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Staging: comedi: fix sched.h build breakage
[linux-2.6/mini2440.git] / drivers / staging / comedi / drivers / jr3_pci.c
blob0d2c2eb23b2328c40594bace90dc114db28c72ee
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 /*
24 Driver: jr3_pci
25 Description: JR3/PCI force sensor board
26 Author: Anders Blomdell <anders.blomdell@control.lth.se>
27 Status: works
28 Devices: [JR3] PCI force sensor board (jr3_pci)
29
30 The DSP on the board requires initialization code, which can
31 be loaded by placing it in /lib/firmware/comedi.
32 The initialization code should be somewhere on the media you got
33 with your card. One version is available from http://www.comedi.org
34 in the comedi_nonfree_firmware tarball.
35
36 Configuration options:
37 [0] - PCI bus number - if bus number and slot number are 0,
38 then driver search for first unused card
39 [1] - PCI slot number
40
41 */
42
43 #include "../comedidev.h"
44
45 #include <linux/delay.h>
46 #include <linux/ctype.h>
47 #include <linux/firmware.h>
48 #include <linux/jiffies.h>
49 #include <linux/timer.h>
50 #include "comedi_pci.h"
51 #include "jr3_pci.h"
52
53 #define PCI_VENDOR_ID_JR3 0x1762
54 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
55 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
56 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
57 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
58
59 static int jr3_pci_attach(struct comedi_device *dev,
60 struct comedi_devconfig *it);
61 static int jr3_pci_detach(struct comedi_device *dev);
62
63 static struct comedi_driver driver_jr3_pci = {
64 .driver_name = "jr3_pci",
65 .module = THIS_MODULE,
66 .attach = jr3_pci_attach,
67 .detach = jr3_pci_detach,
68 };
69
70 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
71 {
72 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
73 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
74 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
75 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
76 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
77 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
78 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
79 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
80 0}
81 };
82
83 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
84
85 struct jr3_pci_dev_private {
86
87 struct pci_dev *pci_dev;
88 int pci_enabled;
89 volatile struct jr3_t *iobase;
90 int n_channels;
91 struct timer_list timer;
92 };
93
94 struct poll_delay_t {
95
96 int min;
97 int max;
98 };
99
100 struct jr3_pci_subdev_private {
101 volatile struct jr3_channel *channel;
102 unsigned long next_time_min;
103 unsigned long next_time_max;
104 enum { state_jr3_poll,
105 state_jr3_init_wait_for_offset,
106 state_jr3_init_transform_complete,
107 state_jr3_init_set_full_scale_complete,
108 state_jr3_init_use_offset_complete,
109 state_jr3_done
110 } state;
111 int channel_no;
112 int serial_no;
113 int model_no;
114 struct {
115 int length;
116 struct comedi_krange range;
117 } range[9];
118 const struct comedi_lrange *range_table_list[8 * 7 + 2];
119 unsigned int maxdata_list[8 * 7 + 2];
120 u16 errors;
121 int retries;
122 };
123
124 /* Hotplug firmware loading stuff */
125
126 typedef int comedi_firmware_callback(struct comedi_device *dev,
127 const u8 * data, size_t size);
128
129 static int comedi_load_firmware(struct comedi_device *dev, char *name,
130 comedi_firmware_callback cb)
131 {
132 int result = 0;
133 const struct firmware *fw;
134 char *firmware_path;
135 static const char *prefix = "comedi/";
136 struct jr3_pci_dev_private *devpriv = dev->private;
137
138 firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
139 if (!firmware_path) {
140 result = -ENOMEM;
141 } else {
142 firmware_path[0] = '\0';
143 strcat(firmware_path, prefix);
144 strcat(firmware_path, name);
145 result = request_firmware(&fw, firmware_path,
146 &devpriv->pci_dev->dev);
147 if (result == 0) {
148 if (!cb)
149 result = -EINVAL;
150 else
151 result = cb(dev, fw->data, fw->size);
152 release_firmware(fw);
153 }
154 kfree(firmware_path);
155 }
156 return result;
157 }
158
159 static struct poll_delay_t poll_delay_min_max(int min, int max)
160 {
161 struct poll_delay_t result;
162
163 result.min = min;
164 result.max = max;
165 return result;
166 }
167
168 static int is_complete(volatile struct jr3_channel *channel)
169 {
170 return get_s16(&channel->command_word0) == 0;
171 }
172
173 struct transform_t {
174 struct {
175 u16 link_type;
176 s16 link_amount;
177 } link[8];
178 };
179
180 static void set_transforms(volatile struct jr3_channel *channel,
181 struct transform_t transf, short num)
182 {
183 int i;
184
185 num &= 0x000f; /* Make sure that 0 <= num <= 15 */
186 for (i = 0; i < 8; i++) {
187
188 set_u16(&channel->transforms[num].link[i].link_type,
189 transf.link[i].link_type);
190 udelay(1);
191 set_s16(&channel->transforms[num].link[i].link_amount,
192 transf.link[i].link_amount);
193 udelay(1);
194 if (transf.link[i].link_type == end_x_form) {
195 break;
196 }
197 }
198 }
199
200 static void use_transform(volatile struct jr3_channel *channel,
201 short transf_num)
202 {
203 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
204 }
205
206 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
207 {
208 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
209 }
210
211 static void set_offset(volatile struct jr3_channel *channel)
212 {
213 set_s16(&channel->command_word0, 0x0700);
214 }
215
216 struct six_axis_t {
217 s16 fx;
218 s16 fy;
219 s16 fz;
220 s16 mx;
221 s16 my;
222 s16 mz;
223 };
224
225 static void set_full_scales(volatile struct jr3_channel *channel,
226 struct six_axis_t full_scale)
227 {
228 printk("%d %d %d %d %d %d\n",
229 full_scale.fx,
230 full_scale.fy,
231 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
232 set_s16(&channel->full_scale.fx, full_scale.fx);
233 set_s16(&channel->full_scale.fy, full_scale.fy);
234 set_s16(&channel->full_scale.fz, full_scale.fz);
235 set_s16(&channel->full_scale.mx, full_scale.mx);
236 set_s16(&channel->full_scale.my, full_scale.my);
237 set_s16(&channel->full_scale.mz, full_scale.mz);
238 set_s16(&channel->command_word0, 0x0a00);
239 }
240
241 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
242 *channel)
243 {
244 struct six_axis_t result;
245 result.fx = get_s16(&channel->min_full_scale.fx);
246 result.fy = get_s16(&channel->min_full_scale.fy);
247 result.fz = get_s16(&channel->min_full_scale.fz);
248 result.mx = get_s16(&channel->min_full_scale.mx);
249 result.my = get_s16(&channel->min_full_scale.my);
250 result.mz = get_s16(&channel->min_full_scale.mz);
251 return result;
252 }
253
254 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
255 *channel)
256 {
257 struct six_axis_t result;
258 result.fx = get_s16(&channel->max_full_scale.fx);
259 result.fy = get_s16(&channel->max_full_scale.fy);
260 result.fz = get_s16(&channel->max_full_scale.fz);
261 result.mx = get_s16(&channel->max_full_scale.mx);
262 result.my = get_s16(&channel->max_full_scale.my);
263 result.mz = get_s16(&channel->max_full_scale.mz);
264 return result;
265 }
266
267 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
268 struct comedi_subdevice *s,
269 struct comedi_insn *insn, unsigned int *data)
270 {
271 int result;
272 struct jr3_pci_subdev_private *p;
273 int channel;
274
275 p = s->private;
276 channel = CR_CHAN(insn->chanspec);
277 if (p == NULL || channel > 57) {
278 result = -EINVAL;
279 } else {
280 int i;
281
282 result = insn->n;
283 if (p->state != state_jr3_done ||
284 (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
285 sensor_change))) {
286 /* No sensor or sensor changed */
287 if (p->state == state_jr3_done) {
288 /* Restart polling */
289 p->state = state_jr3_poll;
290 }
291 result = -EAGAIN;
292 }
293 for (i = 0; i < insn->n; i++) {
294 if (channel < 56) {
295 int axis, filter;
296
297 axis = channel % 8;
298 filter = channel / 8;
299 if (p->state != state_jr3_done) {
300 data[i] = 0;
301 } else {
302 int F = 0;
303 switch (axis) {
304 case 0:{
305 F = get_s16
306 (&p->channel->filter
307 [filter].fx);
308 }
309 break;
310 case 1:{
311 F = get_s16
312 (&p->channel->filter
313 [filter].fy);
314 }
315 break;
316 case 2:{
317 F = get_s16
318 (&p->channel->filter
319 [filter].fz);
320 }
321 break;
322 case 3:{
323 F = get_s16
324 (&p->channel->filter
325 [filter].mx);
326 }
327 break;
328 case 4:{
329 F = get_s16
330 (&p->channel->filter
331 [filter].my);
332 }
333 break;
334 case 5:{
335 F = get_s16
336 (&p->channel->filter
337 [filter].mz);
338 }
339 break;
340 case 6:{
341 F = get_s16
342 (&p->channel->filter
343 [filter].v1);
344 }
345 break;
346 case 7:{
347 F = get_s16
348 (&p->channel->filter
349 [filter].v2);
350 }
351 break;
352 }
353 data[i] = F + 0x4000;
354 }
355 } else if (channel == 56) {
356 if (p->state != state_jr3_done) {
357 data[i] = 0;
358 } else {
359 data[i] =
360 get_u16(&p->channel->model_no);
361 }
362 } else if (channel == 57) {
363 if (p->state != state_jr3_done) {
364 data[i] = 0;
365 } else {
366 data[i] =
367 get_u16(&p->channel->serial_no);
368 }
369 }
370 }
371 }
372 return result;
373 }
374
375 static void jr3_pci_open(struct comedi_device *dev)
376 {
377 int i;
378 struct jr3_pci_dev_private *devpriv = dev->private;
379
380 printk("jr3_pci_open\n");
381 for (i = 0; i < devpriv->n_channels; i++) {
382 struct jr3_pci_subdev_private *p;
383
384 p = dev->subdevices[i].private;
385 if (p) {
386 printk("serial: %p %d (%d)\n", p, p->serial_no,
387 p->channel_no);
388 }
389 }
390 }
391
392 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
393 {
394 int result = 0;
395 if (pos != 0 && val != 0) {
396 /* Skip over non hex */
397 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
398 }
399 /* Collect value */
400 *val = 0;
401 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
402 char ch = tolower(data[*pos]);
403 result = 1;
404 if ('0' <= ch && ch <= '9') {
405 *val = (*val << 4) + (ch - '0');
406 } else if ('a' <= ch && ch <= 'f') {
407 *val = (*val << 4) + (ch - 'a' + 10);
408 }
409 }
410 }
411 return result;
412 }
413
414 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
415 size_t size)
416 {
417 /*
418 * IDM file format is:
419 * { count, address, data <count> } *
420 * ffff
421 */
422 int result, more, pos, OK;
423
424 result = 0;
425 more = 1;
426 pos = 0;
427 OK = 0;
428 while (more) {
429 unsigned int count, addr;
430
431 more = more && read_idm_word(data, size, &pos, &count);
432 if (more && count == 0xffff) {
433 OK = 1;
434 break;
435 }
436 more = more && read_idm_word(data, size, &pos, &addr);
437 while (more && count > 0) {
438 unsigned int dummy;
439 more = more && read_idm_word(data, size, &pos, &dummy);
440 count--;
441 }
442 }
443
444 if (!OK) {
445 result = -ENODATA;
446 } else {
447 int i;
448 struct jr3_pci_dev_private *p = dev->private;
449
450 for (i = 0; i < p->n_channels; i++) {
451 struct jr3_pci_subdev_private *sp;
452
453 sp = dev->subdevices[i].private;
454 more = 1;
455 pos = 0;
456 while (more) {
457 unsigned int count, addr;
458 more = more
459 && read_idm_word(data, size, &pos, &count);
460 if (more && count == 0xffff) {
461 break;
462 }
463 more = more
464 && read_idm_word(data, size, &pos, &addr);
465 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
466 count, addr);
467 while (more && count > 0) {
468 if (addr & 0x4000) {
469 /* 16 bit data, never seen in real life!! */
470 unsigned int data1;
471
472 more = more
473 && read_idm_word(data,
474 size, &pos,
475 &data1);
476 count--;
477 /* printk("jr3_data, not tested\n"); */
478 /* jr3[addr + 0x20000 * pnum] = data1; */
479 } else {
480 /* Download 24 bit program */
481 unsigned int data1, data2;
482
483 more = more
484 && read_idm_word(data,
485 size, &pos,
486 &data1);
487 more = more
488 && read_idm_word(data, size,
489 &pos,
490 &data2);
491 count -= 2;
492 if (more) {
493 set_u16(&p->
494 iobase->channel
495 [i].program_low
496 [addr], data1);
497 udelay(1);
498 set_u16(&p->
499 iobase->channel
500 [i].program_high
501 [addr], data2);
502 udelay(1);
503
504 }
505 }
506 addr++;
507 }
508 }
509 }
510 }
511 return result;
512 }
513
514 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
515 {
516 struct poll_delay_t result = poll_delay_min_max(1000, 2000);
517 struct jr3_pci_subdev_private *p = s->private;
518 int i;
519
520 if (p) {
521 volatile struct jr3_channel *channel = p->channel;
522 int errors = get_u16(&channel->errors);
523
524 if (errors != p->errors) {
525 printk("Errors: %x -> %x\n", p->errors, errors);
526 p->errors = errors;
527 }
528 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
529 /* Sensor communication lost, force poll mode */
530 p->state = state_jr3_poll;
531
532 }
533 switch (p->state) {
534 case state_jr3_poll:{
535 u16 model_no = get_u16(&channel->model_no);
536 u16 serial_no = get_u16(&channel->serial_no);
537 if ((errors & (watch_dog | watch_dog2)) ||
538 model_no == 0 || serial_no == 0) {
539 /*
540 * Still no sensor, keep on polling. Since it takes up to 10 seconds
541 * for offsets to stabilize, polling each second should suffice.
542 */
543 result = poll_delay_min_max(1000, 2000);
544 } else {
545 p->retries = 0;
546 p->state =
547 state_jr3_init_wait_for_offset;
548 result = poll_delay_min_max(1000, 2000);
549 }
550 }
551 break;
552 case state_jr3_init_wait_for_offset:{
553 p->retries++;
554 if (p->retries < 10) {
555 /* Wait for offeset to stabilize (< 10 s according to manual) */
556 result = poll_delay_min_max(1000, 2000);
557 } else {
558 struct transform_t transf;
559
560 p->model_no =
561 get_u16(&channel->model_no);
562 p->serial_no =
563 get_u16(&channel->serial_no);
564
565 printk
566 ("Setting transform for channel %d\n",
567 p->channel_no);
568 printk("Sensor Model = %i\n",
569 p->model_no);
570 printk("Sensor Serial = %i\n",
571 p->serial_no);
572
573 /* Transformation all zeros */
574 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
575 transf.link[i].link_type =
576 (enum link_types)0;
577 transf.link[i].link_amount = 0;
578 }
579
580 set_transforms(channel, transf, 0);
581 use_transform(channel, 0);
582 p->state =
583 state_jr3_init_transform_complete;
584 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
585 }
586 } break;
587 case state_jr3_init_transform_complete:{
588 if (!is_complete(channel)) {
589 printk
590 ("state_jr3_init_transform_complete complete = %d\n",
591 is_complete(channel));
592 result = poll_delay_min_max(20, 100);
593 } else {
594 /* Set full scale */
595 struct six_axis_t min_full_scale;
596 struct six_axis_t max_full_scale;
597
598 min_full_scale =
599 get_min_full_scales(channel);
600 printk("Obtained Min. Full Scales:\n");
601 printk("%i ", (min_full_scale).fx);
602 printk("%i ", (min_full_scale).fy);
603 printk("%i ", (min_full_scale).fz);
604 printk("%i ", (min_full_scale).mx);
605 printk("%i ", (min_full_scale).my);
606 printk("%i ", (min_full_scale).mz);
607 printk("\n");
608
609 max_full_scale =
610 get_max_full_scales(channel);
611 printk("Obtained Max. Full Scales:\n");
612 printk("%i ", (max_full_scale).fx);
613 printk("%i ", (max_full_scale).fy);
614 printk("%i ", (max_full_scale).fz);
615 printk("%i ", (max_full_scale).mx);
616 printk("%i ", (max_full_scale).my);
617 printk("%i ", (max_full_scale).mz);
618 printk("\n");
619
620 set_full_scales(channel,
621 max_full_scale);
622
623 p->state =
624 state_jr3_init_set_full_scale_complete;
625 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
626 }
627 }
628 break;
629 case state_jr3_init_set_full_scale_complete:{
630 if (!is_complete(channel)) {
631 printk
632 ("state_jr3_init_set_full_scale_complete complete = %d\n",
633 is_complete(channel));
634 result = poll_delay_min_max(20, 100);
635 } else {
636 volatile struct force_array *full_scale;
637
638 /* Use ranges in kN or we will overflow arount 2000N! */
639 full_scale = &channel->full_scale;
640 p->range[0].range.min =
641 -get_s16(&full_scale->fx) * 1000;
642 p->range[0].range.max =
643 get_s16(&full_scale->fx) * 1000;
644 p->range[1].range.min =
645 -get_s16(&full_scale->fy) * 1000;
646 p->range[1].range.max =
647 get_s16(&full_scale->fy) * 1000;
648 p->range[2].range.min =
649 -get_s16(&full_scale->fz) * 1000;
650 p->range[2].range.max =
651 get_s16(&full_scale->fz) * 1000;
652 p->range[3].range.min =
653 -get_s16(&full_scale->mx) * 100;
654 p->range[3].range.max =
655 get_s16(&full_scale->mx) * 100;
656 p->range[4].range.min =
657 -get_s16(&full_scale->my) * 100;
658 p->range[4].range.max =
659 get_s16(&full_scale->my) * 100;
660 p->range[5].range.min =
661 -get_s16(&full_scale->mz) * 100;
662 p->range[5].range.max =
663 get_s16(&full_scale->mz) * 100;
664 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */
665 p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */
666 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */
667 p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */
668 p->range[8].range.min = 0;
669 p->range[8].range.max = 65535;
670
671 {
672 int i;
673 for (i = 0; i < 9; i++) {
674 printk("%d %d - %d\n",
675 i,
676 p->
677 range[i].range.
678 min,
679 p->
680 range[i].range.
681 max);
682 }
683 }
684
685 use_offset(channel, 0);
686 p->state =
687 state_jr3_init_use_offset_complete;
688 result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */
689 }
690 }
691 break;
692 case state_jr3_init_use_offset_complete:{
693 if (!is_complete(channel)) {
694 printk
695 ("state_jr3_init_use_offset_complete complete = %d\n",
696 is_complete(channel));
697 result = poll_delay_min_max(20, 100);
698 } else {
699 printk
700 ("Default offsets %d %d %d %d %d %d\n",
701 get_s16(&channel->offsets.fx),
702 get_s16(&channel->offsets.fy),
703 get_s16(&channel->offsets.fz),
704 get_s16(&channel->offsets.mx),
705 get_s16(&channel->offsets.my),
706 get_s16(&channel->offsets.mz));
707
708 set_s16(&channel->offsets.fx, 0);
709 set_s16(&channel->offsets.fy, 0);
710 set_s16(&channel->offsets.fz, 0);
711 set_s16(&channel->offsets.mx, 0);
712 set_s16(&channel->offsets.my, 0);
713 set_s16(&channel->offsets.mz, 0);
714
715 set_offset(channel);
716
717 p->state = state_jr3_done;
718 }
719 }
720 break;
721 case state_jr3_done:{
722 poll_delay_min_max(10000, 20000);
723 }
724 break;
725 default:{
726 poll_delay_min_max(1000, 2000);
727 }
728 break;
729 }
730 }
731 return result;
732 }
733
734 static void jr3_pci_poll_dev(unsigned long data)
735 {
736 unsigned long flags;
737 struct comedi_device *dev = (struct comedi_device *)data;
738 struct jr3_pci_dev_private *devpriv = dev->private;
739 unsigned long now;
740 int delay;
741 int i;
742
743 spin_lock_irqsave(&dev->spinlock, flags);
744 delay = 1000;
745 now = jiffies;
746 /* Poll all channels that are ready to be polled */
747 for (i = 0; i < devpriv->n_channels; i++) {
748 struct jr3_pci_subdev_private *subdevpriv =
749 dev->subdevices[i].private;
750 if (now > subdevpriv->next_time_min) {
751 struct poll_delay_t sub_delay;
752
753 sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
754 subdevpriv->next_time_min =
755 jiffies + msecs_to_jiffies(sub_delay.min);
756 subdevpriv->next_time_max =
757 jiffies + msecs_to_jiffies(sub_delay.max);
758 if (sub_delay.max && sub_delay.max < delay) {
759 /*
760 * Wake up as late as possible -> poll as many channels as possible
761 * at once
762 */
763 delay = sub_delay.max;
764 }
765 }
766 }
767 spin_unlock_irqrestore(&dev->spinlock, flags);
768
769 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
770 add_timer(&devpriv->timer);
771 }
772
773 static int jr3_pci_attach(struct comedi_device *dev,
774 struct comedi_devconfig *it)
775 {
776 int result = 0;
777 struct pci_dev *card = NULL;
778 int opt_bus, opt_slot, i;
779 struct jr3_pci_dev_private *devpriv;
780
781 printk("comedi%d: jr3_pci\n", dev->minor);
782
783 opt_bus = it->options[0];
784 opt_slot = it->options[1];
785
786 if (sizeof(struct jr3_channel) != 0xc00) {
787 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
788 (unsigned)sizeof(struct jr3_channel), 0xc00);
789 return -EINVAL;
790 }
791
792 result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
793 if (result < 0) {
794 return -ENOMEM;
795 }
796 card = NULL;
797 devpriv = dev->private;
798 init_timer(&devpriv->timer);
799 while (1) {
800 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
801 if (card == NULL) {
802 /* No card found */
803 break;
804 } else {
805 switch (card->device) {
806 case PCI_DEVICE_ID_JR3_1_CHANNEL:{
807 devpriv->n_channels = 1;
808 }
809 break;
810 case PCI_DEVICE_ID_JR3_2_CHANNEL:{
811 devpriv->n_channels = 2;
812 }
813 break;
814 case PCI_DEVICE_ID_JR3_3_CHANNEL:{
815 devpriv->n_channels = 3;
816 }
817 break;
818 case PCI_DEVICE_ID_JR3_4_CHANNEL:{
819 devpriv->n_channels = 4;
820 }
821 break;
822 default:{
823 devpriv->n_channels = 0;
824 }
825 }
826 if (devpriv->n_channels >= 1) {
827 if (opt_bus == 0 && opt_slot == 0) {
828 /* Take first available card */
829 break;
830 } else if (opt_bus == card->bus->number &&
831 opt_slot == PCI_SLOT(card->devfn)) {
832 /* Take requested card */
833 break;
834 }
835 }
836 }
837 }
838 if (!card) {
839 printk(" no jr3_pci found\n");
840 return -EIO;
841 } else {
842 devpriv->pci_dev = card;
843 dev->board_name = "jr3_pci";
844 }
845
846 result = comedi_pci_enable(card, "jr3_pci");
847 if (result < 0) {
848 return -EIO;
849 }
850
851 devpriv->pci_enabled = 1;
852 devpriv->iobase =
853 ioremap(pci_resource_start(card, 0), sizeof(struct jr3_t));
854 result = alloc_subdevices(dev, devpriv->n_channels);
855 if (result < 0)
856 goto out;
857
858 dev->open = jr3_pci_open;
859 for (i = 0; i < devpriv->n_channels; i++) {
860 dev->subdevices[i].type = COMEDI_SUBD_AI;
861 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
862 dev->subdevices[i].n_chan = 8 * 7 + 2;
863 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
864 dev->subdevices[i].private =
865 kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
866 if (dev->subdevices[i].private) {
867 struct jr3_pci_subdev_private *p;
868 int j;
869
870 p = dev->subdevices[i].private;
871 p->channel = &devpriv->iobase->channel[i].data;
872 printk("p->channel %p %p (%tx)\n",
873 p->channel, devpriv->iobase,
874 ((char *)(p->channel) -
875 (char *)(devpriv->iobase)));
876 p->channel_no = i;
877 for (j = 0; j < 8; j++) {
878 int k;
879
880 p->range[j].length = 1;
881 p->range[j].range.min = -1000000;
882 p->range[j].range.max = 1000000;
883 for (k = 0; k < 7; k++) {
884 p->range_table_list[j + k * 8] =
885 (struct comedi_lrange *)&p->
886 range[j];
887 p->maxdata_list[j + k * 8] = 0x7fff;
888 }
889 }
890 p->range[8].length = 1;
891 p->range[8].range.min = 0;
892 p->range[8].range.max = 65536;
893
894 p->range_table_list[56] =
895 (struct comedi_lrange *)&p->range[8];
896 p->range_table_list[57] =
897 (struct comedi_lrange *)&p->range[8];
898 p->maxdata_list[56] = 0xffff;
899 p->maxdata_list[57] = 0xffff;
900 /* Channel specific range and maxdata */
901 dev->subdevices[i].range_table = 0;
902 dev->subdevices[i].range_table_list =
903 p->range_table_list;
904 dev->subdevices[i].maxdata = 0;
905 dev->subdevices[i].maxdata_list = p->maxdata_list;
906 }
907 }
908
909 /* Reset DSP card */
910 devpriv->iobase->channel[0].reset = 0;
911
912 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
913 printk("Firmare load %d\n", result);
914
915 if (result < 0) {
916 goto out;
917 }
918 /*
919 * TODO: use firmware to load preferred offset tables. Suggested
920 * format:
921 * model serial Fx Fy Fz Mx My Mz\n
922 *
923 * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
924 */
925
926 /*
927 * It takes a few milliseconds for software to settle as much as we
928 * can read firmware version
929 */
930 msleep_interruptible(25);
931 for (i = 0; i < 0x18; i++) {
932 printk("%c",
933 get_u16(&devpriv->iobase->channel[0].
934 data.copyright[i]) >> 8);
935 }
936
937 /* Start card timer */
938 for (i = 0; i < devpriv->n_channels; i++) {
939 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
940
941 p->next_time_min = jiffies + msecs_to_jiffies(500);
942 p->next_time_max = jiffies + msecs_to_jiffies(2000);
943 }
944
945 devpriv->timer.data = (unsigned long)dev;
946 devpriv->timer.function = jr3_pci_poll_dev;
947 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
948 add_timer(&devpriv->timer);
949
950 out:
951 return result;
952 }
953
954 static int jr3_pci_detach(struct comedi_device *dev)
955 {
956 int i;
957 struct jr3_pci_dev_private *devpriv = dev->private;
958
959 printk("comedi%d: jr3_pci: remove\n", dev->minor);
960 if (devpriv) {
961 del_timer_sync(&devpriv->timer);
962
963 if (dev->subdevices) {
964 for (i = 0; i < devpriv->n_channels; i++) {
965 kfree(dev->subdevices[i].private);
966 }
967 }
968
969 if (devpriv->iobase) {
970 iounmap((void *)devpriv->iobase);
971 }
972 if (devpriv->pci_enabled) {
973 comedi_pci_disable(devpriv->pci_dev);
974 }
975
976 if (devpriv->pci_dev) {
977 pci_dev_put(devpriv->pci_dev);
978 }
979 }
980 return 0;
981 }
982
983 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);
Support for the Chinese Samsung S3C2440 based development boards