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GUI: Fix Tomato RAF theme for all builds. Compilation typo.
[tomato.git] / release / src-rt-6.x.4708 / linux / linux-2.6.36 / drivers / staging / comedi / drivers / jr3_pci.c
blob5c6c7274416724930f8758b5a0cab6c42442b975
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/slab.h>
50 #include <linux/timer.h>
51 #include <linux/kernel.h>
52 #include "comedi_pci.h"
53 #include "jr3_pci.h"
54
55 #define PCI_VENDOR_ID_JR3 0x1762
56 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
57 #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
58 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
59 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
60 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
61
62 static int jr3_pci_attach(struct comedi_device *dev,
63 struct comedi_devconfig *it);
64 static int jr3_pci_detach(struct comedi_device *dev);
65
66 static struct comedi_driver driver_jr3_pci = {
67 .driver_name = "jr3_pci",
68 .module = THIS_MODULE,
69 .attach = jr3_pci_attach,
70 .detach = jr3_pci_detach,
71 };
72
73 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
74 {
75 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
76 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
77 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW,
78 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
79 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
80 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
81 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
82 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
83 PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
84 PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
85 0}
86 };
87
88 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
89
90 struct jr3_pci_dev_private {
91
92 struct pci_dev *pci_dev;
93 int pci_enabled;
94 volatile struct jr3_t *iobase;
95 int n_channels;
96 struct timer_list timer;
97 };
98
99 struct poll_delay_t {
100
101 int min;
102 int max;
103 };
104
105 struct jr3_pci_subdev_private {
106 volatile struct jr3_channel *channel;
107 unsigned long next_time_min;
108 unsigned long next_time_max;
109 enum { state_jr3_poll,
110 state_jr3_init_wait_for_offset,
111 state_jr3_init_transform_complete,
112 state_jr3_init_set_full_scale_complete,
113 state_jr3_init_use_offset_complete,
114 state_jr3_done
115 } state;
116 int channel_no;
117 int serial_no;
118 int model_no;
119 struct {
120 int length;
121 struct comedi_krange range;
122 } range[9];
123 const struct comedi_lrange *range_table_list[8 * 7 + 2];
124 unsigned int maxdata_list[8 * 7 + 2];
125 u16 errors;
126 int retries;
127 };
128
129 /* Hotplug firmware loading stuff */
130 static int comedi_load_firmware(struct comedi_device *dev, char *name,
131 int (*cb)(struct comedi_device *dev,
132 const u8 *data, size_t size))
133 {
134 int result = 0;
135 const struct firmware *fw;
136 char *firmware_path;
137 static const char *prefix = "comedi/";
138 struct jr3_pci_dev_private *devpriv = dev->private;
139
140 firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
141 if (!firmware_path) {
142 result = -ENOMEM;
143 } else {
144 firmware_path[0] = '\0';
145 strcat(firmware_path, prefix);
146 strcat(firmware_path, name);
147 result = request_firmware(&fw, firmware_path,
148 &devpriv->pci_dev->dev);
149 if (result == 0) {
150 if (!cb)
151 result = -EINVAL;
152 else
153 result = cb(dev, fw->data, fw->size);
154 release_firmware(fw);
155 }
156 kfree(firmware_path);
157 }
158 return result;
159 }
160
161 static struct poll_delay_t poll_delay_min_max(int min, int max)
162 {
163 struct poll_delay_t result;
164
165 result.min = min;
166 result.max = max;
167 return result;
168 }
169
170 static int is_complete(volatile struct jr3_channel *channel)
171 {
172 return get_s16(&channel->command_word0) == 0;
173 }
174
175 struct transform_t {
176 struct {
177 u16 link_type;
178 s16 link_amount;
179 } link[8];
180 };
181
182 static void set_transforms(volatile struct jr3_channel *channel,
183 struct transform_t transf, short num)
184 {
185 int i;
186
187 num &= 0x000f; /* Make sure that 0 <= num <= 15 */
188 for (i = 0; i < 8; i++) {
189
190 set_u16(&channel->transforms[num].link[i].link_type,
191 transf.link[i].link_type);
192 udelay(1);
193 set_s16(&channel->transforms[num].link[i].link_amount,
194 transf.link[i].link_amount);
195 udelay(1);
196 if (transf.link[i].link_type == end_x_form) {
197 break;
198 }
199 }
200 }
201
202 static void use_transform(volatile struct jr3_channel *channel,
203 short transf_num)
204 {
205 set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
206 }
207
208 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
209 {
210 set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
211 }
212
213 static void set_offset(volatile struct jr3_channel *channel)
214 {
215 set_s16(&channel->command_word0, 0x0700);
216 }
217
218 struct six_axis_t {
219 s16 fx;
220 s16 fy;
221 s16 fz;
222 s16 mx;
223 s16 my;
224 s16 mz;
225 };
226
227 static void set_full_scales(volatile struct jr3_channel *channel,
228 struct six_axis_t full_scale)
229 {
230 printk("%d %d %d %d %d %d\n",
231 full_scale.fx,
232 full_scale.fy,
233 full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
234 set_s16(&channel->full_scale.fx, full_scale.fx);
235 set_s16(&channel->full_scale.fy, full_scale.fy);
236 set_s16(&channel->full_scale.fz, full_scale.fz);
237 set_s16(&channel->full_scale.mx, full_scale.mx);
238 set_s16(&channel->full_scale.my, full_scale.my);
239 set_s16(&channel->full_scale.mz, full_scale.mz);
240 set_s16(&channel->command_word0, 0x0a00);
241 }
242
243 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
244 *channel)
245 {
246 struct six_axis_t result;
247 result.fx = get_s16(&channel->min_full_scale.fx);
248 result.fy = get_s16(&channel->min_full_scale.fy);
249 result.fz = get_s16(&channel->min_full_scale.fz);
250 result.mx = get_s16(&channel->min_full_scale.mx);
251 result.my = get_s16(&channel->min_full_scale.my);
252 result.mz = get_s16(&channel->min_full_scale.mz);
253 return result;
254 }
255
256 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
257 *channel)
258 {
259 struct six_axis_t result;
260 result.fx = get_s16(&channel->max_full_scale.fx);
261 result.fy = get_s16(&channel->max_full_scale.fy);
262 result.fz = get_s16(&channel->max_full_scale.fz);
263 result.mx = get_s16(&channel->max_full_scale.mx);
264 result.my = get_s16(&channel->max_full_scale.my);
265 result.mz = get_s16(&channel->max_full_scale.mz);
266 return result;
267 }
268
269 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
270 struct comedi_subdevice *s,
271 struct comedi_insn *insn, unsigned int *data)
272 {
273 int result;
274 struct jr3_pci_subdev_private *p;
275 int channel;
276
277 p = s->private;
278 channel = CR_CHAN(insn->chanspec);
279 if (p == NULL || channel > 57) {
280 result = -EINVAL;
281 } else {
282 int i;
283
284 result = insn->n;
285 if (p->state != state_jr3_done ||
286 (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
287 sensor_change))) {
288 /* No sensor or sensor changed */
289 if (p->state == state_jr3_done) {
290 /* Restart polling */
291 p->state = state_jr3_poll;
292 }
293 result = -EAGAIN;
294 }
295 for (i = 0; i < insn->n; i++) {
296 if (channel < 56) {
297 int axis, filter;
298
299 axis = channel % 8;
300 filter = channel / 8;
301 if (p->state != state_jr3_done) {
302 data[i] = 0;
303 } else {
304 int F = 0;
305 switch (axis) {
306 case 0:{
307 F = get_s16
308 (&p->channel->filter
309 [filter].fx);
310 }
311 break;
312 case 1:{
313 F = get_s16
314 (&p->channel->filter
315 [filter].fy);
316 }
317 break;
318 case 2:{
319 F = get_s16
320 (&p->channel->filter
321 [filter].fz);
322 }
323 break;
324 case 3:{
325 F = get_s16
326 (&p->channel->filter
327 [filter].mx);
328 }
329 break;
330 case 4:{
331 F = get_s16
332 (&p->channel->filter
333 [filter].my);
334 }
335 break;
336 case 5:{
337 F = get_s16
338 (&p->channel->filter
339 [filter].mz);
340 }
341 break;
342 case 6:{
343 F = get_s16
344 (&p->channel->filter
345 [filter].v1);
346 }
347 break;
348 case 7:{
349 F = get_s16
350 (&p->channel->filter
351 [filter].v2);
352 }
353 break;
354 }
355 data[i] = F + 0x4000;
356 }
357 } else if (channel == 56) {
358 if (p->state != state_jr3_done) {
359 data[i] = 0;
360 } else {
361 data[i] =
362 get_u16(&p->channel->model_no);
363 }
364 } else if (channel == 57) {
365 if (p->state != state_jr3_done) {
366 data[i] = 0;
367 } else {
368 data[i] =
369 get_u16(&p->channel->serial_no);
370 }
371 }
372 }
373 }
374 return result;
375 }
376
377 static int jr3_pci_open(struct comedi_device *dev)
378 {
379 int i;
380 struct jr3_pci_dev_private *devpriv = dev->private;
381
382 printk("jr3_pci_open\n");
383 for (i = 0; i < devpriv->n_channels; i++) {
384 struct jr3_pci_subdev_private *p;
385
386 p = dev->subdevices[i].private;
387 if (p) {
388 printk("serial: %p %d (%d)\n", p, p->serial_no,
389 p->channel_no);
390 }
391 }
392 return 0;
393 }
394
395 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
396 {
397 int result = 0;
398 if (pos != 0 && val != 0) {
399 /* Skip over non hex */
400 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
401 }
402 /* Collect value */
403 *val = 0;
404 for (; *pos < size; (*pos)++) {
405 int value;
406 value = hex_to_bin(data[*pos]);
407 if (value >= 0) {
408 result = 1;
409 *val = (*val << 4) + value;
410 } else
411 break;
412 }
413 }
414 return result;
415 }
416
417 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
418 size_t size)
419 {
420 /*
421 * IDM file format is:
422 * { count, address, data <count> } *
423 * ffff
424 */
425 int result, more, pos, OK;
426
427 result = 0;
428 more = 1;
429 pos = 0;
430 OK = 0;
431 while (more) {
432 unsigned int count, addr;
433
434 more = more && read_idm_word(data, size, &pos, &count);
435 if (more && count == 0xffff) {
436 OK = 1;
437 break;
438 }
439 more = more && read_idm_word(data, size, &pos, &addr);
440 while (more && count > 0) {
441 unsigned int dummy;
442 more = more && read_idm_word(data, size, &pos, &dummy);
443 count--;
444 }
445 }
446
447 if (!OK) {
448 result = -ENODATA;
449 } else {
450 int i;
451 struct jr3_pci_dev_private *p = dev->private;
452
453 for (i = 0; i < p->n_channels; i++) {
454 struct jr3_pci_subdev_private *sp;
455
456 sp = dev->subdevices[i].private;
457 more = 1;
458 pos = 0;
459 while (more) {
460 unsigned int count, addr;
461 more = more
462 && read_idm_word(data, size, &pos, &count);
463 if (more && count == 0xffff) {
464 break;
465 }
466 more = more
467 && read_idm_word(data, size, &pos, &addr);
468 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
469 count, addr);
470 while (more && count > 0) {
471 if (addr & 0x4000) {
472 /* 16 bit data, never seen in real life!! */
473 unsigned int data1;
474
475 more = more
476 && read_idm_word(data,
477 size, &pos,
478 &data1);
479 count--;
480 /* printk("jr3_data, not tested\n"); */
481 /* jr3[addr + 0x20000 * pnum] = data1; */
482 } else {
483 /* Download 24 bit program */
484 unsigned int data1, data2;
485
486 more = more
487 && read_idm_word(data,
488 size, &pos,
489 &data1);
490 more = more
491 && read_idm_word(data, size,
492 &pos,
493 &data2);
494 count -= 2;
495 if (more) {
496 set_u16(&p->
497 iobase->channel
498 [i].program_low
499 [addr], data1);
500 udelay(1);
501 set_u16(&p->
502 iobase->channel
503 [i].program_high
504 [addr], data2);
505 udelay(1);
506
507 }
508 }
509 addr++;
510 }
511 }
512 }
513 }
514 return result;
515 }
516
517 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
518 {
519 struct poll_delay_t result = poll_delay_min_max(1000, 2000);
520 struct jr3_pci_subdev_private *p = s->private;
521 int i;
522
523 if (p) {
524 volatile struct jr3_channel *channel = p->channel;
525 int errors = get_u16(&channel->errors);
526
527 if (errors != p->errors) {
528 printk("Errors: %x -> %x\n", p->errors, errors);
529 p->errors = errors;
530 }
531 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
532 /* Sensor communication lost, force poll mode */
533 p->state = state_jr3_poll;
534
535 }
536 switch (p->state) {
537 case state_jr3_poll:{
538 u16 model_no = get_u16(&channel->model_no);
539 u16 serial_no = get_u16(&channel->serial_no);
540 if ((errors & (watch_dog | watch_dog2)) ||
541 model_no == 0 || serial_no == 0) {
542 /*
543 * Still no sensor, keep on polling. Since it takes up to 10 seconds
544 * for offsets to stabilize, polling each second should suffice.
545 */
546 result = poll_delay_min_max(1000, 2000);
547 } else {
548 p->retries = 0;
549 p->state =
550 state_jr3_init_wait_for_offset;
551 result = poll_delay_min_max(1000, 2000);
552 }
553 }
554 break;
555 case state_jr3_init_wait_for_offset:{
556 p->retries++;
557 if (p->retries < 10) {
558 /* Wait for offeset to stabilize (< 10 s according to manual) */
559 result = poll_delay_min_max(1000, 2000);
560 } else {
561 struct transform_t transf;
562
563 p->model_no =
564 get_u16(&channel->model_no);
565 p->serial_no =
566 get_u16(&channel->serial_no);
567
568 printk
569 ("Setting transform for channel %d\n",
570 p->channel_no);
571 printk("Sensor Model = %i\n",
572 p->model_no);
573 printk("Sensor Serial = %i\n",
574 p->serial_no);
575
576 /* Transformation all zeros */
577 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
578 transf.link[i].link_type =
579 (enum link_types)0;
580 transf.link[i].link_amount = 0;
581 }
582
583 set_transforms(channel, transf, 0);
584 use_transform(channel, 0);
585 p->state =
586 state_jr3_init_transform_complete;
587 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
588 }
589 } break;
590 case state_jr3_init_transform_complete:{
591 if (!is_complete(channel)) {
592 printk
593 ("state_jr3_init_transform_complete complete = %d\n",
594 is_complete(channel));
595 result = poll_delay_min_max(20, 100);
596 } else {
597 /* Set full scale */
598 struct six_axis_t min_full_scale;
599 struct six_axis_t max_full_scale;
600
601 min_full_scale =
602 get_min_full_scales(channel);
603 printk("Obtained Min. Full Scales:\n");
604 printk("%i ", (min_full_scale).fx);
605 printk("%i ", (min_full_scale).fy);
606 printk("%i ", (min_full_scale).fz);
607 printk("%i ", (min_full_scale).mx);
608 printk("%i ", (min_full_scale).my);
609 printk("%i ", (min_full_scale).mz);
610 printk("\n");
611
612 max_full_scale =
613 get_max_full_scales(channel);
614 printk("Obtained Max. Full Scales:\n");
615 printk("%i ", (max_full_scale).fx);
616 printk("%i ", (max_full_scale).fy);
617 printk("%i ", (max_full_scale).fz);
618 printk("%i ", (max_full_scale).mx);
619 printk("%i ", (max_full_scale).my);
620 printk("%i ", (max_full_scale).mz);
621 printk("\n");
622
623 set_full_scales(channel,
624 max_full_scale);
625
626 p->state =
627 state_jr3_init_set_full_scale_complete;
628 result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
629 }
630 }
631 break;
632 case state_jr3_init_set_full_scale_complete:{
633 if (!is_complete(channel)) {
634 printk
635 ("state_jr3_init_set_full_scale_complete complete = %d\n",
636 is_complete(channel));
637 result = poll_delay_min_max(20, 100);
638 } else {
639 volatile struct force_array *full_scale;
640
641 /* Use ranges in kN or we will overflow arount 2000N! */
642 full_scale = &channel->full_scale;
643 p->range[0].range.min =
644 -get_s16(&full_scale->fx) * 1000;
645 p->range[0].range.max =
646 get_s16(&full_scale->fx) * 1000;
647 p->range[1].range.min =
648 -get_s16(&full_scale->fy) * 1000;
649 p->range[1].range.max =
650 get_s16(&full_scale->fy) * 1000;
651 p->range[2].range.min =
652 -get_s16(&full_scale->fz) * 1000;
653 p->range[2].range.max =
654 get_s16(&full_scale->fz) * 1000;
655 p->range[3].range.min =
656 -get_s16(&full_scale->mx) * 100;
657 p->range[3].range.max =
658 get_s16(&full_scale->mx) * 100;
659 p->range[4].range.min =
660 -get_s16(&full_scale->my) * 100;
661 p->range[4].range.max =
662 get_s16(&full_scale->my) * 100;
663 p->range[5].range.min =
664 -get_s16(&full_scale->mz) * 100;
665 p->range[5].range.max =
666 get_s16(&full_scale->mz) * 100;
667 p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */
668 p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */
669 p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */
670 p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */
671 p->range[8].range.min = 0;
672 p->range[8].range.max = 65535;
673
674 {
675 int i;
676 for (i = 0; i < 9; i++) {
677 printk("%d %d - %d\n",
678 i,
679 p->
680 range[i].range.
681 min,
682 p->
683 range[i].range.
684 max);
685 }
686 }
687
688 use_offset(channel, 0);
689 p->state =
690 state_jr3_init_use_offset_complete;
691 result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */
692 }
693 }
694 break;
695 case state_jr3_init_use_offset_complete:{
696 if (!is_complete(channel)) {
697 printk
698 ("state_jr3_init_use_offset_complete complete = %d\n",
699 is_complete(channel));
700 result = poll_delay_min_max(20, 100);
701 } else {
702 printk
703 ("Default offsets %d %d %d %d %d %d\n",
704 get_s16(&channel->offsets.fx),
705 get_s16(&channel->offsets.fy),
706 get_s16(&channel->offsets.fz),
707 get_s16(&channel->offsets.mx),
708 get_s16(&channel->offsets.my),
709 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
737 static void jr3_pci_poll_dev(unsigned long data)
738 {
739 unsigned long flags;
740 struct comedi_device *dev = (struct comedi_device *)data;
741 struct jr3_pci_dev_private *devpriv = dev->private;
742 unsigned long now;
743 int delay;
744 int i;
745
746 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 struct jr3_pci_subdev_private *subdevpriv =
752 dev->subdevices[i].private;
753 if (now > subdevpriv->next_time_min) {
754 struct poll_delay_t sub_delay;
755
756 sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
757 subdevpriv->next_time_min =
758 jiffies + msecs_to_jiffies(sub_delay.min);
759 subdevpriv->next_time_max =
760 jiffies + msecs_to_jiffies(sub_delay.max);
761 if (sub_delay.max && sub_delay.max < delay) {
762 /*
763 * Wake up as late as possible -> poll as many channels as possible
764 * at once
765 */
766 delay = sub_delay.max;
767 }
768 }
769 }
770 spin_unlock_irqrestore(&dev->spinlock, flags);
771
772 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
773 add_timer(&devpriv->timer);
774 }
775
776 static int jr3_pci_attach(struct comedi_device *dev,
777 struct comedi_devconfig *it)
778 {
779 int result = 0;
780 struct pci_dev *card = NULL;
781 int opt_bus, opt_slot, i;
782 struct jr3_pci_dev_private *devpriv;
783
784 printk("comedi%d: jr3_pci\n", dev->minor);
785
786 opt_bus = it->options[0];
787 opt_slot = it->options[1];
788
789 if (sizeof(struct jr3_channel) != 0xc00) {
790 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
791 (unsigned)sizeof(struct jr3_channel), 0xc00);
792 return -EINVAL;
793 }
794
795 result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
796 if (result < 0) {
797 return -ENOMEM;
798 }
799 card = NULL;
800 devpriv = dev->private;
801 init_timer(&devpriv->timer);
802 while (1) {
803 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
804 if (card == NULL) {
805 /* No card found */
806 break;
807 } else {
808 switch (card->device) {
809 case PCI_DEVICE_ID_JR3_1_CHANNEL:{
810 devpriv->n_channels = 1;
811 }
812 break;
813 case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:{
814 devpriv->n_channels = 1;
815 }
816 break;
817 case PCI_DEVICE_ID_JR3_2_CHANNEL:{
818 devpriv->n_channels = 2;
819 }
820 break;
821 case PCI_DEVICE_ID_JR3_3_CHANNEL:{
822 devpriv->n_channels = 3;
823 }
824 break;
825 case PCI_DEVICE_ID_JR3_4_CHANNEL:{
826 devpriv->n_channels = 4;
827 }
828 break;
829 default:{
830 devpriv->n_channels = 0;
831 }
832 }
833 if (devpriv->n_channels >= 1) {
834 if (opt_bus == 0 && opt_slot == 0) {
835 /* Take first available card */
836 break;
837 } else if (opt_bus == card->bus->number &&
838 opt_slot == PCI_SLOT(card->devfn)) {
839 /* Take requested card */
840 break;
841 }
842 }
843 }
844 }
845 if (!card) {
846 printk(" no jr3_pci found\n");
847 return -EIO;
848 } else {
849 devpriv->pci_dev = card;
850 dev->board_name = "jr3_pci";
851 }
852
853 result = comedi_pci_enable(card, "jr3_pci");
854 if (result < 0) {
855 return -EIO;
856 }
857
858 devpriv->pci_enabled = 1;
859 devpriv->iobase = ioremap(pci_resource_start(card, 0),
860 offsetof(struct jr3_t, channel[devpriv->n_channels]));
861 if (!devpriv->iobase)
862 return -ENOMEM;
863
864 result = alloc_subdevices(dev, devpriv->n_channels);
865 if (result < 0)
866 goto out;
867
868 dev->open = jr3_pci_open;
869 for (i = 0; i < devpriv->n_channels; i++) {
870 dev->subdevices[i].type = COMEDI_SUBD_AI;
871 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
872 dev->subdevices[i].n_chan = 8 * 7 + 2;
873 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
874 dev->subdevices[i].private =
875 kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
876 if (dev->subdevices[i].private) {
877 struct jr3_pci_subdev_private *p;
878 int j;
879
880 p = dev->subdevices[i].private;
881 p->channel = &devpriv->iobase->channel[i].data;
882 printk("p->channel %p %p (%tx)\n",
883 p->channel, devpriv->iobase,
884 ((char *)(p->channel) -
885 (char *)(devpriv->iobase)));
886 p->channel_no = i;
887 for (j = 0; j < 8; j++) {
888 int k;
889
890 p->range[j].length = 1;
891 p->range[j].range.min = -1000000;
892 p->range[j].range.max = 1000000;
893 for (k = 0; k < 7; k++) {
894 p->range_table_list[j + k * 8] =
895 (struct comedi_lrange *)&p->
896 range[j];
897 p->maxdata_list[j + k * 8] = 0x7fff;
898 }
899 }
900 p->range[8].length = 1;
901 p->range[8].range.min = 0;
902 p->range[8].range.max = 65536;
903
904 p->range_table_list[56] =
905 (struct comedi_lrange *)&p->range[8];
906 p->range_table_list[57] =
907 (struct comedi_lrange *)&p->range[8];
908 p->maxdata_list[56] = 0xffff;
909 p->maxdata_list[57] = 0xffff;
910 /* Channel specific range and maxdata */
911 dev->subdevices[i].range_table = 0;
912 dev->subdevices[i].range_table_list =
913 p->range_table_list;
914 dev->subdevices[i].maxdata = 0;
915 dev->subdevices[i].maxdata_list = p->maxdata_list;
916 }
917 }
918
919 /* Reset DSP card */
920 devpriv->iobase->channel[0].reset = 0;
921
922 result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
923 printk("Firmare load %d\n", result);
924
925 if (result < 0) {
926 goto out;
927 }
928 /*
929 * TODO: use firmware to load preferred offset tables. Suggested
930 * format:
931 * model serial Fx Fy Fz Mx My Mz\n
932 *
933 * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
934 */
935
936 /*
937 * It takes a few milliseconds for software to settle as much as we
938 * can read firmware version
939 */
940 msleep_interruptible(25);
941 for (i = 0; i < 0x18; i++) {
942 printk("%c",
943 get_u16(&devpriv->iobase->channel[0].
944 data.copyright[i]) >> 8);
945 }
946
947 /* Start card timer */
948 for (i = 0; i < devpriv->n_channels; i++) {
949 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
950
951 p->next_time_min = jiffies + msecs_to_jiffies(500);
952 p->next_time_max = jiffies + msecs_to_jiffies(2000);
953 }
954
955 devpriv->timer.data = (unsigned long)dev;
956 devpriv->timer.function = jr3_pci_poll_dev;
957 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
958 add_timer(&devpriv->timer);
959
960 out:
961 return result;
962 }
963
964 MODULE_FIRMWARE("comedi/jr3pci.idm");
965
966 static int jr3_pci_detach(struct comedi_device *dev)
967 {
968 int i;
969 struct jr3_pci_dev_private *devpriv = dev->private;
970
971 printk("comedi%d: jr3_pci: remove\n", dev->minor);
972 if (devpriv) {
973 del_timer_sync(&devpriv->timer);
974
975 if (dev->subdevices) {
976 for (i = 0; i < devpriv->n_channels; i++) {
977 kfree(dev->subdevices[i].private);
978 }
979 }
980
981 if (devpriv->iobase) {
982 iounmap((void *)devpriv->iobase);
983 }
984 if (devpriv->pci_enabled) {
985 comedi_pci_disable(devpriv->pci_dev);
986 }
987
988 if (devpriv->pci_dev) {
989 pci_dev_put(devpriv->pci_dev);
990 }
991 }
992 return 0;
993 }
994
995 static int __devinit driver_jr3_pci_pci_probe(struct pci_dev *dev,
996 const struct pci_device_id *ent)
997 {
998 return comedi_pci_auto_config(dev, driver_jr3_pci.driver_name);
999 }
1000
1001 static void __devexit driver_jr3_pci_pci_remove(struct pci_dev *dev)
1002 {
1003 comedi_pci_auto_unconfig(dev);
1004 }
1005
1006 static struct pci_driver driver_jr3_pci_pci_driver = {
1007 .id_table = jr3_pci_pci_table,
1008 .probe = &driver_jr3_pci_pci_probe,
1009 .remove = __devexit_p(&driver_jr3_pci_pci_remove)
1010 };
1011
1012 static int __init driver_jr3_pci_init_module(void)
1013 {
1014 int retval;
1015
1016 retval = comedi_driver_register(&driver_jr3_pci);
1017 if (retval < 0)
1018 return retval;
1019
1020 driver_jr3_pci_pci_driver.name = (char *)driver_jr3_pci.driver_name;
1021 return pci_register_driver(&driver_jr3_pci_pci_driver);
1022 }
1023
1024 static void __exit driver_jr3_pci_cleanup_module(void)
1025 {
1026 pci_unregister_driver(&driver_jr3_pci_pci_driver);
1027 comedi_driver_unregister(&driver_jr3_pci);
1028 }
1029
1030 module_init(driver_jr3_pci_init_module);
1031 module_exit(driver_jr3_pci_cleanup_module);
1032
1033 MODULE_AUTHOR("Comedi http://www.comedi.org");
1034 MODULE_DESCRIPTION("Comedi low-level driver");
1035 MODULE_LICENSE("GPL");
Tomato firmware and modifications.