2 * Helper types to take care of the fact that the DSP card memory
3 * is 16 bits, but aligned on a 32 bit PCI boundary
6 static inline u16 get_u16(const u32 __iomem *p)
11 static inline void set_u16(u32 __iomem *p, u16 val)
16 static inline s16 get_s16(const s32 __iomem *p)
21 static inline void set_s16(s32 __iomem *p, s16 val)
27 * The raw data is stored in a format which facilitates rapid
28 * processing by the JR3 DSP chip. The raw_channel structure shows the
29 * format for a single channel of data. Each channel takes four,
32 * Raw_time is an unsigned integer which shows the value of the JR3
33 * DSP's internal clock at the time the sample was received. The clock
34 * runs at 1/10 the JR3 DSP cycle time. JR3's slowest DSP runs at 10
35 * Mhz. At 10 Mhz raw_time would therefore clock at 1 Mhz.
37 * Raw_data is the raw data received directly from the sensor. The
38 * sensor data stream is capable of representing 16 different
39 * channels. Channel 0 shows the excitation voltage at the sensor. It
40 * is used to regulate the voltage over various cable lengths.
41 * Channels 1-6 contain the coupled force data Fx through Mz. Channel
42 * 7 contains the sensor's calibration data. The use of channels 8-15
43 * varies with different sensors.
53 * The force_array structure shows the layout for the decoupled and
54 * filtered force data.
68 * The six_axis_array structure shows the layout for the offsets and
71 struct six_axis_array {
82 * The vect_bits structure shows the layout for indicating
83 * which axes to use in computing the vectors. Each bit signifies
84 * selection of a single axis. The V1x axis bit corresponds to a hex
85 * value of 0x0001 and the V2z bit corresponds to a hex value of
86 * 0x0020. Example: to specify the axes V1x, V1y, V2x, and V2z the
87 * pattern would be 0x002b. Vector 1 defaults to a force vector and
88 * vector 2 defaults to a moment vector. It is possible to change one
89 * or the other so that two force vectors or two moment vectors are
90 * calculated. Setting the changeV1 bit or the changeV2 bit will
91 * change that vector to be the opposite of its default. Therefore to
92 * have two force vectors, set changeV1 to 1.
95 /* vect_bits appears to be unused at this time */
109 * The warning_bits structure shows the bit pattern for the warning
110 * word. The bit fields are shown from bit 0 (lsb) to bit 15 (msb).
115 * The xx_near_sat bits signify that the indicated axis has reached or
116 * exceeded the near saturation value.
120 fx_near_sat = 0x0001,
121 fy_near_sat = 0x0002,
122 fz_near_sat = 0x0004,
123 mx_near_sat = 0x0008,
124 my_near_sat = 0x0010,
134 * The error_bits structure shows the bit pattern for the error word.
135 * The bit fields are shown from bit 0 (lsb) to bit 15 (msb). The
136 * xx_sat bits signify that the indicated axis has reached or exceeded
137 * the saturation value. The memory_error bit indicates that a problem
138 * was detected in the on-board RAM during the power-up
139 * initialization. The sensor_change bit indicates that a sensor other
140 * than the one originally plugged in has passed its CRC check. This
141 * bit latches, and must be reset by the user.
148 * The system_busy bit indicates that the JR3 DSP is currently busy
149 * and is not calculating force data. This occurs when a new
150 * coordinate transformation, or new sensor full scale is set by the
151 * user. A very fast system using the force data for feedback might
152 * become unstable during the approximately 4 ms needed to accomplish
153 * these calculations. This bit will also become active when a new
154 * sensor is plugged in and the system needs to recalculate the
161 * The cal_crc_bad bit indicates that the calibration CRC has not
162 * calculated to zero. CRC is short for cyclic redundancy code. It is
163 * a method for determining the integrity of messages in data
164 * communication. The calibration data stored inside the sensor is
165 * transmitted to the JR3 DSP along with the sensor data. The
166 * calibration data has a CRC attached to the end of it, to assist in
167 * determining the completeness and integrity of the calibration data
168 * received from the sensor. There are two reasons the CRC may not
169 * have calculated to zero. The first is that all the calibration data
170 * has not yet been received, the second is that the calibration data
171 * has been corrupted. A typical sensor transmits the entire contents
172 * of its calibration matrix over 30 times a second. Therefore, if
173 * this bit is not zero within a couple of seconds after the sensor
174 * has been plugged in, there is a problem with the sensor's
182 * The watch_dog and watch_dog2 bits are sensor, not processor, watch
183 * dog bits. Watch_dog indicates that the sensor data line seems to be
184 * acting correctly, while watch_dog2 indicates that sensor data and
185 * clock are being received. It is possible for watch_dog2 to go off
186 * while watch_dog does not. This would indicate an improper clock
187 * signal, while data is acting correctly. If either watch dog barks,
188 * the sensor data is not being received correctly.
198 memory_error = 0x0400,
199 sensor_change = 0x0800,
200 system_busy = 0x1000,
201 cal_crc_bad = 0x2000,
209 * This structure shows the layout for a single threshold packet inside of a
210 * load envelope. Each load envelope can contain several threshold structures.
211 * 1. data_address contains the address of the data for that threshold. This
212 * includes filtered, unfiltered, raw, rate, counters, error and warning data
213 * 2. threshold is the is the value at which, if data is above or below, the
214 * bits will be set ... (pag.24).
215 * 3. bit_pattern contains the bits that will be set if the threshold value is
219 struct thresh_struct {
228 * Layout of a load enveloped packet. Four thresholds are showed ... for more
229 * see manual (pag.25)
230 * 1. latch_bits is a bit pattern that show which bits the user wants to latch.
231 * The latched bits will not be reset once the threshold which set them is
232 * no longer true. In that case the user must reset them using the reset_bit
234 * 2. number_of_xx_thresholds specify how many GE/LE threshold there are.
238 s32 number_of_ge_thresholds;
239 s32 number_of_le_thresholds;
240 struct thresh_struct thresholds[4];
246 * Link types is an enumerated value showing the different possible transform
248 * 0 - end transform packet
249 * 1 - translate along X axis (TX)
250 * 2 - translate along Y axis (TY)
251 * 3 - translate along Z axis (TZ)
252 * 4 - rotate about X axis (RX)
253 * 5 - rotate about Y axis (RY)
254 * 6 - rotate about Z axis (RZ)
255 * 7 - negate all axes (NEG)
270 /* Structure used to describe a transform. */
271 struct intern_transform {
279 * JR3 force/torque sensor data definition. For more information see sensor
280 * and hardware manuals.
285 * Raw_channels is the area used to store the raw data coming from
289 struct raw_channel raw_channels[16]; /* offset 0x0000 */
292 * Copyright is a null terminated ASCII string containing the JR3
296 u32 copyright[0x0018]; /* offset 0x0040 */
297 s32 reserved1[0x0008]; /* offset 0x0058 */
300 * Shunts contains the sensor shunt readings. Some JR3 sensors have
301 * the ability to have their gains adjusted. This allows the
302 * hardware full scales to be adjusted to potentially allow
303 * better resolution or dynamic range. For sensors that have
304 * this ability, the gain of each sensor channel is measured at
305 * the time of calibration using a shunt resistor. The shunt
306 * resistor is placed across one arm of the resistor bridge, and
307 * the resulting change in the output of that channel is
308 * measured. This measurement is called the shunt reading, and
309 * is recorded here. If the user has changed the gain of the //
310 * sensor, and made new shunt measurements, those shunt
311 * measurements can be placed here. The JR3 DSP will then scale
312 * the calibration matrix such so that the gains are again
313 * proper for the indicated shunt readings. If shunts is 0, then
314 * the sensor cannot have its gain changed. For details on
315 * changing the sensor gain, and making shunts readings, please
316 * see the sensor manual. To make these values take effect the
317 * user must call either command (5) use transform # (pg. 33) or
318 * command (10) set new full scales (pg. 38).
321 struct six_axis_array shunts; /* offset 0x0060 */
322 s32 reserved2[2]; /* offset 0x0066 */
325 * Default_FS contains the full scale that is used if the user does
326 * not set a full scale.
329 struct six_axis_array default_FS; /* offset 0x0068 */
330 s32 reserved3; /* offset 0x006e */
333 * Load_envelope_num is the load envelope number that is currently
334 * in use. This value is set by the user after one of the load
335 * envelopes has been initialized.
338 s32 load_envelope_num; /* offset 0x006f */
340 /* Min_full_scale is the recommend minimum full scale. */
343 * These values in conjunction with max_full_scale (pg. 9) helps
344 * determine the appropriate value for setting the full scales. The
345 * software allows the user to set the sensor full scale to an
346 * arbitrary value. But setting the full scales has some hazards. If
347 * the full scale is set too low, the data will saturate
348 * prematurely, and dynamic range will be lost. If the full scale is
349 * set too high, then resolution is lost as the data is shifted to
350 * the right and the least significant bits are lost. Therefore the
351 * maximum full scale is the maximum value at which no resolution is
352 * lost, and the minimum full scale is the value at which the data
353 * will not saturate prematurely. These values are calculated
354 * whenever a new coordinate transformation is calculated. It is
355 * possible for the recommended maximum to be less than the
356 * recommended minimum. This comes about primarily when using
357 * coordinate translations. If this is the case, it means that any
358 * full scale selection will be a compromise between dynamic range
359 * and resolution. It is usually recommended to compromise in favor
360 * of resolution which means that the recommend maximum full scale
363 * WARNING: Be sure that the full scale is no less than 0.4% of the
364 * recommended minimum full scale. Full scales below this value will
365 * cause erroneous results.
368 struct six_axis_array min_full_scale; /* offset 0x0070 */
369 s32 reserved4; /* offset 0x0076 */
372 * Transform_num is the transform number that is currently in use.
373 * This value is set by the JR3 DSP after the user has used command
374 * (5) use transform # (pg. 33).
377 s32 transform_num; /* offset 0x0077 */
380 * Max_full_scale is the recommended maximum full scale.
381 * See min_full_scale (pg. 9) for more details.
384 struct six_axis_array max_full_scale; /* offset 0x0078 */
385 s32 reserved5; /* offset 0x007e */
388 * Peak_address is the address of the data which will be monitored
389 * by the peak routine. This value is set by the user. The peak
390 * routine will monitor any 8 contiguous addresses for peak values.
391 * (ex. to watch filter3 data for peaks, set this value to 0x00a8).
394 s32 peak_address; /* offset 0x007f */
397 * Full_scale is the sensor full scales which are currently in use.
398 * Decoupled and filtered data is scaled so that +/- 16384 is equal
399 * to the full scales. The engineering units used are indicated by
400 * the units value discussed on page 16. The full scales for Fx, Fy,
401 * Fz, Mx, My and Mz can be written by the user prior to calling
402 * command (10) set new full scales (pg. 38). The full scales for V1
403 * and V2 are set whenever the full scales are changed or when the
404 * axes used to calculate the vectors are changed. The full scale of
405 * V1 and V2 will always be equal to the largest full scale of the
406 * axes used for each vector respectively.
409 struct force_array full_scale; /* offset 0x0080 */
412 * Offsets contains the sensor offsets. These values are subtracted from
413 * the sensor data to obtain the decoupled data. The offsets are set a
414 * few seconds (< 10) after the calibration data has been received.
415 * They are set so that the output data will be zero. These values
416 * can be written as well as read. The JR3 DSP will use the values
417 * written here within 2 ms of being written. To set future
418 * decoupled data to zero, add these values to the current decoupled
419 * data values and place the sum here. The JR3 DSP will change these
420 * values when a new transform is applied. So if the offsets are
421 * such that FX is 5 and all other values are zero, after rotating
422 * about Z by 90 degrees, FY would be 5 and all others would be zero.
425 struct six_axis_array offsets; /* offset 0x0088 */
428 * Offset_num is the number of the offset currently in use. This
429 * value is set by the JR3 DSP after the user has executed the use
430 * offset # command (pg. 34). It can vary between 0 and 15.
433 s32 offset_num; /* offset 0x008e */
436 * Vect_axes is a bit map showing which of the axes are being used
437 * in the vector calculations. This value is set by the JR3 DSP
438 * after the user has executed the set vector axes command (pg. 37).
441 u32 vect_axes; /* offset 0x008f */
444 * Filter0 is the decoupled, unfiltered data from the JR3 sensor.
445 * This data has had the offsets removed.
447 * These force_arrays hold the filtered data. The decoupled data is
448 * passed through cascaded low pass filters. Each succeeding filter
449 * has a cutoff frequency of 1/4 of the preceding filter. The cutoff
450 * frequency of filter1 is 1/16 of the sample rate from the sensor.
451 * For a typical sensor with a sample rate of 8 kHz, the cutoff
452 * frequency of filter1 would be 500 Hz. The following filters would
453 * cutoff at 125 Hz, 31.25 Hz, 7.813 Hz, 1.953 Hz and 0.4883 Hz.
456 struct force_array filter[7]; /*
467 * Rate_data is the calculated rate data. It is a first derivative
468 * calculation. It is calculated at a frequency specified by the
469 * variable rate_divisor (pg. 12). The data on which the rate is
470 * calculated is specified by the variable rate_address (pg. 12).
473 struct force_array rate_data; /* offset 0x00c8 */
476 * Minimum_data & maximum_data are the minimum and maximum (peak)
477 * data values. The JR3 DSP can monitor any 8 contiguous data items
478 * for minimums and maximums at full sensor bandwidth. This area is
479 * only updated at user request. This is done so that the user does
480 * not miss any peaks. To read the data, use either the read peaks
481 * command (pg. 40), or the read and reset peaks command (pg. 39).
482 * The address of the data to watch for peaks is stored in the
483 * variable peak_address (pg. 10). Peak data is lost when executing
484 * a coordinate transformation or a full scale change. Peak data is
485 * also lost when plugging in a new sensor.
488 struct force_array minimum_data; /* offset 0x00d0 */
489 struct force_array maximum_data; /* offset 0x00d8 */
492 * Near_sat_value & sat_value contain the value used to determine if
493 * the raw sensor is saturated. Because of decoupling and offset
494 * removal, it is difficult to tell from the processed data if the
495 * sensor is saturated. These values, in conjunction with the error
496 * and warning words (pg. 14), provide this critical information.
497 * These two values may be set by the host processor. These values
498 * are positive signed values, since the saturation logic uses the
499 * absolute values of the raw data. The near_sat_value defaults to
500 * approximately 80% of the ADC's full scale, which is 26214, while
501 * sat_value defaults to the ADC's full scale:
503 * sat_value = 32768 - 2^(16 - ADC bits)
506 s32 near_sat_value; /* offset 0x00e0 */
507 s32 sat_value; /* offset 0x00e1 */
510 * Rate_address, rate_divisor & rate_count contain the data used to
511 * control the calculations of the rates. Rate_address is the
512 * address of the data used for the rate calculation. The JR3 DSP
513 * will calculate rates for any 8 contiguous values (ex. to
514 * calculate rates for filter3 data set rate_address to 0x00a8).
515 * Rate_divisor is how often the rate is calculated. If rate_divisor
516 * is 1, the rates are calculated at full sensor bandwidth. If
517 * rate_divisor is 200, rates are calculated every 200 samples.
518 * Rate_divisor can be any value between 1 and 65536. Set
519 * rate_divisor to 0 to calculate rates every 65536 samples.
520 * Rate_count starts at zero and counts until it equals
521 * rate_divisor, at which point the rates are calculated, and
522 * rate_count is reset to 0. When setting a new rate divisor, it is
523 * a good idea to set rate_count to one less than rate divisor. This
524 * will minimize the time necessary to start the rate calculations.
527 s32 rate_address; /* offset 0x00e2 */
528 u32 rate_divisor; /* offset 0x00e3 */
529 u32 rate_count; /* offset 0x00e4 */
532 * Command_word2 through command_word0 are the locations used to
533 * send commands to the JR3 DSP. Their usage varies with the command
534 * and is detailed later in the Command Definitions section (pg.
535 * 29). In general the user places values into various memory
536 * locations, and then places the command word into command_word0.
537 * The JR3 DSP will process the command and place a 0 into
538 * command_word0 to indicate successful completion. Alternatively
539 * the JR3 DSP will place a negative number into command_word0 to
540 * indicate an error condition. Please note the command locations
541 * are numbered backwards. (I.E. command_word2 comes before
545 s32 command_word2; /* offset 0x00e5 */
546 s32 command_word1; /* offset 0x00e6 */
547 s32 command_word0; /* offset 0x00e7 */
550 * Count1 through count6 are unsigned counters which are incremented
551 * every time the matching filters are calculated. Filter1 is
552 * calculated at the sensor data bandwidth. So this counter would
553 * increment at 8 kHz for a typical sensor. The rest of the counters
554 * are incremented at 1/4 the interval of the counter immediately
555 * preceding it, so they would count at 2 kHz, 500 Hz, 125 Hz etc.
556 * These counters can be used to wait for data. Each time the
557 * counter changes, the corresponding data set can be sampled, and
558 * this will insure that the user gets each sample, once, and only
562 u32 count1; /* offset 0x00e8 */
563 u32 count2; /* offset 0x00e9 */
564 u32 count3; /* offset 0x00ea */
565 u32 count4; /* offset 0x00eb */
566 u32 count5; /* offset 0x00ec */
567 u32 count6; /* offset 0x00ed */
570 * Error_count is a running count of data reception errors. If this
571 * counter is changing rapidly, it probably indicates a bad sensor
572 * cable connection or other hardware problem. In most installations
573 * error_count should not change at all. But it is possible in an
574 * extremely noisy environment to experience occasional errors even
575 * without a hardware problem. If the sensor is well grounded, this
576 * is probably unavoidable in these environments. On the occasions
577 * where this counter counts a bad sample, that sample is ignored.
580 u32 error_count; /* offset 0x00ee */
583 * Count_x is a counter which is incremented every time the JR3 DSP
584 * searches its job queues and finds nothing to do. It indicates the
585 * amount of idle time the JR3 DSP has available. It can also be
586 * used to determine if the JR3 DSP is alive. See the Performance
587 * Issues section on pg. 49 for more details.
590 u32 count_x; /* offset 0x00ef */
593 * Warnings & errors contain the warning and error bits
594 * respectively. The format of these two words is discussed on page
595 * 21 under the headings warnings_bits and error_bits.
598 u32 warnings; /* offset 0x00f0 */
599 u32 errors; /* offset 0x00f1 */
602 * Threshold_bits is a word containing the bits that are set by the
603 * load envelopes. See load_envelopes (pg. 17) and thresh_struct
604 * (pg. 23) for more details.
607 s32 threshold_bits; /* offset 0x00f2 */
610 * Last_crc is the value that shows the actual calculated CRC. CRC
611 * is short for cyclic redundancy code. It should be zero. See the
612 * description for cal_crc_bad (pg. 21) for more information.
615 s32 last_CRC; /* offset 0x00f3 */
618 * EEProm_ver_no contains the version number of the sensor EEProm.
619 * EEProm version numbers can vary between 0 and 255.
620 * Software_ver_no contains the software version number. Version
621 * 3.02 would be stored as 302.
624 s32 eeprom_ver_no; /* offset 0x00f4 */
625 s32 software_ver_no; /* offset 0x00f5 */
628 * Software_day & software_year are the release date of the software
629 * the JR3 DSP is currently running. Day is the day of the year,
630 * with January 1 being 1, and December 31, being 365 for non leap
634 s32 software_day; /* offset 0x00f6 */
635 s32 software_year; /* offset 0x00f7 */
638 * Serial_no & model_no are the two values which uniquely identify a
639 * sensor. This model number does not directly correspond to the JR3
640 * model number, but it will provide a unique identifier for
641 * different sensor configurations.
644 u32 serial_no; /* offset 0x00f8 */
645 u32 model_no; /* offset 0x00f9 */
648 * Cal_day & cal_year are the sensor calibration date. Day is the
649 * day of the year, with January 1 being 1, and December 31, being
650 * 366 for leap years.
653 s32 cal_day; /* offset 0x00fa */
654 s32 cal_year; /* offset 0x00fb */
657 * Units is an enumerated read only value defining the engineering
658 * units used in the sensor full scale. The meanings of particular
659 * values are discussed in the section detailing the force_units
660 * structure on page 22. The engineering units are setto customer
661 * specifications during sensor manufacture and cannot be changed by
664 * Bits contains the number of bits of resolution of the ADC
667 * Channels is a bit field showing which channels the current sensor
668 * is capable of sending. If bit 0 is active, this sensor can send
669 * channel 0, if bit 13 is active, this sensor can send channel 13,
670 * etc. This bit can be active, even if the sensor is not currently
671 * sending this channel. Some sensors are configurable as to which
672 * channels to send, and this field only contains information on the
673 * channels available to send, not on the current configuration. To
674 * find which channels are currently being sent, monitor the
675 * Raw_time fields (pg. 19) in the raw_channels array (pg. 7). If
676 * the time is changing periodically, then that channel is being
680 u32 units; /* offset 0x00fc */
681 s32 bits; /* offset 0x00fd */
682 s32 channels; /* offset 0x00fe */
685 * Thickness specifies the overall thickness of the sensor from
686 * flange to flange. The engineering units for this value are
687 * contained in units (pg. 16). The sensor calibration is relative
688 * to the center of the sensor. This value allows easy coordinate
689 * transformation from the center of the sensor to either flange.
692 s32 thickness; /* offset 0x00ff */
695 * Load_envelopes is a table containing the load envelope
696 * descriptions. There are 16 possible load envelope slots in the
697 * table. The slots are on 16 word boundaries and are numbered 0-15.
698 * Each load envelope needs to start at the beginning of a slot but
699 * need not be fully contained in that slot. That is to say that a
700 * single load envelope can be larger than a single slot. The
701 * software has been tested and ran satisfactorily with 50
702 * thresholds active. A single load envelope this large would take
703 * up 5 of the 16 slots. The load envelope data is laid out in an
704 * order that is most efficient for the JR3 DSP. The structure is
705 * detailed later in the section showing the definition of the
706 * le_struct structure (pg. 23).
709 struct le_struct load_envelopes[0x10]; /* offset 0x0100 */
712 * Transforms is a table containing the transform descriptions.
713 * There are 16 possible transform slots in the table. The slots are
714 * on 16 word boundaries and are numbered 0-15. Each transform needs
715 * to start at the beginning of a slot but need not be fully
716 * contained in that slot. That is to say that a single transform
717 * can be larger than a single slot. A transform is 2 * no of links
718 * + 1 words in length. So a single slot can contain a transform
719 * with 7 links. Two slots can contain a transform that is 15 links.
720 * The layout is detailed later in the section showing the
721 * definition of the transform structure (pg. 26).
724 struct intern_transform transforms[0x10]; /* offset 0x0200 */
729 u32 program_lo[0x4000]; /* 0x00000 - 0x10000 */
730 struct jr3_channel data; /* 0x10000 - 0x10c00 */
731 char pad2[0x30000 - 0x00c00]; /* 0x10c00 - 0x40000 */
732 u32 program_hi[0x8000]; /* 0x40000 - 0x60000 */
733 u32 reset; /* 0x60000 - 0x60004 */
734 char pad3[0x20000 - 0x00004]; /* 0x60004 - 0x80000 */