1 /* Helper types to take care of the fact that the DSP card memory
2 * is 16 bits, but aligned on a 32 bit PCI boundary
5 static inline u16 get_u16(volatile const u32 * p)
10 static inline void set_u16(volatile u32 * p, u16 val)
15 static inline s16 get_s16(volatile const s32 * p)
17 return (s16) readl(p);
20 static inline void set_s16(volatile s32 * p, s16 val)
25 /* The raw data is stored in a format which facilitates rapid
26 * processing by the JR3 DSP chip. The raw_channel structure shows the
27 * format for a single channel of data. Each channel takes four,
30 * Raw_time is an unsigned integer which shows the value of the JR3
31 * DSP's internal clock at the time the sample was received. The clock
32 * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
33 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
35 * Raw_data is the raw data received directly from the sensor. The
36 * sensor data stream is capable of representing 16 different
37 * channels. Channel 0 shows the excitation voltage at the sensor. It
38 * is used to regulate the voltage over various cable lengths.
39 * Channels 1-6 contain the coupled force data Fx through Mz. Channel
40 * 7 contains the sensor's calibration data. The use of channels 8-15
41 * varies with different sensors.
50 /* The force_array structure shows the layout for the decoupled and
51 * filtered force data.
64 /* The six_axis_array structure shows the layout for the offsets and
67 typedef struct six_axis_array {
77 /* The vect_bits structure shows the layout for indicating
78 * which axes to use in computing the vectors. Each bit signifies
79 * selection of a single axis. The V1x axis bit corresponds to a hex
80 * value of 0x0001 and the V2z bit corresponds to a hex value of
81 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
82 * pattern would be 0x002b. Vector 1 defaults to a force vector and
83 * vector 2 defaults to a moment vector. It is possible to change one
84 * or the other so that two force vectors or two moment vectors are
85 * calculated. Setting the changeV1 bit or the changeV2 bit will
86 * change that vector to be the opposite of its default. Therefore to
87 * have two force vectors, set changeV1 to 1.
102 /* The warning_bits structure shows the bit pattern for the warning
103 * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb).
107 /* The xx_near_sat bits signify that the indicated axis has reached or
108 * exceeded the near saturation value.
112 fx_near_sat = 0x0001,
113 fy_near_sat = 0x0002,
114 fz_near_sat = 0x0004,
115 mx_near_sat = 0x0008,
116 my_near_sat = 0x0010,
125 /* The error_bits structure shows the bit pattern for the error word.
126 * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The
127 * xx_sat bits signify that the indicated axis has reached or exceeded
128 * the saturation value. The memory_error bit indicates that a problem
129 * was detected in the on-board RAM during the power-up
130 * initialization. The sensor_change bit indicates that a sensor other
131 * than the one originally plugged in has passed its CRC check. This
132 * bit latches, and must be reset by the user.
138 /* The system_busy bit indicates that the JR3 DSP is currently busy
139 * and is not calculating force data. This occurs when a new
140 * coordinate transformation, or new sensor full scale is set by the
141 * user. A very fast system using the force data for feedback might
142 * become unstable during the approximately 4 ms needed to accomplish
143 * these calculations. This bit will also become active when a new
144 * sensor is plugged in and the system needs to recalculate the
150 /* The cal_crc_bad bit indicates that the calibration CRC has not
151 * calculated to zero. CRC is short for cyclic redundancy code. It is
152 * a method for determining the integrity of messages in data
153 * communication. The calibration data stored inside the sensor is
154 * transmitted to the JR3 DSP along with the sensor data. The
155 * calibration data has a CRC attached to the end of it, to assist in
156 * determining the completeness and integrity of the calibration data
157 * received from the sensor. There are two reasons the CRC may not
158 * have calculated to zero. The first is that all the calibration data
159 * has not yet been received, the second is that the calibration data
160 * has been corrupted. A typical sensor transmits the entire contents
161 * of its calibration matrix over 30 times a second. Therefore, if
162 * this bit is not zero within a couple of seconds after the sensor
163 * has been plugged in, there is a problem with the sensor's
170 /* The watch_dog and watch_dog2 bits are sensor, not processor, watch
171 * dog bits. Watch_dog indicates that the sensor data line seems to be
172 * acting correctly, while watch_dog2 indicates that sensor data and
173 * clock are being received. It is possible for watch_dog2 to go off
174 * while watch_dog does not. This would indicate an improper clock
175 * signal, while data is acting correctly. If either watch dog barks,
176 * the sensor data is not being received correctly.
186 memory_error = 0x0400,
187 sensor_change = 0x0800,
188 system_busy = 0x1000,
189 cal_crc_bad = 0x2000,
196 /* This structure shows the layout for a single threshold packet inside of a
197 * load envelope. Each load envelope can contain several threshold structures.
198 * 1. data_address contains the address of the data for that threshold. This
199 * includes filtered, unfiltered, raw, rate, counters, error and warning data
200 * 2. threshold is the is the value at which, if data is above or below, the
201 * bits will be set ... (pag.24).
202 * 3. bit_pattern contains the bits that will be set if the threshold value is
206 typedef struct thresh_struct {
214 /* Layout of a load enveloped packet. Four thresholds are showed ... for more
215 * see manual (pag.25)
216 * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
217 * The latched bits will not be reset once the threshold which set them is
218 * no longer true. In that case the user must reset them using the reset_bit
220 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
224 s32 number_of_ge_thresholds;
225 s32 number_of_le_thresholds;
226 struct thresh_struct thresholds[4];
231 /* Link types is an enumerated value showing the different possible transform
233 * 0 - end transform packet
234 * 1 - translate along X axis (TX)
235 * 2 - translate along Y axis (TY)
236 * 3 - translate along Z axis (TZ)
237 * 4 - rotate about X axis (RX)
238 * 5 - rotate about Y axis (RY)
239 * 6 - rotate about Z axis (RZ)
240 * 7 - negate all axes (NEG)
243 typedef enum link_types {
255 /* Structure used to describe a transform. */
261 } intern_transform_t;
263 /* JR3 force/torque sensor data definition. For more information see sensor and */
264 /* hardware manuals. */
266 typedef struct force_sensor_data {
267 /* Raw_channels is the area used to store the raw data coming from */
270 struct raw_channel raw_channels[16]; /* offset 0x0000 */
272 /* Copyright is a null terminated ASCII string containing the JR3 */
273 /* copyright notice. */
275 u32 copyright[0x0018]; /* offset 0x0040 */
276 s32 reserved1[0x0008]; /* offset 0x0058 */
278 /* Shunts contains the sensor shunt readings. Some JR3 sensors have
279 * the ability to have their gains adjusted. This allows the
280 * hardware full scales to be adjusted to potentially allow
281 * better resolution or dynamic range. For sensors that have
282 * this ability, the gain of each sensor channel is measured at
283 * the time of calibration using a shunt resistor. The shunt
284 * resistor is placed across one arm of the resistor bridge, and
285 * the resulting change in the output of that channel is
286 * measured. This measurement is called the shunt reading, and
287 * is recorded here. If the user has changed the gain of the //
288 * sensor, and made new shunt measurements, those shunt
289 * measurements can be placed here. The JR3 DSP will then scale
290 * the calibration matrix such so that the gains are again
291 * proper for the indicated shunt readings. If shunts is 0, then
292 * the sensor cannot have its gain changed. For details on
293 * changing the sensor gain, and making shunts readings, please
294 * see the sensor manual. To make these values take effect the
295 * user must call either command (5) use transform # (pg. 33) or
296 * command (10) set new full scales (pg. 38).
299 six_axis_array_t shunts; /* offset 0x0060 */
300 s32 reserved2[2]; /* offset 0x0066 */
302 /* Default_FS contains the full scale that is used if the user does */
303 /* not set a full scale. */
305 six_axis_array_t default_FS; /* offset 0x0068 */
306 s32 reserved3; /* offset 0x006e */
308 /* Load_envelope_num is the load envelope number that is currently
309 * in use. This value is set by the user after one of the load
310 * envelopes has been initialized.
313 s32 load_envelope_num; /* offset 0x006f */
315 /* Min_full_scale is the recommend minimum full scale. */
317 /* These values in conjunction with max_full_scale (pg. 9) helps
318 * determine the appropriate value for setting the full scales. The
319 * software allows the user to set the sensor full scale to an
320 * arbitrary value. But setting the full scales has some hazards. If
321 * the full scale is set too low, the data will saturate
322 * prematurely, and dynamic range will be lost. If the full scale is
323 * set too high, then resolution is lost as the data is shifted to
324 * the right and the least significant bits are lost. Therefore the
325 * maximum full scale is the maximum value at which no resolution is
326 * lost, and the minimum full scale is the value at which the data
327 * will not saturate prematurely. These values are calculated
328 * whenever a new coordinate transformation is calculated. It is
329 * possible for the recommended maximum to be less than the
330 * recommended minimum. This comes about primarily when using
331 * coordinate translations. If this is the case, it means that any
332 * full scale selection will be a compromise between dynamic range
333 * and resolution. It is usually recommended to compromise in favor
334 * of resolution which means that the recommend maximum full scale
337 * WARNING: Be sure that the full scale is no less than 0.4% of the
338 * recommended minimum full scale. Full scales below this value will
339 * cause erroneous results.
342 six_axis_array_t min_full_scale; /* offset 0x0070 */
343 s32 reserved4; /* offset 0x0076 */
345 /* Transform_num is the transform number that is currently in use.
346 * This value is set by the JR3 DSP after the user has used command
347 * (5) use transform # (pg. 33).
350 s32 transform_num; /* offset 0x0077 */
352 /* Max_full_scale is the recommended maximum full scale. See */
353 /* min_full_scale (pg. 9) for more details. */
355 six_axis_array_t max_full_scale; /* offset 0x0078 */
356 s32 reserved5; /* offset 0x007e */
358 /* Peak_address is the address of the data which will be monitored
359 * by the peak routine. This value is set by the user. The peak
360 * routine will monitor any 8 contiguous addresses for peak values.
361 * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
364 s32 peak_address; /* offset 0x007f */
366 /* Full_scale is the sensor full scales which are currently in use.
367 * Decoupled and filtered data is scaled so that +/- 16384 is equal
368 * to the full scales. The engineering units used are indicated by
369 * the units value discussed on page 16. The full scales for Fx, Fy,
370 * Fz, Mx, My and Mz can be written by the user prior to calling
371 * command (10) set new full scales (pg. 38). The full scales for V1
372 * and V2 are set whenever the full scales are changed or when the
373 * axes used to calculate the vectors are changed. The full scale of
374 * V1 and V2 will always be equal to the largest full scale of the
375 * axes used for each vector respectively.
378 struct force_array full_scale; /* offset 0x0080 */
380 /* Offsets contains the sensor offsets. These values are subtracted from
381 * the sensor data to obtain the decoupled data. The offsets are set a
382 * few seconds (< 10) after the calibration data has been received.
383 * They are set so that the output data will be zero. These values
384 * can be written as well as read. The JR3 DSP will use the values
385 * written here within 2 ms of being written. To set future
386 * decoupled data to zero, add these values to the current decoupled
387 * data values and place the sum here. The JR3 DSP will change these
388 * values when a new transform is applied. So if the offsets are
389 * such that FX is 5 and all other values are zero, after rotating
390 * about Z by 90 degrees, FY would be 5 and all others would be zero.
393 six_axis_array_t offsets; /* offset 0x0088 */
395 /* Offset_num is the number of the offset currently in use. This
396 * value is set by the JR3 DSP after the user has executed the use
397 * offset # command (pg. 34). It can vary between 0 and 15.
400 s32 offset_num; /* offset 0x008e */
402 /* Vect_axes is a bit map showing which of the axes are being used
403 * in the vector calculations. This value is set by the JR3 DSP
404 * after the user has executed the set vector axes command (pg. 37).
407 u32 vect_axes; /* offset 0x008f */
409 /* Filter0 is the decoupled, unfiltered data from the JR3 sensor.
410 * This data has had the offsets removed.
412 * These force_arrays hold the filtered data. The decoupled data is
413 * passed through cascaded low pass filters. Each succeeding filter
414 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff
415 * frequency of filter1 is 1/16 of the sample rate from the sensor.
416 * For a typical sensor with a sample rate of 8 kHz, the cutoff
417 * frequency of filter1 would be 500 Hz. The following filters would
418 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
421 struct force_array filter[7]; /* offset 0x0090,
429 /* Rate_data is the calculated rate data. It is a first derivative
430 * calculation. It is calculated at a frequency specified by the
431 * variable rate_divisor (pg. 12). The data on which the rate is
432 * calculated is specified by the variable rate_address (pg. 12).
435 struct force_array rate_data; /* offset 0x00c8 */
437 /* Minimum_data & maximum_data are the minimum and maximum (peak)
438 * data values. The JR3 DSP can monitor any 8 contiguous data items
439 * for minimums and maximums at full sensor bandwidth. This area is
440 * only updated at user request. This is done so that the user does
441 * not miss any peaks. To read the data, use either the read peaks
442 * command (pg. 40), or the read and reset peaks command (pg. 39).
443 * The address of the data to watch for peaks is stored in the
444 * variable peak_address (pg. 10). Peak data is lost when executing
445 * a coordinate transformation or a full scale change. Peak data is
446 * also lost when plugging in a new sensor.
449 struct force_array minimum_data; /* offset 0x00d0 */
450 struct force_array maximum_data; /* offset 0x00d8 */
452 /* Near_sat_value & sat_value contain the value used to determine if
453 * the raw sensor is saturated. Because of decoupling and offset
454 * removal, it is difficult to tell from the processed data if the
455 * sensor is saturated. These values, in conjunction with the error
456 * and warning words (pg. 14), provide this critical information.
457 * These two values may be set by the host processor. These values
458 * are positive signed values, since the saturation logic uses the
459 * absolute values of the raw data. The near_sat_value defaults to
460 * approximately 80% of the ADC's full scale, which is 26214, while
461 * sat_value defaults to the ADC's full scale:
463 * sat_value = 32768 - 2^(16 - ADC bits)
466 s32 near_sat_value; /* offset 0x00e0 */
467 s32 sat_value; /* offset 0x00e1 */
469 /* Rate_address, rate_divisor & rate_count contain the data used to
470 * control the calculations of the rates. Rate_address is the
471 * address of the data used for the rate calculation. The JR3 DSP
472 * will calculate rates for any 8 contiguous values (ex. to
473 * calculate rates for filter3 data set rate_address to 0x00a8).
474 * Rate_divisor is how often the rate is calculated. If rate_divisor
475 * is 1, the rates are calculated at full sensor bandwidth. If
476 * rate_divisor is 200, rates are calculated every 200 samples.
477 * Rate_divisor can be any value between 1 and 65536. Set
478 * rate_divisor to 0 to calculate rates every 65536 samples.
479 * Rate_count starts at zero and counts until it equals
480 * rate_divisor, at which point the rates are calculated, and
481 * rate_count is reset to 0. When setting a new rate divisor, it is
482 * a good idea to set rate_count to one less than rate divisor. This
483 * will minimize the time necessary to start the rate calculations.
486 s32 rate_address; /* offset 0x00e2 */
487 u32 rate_divisor; /* offset 0x00e3 */
488 u32 rate_count; /* offset 0x00e4 */
490 /* Command_word2 through command_word0 are the locations used to
491 * send commands to the JR3 DSP. Their usage varies with the command
492 * and is detailed later in the Command Definitions section (pg.
493 * 29). In general the user places values into various memory
494 * locations, and then places the command word into command_word0.
495 * The JR3 DSP will process the command and place a 0 into
496 * command_word0 to indicate successful completion. Alternatively
497 * the JR3 DSP will place a negative number into command_word0 to
498 * indicate an error condition. Please note the command locations
499 * are numbered backwards. (I.E. command_word2 comes before
503 s32 command_word2; /* offset 0x00e5 */
504 s32 command_word1; /* offset 0x00e6 */
505 s32 command_word0; /* offset 0x00e7 */
507 /* Count1 through count6 are unsigned counters which are incremented
508 * every time the matching filters are calculated. Filter1 is
509 * calculated at the sensor data bandwidth. So this counter would
510 * increment at 8 kHz for a typical sensor. The rest of the counters
511 * are incremented at 1/4 the interval of the counter immediately
512 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
513 * These counters can be used to wait for data. Each time the
514 * counter changes, the corresponding data set can be sampled, and
515 * this will insure that the user gets each sample, once, and only
519 u32 count1; /* offset 0x00e8 */
520 u32 count2; /* offset 0x00e9 */
521 u32 count3; /* offset 0x00ea */
522 u32 count4; /* offset 0x00eb */
523 u32 count5; /* offset 0x00ec */
524 u32 count6; /* offset 0x00ed */
526 /* Error_count is a running count of data reception errors. If this
527 * counter is changing rapidly, it probably indicates a bad sensor
528 * cable connection or other hardware problem. In most installations
529 * error_count should not change at all. But it is possible in an
530 * extremely noisy environment to experience occasional errors even
531 * without a hardware problem. If the sensor is well grounded, this
532 * is probably unavoidable in these environments. On the occasions
533 * where this counter counts a bad sample, that sample is ignored.
536 u32 error_count; /* offset 0x00ee */
538 /* Count_x is a counter which is incremented every time the JR3 DSP
539 * searches its job queues and finds nothing to do. It indicates the
540 * amount of idle time the JR3 DSP has available. It can also be
541 * used to determine if the JR3 DSP is alive. See the Performance
542 * Issues section on pg. 49 for more details.
545 u32 count_x; /* offset 0x00ef */
547 /* Warnings & errors contain the warning and error bits
548 * respectively. The format of these two words is discussed on page
549 * 21 under the headings warnings_bits and error_bits.
552 u32 warnings; /* offset 0x00f0 */
553 u32 errors; /* offset 0x00f1 */
555 /* Threshold_bits is a word containing the bits that are set by the
556 * load envelopes. See load_envelopes (pg. 17) and thresh_struct
557 * (pg. 23) for more details.
560 s32 threshold_bits; /* offset 0x00f2 */
562 /* Last_crc is the value that shows the actual calculated CRC. CRC
563 * is short for cyclic redundancy code. It should be zero. See the
564 * description for cal_crc_bad (pg. 21) for more information.
567 s32 last_CRC; /* offset 0x00f3 */
569 /* EEProm_ver_no contains the version number of the sensor EEProm.
570 * EEProm version numbers can vary between 0 and 255.
571 * Software_ver_no contains the software version number. Version
572 * 3.02 would be stored as 302.
575 s32 eeprom_ver_no; /* offset 0x00f4 */
576 s32 software_ver_no; /* offset 0x00f5 */
578 /* Software_day & software_year are the release date of the software
579 * the JR3 DSP is currently running. Day is the day of the year,
580 * with January 1 being 1, and December 31, being 365 for non leap
584 s32 software_day; /* offset 0x00f6 */
585 s32 software_year; /* offset 0x00f7 */
587 /* Serial_no & model_no are the two values which uniquely identify a
588 * sensor. This model number does not directly correspond to the JR3
589 * model number, but it will provide a unique identifier for
590 * different sensor configurations.
593 u32 serial_no; /* offset 0x00f8 */
594 u32 model_no; /* offset 0x00f9 */
596 /* Cal_day & cal_year are the sensor calibration date. Day is the
597 * day of the year, with January 1 being 1, and December 31, being
598 * 366 for leap years.
601 s32 cal_day; /* offset 0x00fa */
602 s32 cal_year; /* offset 0x00fb */
604 /* Units is an enumerated read only value defining the engineering
605 * units used in the sensor full scale. The meanings of particular
606 * values are discussed in the section detailing the force_units
607 * structure on page 22. The engineering units are setto customer
608 * specifications during sensor manufacture and cannot be changed by
611 * Bits contains the number of bits of resolution of the ADC
614 * Channels is a bit field showing which channels the current sensor
615 * is capable of sending. If bit 0 is active, this sensor can send
616 * channel 0, if bit 13 is active, this sensor can send channel 13,
617 * etc. This bit can be active, even if the sensor is not currently
618 * sending this channel. Some sensors are configurable as to which
619 * channels to send, and this field only contains information on the
620 * channels available to send, not on the current configuration. To
621 * find which channels are currently being sent, monitor the
622 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
623 * the time is changing periodically, then that channel is being
627 u32 units; /* offset 0x00fc */
628 s32 bits; /* offset 0x00fd */
629 s32 channels; /* offset 0x00fe */
631 /* Thickness specifies the overall thickness of the sensor from
632 * flange to flange. The engineering units for this value are
633 * contained in units (pg. 16). The sensor calibration is relative
634 * to the center of the sensor. This value allows easy coordinate
635 * transformation from the center of the sensor to either flange.
638 s32 thickness; /* offset 0x00ff */
640 /* Load_envelopes is a table containing the load envelope
641 * descriptions. There are 16 possible load envelope slots in the
642 * table. The slots are on 16 word boundaries and are numbered 0-15.
643 * Each load envelope needs to start at the beginning of a slot but
644 * need not be fully contained in that slot. That is to say that a
645 * single load envelope can be larger than a single slot. The
646 * software has been tested and ran satisfactorily with 50
647 * thresholds active. A single load envelope this large would take
648 * up 5 of the 16 slots. The load envelope data is laid out in an
649 * order that is most efficient for the JR3 DSP. The structure is
650 * detailed later in the section showing the definition of the
651 * le_struct structure (pg. 23).
654 le_struct_t load_envelopes[0x10]; /* offset 0x0100 */
656 /* Transforms is a table containing the transform descriptions.
657 * There are 16 possible transform slots in the table. The slots are
658 * on 16 word boundaries and are numbered 0-15. Each transform needs
659 * to start at the beginning of a slot but need not be fully
660 * contained in that slot. That is to say that a single transform
661 * can be larger than a single slot. A transform is 2 * no of links
662 * + 1 words in length. So a single slot can contain a transform
663 * with 7 links. Two slots can contain a transform that is 15 links.
664 * The layout is detailed later in the section showing the
665 * definition of the transform structure (pg. 26).
668 intern_transform_t transforms[0x10]; /* offset 0x0200 */
673 u32 program_low[0x4000]; /* 0x00000 - 0x10000 */
674 jr3_channel_t data; /* 0x10000 - 0x10c00 */
675 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */
676 u32 program_high[0x8000]; /* 0x40000 - 0x60000 */
677 u32 reset; /* 0x60000 - 0x60004 */
678 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */