539 if (errors
& (watch_dog
| watch_dog2
| sensor_change
)) {
540 // Sensor communication lost, force poll mode
541 p
->state
= state_jr3_poll
;
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);
557 state_jr3_init_wait_for_offset
;
558 result
= poll_delay_min_max(1000, 2000);
562 case state_jr3_init_wait_for_offset
:{
564 if (p
->retries
< 10) {
565 // Wait for offeset to stabilize (< 10 s according to manual)
566 result
= poll_delay_min_max(1000, 2000);
571 get_u16(&channel
->model_no
);
573 get_u16(&channel
->serial_no
);
575 printk("Setting transform for channel %d\n", p
->channel_no
);
576 printk("Sensor Model = %i\n",
578 printk("Sensor Serial = %i\n",
581 // Transformation all zeros
582 transf
.link
[0].link_type
=
584 transf
.link
[0].link_amount
= 0;
585 transf
.link
[1].link_type
=
587 transf
.link
[1].link_amount
= 0;
588 transf
.link
[2].link_type
=
590 transf
.link
[2].link_amount
= 0;
591 transf
.link
[3].link_type
=
593 transf
.link
[3].link_amount
= 0;
595 set_transforms(channel
, transf
, 0);
596 use_transform(channel
, 0);
598 state_jr3_init_transform_complete
;
599 result
= poll_delay_min_max(20, 100); // Allow 20 ms for completion
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);
608 six_axis_t min_full_scale
;
609 six_axis_t max_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
);
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
);
633 set_full_scales(channel
,
637 state_jr3_init_set_full_scale_complete
;
638 result
= poll_delay_min_max(20, 100); // Allow 20 ms for completion
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);
647 volatile force_array_t
*full_scale
;
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
) *
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
) *
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
) *
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;
687 for (i
= 0; i
< 9; i
++) {
688 printk("%d %d - %d\n",
697 use_offset(channel
, 0);
699 state_jr3_init_use_offset_complete
;
700 result
= poll_delay_min_max(40, 100); // Allow 40 ms for completion
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);
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
));
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);
720 p
->state
= state_jr3_done
;
724 case state_jr3_done
:{
725 poll_delay_min_max(10000, 20000);
729 poll_delay_min_max(1000, 2000);
737 static void jr3_pci_poll_dev(unsigned long data
)
740 struct comedi_device
*dev
= (struct comedi_device
*) data
;
741 jr3_pci_dev_private
*devpriv
= dev
->private;
746 comedi_spin_lock_irqsave(&dev
->spinlock
, flags
);
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
;
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
763 delay
= sub_delay
.max
;
767 comedi_spin_unlock_irqrestore(&dev
->spinlock
, flags
);
769 devpriv
->timer
.expires
= jiffies
+ msecs_to_jiffies(delay
);
770 add_timer(&devpriv
->timer
);
773 static int jr3_pci_attach(struct comedi_device
* dev
, comedi_devconfig
* it
)
776 struct pci_dev
*card
= NULL
;
777 int opt_bus
, opt_slot
, i
;
778 jr3_pci_dev_private
*devpriv
;
780 printk("comedi%d: jr3_pci\n", dev
->minor
);
782 opt_bus
= it
->options
[0];
783 opt_slot
= it
->options
[1];
785 if (sizeof(jr3_channel_t
) != 0xc00) {
786 printk("sizeof(jr3_channel_t) = %x [expected %x]\n",
787 (unsigned)sizeof(jr3_channel_t
), 0xc00);
791 result
= alloc_private(dev
, sizeof(jr3_pci_dev_private
));
796 devpriv
= dev
->private;
797 init_timer(&devpriv
->timer
);
799 card
= pci_get_device(PCI_VENDOR_ID_JR3
, PCI_ANY_ID
, card
);
804 switch (card
->device
) {
805 case PCI_DEVICE_ID_JR3_1_CHANNEL
:{
806 devpriv
->n_channels
= 1;
809 case PCI_DEVICE_ID_JR3_2_CHANNEL
:{
810 devpriv
->n_channels
= 2;
813 case PCI_DEVICE_ID_JR3_3_CHANNEL
:{
814 devpriv
->n_channels
= 3;
817 case PCI_DEVICE_ID_JR3_4_CHANNEL
:{
818 devpriv
->n_channels
= 4;
822 devpriv
->n_channels
= 0;
825 if (devpriv
->n_channels
>= 1) {
826 if (opt_bus
== 0 && opt_slot
== 0) {
827 /* Take first available card */
829 } else if (opt_bus
== card
->bus
->number
&&
830 opt_slot
== PCI_SLOT(card
->devfn
)) {
831 /* Take requested card */
838 printk(" no jr3_pci found\n");
841 devpriv
->pci_dev
= card
;
842 dev
->board_name
= "jr3_pci";
844 if ((result
= comedi_pci_enable(card
, "jr3_pci")) < 0) {
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
);
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
;
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
)));
872 for (j
= 0; j
< 8; j
++) {
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] =
880 (struct comedi_lrange
*) & p
->range
[j
];
881 p
->maxdata_list
[j
+ k
* 8] = 0x7fff;
884 p
->range
[8].length
= 1;
885 p
->range
[8].range
.min
= 0;
886 p
->range
[8].range
.max
= 65536;
888 p
->range_table_list
[56] =
889 (struct comedi_lrange
*) & p
->range
[8];
890 p
->range_table_list
[57] =
891 (struct comedi_lrange
*) & p
->range
[8];
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
=
898 dev
->subdevices
[i
].maxdata
= 0;
899 dev
->subdevices
[i
].maxdata_list
= p
->maxdata_list
;
904 devpriv
->iobase
->channel
[0].reset
= 0;
906 result
= comedi_load_firmware(dev
, "jr3pci.idm", jr3_download_firmware
);
907 printk("Firmare load %d\n", result
);
912 // TODO: use firmware to load preferred offset tables. Suggested format:
913 // model serial Fx Fy Fz Mx My Mz\n
915 // comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
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
++) {
922 get_u16(&devpriv
->iobase
->channel
[0].data
.
927 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
928 jr3_pci_subdev_private
*p
= dev
->subdevices
[i
].private;
930 p
->next_time_min
= jiffies
+ msecs_to_jiffies(500);
931 p
->next_time_max
= jiffies
+ msecs_to_jiffies(2000);
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
);
943 static int jr3_pci_detach(struct comedi_device
* dev
)
946 jr3_pci_dev_private
*devpriv
= dev
->private;
948 printk("comedi%d: jr3_pci: remove\n", dev
->minor
);
950 del_timer_sync(&devpriv
->timer
);
952 if (dev
->subdevices
) {
953 for (i
= 0; i
< devpriv
->n_channels
; i
++) {
954 kfree(dev
->subdevices
[i
].private);
958 if (devpriv
->iobase
) {
959 iounmap((void *)devpriv
->iobase
);
961 if (devpriv
->pci_enabled
) {
962 comedi_pci_disable(devpriv
->pci_dev
);
965 if (devpriv
->pci_dev
) {
966 pci_dev_put(devpriv
->pci_dev
);
972 COMEDI_PCI_INITCLEANUP(driver_jr3_pci
, jr3_pci_pci_table
);