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         volatile struct jr3_t *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         volatile struct jr3_channel *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(volatile struct jr3_channel *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(volatile struct jr3_channel *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(volatile struct jr3_channel *channel,
 173                           short transf_num)
 174 {
 175         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 176 }
 177
 178 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 179 {
 180         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 181 }
 182
 183 static void set_offset(volatile struct jr3_channel *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(volatile struct jr3_channel *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(volatile struct jr3_channel
 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(volatile struct jr3_channel
 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 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 366 {
 367         int result = 0;
 368         if (pos != 0 && val != 0) {
 369                 /*  Skip over non hex */
 370                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 371                 }
 372                 /*  Collect value */
 373                 *val = 0;
 374                 for (; *pos < size; (*pos)++) {
 375                         int value;
 376                         value = hex_to_bin(data[*pos]);
 377                         if (value >= 0) {
 378                                 result = 1;
 379                                 *val = (*val << 4) + value;
 380                         } else
 381                                 break;
 382                 }
 383         }
 384         return result;
 385 }
 386
 387 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
 388                                  size_t size)
 389 {
 390         /*
 391          * IDM file format is:
 392          *   { count, address, data <count> } *
 393          *   ffff
 394          */
 395         int result, more, pos, OK;
 396
 397         result = 0;
 398         more = 1;
 399         pos = 0;
 400         OK = 0;
 401         while (more) {
 402                 unsigned int count, addr;
 403
 404                 more = more && read_idm_word(data, size, &pos, &count);
 405                 if (more && count == 0xffff) {
 406                         OK = 1;
 407                         break;
 408                 }
 409                 more = more && read_idm_word(data, size, &pos, &addr);
 410                 while (more && count > 0) {
 411                         unsigned int dummy;
 412                         more = more && read_idm_word(data, size, &pos, &dummy);
 413                         count--;
 414                 }
 415         }
 416
 417         if (!OK) {
 418                 result = -ENODATA;
 419         } else {
 420                 int i;
 421                 struct jr3_pci_dev_private *p = dev->private;
 422
 423                 for (i = 0; i < p->n_channels; i++) {
 424                         struct jr3_pci_subdev_private *sp;
 425
 426                         sp = dev->subdevices[i].private;
 427                         more = 1;
 428                         pos = 0;
 429                         while (more) {
 430                                 unsigned int count, addr;
 431                                 more = more
 432                                     && read_idm_word(data, size, &pos, &count);
 433                                 if (more && count == 0xffff)
 434                                         break;
 435                                 more = more
 436                                     && read_idm_word(data, size, &pos, &addr);
 437                                 dev_dbg(dev->class_dev,
 438                                         "Loading#%d %4.4x bytes at %4.4x\n",
 439                                         i, count, addr);
 440                                 while (more && count > 0) {
 441                                         if (addr & 0x4000) {
 442                                                 /*  16 bit data, never seen in real life!! */
 443                                                 unsigned int data1;
 444
 445                                                 more = more
 446                                                     && read_idm_word(data,
 447                                                                      size, &pos,
 448                                                                      &data1);
 449                                                 count--;
 450                                                 /* printk("jr3_data, not tested\n"); */
 451                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 452                                         } else {
 453                                                 /*   Download 24 bit program */
 454                                                 unsigned int data1, data2;
 455
 456                                                 more = more
 457                                                     && read_idm_word(data,
 458                                                                      size, &pos,
 459                                                                      &data1);
 460                                                 more = more
 461                                                     && read_idm_word(data, size,
 462                                                                      &pos,
 463                                                                      &data2);
 464                                                 count -= 2;
 465                                                 if (more) {
 466                                                         set_u16(&p->
 467                                                                 iobase->channel
 468                                                                 [i].program_low
 469                                                                 [addr], data1);
 470                                                         udelay(1);
 471                                                         set_u16(&p->
 472                                                                 iobase->channel
 473                                                                 [i].program_high
 474                                                                 [addr], data2);
 475                                                         udelay(1);
 476
 477                                                 }
 478                                         }
 479                                         addr++;
 480                                 }
 481                         }
 482                 }
 483         }
 484         return result;
 485 }
 486
 487 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 488 {
 489         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 490         struct jr3_pci_subdev_private *p = s->private;
 491         int i;
 492
 493         if (p) {
 494                 volatile struct jr3_channel *channel = p->channel;
 495                 int errors = get_u16(&channel->errors);
 496
 497                 if (errors != p->errors) {
 498                         printk("Errors: %x -> %x\n", p->errors, errors);
 499                         p->errors = errors;
 500                 }
 501                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 502                         /*  Sensor communication lost, force poll mode */
 503                         p->state = state_jr3_poll;
 504
 505                 }
 506                 switch (p->state) {
 507                 case state_jr3_poll:{
 508                                 u16 model_no = get_u16(&channel->model_no);
 509                                 u16 serial_no = get_u16(&channel->serial_no);
 510                                 if ((errors & (watch_dog | watch_dog2)) ||
 511                                     model_no == 0 || serial_no == 0) {
 512 /*
 513  * Still no sensor, keep on polling. Since it takes up to 10 seconds
 514  * for offsets to stabilize, polling each second should suffice.
 515  */
 516                                         result = poll_delay_min_max(1000, 2000);
 517                                 } else {
 518                                         p->retries = 0;
 519                                         p->state =
 520                                             state_jr3_init_wait_for_offset;
 521                                         result = poll_delay_min_max(1000, 2000);
 522                                 }
 523                         }
 524                         break;
 525                 case state_jr3_init_wait_for_offset:{
 526                                 p->retries++;
 527                                 if (p->retries < 10) {
 528                                         /*  Wait for offeset to stabilize (< 10 s according to manual) */
 529                                         result = poll_delay_min_max(1000, 2000);
 530                                 } else {
 531                                         struct transform_t transf;
 532
 533                                         p->model_no =
 534                                             get_u16(&channel->model_no);
 535                                         p->serial_no =
 536                                             get_u16(&channel->serial_no);
 537
 538                                         printk
 539                                             ("Setting transform for channel %d\n",
 540                                              p->channel_no);
 541                                         printk("Sensor Model     = %i\n",
 542                                                p->model_no);
 543                                         printk("Sensor Serial    = %i\n",
 544                                                p->serial_no);
 545
 546                                         /*  Transformation all zeros */
 547                                         for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 548                                                 transf.link[i].link_type =
 549                                                         (enum link_types)0;
 550                                                 transf.link[i].link_amount = 0;
 551                                         }
 552
 553                                         set_transforms(channel, transf, 0);
 554                                         use_transform(channel, 0);
 555                                         p->state =
 556                                             state_jr3_init_transform_complete;
 557                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 558                                 }
 559                         } break;
 560                 case state_jr3_init_transform_complete:{
 561                                 if (!is_complete(channel)) {
 562                                         printk
 563                                             ("state_jr3_init_transform_complete complete = %d\n",
 564                                              is_complete(channel));
 565                                         result = poll_delay_min_max(20, 100);
 566                                 } else {
 567                                         /*  Set full scale */
 568                                         struct six_axis_t min_full_scale;
 569                                         struct six_axis_t max_full_scale;
 570
 571                                         min_full_scale =
 572                                             get_min_full_scales(channel);
 573                                         printk("Obtained Min. Full Scales:\n");
 574                                         printk(KERN_DEBUG "%i ", (min_full_scale).fx);
 575                                         printk(KERN_CONT "%i ", (min_full_scale).fy);
 576                                         printk(KERN_CONT "%i ", (min_full_scale).fz);
 577                                         printk(KERN_CONT "%i ", (min_full_scale).mx);
 578                                         printk(KERN_CONT "%i ", (min_full_scale).my);
 579                                         printk(KERN_CONT "%i ", (min_full_scale).mz);
 580                                         printk(KERN_CONT "\n");
 581
 582                                         max_full_scale =
 583                                             get_max_full_scales(channel);
 584                                         printk("Obtained Max. Full Scales:\n");
 585                                         printk(KERN_DEBUG "%i ", (max_full_scale).fx);
 586                                         printk(KERN_CONT "%i ", (max_full_scale).fy);
 587                                         printk(KERN_CONT "%i ", (max_full_scale).fz);
 588                                         printk(KERN_CONT "%i ", (max_full_scale).mx);
 589                                         printk(KERN_CONT "%i ", (max_full_scale).my);
 590                                         printk(KERN_CONT "%i ", (max_full_scale).mz);
 591                                         printk(KERN_CONT "\n");
 592
 593                                         set_full_scales(channel,
 594                                                         max_full_scale);
 595
 596                                         p->state =
 597                                             state_jr3_init_set_full_scale_complete;
 598                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 599                                 }
 600                         }
 601                         break;
 602                 case state_jr3_init_set_full_scale_complete:{
 603                                 if (!is_complete(channel)) {
 604                                         printk
 605                                             ("state_jr3_init_set_full_scale_complete complete = %d\n",
 606                                              is_complete(channel));
 607                                         result = poll_delay_min_max(20, 100);
 608                                 } else {
 609                                         volatile struct force_array *full_scale;
 610
 611                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 612                                         full_scale = &channel->full_scale;
 613                                         p->range[0].range.min =
 614                                             -get_s16(&full_scale->fx) * 1000;
 615                                         p->range[0].range.max =
 616                                             get_s16(&full_scale->fx) * 1000;
 617                                         p->range[1].range.min =
 618                                             -get_s16(&full_scale->fy) * 1000;
 619                                         p->range[1].range.max =
 620                                             get_s16(&full_scale->fy) * 1000;
 621                                         p->range[2].range.min =
 622                                             -get_s16(&full_scale->fz) * 1000;
 623                                         p->range[2].range.max =
 624                                             get_s16(&full_scale->fz) * 1000;
 625                                         p->range[3].range.min =
 626                                             -get_s16(&full_scale->mx) * 100;
 627                                         p->range[3].range.max =
 628                                             get_s16(&full_scale->mx) * 100;
 629                                         p->range[4].range.min =
 630                                             -get_s16(&full_scale->my) * 100;
 631                                         p->range[4].range.max =
 632                                             get_s16(&full_scale->my) * 100;
 633                                         p->range[5].range.min =
 634                                             -get_s16(&full_scale->mz) * 100;
 635                                         p->range[5].range.max =
 636                                             get_s16(&full_scale->mz) * 100;
 637                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 638                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 639                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 640                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 641                                         p->range[8].range.min = 0;
 642                                         p->range[8].range.max = 65535;
 643
 644                                         {
 645                                                 int i;
 646                                                 for (i = 0; i < 9; i++) {
 647                                                         printk("%d %d - %d\n",
 648                                                                i,
 649                                                                p->
 650                                                                range[i].range.
 651                                                                min,
 652                                                                p->
 653                                                                range[i].range.
 654                                                                max);
 655                                                 }
 656                                         }
 657
 658                                         use_offset(channel, 0);
 659                                         p->state =
 660                                             state_jr3_init_use_offset_complete;
 661                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 662                                 }
 663                         }
 664                         break;
 665                 case state_jr3_init_use_offset_complete:{
 666                                 if (!is_complete(channel)) {
 667                                         printk
 668                                             ("state_jr3_init_use_offset_complete complete = %d\n",
 669                                              is_complete(channel));
 670                                         result = poll_delay_min_max(20, 100);
 671                                 } else {
 672                                         printk
 673                                             ("Default offsets %d %d %d %d %d %d\n",
 674                                              get_s16(&channel->offsets.fx),
 675                                              get_s16(&channel->offsets.fy),
 676                                              get_s16(&channel->offsets.fz),
 677                                              get_s16(&channel->offsets.mx),
 678                                              get_s16(&channel->offsets.my),
 679                                              get_s16(&channel->offsets.mz));
 680
 681                                         set_s16(&channel->offsets.fx, 0);
 682                                         set_s16(&channel->offsets.fy, 0);
 683                                         set_s16(&channel->offsets.fz, 0);
 684                                         set_s16(&channel->offsets.mx, 0);
 685                                         set_s16(&channel->offsets.my, 0);
 686                                         set_s16(&channel->offsets.mz, 0);
 687
 688                                         set_offset(channel);
 689
 690                                         p->state = state_jr3_done;
 691                                 }
 692                         }
 693                         break;
 694                 case state_jr3_done:{
 695                                 poll_delay_min_max(10000, 20000);
 696                         }
 697                         break;
 698                 default:{
 699                                 poll_delay_min_max(1000, 2000);
 700                         }
 701                         break;
 702                 }
 703         }
 704         return result;
 705 }
 706
 707 static void jr3_pci_poll_dev(unsigned long data)
 708 {
 709         unsigned long flags;
 710         struct comedi_device *dev = (struct comedi_device *)data;
 711         struct jr3_pci_dev_private *devpriv = dev->private;
 712         unsigned long now;
 713         int delay;
 714         int i;
 715
 716         spin_lock_irqsave(&dev->spinlock, flags);
 717         delay = 1000;
 718         now = jiffies;
 719         /*  Poll all channels that are ready to be polled */
 720         for (i = 0; i < devpriv->n_channels; i++) {
 721                 struct jr3_pci_subdev_private *subdevpriv =
 722                     dev->subdevices[i].private;
 723                 if (now > subdevpriv->next_time_min) {
 724                         struct poll_delay_t sub_delay;
 725
 726                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 727                         subdevpriv->next_time_min =
 728                             jiffies + msecs_to_jiffies(sub_delay.min);
 729                         subdevpriv->next_time_max =
 730                             jiffies + msecs_to_jiffies(sub_delay.max);
 731                         if (sub_delay.max && sub_delay.max < delay) {
 732 /*
 733 * Wake up as late as possible -> poll as many channels as possible
 734 * at once
 735 */
 736                                 delay = sub_delay.max;
 737                         }
 738                 }
 739         }
 740         spin_unlock_irqrestore(&dev->spinlock, flags);
 741
 742         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 743         add_timer(&devpriv->timer);
 744 }
 745
 746 static int jr3_pci_attach(struct comedi_device *dev,
 747                           struct comedi_devconfig *it)
 748 {
 749         int result = 0;
 750         struct pci_dev *card = NULL;
 751         int opt_bus, opt_slot, i;
 752         struct jr3_pci_dev_private *devpriv;
 753
 754         opt_bus = it->options[0];
 755         opt_slot = it->options[1];
 756
 757         if (sizeof(struct jr3_channel) != 0xc00) {
 758                 dev_err(dev->class_dev,
 759                         "sizeof(struct jr3_channel) = %x [expected %x]\n",
 760                         (unsigned)sizeof(struct jr3_channel), 0xc00);
 761                 return -EINVAL;
 762         }
 763
 764         result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
 765         if (result < 0)
 766                 return -ENOMEM;
 767         card = NULL;
 768         devpriv = dev->private;
 769         init_timer(&devpriv->timer);
 770         while (1) {
 771                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 772                 if (card == NULL) {
 773                         /* No card found */
 774                         break;
 775                 } else {
 776                         switch (card->device) {
 777                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 778                                         devpriv->n_channels = 1;
 779                                 }
 780                                 break;
 781                         case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:{
 782                                         devpriv->n_channels = 1;
 783                                 }
 784                                 break;
 785                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 786                                         devpriv->n_channels = 2;
 787                                 }
 788                                 break;
 789                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 790                                         devpriv->n_channels = 3;
 791                                 }
 792                                 break;
 793                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 794                                         devpriv->n_channels = 4;
 795                                 }
 796                                 break;
 797                         default:{
 798                                         devpriv->n_channels = 0;
 799                                 }
 800                         }
 801                         if (devpriv->n_channels >= 1) {
 802                                 if (opt_bus == 0 && opt_slot == 0) {
 803                                         /* Take first available card */
 804                                         break;
 805                                 } else if (opt_bus == card->bus->number &&
 806                                            opt_slot == PCI_SLOT(card->devfn)) {
 807                                         /* Take requested card */
 808                                         break;
 809                                 }
 810                         }
 811                 }
 812         }
 813         if (!card) {
 814                 dev_err(dev->class_dev, "no jr3_pci found\n");
 815                 return -EIO;
 816         } else {
 817                 devpriv->pci_dev = card;
 818                 dev->board_name = "jr3_pci";
 819         }
 820
 821         result = comedi_pci_enable(card, "jr3_pci");
 822         if (result < 0)
 823                 return -EIO;
 824
 825         devpriv->pci_enabled = 1;
 826         devpriv->iobase = ioremap(pci_resource_start(card, 0),
 827                         offsetof(struct jr3_t, channel[devpriv->n_channels]));
 828         if (!devpriv->iobase)
 829                 return -ENOMEM;
 830
 831         result = comedi_alloc_subdevices(dev, devpriv->n_channels);
 832         if (result)
 833                 return result;
 834
 835         dev->open = jr3_pci_open;
 836         for (i = 0; i < devpriv->n_channels; i++) {
 837                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 838                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 839                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 840                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 841                 dev->subdevices[i].private =
 842                     kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 843                 if (dev->subdevices[i].private) {
 844                         struct jr3_pci_subdev_private *p;
 845                         int j;
 846
 847                         p = dev->subdevices[i].private;
 848                         p->channel = &devpriv->iobase->channel[i].data;
 849                         dev_dbg(dev->class_dev, "p->channel %p %p (%tx)\n",
 850                                 p->channel, devpriv->iobase,
 851                                 ((char *)(p->channel) -
 852                                  (char *)(devpriv->iobase)));
 853                         p->channel_no = i;
 854                         for (j = 0; j < 8; j++) {
 855                                 int k;
 856
 857                                 p->range[j].length = 1;
 858                                 p->range[j].range.min = -1000000;
 859                                 p->range[j].range.max = 1000000;
 860                                 for (k = 0; k < 7; k++) {
 861                                         p->range_table_list[j + k * 8] =
 862                                             (struct comedi_lrange *)&p->
 863                                             range[j];
 864                                         p->maxdata_list[j + k * 8] = 0x7fff;
 865                                 }
 866                         }
 867                         p->range[8].length = 1;
 868                         p->range[8].range.min = 0;
 869                         p->range[8].range.max = 65536;
 870
 871                         p->range_table_list[56] =
 872                             (struct comedi_lrange *)&p->range[8];
 873                         p->range_table_list[57] =
 874                             (struct comedi_lrange *)&p->range[8];
 875                         p->maxdata_list[56] = 0xffff;
 876                         p->maxdata_list[57] = 0xffff;
 877                         /*  Channel specific range and maxdata */
 878                         dev->subdevices[i].range_table = 0;
 879                         dev->subdevices[i].range_table_list =
 880                             p->range_table_list;
 881                         dev->subdevices[i].maxdata = 0;
 882                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 883                 }
 884         }
 885
 886         /*  Reset DSP card */
 887         devpriv->iobase->channel[0].reset = 0;
 888
 889         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 890         dev_dbg(dev->class_dev, "Firmare load %d\n", result);
 891
 892         if (result < 0)
 893                 goto out;
 894 /*
 895  * TODO: use firmware to load preferred offset tables. Suggested
 896  * format:
 897  *     model serial Fx Fy Fz Mx My Mz\n
 898  *
 899  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 900  */
 901
 902 /*
 903  * It takes a few milliseconds for software to settle as much as we
 904  * can read firmware version
 905  */
 906         msleep_interruptible(25);
 907         for (i = 0; i < 0x18; i++) {
 908                 dev_dbg(dev->class_dev, "%c\n",
 909                         get_u16(&devpriv->iobase->channel[0].
 910                                 data.copyright[i]) >> 8);
 911         }
 912
 913         /*  Start card timer */
 914         for (i = 0; i < devpriv->n_channels; i++) {
 915                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 916
 917                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 918                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 919         }
 920
 921         devpriv->timer.data = (unsigned long)dev;
 922         devpriv->timer.function = jr3_pci_poll_dev;
 923         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 924         add_timer(&devpriv->timer);
 925
 926 out:
 927         return result;
 928 }
 929
 930 static void jr3_pci_detach(struct comedi_device *dev)
 931 {
 932         int i;
 933         struct jr3_pci_dev_private *devpriv = dev->private;
 934
 935         if (devpriv) {
 936                 del_timer_sync(&devpriv->timer);
 937
 938                 if (dev->subdevices) {
 939                         for (i = 0; i < devpriv->n_channels; i++)
 940                                 kfree(dev->subdevices[i].private);
 941                 }
 942                 if (devpriv->iobase)
 943                         iounmap((void *)devpriv->iobase);
 944                 if (devpriv->pci_enabled)
 945                         comedi_pci_disable(devpriv->pci_dev);
 946                 if (devpriv->pci_dev)
 947                         pci_dev_put(devpriv->pci_dev);
 948         }
 949 }
 950
 951 static struct comedi_driver jr3_pci_driver = {
 952         .driver_name    = "jr3_pci",
 953         .module         = THIS_MODULE,
 954         .attach         = jr3_pci_attach,
 955         .detach         = jr3_pci_detach,
 956 };
 957
 958 static int __devinit jr3_pci_pci_probe(struct pci_dev *dev,
 959                                        const struct pci_device_id *ent)
 960 {
 961         return comedi_pci_auto_config(dev, &jr3_pci_driver);
 962 }
 963
 964 static void __devexit jr3_pci_pci_remove(struct pci_dev *dev)
 965 {
 966         comedi_pci_auto_unconfig(dev);
 967 }
 968
 969 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
 970         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL) },
 971         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW) },
 972         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL) },
 973         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL) },
 974         { PCI_DEVICE(PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL) },
 975         { 0 }
 976 };
 977 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 978
 979 static struct pci_driver jr3_pci_pci_driver = {
 980         .name           = "jr3_pci",
 981         .id_table       = jr3_pci_pci_table,
 982         .probe          = jr3_pci_pci_probe,
 983         .remove         = __devexit_p(jr3_pci_pci_remove),
 984 };
 985 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
 986
 987 MODULE_AUTHOR("Comedi http://www.comedi.org");
 988 MODULE_DESCRIPTION("Comedi low-level driver");
 989 MODULE_LICENSE("GPL");
 990 MODULE_FIRMWARE("comedi/jr3pci.idm");