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 "comedi_pci.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_2_CHANNEL 0x3112
  57 #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
  58 #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
  59
  60 static int jr3_pci_attach(struct comedi_device *dev,
  61                           struct comedi_devconfig *it);
  62 static int jr3_pci_detach(struct comedi_device *dev);
  63
  64 static struct comedi_driver driver_jr3_pci = {
  65         .driver_name = "jr3_pci",
  66         .module = THIS_MODULE,
  67         .attach = jr3_pci_attach,
  68         .detach = jr3_pci_detach,
  69 };
  70
  71 static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
  72         {
  73         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
  74                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  75         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
  76                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  77         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
  78                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  79         PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
  80                     PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
  81         0}
  82 };
  83
  84 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
  85
  86 struct jr3_pci_dev_private {
  87
  88         struct pci_dev *pci_dev;
  89         int pci_enabled;
  90         volatile struct jr3_t *iobase;
  91         int n_channels;
  92         struct timer_list timer;
  93 };
  94
  95 struct poll_delay_t {
  96
  97         int min;
  98         int max;
  99 };
 100
 101 struct jr3_pci_subdev_private {
 102         volatile struct jr3_channel *channel;
 103         unsigned long next_time_min;
 104         unsigned long next_time_max;
 105         enum { state_jr3_poll,
 106                 state_jr3_init_wait_for_offset,
 107                 state_jr3_init_transform_complete,
 108                 state_jr3_init_set_full_scale_complete,
 109                 state_jr3_init_use_offset_complete,
 110                 state_jr3_done
 111         } state;
 112         int channel_no;
 113         int serial_no;
 114         int model_no;
 115         struct {
 116                 int length;
 117                 struct comedi_krange range;
 118         } range[9];
 119         const struct comedi_lrange *range_table_list[8 * 7 + 2];
 120         unsigned int maxdata_list[8 * 7 + 2];
 121         u16 errors;
 122         int retries;
 123 };
 124
 125 /* Hotplug firmware loading stuff */
 126
 127 typedef int comedi_firmware_callback(struct comedi_device *dev,
 128                                      const u8 * data, size_t size);
 129
 130 static int comedi_load_firmware(struct comedi_device *dev, char *name,
 131                                 comedi_firmware_callback cb)
 132 {
 133         int result = 0;
 134         const struct firmware *fw;
 135         char *firmware_path;
 136         static const char *prefix = "comedi/";
 137         struct jr3_pci_dev_private *devpriv = dev->private;
 138
 139         firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
 140         if (!firmware_path) {
 141                 result = -ENOMEM;
 142         } else {
 143                 firmware_path[0] = '\0';
 144                 strcat(firmware_path, prefix);
 145                 strcat(firmware_path, name);
 146                 result = request_firmware(&fw, firmware_path,
 147                                           &devpriv->pci_dev->dev);
 148                 if (result == 0) {
 149                         if (!cb)
 150                                 result = -EINVAL;
 151                         else
 152                                 result = cb(dev, fw->data, fw->size);
 153                         release_firmware(fw);
 154                 }
 155                 kfree(firmware_path);
 156         }
 157         return result;
 158 }
 159
 160 static struct poll_delay_t poll_delay_min_max(int min, int max)
 161 {
 162         struct poll_delay_t result;
 163
 164         result.min = min;
 165         result.max = max;
 166         return result;
 167 }
 168
 169 static int is_complete(volatile struct jr3_channel *channel)
 170 {
 171         return get_s16(&channel->command_word0) == 0;
 172 }
 173
 174 struct transform_t {
 175         struct {
 176                 u16 link_type;
 177                 s16 link_amount;
 178         } link[8];
 179 };
 180
 181 static void set_transforms(volatile struct jr3_channel *channel,
 182                            struct transform_t transf, short num)
 183 {
 184         int i;
 185
 186         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 187         for (i = 0; i < 8; i++) {
 188
 189                 set_u16(&channel->transforms[num].link[i].link_type,
 190                         transf.link[i].link_type);
 191                 udelay(1);
 192                 set_s16(&channel->transforms[num].link[i].link_amount,
 193                         transf.link[i].link_amount);
 194                 udelay(1);
 195                 if (transf.link[i].link_type == end_x_form) {
 196                         break;
 197                 }
 198         }
 199 }
 200
 201 static void use_transform(volatile struct jr3_channel *channel,
 202                           short transf_num)
 203 {
 204         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 205 }
 206
 207 static void use_offset(volatile struct jr3_channel *channel, short offset_num)
 208 {
 209         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 210 }
 211
 212 static void set_offset(volatile struct jr3_channel *channel)
 213 {
 214         set_s16(&channel->command_word0, 0x0700);
 215 }
 216
 217 struct six_axis_t {
 218         s16 fx;
 219         s16 fy;
 220         s16 fz;
 221         s16 mx;
 222         s16 my;
 223         s16 mz;
 224 };
 225
 226 static void set_full_scales(volatile struct jr3_channel *channel,
 227                             struct six_axis_t full_scale)
 228 {
 229         printk("%d %d %d %d %d %d\n",
 230                full_scale.fx,
 231                full_scale.fy,
 232                full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
 233         set_s16(&channel->full_scale.fx, full_scale.fx);
 234         set_s16(&channel->full_scale.fy, full_scale.fy);
 235         set_s16(&channel->full_scale.fz, full_scale.fz);
 236         set_s16(&channel->full_scale.mx, full_scale.mx);
 237         set_s16(&channel->full_scale.my, full_scale.my);
 238         set_s16(&channel->full_scale.mz, full_scale.mz);
 239         set_s16(&channel->command_word0, 0x0a00);
 240 }
 241
 242 static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
 243                                              *channel)
 244 {
 245         struct six_axis_t result;
 246         result.fx = get_s16(&channel->min_full_scale.fx);
 247         result.fy = get_s16(&channel->min_full_scale.fy);
 248         result.fz = get_s16(&channel->min_full_scale.fz);
 249         result.mx = get_s16(&channel->min_full_scale.mx);
 250         result.my = get_s16(&channel->min_full_scale.my);
 251         result.mz = get_s16(&channel->min_full_scale.mz);
 252         return result;
 253 }
 254
 255 static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
 256                                              *channel)
 257 {
 258         struct six_axis_t result;
 259         result.fx = get_s16(&channel->max_full_scale.fx);
 260         result.fy = get_s16(&channel->max_full_scale.fy);
 261         result.fz = get_s16(&channel->max_full_scale.fz);
 262         result.mx = get_s16(&channel->max_full_scale.mx);
 263         result.my = get_s16(&channel->max_full_scale.my);
 264         result.mz = get_s16(&channel->max_full_scale.mz);
 265         return result;
 266 }
 267
 268 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 269                                 struct comedi_subdevice *s,
 270                                 struct comedi_insn *insn, unsigned int *data)
 271 {
 272         int result;
 273         struct jr3_pci_subdev_private *p;
 274         int channel;
 275
 276         p = s->private;
 277         channel = CR_CHAN(insn->chanspec);
 278         if (p == NULL || channel > 57) {
 279                 result = -EINVAL;
 280         } else {
 281                 int i;
 282
 283                 result = insn->n;
 284                 if (p->state != state_jr3_done ||
 285                     (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
 286                                                      sensor_change))) {
 287                         /* No sensor or sensor changed */
 288                         if (p->state == state_jr3_done) {
 289                                 /* Restart polling */
 290                                 p->state = state_jr3_poll;
 291                         }
 292                         result = -EAGAIN;
 293                 }
 294                 for (i = 0; i < insn->n; i++) {
 295                         if (channel < 56) {
 296                                 int axis, filter;
 297
 298                                 axis = channel % 8;
 299                                 filter = channel / 8;
 300                                 if (p->state != state_jr3_done) {
 301                                         data[i] = 0;
 302                                 } else {
 303                                         int F = 0;
 304                                         switch (axis) {
 305                                         case 0:{
 306                                                         F = get_s16
 307                                                             (&p->channel->filter
 308                                                              [filter].fx);
 309                                                 }
 310                                                 break;
 311                                         case 1:{
 312                                                         F = get_s16
 313                                                             (&p->channel->filter
 314                                                              [filter].fy);
 315                                                 }
 316                                                 break;
 317                                         case 2:{
 318                                                         F = get_s16
 319                                                             (&p->channel->filter
 320                                                              [filter].fz);
 321                                                 }
 322                                                 break;
 323                                         case 3:{
 324                                                         F = get_s16
 325                                                             (&p->channel->filter
 326                                                              [filter].mx);
 327                                                 }
 328                                                 break;
 329                                         case 4:{
 330                                                         F = get_s16
 331                                                             (&p->channel->filter
 332                                                              [filter].my);
 333                                                 }
 334                                                 break;
 335                                         case 5:{
 336                                                         F = get_s16
 337                                                             (&p->channel->filter
 338                                                              [filter].mz);
 339                                                 }
 340                                                 break;
 341                                         case 6:{
 342                                                         F = get_s16
 343                                                             (&p->channel->filter
 344                                                              [filter].v1);
 345                                                 }
 346                                                 break;
 347                                         case 7:{
 348                                                         F = get_s16
 349                                                             (&p->channel->filter
 350                                                              [filter].v2);
 351                                                 }
 352                                                 break;
 353                                         }
 354                                         data[i] = F + 0x4000;
 355                                 }
 356                         } else if (channel == 56) {
 357                                 if (p->state != state_jr3_done) {
 358                                         data[i] = 0;
 359                                 } else {
 360                                         data[i] =
 361                                             get_u16(&p->channel->model_no);
 362                                 }
 363                         } else if (channel == 57) {
 364                                 if (p->state != state_jr3_done) {
 365                                         data[i] = 0;
 366                                 } else {
 367                                         data[i] =
 368                                             get_u16(&p->channel->serial_no);
 369                                 }
 370                         }
 371                 }
 372         }
 373         return result;
 374 }
 375
 376 static void jr3_pci_open(struct comedi_device *dev)
 377 {
 378         int i;
 379         struct jr3_pci_dev_private *devpriv = dev->private;
 380
 381         printk("jr3_pci_open\n");
 382         for (i = 0; i < devpriv->n_channels; i++) {
 383                 struct jr3_pci_subdev_private *p;
 384
 385                 p = dev->subdevices[i].private;
 386                 if (p) {
 387                         printk("serial: %p %d (%d)\n", p, p->serial_no,
 388                                p->channel_no);
 389                 }
 390         }
 391 }
 392
 393 int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
 394 {
 395         int result = 0;
 396         if (pos != 0 && val != 0) {
 397                 /*  Skip over non hex */
 398                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
 399                 }
 400                 /*  Collect value */
 401                 *val = 0;
 402                 for (; *pos < size && isxdigit(data[*pos]); (*pos)++) {
 403                         char ch = tolower(data[*pos]);
 404                         result = 1;
 405                         if ('0' <= ch && ch <= '9') {
 406                                 *val = (*val << 4) + (ch - '0');
 407                         } else if ('a' <= ch && ch <= 'f') {
 408                                 *val = (*val << 4) + (ch - 'a' + 10);
 409                         }
 410                 }
 411         }
 412         return result;
 413 }
 414
 415 static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
 416                                  size_t size)
 417 {
 418         /*
 419          * IDM file format is:
 420          *   { count, address, data <count> } *
 421          *   ffff
 422          */
 423         int result, more, pos, OK;
 424
 425         result = 0;
 426         more = 1;
 427         pos = 0;
 428         OK = 0;
 429         while (more) {
 430                 unsigned int count, addr;
 431
 432                 more = more && read_idm_word(data, size, &pos, &count);
 433                 if (more && count == 0xffff) {
 434                         OK = 1;
 435                         break;
 436                 }
 437                 more = more && read_idm_word(data, size, &pos, &addr);
 438                 while (more && count > 0) {
 439                         unsigned int dummy;
 440                         more = more && read_idm_word(data, size, &pos, &dummy);
 441                         count--;
 442                 }
 443         }
 444
 445         if (!OK) {
 446                 result = -ENODATA;
 447         } else {
 448                 int i;
 449                 struct jr3_pci_dev_private *p = dev->private;
 450
 451                 for (i = 0; i < p->n_channels; i++) {
 452                         struct jr3_pci_subdev_private *sp;
 453
 454                         sp = dev->subdevices[i].private;
 455                         more = 1;
 456                         pos = 0;
 457                         while (more) {
 458                                 unsigned int count, addr;
 459                                 more = more
 460                                     && read_idm_word(data, size, &pos, &count);
 461                                 if (more && count == 0xffff) {
 462                                         break;
 463                                 }
 464                                 more = more
 465                                     && read_idm_word(data, size, &pos, &addr);
 466                                 printk("Loading#%d %4.4x bytes at %4.4x\n", i,
 467                                        count, addr);
 468                                 while (more && count > 0) {
 469                                         if (addr & 0x4000) {
 470                                                 /*  16 bit data, never seen in real life!! */
 471                                                 unsigned int data1;
 472
 473                                                 more = more
 474                                                     && read_idm_word(data,
 475                                                                      size, &pos,
 476                                                                      &data1);
 477                                                 count--;
 478                                                 /* printk("jr3_data, not tested\n"); */
 479                                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 480                                         } else {
 481                                                 /*   Download 24 bit program */
 482                                                 unsigned int data1, data2;
 483
 484                                                 more = more
 485                                                     && read_idm_word(data,
 486                                                                      size, &pos,
 487                                                                      &data1);
 488                                                 more = more
 489                                                     && read_idm_word(data, size,
 490                                                                      &pos,
 491                                                                      &data2);
 492                                                 count -= 2;
 493                                                 if (more) {
 494                                                         set_u16(&p->
 495                                                                 iobase->channel
 496                                                                 [i].program_low
 497                                                                 [addr], data1);
 498                                                         udelay(1);
 499                                                         set_u16(&p->
 500                                                                 iobase->channel
 501                                                                 [i].program_high
 502                                                                 [addr], data2);
 503                                                         udelay(1);
 504
 505                                                 }
 506                                         }
 507                                         addr++;
 508                                 }
 509                         }
 510                 }
 511         }
 512         return result;
 513 }
 514
 515 static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 516 {
 517         struct poll_delay_t result = poll_delay_min_max(1000, 2000);
 518         struct jr3_pci_subdev_private *p = s->private;
 519         int i;
 520
 521         if (p) {
 522                 volatile struct jr3_channel *channel = p->channel;
 523                 int errors = get_u16(&channel->errors);
 524
 525                 if (errors != p->errors) {
 526                         printk("Errors: %x -> %x\n", p->errors, errors);
 527                         p->errors = errors;
 528                 }
 529                 if (errors & (watch_dog | watch_dog2 | sensor_change)) {
 530                         /*  Sensor communication lost, force poll mode */
 531                         p->state = state_jr3_poll;
 532
 533                 }
 534                 switch (p->state) {
 535                 case state_jr3_poll:{
 536                                 u16 model_no = get_u16(&channel->model_no);
 537                                 u16 serial_no = get_u16(&channel->serial_no);
 538                                 if ((errors & (watch_dog | watch_dog2)) ||
 539                                     model_no == 0 || serial_no == 0) {
 540 /*
 541  * Still no sensor, keep on polling. Since it takes up to 10 seconds
 542  * for offsets to stabilize, polling each second should suffice.
 543  */
 544                                         result = poll_delay_min_max(1000, 2000);
 545                                 } else {
 546                                         p->retries = 0;
 547                                         p->state =
 548                                             state_jr3_init_wait_for_offset;
 549                                         result = poll_delay_min_max(1000, 2000);
 550                                 }
 551                         }
 552                         break;
 553                 case state_jr3_init_wait_for_offset:{
 554                                 p->retries++;
 555                                 if (p->retries < 10) {
 556                                         /*  Wait for offeset to stabilize (< 10 s according to manual) */
 557                                         result = poll_delay_min_max(1000, 2000);
 558                                 } else {
 559                                         struct transform_t transf;
 560
 561                                         p->model_no =
 562                                             get_u16(&channel->model_no);
 563                                         p->serial_no =
 564                                             get_u16(&channel->serial_no);
 565
 566                                         printk
 567                                             ("Setting transform for channel %d\n",
 568                                              p->channel_no);
 569                                         printk("Sensor Model     = %i\n",
 570                                                p->model_no);
 571                                         printk("Sensor Serial    = %i\n",
 572                                                p->serial_no);
 573
 574                                         /*  Transformation all zeros */
 575                                         for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 576                                                 transf.link[i].link_type =
 577                                                         (enum link_types)0;
 578                                                 transf.link[i].link_amount = 0;
 579                                         }
 580
 581                                         set_transforms(channel, transf, 0);
 582                                         use_transform(channel, 0);
 583                                         p->state =
 584                                             state_jr3_init_transform_complete;
 585                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 586                                 }
 587                         } break;
 588                 case state_jr3_init_transform_complete:{
 589                                 if (!is_complete(channel)) {
 590                                         printk
 591                                             ("state_jr3_init_transform_complete complete = %d\n",
 592                                              is_complete(channel));
 593                                         result = poll_delay_min_max(20, 100);
 594                                 } else {
 595                                         /*  Set full scale */
 596                                         struct six_axis_t min_full_scale;
 597                                         struct six_axis_t max_full_scale;
 598
 599                                         min_full_scale =
 600                                             get_min_full_scales(channel);
 601                                         printk("Obtained Min. Full Scales:\n");
 602                                         printk("%i   ", (min_full_scale).fx);
 603                                         printk("%i   ", (min_full_scale).fy);
 604                                         printk("%i   ", (min_full_scale).fz);
 605                                         printk("%i   ", (min_full_scale).mx);
 606                                         printk("%i   ", (min_full_scale).my);
 607                                         printk("%i   ", (min_full_scale).mz);
 608                                         printk("\n");
 609
 610                                         max_full_scale =
 611                                             get_max_full_scales(channel);
 612                                         printk("Obtained Max. Full Scales:\n");
 613                                         printk("%i   ", (max_full_scale).fx);
 614                                         printk("%i   ", (max_full_scale).fy);
 615                                         printk("%i   ", (max_full_scale).fz);
 616                                         printk("%i   ", (max_full_scale).mx);
 617                                         printk("%i   ", (max_full_scale).my);
 618                                         printk("%i   ", (max_full_scale).mz);
 619                                         printk("\n");
 620
 621                                         set_full_scales(channel,
 622                                                         max_full_scale);
 623
 624                                         p->state =
 625                                             state_jr3_init_set_full_scale_complete;
 626                                         result = poll_delay_min_max(20, 100);   /*  Allow 20 ms for completion */
 627                                 }
 628                         }
 629                         break;
 630                 case state_jr3_init_set_full_scale_complete:{
 631                                 if (!is_complete(channel)) {
 632                                         printk
 633                                             ("state_jr3_init_set_full_scale_complete complete = %d\n",
 634                                              is_complete(channel));
 635                                         result = poll_delay_min_max(20, 100);
 636                                 } else {
 637                                         volatile struct force_array *full_scale;
 638
 639                                         /*  Use ranges in kN or we will overflow arount 2000N! */
 640                                         full_scale = &channel->full_scale;
 641                                         p->range[0].range.min =
 642                                             -get_s16(&full_scale->fx) * 1000;
 643                                         p->range[0].range.max =
 644                                             get_s16(&full_scale->fx) * 1000;
 645                                         p->range[1].range.min =
 646                                             -get_s16(&full_scale->fy) * 1000;
 647                                         p->range[1].range.max =
 648                                             get_s16(&full_scale->fy) * 1000;
 649                                         p->range[2].range.min =
 650                                             -get_s16(&full_scale->fz) * 1000;
 651                                         p->range[2].range.max =
 652                                             get_s16(&full_scale->fz) * 1000;
 653                                         p->range[3].range.min =
 654                                             -get_s16(&full_scale->mx) * 100;
 655                                         p->range[3].range.max =
 656                                             get_s16(&full_scale->mx) * 100;
 657                                         p->range[4].range.min =
 658                                             -get_s16(&full_scale->my) * 100;
 659                                         p->range[4].range.max =
 660                                             get_s16(&full_scale->my) * 100;
 661                                         p->range[5].range.min =
 662                                             -get_s16(&full_scale->mz) * 100;
 663                                         p->range[5].range.max =
 664                                             get_s16(&full_scale->mz) * 100;
 665                                         p->range[6].range.min = -get_s16(&full_scale->v1) * 100;        /*  ?? */
 666                                         p->range[6].range.max = get_s16(&full_scale->v1) * 100; /*  ?? */
 667                                         p->range[7].range.min = -get_s16(&full_scale->v2) * 100;        /*  ?? */
 668                                         p->range[7].range.max = get_s16(&full_scale->v2) * 100; /*  ?? */
 669                                         p->range[8].range.min = 0;
 670                                         p->range[8].range.max = 65535;
 671
 672                                         {
 673                                                 int i;
 674                                                 for (i = 0; i < 9; i++) {
 675                                                         printk("%d %d - %d\n",
 676                                                                i,
 677                                                                p->
 678                                                                range[i].range.
 679                                                                min,
 680                                                                p->
 681                                                                range[i].range.
 682                                                                max);
 683                                                 }
 684                                         }
 685
 686                                         use_offset(channel, 0);
 687                                         p->state =
 688                                             state_jr3_init_use_offset_complete;
 689                                         result = poll_delay_min_max(40, 100);   /*  Allow 40 ms for completion */
 690                                 }
 691                         }
 692                         break;
 693                 case state_jr3_init_use_offset_complete:{
 694                                 if (!is_complete(channel)) {
 695                                         printk
 696                                             ("state_jr3_init_use_offset_complete complete = %d\n",
 697                                              is_complete(channel));
 698                                         result = poll_delay_min_max(20, 100);
 699                                 } else {
 700                                         printk
 701                                             ("Default offsets %d %d %d %d %d %d\n",
 702                                              get_s16(&channel->offsets.fx),
 703                                              get_s16(&channel->offsets.fy),
 704                                              get_s16(&channel->offsets.fz),
 705                                              get_s16(&channel->offsets.mx),
 706                                              get_s16(&channel->offsets.my),
 707                                              get_s16(&channel->offsets.mz));
 708
 709                                         set_s16(&channel->offsets.fx, 0);
 710                                         set_s16(&channel->offsets.fy, 0);
 711                                         set_s16(&channel->offsets.fz, 0);
 712                                         set_s16(&channel->offsets.mx, 0);
 713                                         set_s16(&channel->offsets.my, 0);
 714                                         set_s16(&channel->offsets.mz, 0);
 715
 716                                         set_offset(channel);
 717
 718                                         p->state = state_jr3_done;
 719                                 }
 720                         }
 721                         break;
 722                 case state_jr3_done:{
 723                                 poll_delay_min_max(10000, 20000);
 724                         }
 725                         break;
 726                 default:{
 727                                 poll_delay_min_max(1000, 2000);
 728                         }
 729                         break;
 730                 }
 731         }
 732         return result;
 733 }
 734
 735 static void jr3_pci_poll_dev(unsigned long data)
 736 {
 737         unsigned long flags;
 738         struct comedi_device *dev = (struct comedi_device *)data;
 739         struct jr3_pci_dev_private *devpriv = dev->private;
 740         unsigned long now;
 741         int delay;
 742         int i;
 743
 744         spin_lock_irqsave(&dev->spinlock, flags);
 745         delay = 1000;
 746         now = jiffies;
 747         /*  Poll all channels that are ready to be polled */
 748         for (i = 0; i < devpriv->n_channels; i++) {
 749                 struct jr3_pci_subdev_private *subdevpriv =
 750                     dev->subdevices[i].private;
 751                 if (now > subdevpriv->next_time_min) {
 752                         struct poll_delay_t sub_delay;
 753
 754                         sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
 755                         subdevpriv->next_time_min =
 756                             jiffies + msecs_to_jiffies(sub_delay.min);
 757                         subdevpriv->next_time_max =
 758                             jiffies + msecs_to_jiffies(sub_delay.max);
 759                         if (sub_delay.max && sub_delay.max < delay) {
 760 /*
 761 * Wake up as late as possible -> poll as many channels as possible
 762 * at once
 763 */
 764                                 delay = sub_delay.max;
 765                         }
 766                 }
 767         }
 768         spin_unlock_irqrestore(&dev->spinlock, flags);
 769
 770         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 771         add_timer(&devpriv->timer);
 772 }
 773
 774 static int jr3_pci_attach(struct comedi_device *dev,
 775                           struct comedi_devconfig *it)
 776 {
 777         int result = 0;
 778         struct pci_dev *card = NULL;
 779         int opt_bus, opt_slot, i;
 780         struct jr3_pci_dev_private *devpriv;
 781
 782         printk("comedi%d: jr3_pci\n", dev->minor);
 783
 784         opt_bus = it->options[0];
 785         opt_slot = it->options[1];
 786
 787         if (sizeof(struct jr3_channel) != 0xc00) {
 788                 printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
 789                        (unsigned)sizeof(struct jr3_channel), 0xc00);
 790                 return -EINVAL;
 791         }
 792
 793         result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
 794         if (result < 0) {
 795                 return -ENOMEM;
 796         }
 797         card = NULL;
 798         devpriv = dev->private;
 799         init_timer(&devpriv->timer);
 800         while (1) {
 801                 card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
 802                 if (card == NULL) {
 803                         /* No card found */
 804                         break;
 805                 } else {
 806                         switch (card->device) {
 807                         case PCI_DEVICE_ID_JR3_1_CHANNEL:{
 808                                         devpriv->n_channels = 1;
 809                                 }
 810                                 break;
 811                         case PCI_DEVICE_ID_JR3_2_CHANNEL:{
 812                                         devpriv->n_channels = 2;
 813                                 }
 814                                 break;
 815                         case PCI_DEVICE_ID_JR3_3_CHANNEL:{
 816                                         devpriv->n_channels = 3;
 817                                 }
 818                                 break;
 819                         case PCI_DEVICE_ID_JR3_4_CHANNEL:{
 820                                         devpriv->n_channels = 4;
 821                                 }
 822                                 break;
 823                         default:{
 824                                         devpriv->n_channels = 0;
 825                                 }
 826                         }
 827                         if (devpriv->n_channels >= 1) {
 828                                 if (opt_bus == 0 && opt_slot == 0) {
 829                                         /* Take first available card */
 830                                         break;
 831                                 } else if (opt_bus == card->bus->number &&
 832                                            opt_slot == PCI_SLOT(card->devfn)) {
 833                                         /* Take requested card */
 834                                         break;
 835                                 }
 836                         }
 837                 }
 838         }
 839         if (!card) {
 840                 printk(" no jr3_pci found\n");
 841                 return -EIO;
 842         } else {
 843                 devpriv->pci_dev = card;
 844                 dev->board_name = "jr3_pci";
 845         }
 846
 847         result = comedi_pci_enable(card, "jr3_pci");
 848         if (result < 0) {
 849                 return -EIO;
 850         }
 851
 852         devpriv->pci_enabled = 1;
 853         devpriv->iobase = ioremap(pci_resource_start(card, 0),
 854                         offsetof(struct jr3_t, channel[devpriv->n_channels]));
 855         if (!devpriv->iobase)
 856                 return -ENOMEM;
 857
 858         result = alloc_subdevices(dev, devpriv->n_channels);
 859         if (result < 0)
 860                 goto out;
 861
 862         dev->open = jr3_pci_open;
 863         for (i = 0; i < devpriv->n_channels; i++) {
 864                 dev->subdevices[i].type = COMEDI_SUBD_AI;
 865                 dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
 866                 dev->subdevices[i].n_chan = 8 * 7 + 2;
 867                 dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
 868                 dev->subdevices[i].private =
 869                     kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
 870                 if (dev->subdevices[i].private) {
 871                         struct jr3_pci_subdev_private *p;
 872                         int j;
 873
 874                         p = dev->subdevices[i].private;
 875                         p->channel = &devpriv->iobase->channel[i].data;
 876                         printk("p->channel %p %p (%tx)\n",
 877                                p->channel, devpriv->iobase,
 878                                ((char *)(p->channel) -
 879                                 (char *)(devpriv->iobase)));
 880                         p->channel_no = i;
 881                         for (j = 0; j < 8; j++) {
 882                                 int k;
 883
 884                                 p->range[j].length = 1;
 885                                 p->range[j].range.min = -1000000;
 886                                 p->range[j].range.max = 1000000;
 887                                 for (k = 0; k < 7; k++) {
 888                                         p->range_table_list[j + k * 8] =
 889                                             (struct comedi_lrange *)&p->
 890                                             range[j];
 891                                         p->maxdata_list[j + k * 8] = 0x7fff;
 892                                 }
 893                         }
 894                         p->range[8].length = 1;
 895                         p->range[8].range.min = 0;
 896                         p->range[8].range.max = 65536;
 897
 898                         p->range_table_list[56] =
 899                             (struct comedi_lrange *)&p->range[8];
 900                         p->range_table_list[57] =
 901                             (struct comedi_lrange *)&p->range[8];
 902                         p->maxdata_list[56] = 0xffff;
 903                         p->maxdata_list[57] = 0xffff;
 904                         /*  Channel specific range and maxdata */
 905                         dev->subdevices[i].range_table = 0;
 906                         dev->subdevices[i].range_table_list =
 907                             p->range_table_list;
 908                         dev->subdevices[i].maxdata = 0;
 909                         dev->subdevices[i].maxdata_list = p->maxdata_list;
 910                 }
 911         }
 912
 913         /*  Reset DSP card */
 914         devpriv->iobase->channel[0].reset = 0;
 915
 916         result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
 917         printk("Firmare load %d\n", result);
 918
 919         if (result < 0) {
 920                 goto out;
 921         }
 922 /*
 923  * TODO: use firmware to load preferred offset tables. Suggested
 924  * format:
 925  *     model serial Fx Fy Fz Mx My Mz\n
 926  *
 927  *     comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
 928  */
 929
 930 /*
 931  * It takes a few milliseconds for software to settle as much as we
 932  * can read firmware version
 933  */
 934         msleep_interruptible(25);
 935         for (i = 0; i < 0x18; i++) {
 936                 printk("%c",
 937                        get_u16(&devpriv->iobase->channel[0].
 938                                data.copyright[i]) >> 8);
 939         }
 940
 941         /*  Start card timer */
 942         for (i = 0; i < devpriv->n_channels; i++) {
 943                 struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
 944
 945                 p->next_time_min = jiffies + msecs_to_jiffies(500);
 946                 p->next_time_max = jiffies + msecs_to_jiffies(2000);
 947         }
 948
 949         devpriv->timer.data = (unsigned long)dev;
 950         devpriv->timer.function = jr3_pci_poll_dev;
 951         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 952         add_timer(&devpriv->timer);
 953
 954 out:
 955         return result;
 956 }
 957
 958 MODULE_FIRMWARE("comedi/jr3pci.idm");
 959
 960 static int jr3_pci_detach(struct comedi_device *dev)
 961 {
 962         int i;
 963         struct jr3_pci_dev_private *devpriv = dev->private;
 964
 965         printk("comedi%d: jr3_pci: remove\n", dev->minor);
 966         if (devpriv) {
 967                 del_timer_sync(&devpriv->timer);
 968
 969                 if (dev->subdevices) {
 970                         for (i = 0; i < devpriv->n_channels; i++) {
 971                                 kfree(dev->subdevices[i].private);
 972                         }
 973                 }
 974
 975                 if (devpriv->iobase) {
 976                         iounmap((void *)devpriv->iobase);
 977                 }
 978                 if (devpriv->pci_enabled) {
 979                         comedi_pci_disable(devpriv->pci_dev);
 980                 }
 981
 982                 if (devpriv->pci_dev) {
 983                         pci_dev_put(devpriv->pci_dev);
 984                 }
 985         }
 986         return 0;
 987 }
 988
 989 COMEDI_PCI_INITCLEANUP(driver_jr3_pci, jr3_pci_pci_table);