drivers/staging/comedi/drivers/jr3_pci.c

   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 "jr3_pci.h"
  53
  54 #define PCI_VENDOR_ID_JR3 0x1762
  55 #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
  56 #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
  57 #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
  58 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  59 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  60
  61 struct jr3_pci_dev_private {
  62
  63         struct pci_dev *pci_dev;
  64         int pci_enabled;
  65         struct jr3_t __iomem *iobase;
  66         int n_channels;
  67         struct timer_list timer;
  68 };
  69
  70 struct poll_delay_t {
  71
  72         int min;
  73         int max;
  74 };
  75
  76 struct jr3_pci_subdev_private {
  77         struct jr3_channel __iomem *channel;
  78         unsigned long next_time_min;
  79         unsigned long next_time_max;
  80         enum { state_jr3_poll,
  81                 state_jr3_init_wait_for_offset,
  82                 state_jr3_init_transform_complete,
  83                 state_jr3_init_set_full_scale_complete,
  84                 state_jr3_init_use_offset_complete,
  85                 state_jr3_done
  86         } state;
  87         int channel_no;
  88         int serial_no;
  89         int model_no;
  90         struct {
  91                 int length;
  92                 struct comedi_krange range;
  93         } range[9];
  94         const struct comedi_lrange *range_table_list[8 * 7 + 2];
  95         unsigned int maxdata_list[8 * 7 + 2];
  96         u16 errors;
  97         int retries;
  98 };
  99
 100 /* Hotplug firmware loading stuff */
 101 static int comedi_load_firmware(struct comedi_device *dev, char *name,
 102                                 int (*cb)(struct comedi_device *dev,
 103                                         const u8 *data, size_t size))
 104 {
 105         int result = 0;
 106         const struct firmware *fw;
 107         char *firmware_path;
 108         static const char *prefix = "comedi/";
 109         struct jr3_pci_dev_private *devpriv = dev->private;
 110
 111         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 112         if (!firmware_path) {
 113                 result = -ENOMEM;
 114         } else {
 115                 firmware_path[0] = '\0';
 116                 strcat(firmware_path, prefix);
 117                 strcat(firmware_path, name);
 118                 result = request_firmware(&fw, firmware_path,
 119                                           &devpriv->pci_dev->dev);
 120                 if (result == 0) {
 121                         if (!cb)
 122                                 result = -EINVAL;
 123                         else
 124                                 result = cb(dev, fw->data, fw->size);
 125                         release_firmware(fw);
 126                 }
 127                 kfree(firmware_path);
 128         }
 129         return result;
 130 }
 131
 132 static struct poll_delay_t poll_delay_min_max(int min, int max)
 133 {
 134         struct poll_delay_t result;
 135
 136         result.min = min;
 137         result.max = max;
 138         return result;
 139 }
 140
 141 static int is_complete(struct jr3_channel __iomem *channel)
 142 {
 143         return get_s16(&channel->command_word0) == 0;
 144 }
 145
 146 struct transform_t {
 147         struct {
 148                 u16 link_type;
 149                 s16 link_amount;
 150         } link[8];
 151 };
 152
 153 static void set_transforms(struct jr3_channel __iomem *channel,
 154                            struct transform_t transf, short num)
 155 {
 156         int i;
 157
 158         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 159         for (i = 0; i < 8; i++) {
 160
 161                 set_u16(&channel->transforms[num].link[i].link_type,
 162                         transf.link[i].link_type);
 163                 udelay(1);
 164                 set_s16(&channel->transforms[num].link[i].link_amount,
 165                         transf.link[i].link_amount);
 166                 udelay(1);
 167                 if (transf.link[i].link_type == end_x_form)
 168                         break;
 169         }
 170 }
 171
 172 static void use_transform(struct jr3_channel __iomem *channel,
 173                           short transf_num)
 174 {
 175         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 176 }
 177
 178 static void use_offset(struct jr3_channel __iomem *channel, short offset_num)
 179 {
 180         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 181 }
 182
 183 static void set_offset(struct jr3_channel __iomem *channel)
 184 {
 185         set_s16(&channel->command_word0, 0x0700);
 186 }
 187
 188 struct six_axis_t {
 189         s16 fx;
 190         s16 fy;
 191         s16 fz;
 192         s16 mx;
 193         s16 my;
 194         s16 mz;
 195 };
 196
 197 static void set_full_scales(struct jr3_channel __iomem *channel,
 198                             struct six_axis_t full_scale)
 199 {
 200         printk("%d %d %d %d %d %d\n",
 201                full_scale.fx,
 202                full_scale.fy,
 203                full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 204         set_s16(&channel->full_scale.fx, full_scale.fx);
 205         set_s16(&channel->full_scale.fy, full_scale.fy);
 206         set_s16(&channel->full_scale.fz, full_scale.fz);
 207         set_s16(&channel->full_scale.mx, full_scale.mx);
 208         set_s16(&channel->full_scale.my, full_scale.my);
 209         set_s16(&channel->full_scale.mz, full_scale.mz);
 210         set_s16(&channel->command_word0, 0x0a00);
 211 }
 212
 213 static struct six_axis_t get_min_full_scales(struct jr3_channel __iomem
 214                                              *channel)
 215 {
 216         struct six_axis_t result;
 217         result.fx = get_s16(&channel->min_full_scale.fx);
 218         result.fy = get_s16(&channel->min_full_scale.fy);
 219         result.fz = get_s16(&channel->min_full_scale.fz);
 220         result.mx = get_s16(&channel->min_full_scale.mx);
 221         result.my = get_s16(&channel->min_full_scale.my);
 222         result.mz = get_s16(&channel->min_full_scale.mz);
 223         return result;
 224 }
 225
 226 static struct six_axis_t get_max_full_scales(struct jr3_channel __iomem
 227                                              *channel)
 228 {
 229         struct six_axis_t result;
 230         result.fx = get_s16(&channel->max_full_scale.fx);
 231         result.fy = get_s16(&channel->max_full_scale.fy);
 232         result.fz = get_s16(&channel->max_full_scale.fz);
 233         result.mx = get_s16(&channel->max_full_scale.mx);
 234         result.my = get_s16(&channel->max_full_scale.my);
 235         result.mz = get_s16(&channel->max_full_scale.mz);
 236         return result;
 237 }
 238
 239 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 240                                 struct comedi_subdevice *s,
 241                                 struct comedi_insn *insn, unsigned int *data)
 242 {
 243         int result;
 244         struct jr3_pci_subdev_private *p;
 245         int channel;
 246
 247         p = s->private;
 248         channel = CR_CHAN(insn->chanspec);
 249         if (p == NULL || channel > 57) {
 250                 result = -EINVAL;
 251         } else {
 252                 int i;
 253
 254                 result = insn->n;
 255                 if (p->state != state_jr3_done ||
 256                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 257                                                      sensor_change))) {
 258                         /* No sensor or sensor changed */
 259                         if (p->state == state_jr3_done) {
 260                                 /* Restart polling */
 261                                 p->state = state_jr3_poll;
 262                         }
 263                         result = -EAGAIN;
 264                 }
 265                 for (i = 0; i < insn->n; i++) {
 266                         if (channel < 56) {
 267                                 int axis, filter;
 268
 269                                 axis = channel % 8;
 270                                 filter = channel / 8;
 271                                 if (p->state != state_jr3_done) {
 272                                         data[i] = 0;
 273                                 } else {
 274                                         int F = 0;
 275                                         switch (axis) {
 276                                         case 0:{
 277                                                         F = get_s16
 278                                                             (&p->channel->filter
 279                                                              [filter].fx);
 280                                                 }
 281                                                 break;
 282                                         case 1:{
 283                                                         F = get_s16
 284                                                             (&p->channel->filter
 285                                                              [filter].fy);
 286                                                 }
 287                                                 break;
 288                                         case 2:{
 289                                                         F = get_s16
 290                                                             (&p->channel->filter
 291                                                              [filter].fz);
 292                                                 }
 293                                                 break;
 294                                         case 3:{
 295                                                         F = get_s16
 296                                                             (&p->channel->filter
 297                                                              [filter].mx);
 298                                                 }
 299                                                 break;
 300                                         case 4:{
 301                                                         F = get_s16
 302                                                             (&p->channel->filter
 303                                                              [filter].my);
 304                                                 }
 305                                                 break;
 306                                         case 5:{
 307                                                         F = get_s16
 308                                                             (&p->channel->filter
 309                                                              [filter].mz);
 310                                                 }
 311                                                 break;
 312                                         case 6:{
 313                                                         F = get_s16
 314                                                             (&p->channel->filter
 315                                                              [filter].v1);
 316                                                 }
 317                                                 break;
 318                                         case 7:{
 319                                                         F = get_s16
 320                                                             (&p->channel->filter
 321                                                              [filter].v2);
 322                                                 }
 323                                                 break;
 324                                         }
 325                                         data[i] = F + 0x4000;
 326                                 }
 327                         } else if (channel == 56) {
 328                                 if (p->state != state_jr3_done) {
 329                                         data[i] = 0;
 330                                 } else {
 331                                         data[i] =
 332                                             get_u16(&p->channel->model_no);
 333                                 }
 334                         } else if (channel == 57) {
 335                                 if (p->state != state_jr3_done) {
 336                                         data[i] = 0;
 337                                 } else {
 338                                         data[i] =
 339                                             get_u16(&p->channel->serial_no);
 340                                 }
 341                         }
 342                 }
 343         }
 344         return result;
 345 }
 346
 347 static int jr3_pci_open(struct comedi_device *dev)
 348 {
 349         int i;
 350         struct jr3_pci_dev_private *devpriv = dev->private;
 351
 352         dev_dbg(dev->class_dev, "jr3_pci_open\n");
 353         for (i = 0; i < devpriv->n_channels; i++) {
 354                 struct jr3_pci_subdev_private *p;
 355
 356                 p = dev->subdevices[i].private;
 357                 if (p) {
 358                         dev_dbg(dev->class_dev, "serial: %p %d (%d)\n", p,
 359                                 p->serial_no, p->channel_no);
 360                 }
 361         }
 362         return 0;
 363 }
 364
 365 static int read_idm_word(const u8 *data, size_t size, int *pos,
 366                          unsigned int *val)
 367 {
 368         int result = 0;
 369         if (pos && val) {
 370                 /*  Skip over non hex */
 371                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 372                 }
 373                 /*  Collect value */
 374                 *val = 0;
 375                 for (; *pos < size; (*pos)++) {
 376                         int value;
 377                         value = hex_to_bin(data[*pos]);
 378                         if (value >= 0) {
 379                                 result = 1;
 380                                 *val = (*val << 4) + value;
 381                         } else
 382                                 break;
 383                 }
 384         }
 385         return result;
 386 }
 387
 388 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
 389                                  size_t size)
 390 {
 391         /*
 392          * IDM file format is:
 393          *   { count, address, data <count> } *
 394          *   ffff
 395          */
 396         int result, more, pos, OK;
 397
 398         result = 0;
 399         more = 1;
 400         pos = 0;
 401         OK = 0;
 402         while (more) {
 403                 unsigned int count, addr;
 404
 405                 more = more && read_idm_word(data, size, &pos, &count);
 406                 if (more && count == 0xffff) {
 407                         OK = 1;
 408                         break;
 409                 }
 410                 more = more && read_idm_word(data, size, &pos, &addr);
 411                 while (more && count > 0) {
 412                         unsigned int dummy;
 413                         more = more && read_idm_word(data, size, &pos, &dummy);
 414                         count--;
 415                 }
 416         }
 417
 418         if (!OK) {
 419                 result = -ENODATA;
 420         } else {
 421                 int i;
 422                 struct jr3_pci_dev_private *p = dev->private;
 423
 424                 for (i = 0; i < p->n_channels; i++) {
 425                         struct jr3_pci_subdev_private *sp;
 426
 427                         sp = dev->subdevices[i].private;
 428                         more = 1;
 429                         pos = 0;
 430                         while (more) {
 431                                 unsigned int count, addr;
 432                                 more = more
 433                                     && read_idm_word(data, size, &pos, &count);
 434                                 if (more && count == 0xffff)
 435                                         break;
 436                                 more = more
 437                                     && read_idm_word(data, size, &pos, &addr);
 438                                 dev_dbg(dev->class_dev,
 439                                         "Loading#%d %4.4x bytes at %4.4x\n",
 440                                         i, count, addr);
 441                                 while (more && count > 0) {
 442                                         if (addr & 0x4000) {
 443                                                 /*  16 bit data, never seen in real life!! */
 444                                                 unsigned int data1;
 445
 446                                                 more = more
 447                                                     && read_idm_word(data,
 448                                                                      size, &pos,
 449                                                                      &data1);
 450                                                 count--;
 451                                                 /* printk("jr3_data, not tested\n"); */
 452                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 453                                         } else {
 454                                                 /*   Download 24 bit program */
 455                                                 unsigned int data1, data2;
 456
 457                                                 more = more
 458                                                     && read_idm_word(data,
 459                                                                      size, &pos,
 460                                                                      &data1);
 461                                                 more = more
 462                                                     && read_idm_word(data, size,
 463                                                                      &pos,
 464                                                                      &data2);
 465                                                 count -= 2;
 466                                                 if (more) {
 467                                                         set_u16(&p->
 468                                                                 iobase->channel
 469                                                                 [i].program_low
 470                                                                 [addr], data1);
 471                                                         udelay(1);
 472                                                         set_u16(&p->
 473                                                                 iobase->channel
 474                                                                 [i].program_high
 475                                                                 [addr], data2);
 476                                                         udelay(1);
 477
 478                                                 }
 479                                         }
 480                                         addr++;
 481                                 }
 482                         }
 483                 }
 484         }
 485         return result;
 486 }
 487
 488 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 489 {
 490         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 491         struct jr3_pci_subdev_private *p = s->private;
 492         int i;
 493
 494         if (p) {
 495                 struct jr3_channel __iomem *channel = p->channel;
 496                 int errors = get_u16(&channel->errors);
 497
 498                 if (errors != p->errors) {
 499                         printk("Errors: %x -> %x\n", p->errors, errors);
 500                         p->errors = errors;
 501                 }
 502                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 503                         /*  Sensor communication lost, force poll mode */
 504                         p->state = state_jr3_poll;
 505
 506                 }
 507                 switch (p->state) {
 508                 case state_jr3_poll:{
 509                                 u16 model_no = get_u16(&channel->model_no);
 510                                 u16 serial_no = get_u16(&channel->serial_no);
 511                                 if ((errors & (watch_dog | watch_dog2)) ||
 512                                     model_no == 0 || serial_no == 0) {
 513 /*
 514  * Still no sensor, keep on polling. Since it takes up to 10 seconds
 515  * for offsets to stabilize, polling each second should suffice.
 516  */
 517                                         result = poll_delay_min_max(1000, 2000);
 518                                 } else {
 519                                         p->retries = 0;
 520                                         p->state =
 521                                             state_jr3_init_wait_for_offset;
 522                                         result = poll_delay_min_max(1000, 2000);
 523                                 }
 524                         }
 525                         break;
 526                 case state_jr3_init_wait_for_offset:{
 527                                 p->retries++;
 528                                 if (p->retries < 10) {
 529                                         /*  Wait for offeset to stabilize (< 10 s according to manual) */
 530                                         result = poll_delay_min_max(1000, 2000);
 531                                 } else {
 532                                         struct transform_t transf;
 533
 534                                         p->model_no =
 535                                             get_u16(&channel->model_no);
 536                                         p->serial_no =
 537                                             get_u16(&channel->serial_no);
 538
 539                                         printk
 540                                             ("Setting transform for channel %d\n",
 541                                              p->channel_no);
 542                                         printk("Sensor Model     = %i\n",
 543                                                p->model_no);
 544                                         printk("Sensor Serial    = %i\n",
 545                                                p->serial_no);
 546
 547                                         /*  Transformation all zeros */
 548                                         for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 549                                                 transf.link[i].link_type =
 550                                                         (enum link_types)0;
 551                                                 transf.link[i].link_amount = 0;
 552                                         }
 553
 554                                         set_transforms(channel, transf, 0);
 555                                         use_transform(channel, 0);
 556                                         p->state =
 557                                             state_jr3_init_transform_complete;
 558                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 559                                 }
 560                         } break;
 561                 case state_jr3_init_transform_complete:{
 562                                 if (!is_complete(channel)) {
 563                                         printk
 564                                             ("state_jr3_init_transform_complete complete = %d\n",
 565                                              is_complete(channel));
 566                                         result = poll_delay_min_max(20, 100);
 567                                 } else {
 568                                         /*  Set full scale */
 569                                         struct six_axis_t min_full_scale;
 570                                         struct six_axis_t max_full_scale;
 571
 572                                         min_full_scale =
 573                                             get_min_full_scales(channel);
 574                                         printk("Obtained Min. Full Scales:\n");
 575                                         printk(KERN_DEBUG "%i ", (min_full_scale).fx);
 576                                         printk(KERN_CONT "%i ", (min_full_scale).fy);
 577                                         printk(KERN_CONT "%i ", (min_full_scale).fz);
 578                                         printk(KERN_CONT "%i ", (min_full_scale).mx);
 579                                         printk(KERN_CONT "%i ", (min_full_scale).my);
 580                                         printk(KERN_CONT "%i ", (min_full_scale).mz);
 581                                         printk(KERN_CONT "\n");
 582
 583                                         max_full_scale =
 584                                             get_max_full_scales(channel);
 585                                         printk("Obtained Max. Full Scales:\n");
 586                                         printk(KERN_DEBUG "%i ", (max_full_scale).fx);
 587                                         printk(KERN_CONT "%i ", (max_full_scale).fy);
 588                                         printk(KERN_CONT "%i ", (max_full_scale).fz);
 589                                         printk(KERN_CONT "%i ", (max_full_scale).mx);
 590                                         printk(KERN_CONT "%i ", (max_full_scale).my);
 591                                         printk(KERN_CONT "%i ", (max_full_scale).mz);
 592                                         printk(KERN_CONT "\n");
 593
 594                                         set_full_scales(channel,
 595                                                         max_full_scale);
 596
 597                                         p->state =
 598                                             state_jr3_init_set_full_scale_complete;
 599                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 600                                 }
 601                         }
 602                         break;
 603                 case state_jr3_init_set_full_scale_complete:{
 604                                 if (!is_complete(channel)) {
 605                                         printk
 606                                             ("state_jr3_init_set_full_scale_complete complete = %d\n",
 607                                              is_complete(channel));
 608                                         result = poll_delay_min_max(20, 100);
 609                                 } else {
 610                                         struct force_array __iomem *full_scale;
 611
 612                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 613                                         full_scale = &channel->full_scale;
 614                                         p->range[0].range.min =
 615                                             -get_s16(&full_scale->fx) * 1000;
 616                                         p->range[0].range.max =
 617                                             get_s16(&full_scale->fx) * 1000;
 618                                         p->range[1].range.min =
 619                                             -get_s16(&full_scale->fy) * 1000;
 620                                         p->range[1].range.max =
 621                                             get_s16(&full_scale->fy) * 1000;
 622                                         p->range[2].range.min =
 623                                             -get_s16(&full_scale->fz) * 1000;
 624                                         p->range[2].range.max =
 625                                             get_s16(&full_scale->fz) * 1000;
 626                                         p->range[3].range.min =
 627                                             -get_s16(&full_scale->mx) * 100;
 628                                         p->range[3].range.max =
 629                                             get_s16(&full_scale->mx) * 100;
 630                                         p->range[4].range.min =
 631                                             -get_s16(&full_scale->my) * 100;
 632                                         p->range[4].range.max =
 633                                             get_s16(&full_scale->my) * 100;
 634                                         p->range[5].range.min =
 635                                             -get_s16(&full_scale->mz) * 100;
 636                                         p->range[5].range.max =
 637                                             get_s16(&full_scale->mz) * 100;
 638                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 639                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 640                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 641                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 642                                         p->range[8].range.min = 0;
 643                                         p->range[8].range.max = 65535;
 644
 645                                         {
 646                                                 int i;
 647                                                 for (i = 0; i < 9; i++) {
 648                                                         printk("%d %d - %d\n",
 649                                                                i,
 650                                                                p->
 651                                                                range[i].range.
 652                                                                min,
 653                                                                p->
 654                                                                range[i].range.
 655                                                                max);
 656                                                 }
 657                                         }
 658
 659                                         use_offset(channel, 0);
 660                                         p->state =
 661                                             state_jr3_init_use_offset_complete;
 662                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 663                                 }
 664                         }
 665                         break;
 666                 case state_jr3_init_use_offset_complete:{
 667                                 if (!is_complete(channel)) {
 668                                         printk
 669                                             ("state_jr3_init_use_offset_complete complete = %d\n",
 670                                              is_complete(channel));
 671                                         result = poll_delay_min_max(20, 100);
 672                                 } else {
 673                                         printk
 674                                             ("Default offsets %d %d %d %d %d %d\n",
 675                                              get_s16(&channel->offsets.fx),
 676                                              get_s16(&channel->offsets.fy),
 677                                              get_s16(&channel->offsets.fz),
 678                                              get_s16(&channel->offsets.mx),
 679                                              get_s16(&channel->offsets.my),
 680                                              get_s16(&channel->offsets.mz));
 681
 682                                         set_s16(&channel->offsets.fx, 0);
 683                                         set_s16(&channel->offsets.fy, 0);
 684                                         set_s16(&channel->offsets.fz, 0);
 685                                         set_s16(&channel->offsets.mx, 0);
 686                                         set_s16(&channel->offsets.my, 0);
 687                                         set_s16(&channel->offsets.mz, 0);
 688
 689                                         set_offset(channel);
 690
 691                                         p->state = state_jr3_done;
 692                                 }
 693                         }
 694                         break;
 695                 case state_jr3_done:{
 696                                 poll_delay_min_max(10000, 20000);
 697                         }
 698                         break;
 699                 default:{
 700                                 poll_delay_min_max(1000, 2000);
 701                         }
 702                         break;
 703                 }
 704         }
 705         return result;
 706 }
 707
 708 static void jr3_pci_poll_dev(unsigned long data)
 709 {
 710         unsigned long flags;
 711         struct comedi_device *dev = (struct comedi_device *)data;
 712         struct jr3_pci_dev_private *devpriv = dev->private;
 713         unsigned long now;
 714         int delay;
 715         int i;
 716
 717         spin_lock_irqsave(&dev->spinlock, flags);
 718         delay = 1000;
 719         now = jiffies;
 720         /*  Poll all channels that are ready to be polled */
 721         for (i = 0; i < devpriv->n_channels; i++) {
 722                 struct jr3_pci_subdev_private *subdevpriv =
 723                     dev->subdevices[i].private;
 724                 if (now > subdevpriv->next_time_min) {
 725                         struct poll_delay_t sub_delay;
 726
 727                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 728                         subdevpriv->next_time_min =
 729                             jiffies + msecs_to_jiffies(sub_delay.min);
 730                         subdevpriv->next_time_max =
 731                             jiffies + msecs_to_jiffies(sub_delay.max);
 732                         if (sub_delay.max && sub_delay.max < delay) {
 733 /*
 734 * Wake up as late as possible -> poll as many channels as possible
 735 * at once
 736 */
 737                                 delay = sub_delay.max;
 738                         }
 739                 }
 740         }
 741         spin_unlock_irqrestore(&dev->spinlock, flags);
 742
 743         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 744         add_timer(&devpriv->timer);
 745 }
 746
 747 static int __devinit jr3_pci_auto_attach(struct comedi_device *dev,
 748                                          unsigned long context_unused)
 749 {
 750         int result;
 751         struct pci_dev *card = comedi_to_pci_dev(dev);
 752         int i;
 753         struct jr3_pci_dev_private *devpriv;
 754
 755         if (sizeof(struct jr3_channel) != 0xc00) {
 756                 dev_err(dev->class_dev,
 757                         "sizeof(struct jr3_channel) = %x [expected %x]\n",
 758                         (unsigned)sizeof(struct jr3_channel), 0xc00);
 759                 return -EINVAL;
 760         }
 761
 762         devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
 763         if (!devpriv)
 764                 return -ENOMEM;
 765         dev->private = devpriv;
 766
 767         init_timer(&devpriv->timer);
 768         switch (card->device) {
 769         case PCI_DEVICE_ID_JR3_1_CHANNEL:
 770         case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:
 771                 devpriv->n_channels = 1;
 772                 break;
 773         case PCI_DEVICE_ID_JR3_2_CHANNEL:
 774                 devpriv->n_channels = 2;
 775                 break;
 776         case PCI_DEVICE_ID_JR3_3_CHANNEL:
 777                 devpriv->n_channels = 3;
 778                 break;
 779         case PCI_DEVICE_ID_JR3_4_CHANNEL:
 780                 devpriv->n_channels = 4;
 781                 break;
 782         default:
 783                 dev_err(dev->class_dev, "jr3_pci: pci %s not supported\n",
 784                         pci_name(card));
 785                 return -EINVAL;
 786                 break;
 787         }
 788         devpriv->pci_dev = card;
 789         dev->board_name = "jr3_pci";
 790
 791         result = comedi_pci_enable(card, "jr3_pci");
 792         if (result < 0)
 793                 return -EIO;
 794
 795         devpriv->pci_enabled = 1;
 796         devpriv->iobase = ioremap(pci_resource_start(card, 0),
 797                         offsetof(struct jr3_t, channel[devpriv->n_channels]));
 798         if (!devpriv->iobase)
 799                 return -ENOMEM;
 800
 801         result = comedi_alloc_subdevices(dev, devpriv->n_channels);
 802         if (result)
 803                 return result;
 804
 805         dev->open = jr3_pci_open;
 806         for (i = 0; i < devpriv->n_channels; i++) {
 807                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 808                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 809                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 810                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 811                 dev->subdevices[i].private =
 812                     kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 813                 if (dev->subdevices[i].private) {
 814                         struct jr3_pci_subdev_private *p;
 815                         int j;
 816
 817                         p = dev->subdevices[i].private;
 818                         p->channel = &devpriv->iobase->channel[i].data;
 819                         dev_dbg(dev->class_dev, "p->channel %p %p (%tx)\n",
 820                                 p->channel, devpriv->iobase,
 821                                 ((char __iomem *)p->channel -
 822                                  (char __iomem *)devpriv->iobase));
 823                         p->channel_no = i;
 824                         for (j = 0; j < 8; j++) {
 825                                 int k;
 826
 827                                 p->range[j].length = 1;
 828                                 p->range[j].range.min = -1000000;
 829                                 p->range[j].range.max = 1000000;
 830                                 for (k = 0; k < 7; k++) {
 831                                         p->range_table_list[j + k * 8] =
 832                                             (struct comedi_lrange *)&p->
 833                                             range[j];
 834                                         p->maxdata_list[j + k * 8] = 0x7fff;
 835                                 }
 836                         }
 837                         p->range[8].length = 1;
 838                         p->range[8].range.min = 0;
 839                         p->range[8].range.max = 65536;
 840
 841                         p->range_table_list[56] =
 842                             (struct comedi_lrange *)&p->range[8];
 843                         p->range_table_list[57] =
 844                             (struct comedi_lrange *)&p->range[8];
 845                         p->maxdata_list[56] = 0xffff;
 846                         p->maxdata_list[57] = 0xffff;
 847                         /*  Channel specific range and maxdata */
 848                         dev->subdevices[i].range_table = NULL;
 849                         dev->subdevices[i].range_table_list =
 850                             p->range_table_list;
 851                         dev->subdevices[i].maxdata = 0;
 852                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 853                 }
 854         }
 855
 856         /*  Reset DSP card */
 857         writel(0, &devpriv->iobase->channel[0].reset);
 858
 859         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 860         dev_dbg(dev->class_dev, "Firmare load %d\n", result);
 861
 862         if (result < 0)
 863                 return result;
 864 /*
 865  * TODO: use firmware to load preferred offset tables. Suggested
 866  * format:
 867  *     model serial Fx Fy Fz Mx My Mz\n
 868  *
 869  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 870  */
 871
 872 /*
 873  * It takes a few milliseconds for software to settle as much as we
 874  * can read firmware version
 875  */
 876         msleep_interruptible(25);
 877         for (i = 0; i < 0x18; i++) {
 878                 dev_dbg(dev->class_dev, "%c\n",
 879                         get_u16(&devpriv->iobase->channel[0].
 880                                 data.copyright[i]) >> 8);
 881         }
 882
 883         /*  Start card timer */
 884         for (i = 0; i < devpriv->n_channels; i++) {
 885                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 886
 887                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 888                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 889         }
 890
 891         devpriv->timer.data = (unsigned long)dev;
 892         devpriv->timer.function = jr3_pci_poll_dev;
 893         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 894         add_timer(&devpriv->timer);
 895
 896         return result;
 897 }
 898
 899 static void jr3_pci_detach(struct comedi_device *dev)
 900 {
 901         int i;
 902         struct jr3_pci_dev_private *devpriv = dev->private;
 903
 904         if (devpriv) {
 905                 del_timer_sync(&devpriv->timer);
 906
 907                 if (dev->subdevices) {
 908                         for (i = 0; i < devpriv->n_channels; i++)
 909                                 kfree(dev->subdevices[i].private);
 910                 }
 911                 if (devpriv->iobase)
 912                         iounmap(devpriv->iobase);
 913                 if (devpriv->pci_enabled)
 914                         comedi_pci_disable(devpriv->pci_dev);
 915         }
 916 }
 917
 918 static struct comedi_driver jr3_pci_driver = {
 919         .driver_name    = "jr3_pci",
 920         .module         = THIS_MODULE,
 921         .auto_attach    = jr3_pci_auto_attach,
 922         .detach         = jr3_pci_detach,
 923 };
 924
 925 static int __devinit jr3_pci_pci_probe(struct pci_dev *dev,
 926                                        const struct pci_device_id *ent)
 927 {
 928         return comedi_pci_auto_config(dev, &jr3_pci_driver);
 929 }
 930
 931 static void __devexit jr3_pci_pci_remove(struct pci_dev *dev)
 932 {
 933         comedi_pci_auto_unconfig(dev);
 934 }
 935
 936 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 937         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL) },
 938         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW) },
 939         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL) },
 940         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL) },
 941         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL) },
 942         { 0 }
 943 };
 944 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 945
 946 static struct pci_driver jr3_pci_pci_driver = {
 947         .name           = "jr3_pci",
 948         .id_table       = jr3_pci_pci_table,
 949         .probe          = jr3_pci_pci_probe,
 950         .remove         = __devexit_p(jr3_pci_pci_remove),
 951 };
 952 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
 953
 954 MODULE_AUTHOR("Comedi http://www.comedi.org");
 955 MODULE_DESCRIPTION("Comedi low-level driver");
 956 MODULE_LICENSE("GPL");
 957 MODULE_FIRMWARE("comedi/jr3pci.idm");