2 * comedi/drivers/jr3_pci.c
3 * hardware driver for JR3/PCI force sensor board
5 * COMEDI - Linux Control and Measurement Device Interface
6 * Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
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.
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.
20 * Description: JR3/PCI force sensor board
21 * Author: Anders Blomdell <anders.blomdell@control.lth.se>
22 * Updated: Thu, 01 Nov 2012 17:34:55 +0000
24 * Devices: [JR3] PCI force sensor board (jr3_pci)
26 * Configuration options:
29 * Manual configuration of comedi devices is not supported by this
30 * driver; supported PCI devices are configured as comedi devices
35 #include <linux/kernel.h>
36 #include <linux/module.h>
37 #include <linux/delay.h>
38 #include <linux/ctype.h>
39 #include <linux/jiffies.h>
40 #include <linux/slab.h>
41 #include <linux/timer.h>
43 #include "../comedi_pci.h"
47 #define PCI_VENDOR_ID_JR3 0x1762
49 enum jr3_pci_boardid {
56 struct jr3_pci_board {
61 static const struct jr3_pci_board jr3_pci_boards[] = {
80 struct jr3_pci_transform {
87 struct jr3_pci_poll_delay {
92 struct jr3_pci_dev_private {
93 struct timer_list timer;
96 union jr3_pci_single_range {
97 struct comedi_lrange l;
98 char _reserved[offsetof(struct comedi_lrange, range[1])];
101 enum jr3_pci_poll_state {
103 state_jr3_init_wait_for_offset,
104 state_jr3_init_transform_complete,
105 state_jr3_init_set_full_scale_complete,
106 state_jr3_init_use_offset_complete,
110 struct jr3_pci_subdev_private {
111 struct jr3_sensor __iomem *sensor;
112 unsigned long next_time_min;
113 enum jr3_pci_poll_state state;
116 union jr3_pci_single_range range[9];
117 const struct comedi_lrange *range_table_list[8 * 7 + 2];
118 unsigned int maxdata_list[8 * 7 + 2];
123 static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max)
125 struct jr3_pci_poll_delay result;
132 static int is_complete(struct jr3_sensor __iomem *sensor)
134 return get_s16(&sensor->command_word0) == 0;
137 static void set_transforms(struct jr3_sensor __iomem *sensor,
138 const struct jr3_pci_transform *transf, short num)
142 num &= 0x000f; /* Make sure that 0 <= num <= 15 */
143 for (i = 0; i < 8; i++) {
144 set_u16(&sensor->transforms[num].link[i].link_type,
145 transf->link[i].link_type);
147 set_s16(&sensor->transforms[num].link[i].link_amount,
148 transf->link[i].link_amount);
150 if (transf->link[i].link_type == end_x_form)
155 static void use_transform(struct jr3_sensor __iomem *sensor,
158 set_s16(&sensor->command_word0, 0x0500 + (transf_num & 0x000f));
161 static void use_offset(struct jr3_sensor __iomem *sensor, short offset_num)
163 set_s16(&sensor->command_word0, 0x0600 + (offset_num & 0x000f));
166 static void set_offset(struct jr3_sensor __iomem *sensor)
168 set_s16(&sensor->command_word0, 0x0700);
180 static void set_full_scales(struct jr3_sensor __iomem *sensor,
181 struct six_axis_t full_scale)
183 set_s16(&sensor->full_scale.fx, full_scale.fx);
184 set_s16(&sensor->full_scale.fy, full_scale.fy);
185 set_s16(&sensor->full_scale.fz, full_scale.fz);
186 set_s16(&sensor->full_scale.mx, full_scale.mx);
187 set_s16(&sensor->full_scale.my, full_scale.my);
188 set_s16(&sensor->full_scale.mz, full_scale.mz);
189 set_s16(&sensor->command_word0, 0x0a00);
192 static struct six_axis_t get_min_full_scales(struct jr3_sensor __iomem *sensor)
194 struct six_axis_t result;
196 result.fx = get_s16(&sensor->min_full_scale.fx);
197 result.fy = get_s16(&sensor->min_full_scale.fy);
198 result.fz = get_s16(&sensor->min_full_scale.fz);
199 result.mx = get_s16(&sensor->min_full_scale.mx);
200 result.my = get_s16(&sensor->min_full_scale.my);
201 result.mz = get_s16(&sensor->min_full_scale.mz);
205 static struct six_axis_t get_max_full_scales(struct jr3_sensor __iomem *sensor)
207 struct six_axis_t result;
209 result.fx = get_s16(&sensor->max_full_scale.fx);
210 result.fy = get_s16(&sensor->max_full_scale.fy);
211 result.fz = get_s16(&sensor->max_full_scale.fz);
212 result.mx = get_s16(&sensor->max_full_scale.mx);
213 result.my = get_s16(&sensor->max_full_scale.my);
214 result.mz = get_s16(&sensor->max_full_scale.mz);
218 static unsigned int jr3_pci_ai_read_chan(struct comedi_device *dev,
219 struct comedi_subdevice *s,
222 struct jr3_pci_subdev_private *spriv = s->private;
223 unsigned int val = 0;
225 if (spriv->state != state_jr3_done)
229 unsigned int axis = chan % 8;
230 unsigned int filter = chan / 8;
234 val = get_s16(&spriv->sensor->filter[filter].fx);
237 val = get_s16(&spriv->sensor->filter[filter].fy);
240 val = get_s16(&spriv->sensor->filter[filter].fz);
243 val = get_s16(&spriv->sensor->filter[filter].mx);
246 val = get_s16(&spriv->sensor->filter[filter].my);
249 val = get_s16(&spriv->sensor->filter[filter].mz);
252 val = get_s16(&spriv->sensor->filter[filter].v1);
255 val = get_s16(&spriv->sensor->filter[filter].v2);
259 } else if (chan == 56) {
260 val = get_u16(&spriv->sensor->model_no);
261 } else if (chan == 57) {
262 val = get_u16(&spriv->sensor->serial_no);
268 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
269 struct comedi_subdevice *s,
270 struct comedi_insn *insn,
273 struct jr3_pci_subdev_private *spriv = s->private;
274 unsigned int chan = CR_CHAN(insn->chanspec);
278 errors = get_u16(&spriv->sensor->errors);
279 if (spriv->state != state_jr3_done ||
280 (errors & (watch_dog | watch_dog2 | sensor_change))) {
281 /* No sensor or sensor changed */
282 if (spriv->state == state_jr3_done) {
283 /* Restart polling */
284 spriv->state = state_jr3_poll;
289 for (i = 0; i < insn->n; i++)
290 data[i] = jr3_pci_ai_read_chan(dev, s, chan);
295 static int jr3_pci_open(struct comedi_device *dev)
297 struct jr3_pci_subdev_private *spriv;
298 struct comedi_subdevice *s;
301 dev_dbg(dev->class_dev, "jr3_pci_open\n");
302 for (i = 0; i < dev->n_subdevices; i++) {
303 s = &dev->subdevices[i];
305 dev_dbg(dev->class_dev, "serial[%d]: %d\n", s->index,
311 static int read_idm_word(const u8 *data, size_t size, int *pos,
318 /* Skip over non hex */
319 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
323 for (; *pos < size; (*pos)++) {
324 value = hex_to_bin(data[*pos]);
327 *val = (*val << 4) + value;
336 static int jr3_check_firmware(struct comedi_device *dev,
337 const u8 *data, size_t size)
343 * IDM file format is:
344 * { count, address, data <count> } *
348 unsigned int count = 0;
349 unsigned int addr = 0;
351 more = more && read_idm_word(data, size, &pos, &count);
352 if (more && count == 0xffff)
355 more = more && read_idm_word(data, size, &pos, &addr);
356 while (more && count > 0) {
357 unsigned int dummy = 0;
359 more = more && read_idm_word(data, size, &pos, &dummy);
367 static void jr3_write_firmware(struct comedi_device *dev,
368 int subdev, const u8 *data, size_t size)
370 struct jr3_block __iomem *block = dev->mmio;
377 unsigned int count = 0;
378 unsigned int addr = 0;
380 more = more && read_idm_word(data, size, &pos, &count);
381 if (more && count == 0xffff)
384 more = more && read_idm_word(data, size, &pos, &addr);
386 dev_dbg(dev->class_dev, "Loading#%d %4.4x bytes at %4.4x\n",
387 subdev, count, addr);
389 while (more && count > 0) {
391 /* 16 bit data, never seen in real life!! */
392 unsigned int data1 = 0;
395 read_idm_word(data, size, &pos, &data1);
397 /* jr3[addr + 0x20000 * pnum] = data1; */
399 /* Download 24 bit program */
400 unsigned int data1 = 0;
401 unsigned int data2 = 0;
403 lo = &block[subdev].program_lo[addr];
404 hi = &block[subdev].program_hi[addr];
407 read_idm_word(data, size, &pos, &data1);
409 read_idm_word(data, size, &pos, &data2);
423 static int jr3_download_firmware(struct comedi_device *dev,
424 const u8 *data, size_t size,
425 unsigned long context)
430 /* verify IDM file format */
431 ret = jr3_check_firmware(dev, data, size);
435 /* write firmware to each subdevice */
436 for (subdev = 0; subdev < dev->n_subdevices; subdev++)
437 jr3_write_firmware(dev, subdev, data, size);
442 static struct jr3_pci_poll_delay
443 jr3_pci_poll_subdevice(struct comedi_subdevice *s)
445 struct jr3_pci_subdev_private *spriv = s->private;
446 struct jr3_pci_poll_delay result = poll_delay_min_max(1000, 2000);
447 struct jr3_sensor __iomem *sensor;
453 sensor = spriv->sensor;
454 errors = get_u16(&sensor->errors);
456 if (errors != spriv->errors)
457 spriv->errors = errors;
459 /* Sensor communication lost? force poll mode */
460 if (errors & (watch_dog | watch_dog2 | sensor_change))
461 spriv->state = state_jr3_poll;
463 switch (spriv->state) {
465 model_no = get_u16(&sensor->model_no);
466 serial_no = get_u16(&sensor->serial_no);
468 if ((errors & (watch_dog | watch_dog2)) ||
469 model_no == 0 || serial_no == 0) {
471 * Still no sensor, keep on polling.
472 * Since it takes up to 10 seconds for offsets to
473 * stabilize, polling each second should suffice.
477 spriv->state = state_jr3_init_wait_for_offset;
480 case state_jr3_init_wait_for_offset:
482 if (spriv->retries < 10) {
484 * Wait for offeset to stabilize
485 * (< 10 s according to manual)
488 struct jr3_pci_transform transf;
490 spriv->model_no = get_u16(&sensor->model_no);
491 spriv->serial_no = get_u16(&sensor->serial_no);
493 /* Transformation all zeros */
494 for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
495 transf.link[i].link_type = (enum link_types)0;
496 transf.link[i].link_amount = 0;
499 set_transforms(sensor, &transf, 0);
500 use_transform(sensor, 0);
501 spriv->state = state_jr3_init_transform_complete;
502 /* Allow 20 ms for completion */
503 result = poll_delay_min_max(20, 100);
506 case state_jr3_init_transform_complete:
507 if (!is_complete(sensor)) {
508 result = poll_delay_min_max(20, 100);
511 struct six_axis_t min_full_scale;
512 struct six_axis_t max_full_scale;
514 min_full_scale = get_min_full_scales(sensor);
515 max_full_scale = get_max_full_scales(sensor);
516 set_full_scales(sensor, max_full_scale);
518 spriv->state = state_jr3_init_set_full_scale_complete;
519 /* Allow 20 ms for completion */
520 result = poll_delay_min_max(20, 100);
523 case state_jr3_init_set_full_scale_complete:
524 if (!is_complete(sensor)) {
525 result = poll_delay_min_max(20, 100);
527 struct force_array __iomem *fs = &sensor->full_scale;
528 union jr3_pci_single_range *r = spriv->range;
530 /* Use ranges in kN or we will overflow around 2000N! */
531 r[0].l.range[0].min = -get_s16(&fs->fx) * 1000;
532 r[0].l.range[0].max = get_s16(&fs->fx) * 1000;
533 r[1].l.range[0].min = -get_s16(&fs->fy) * 1000;
534 r[1].l.range[0].max = get_s16(&fs->fy) * 1000;
535 r[2].l.range[0].min = -get_s16(&fs->fz) * 1000;
536 r[2].l.range[0].max = get_s16(&fs->fz) * 1000;
537 r[3].l.range[0].min = -get_s16(&fs->mx) * 100;
538 r[3].l.range[0].max = get_s16(&fs->mx) * 100;
539 r[4].l.range[0].min = -get_s16(&fs->my) * 100;
540 r[4].l.range[0].max = get_s16(&fs->my) * 100;
541 r[5].l.range[0].min = -get_s16(&fs->mz) * 100;
542 /* the next five are questionable */
543 r[5].l.range[0].max = get_s16(&fs->mz) * 100;
544 r[6].l.range[0].min = -get_s16(&fs->v1) * 100;
545 r[6].l.range[0].max = get_s16(&fs->v1) * 100;
546 r[7].l.range[0].min = -get_s16(&fs->v2) * 100;
547 r[7].l.range[0].max = get_s16(&fs->v2) * 100;
548 r[8].l.range[0].min = 0;
549 r[8].l.range[0].max = 65535;
551 use_offset(sensor, 0);
552 spriv->state = state_jr3_init_use_offset_complete;
553 /* Allow 40 ms for completion */
554 result = poll_delay_min_max(40, 100);
557 case state_jr3_init_use_offset_complete:
558 if (!is_complete(sensor)) {
559 result = poll_delay_min_max(20, 100);
561 set_s16(&sensor->offsets.fx, 0);
562 set_s16(&sensor->offsets.fy, 0);
563 set_s16(&sensor->offsets.fz, 0);
564 set_s16(&sensor->offsets.mx, 0);
565 set_s16(&sensor->offsets.my, 0);
566 set_s16(&sensor->offsets.mz, 0);
570 spriv->state = state_jr3_done;
574 result = poll_delay_min_max(10000, 20000);
583 static void jr3_pci_poll_dev(unsigned long data)
585 struct comedi_device *dev = (struct comedi_device *)data;
586 struct jr3_pci_dev_private *devpriv = dev->private;
587 struct jr3_pci_subdev_private *spriv;
588 struct comedi_subdevice *s;
594 spin_lock_irqsave(&dev->spinlock, flags);
598 /* Poll all sensors that are ready to be polled */
599 for (i = 0; i < dev->n_subdevices; i++) {
600 s = &dev->subdevices[i];
603 if (time_after_eq(now, spriv->next_time_min)) {
604 struct jr3_pci_poll_delay sub_delay;
606 sub_delay = jr3_pci_poll_subdevice(s);
608 spriv->next_time_min = jiffies +
609 msecs_to_jiffies(sub_delay.min);
611 if (sub_delay.max && sub_delay.max < delay)
613 * Wake up as late as possible ->
614 * poll as many sensors as possible at once.
616 delay = sub_delay.max;
619 spin_unlock_irqrestore(&dev->spinlock, flags);
621 devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
622 add_timer(&devpriv->timer);
625 static struct jr3_pci_subdev_private *
626 jr3_pci_alloc_spriv(struct comedi_device *dev, struct comedi_subdevice *s)
628 struct jr3_block __iomem *block = dev->mmio;
629 struct jr3_pci_subdev_private *spriv;
633 spriv = comedi_alloc_spriv(s, sizeof(*spriv));
637 spriv->sensor = &block[s->index].sensor;
639 for (j = 0; j < 8; j++) {
640 spriv->range[j].l.length = 1;
641 spriv->range[j].l.range[0].min = -1000000;
642 spriv->range[j].l.range[0].max = 1000000;
644 for (k = 0; k < 7; k++) {
645 spriv->range_table_list[j + k * 8] = &spriv->range[j].l;
646 spriv->maxdata_list[j + k * 8] = 0x7fff;
649 spriv->range[8].l.length = 1;
650 spriv->range[8].l.range[0].min = 0;
651 spriv->range[8].l.range[0].max = 65535;
653 spriv->range_table_list[56] = &spriv->range[8].l;
654 spriv->range_table_list[57] = &spriv->range[8].l;
655 spriv->maxdata_list[56] = 0xffff;
656 spriv->maxdata_list[57] = 0xffff;
661 static void jr3_pci_show_copyright(struct comedi_device *dev)
663 struct jr3_block __iomem *block = dev->mmio;
664 struct jr3_sensor __iomem *sensor0 = &block[0].sensor;
665 char copy[ARRAY_SIZE(sensor0->copyright) + 1];
668 for (i = 0; i < ARRAY_SIZE(sensor0->copyright); i++)
669 copy[i] = (char)(get_u16(&sensor0->copyright[i]) >> 8);
671 dev_dbg(dev->class_dev, "Firmware copyright: %s\n", copy);
674 static int jr3_pci_auto_attach(struct comedi_device *dev,
675 unsigned long context)
677 struct pci_dev *pcidev = comedi_to_pci_dev(dev);
678 static const struct jr3_pci_board *board;
679 struct jr3_pci_dev_private *devpriv;
680 struct jr3_pci_subdev_private *spriv;
681 struct jr3_block __iomem *block;
682 struct comedi_subdevice *s;
686 BUILD_BUG_ON(sizeof(struct jr3_block) != 0x80000);
688 if (context < ARRAY_SIZE(jr3_pci_boards))
689 board = &jr3_pci_boards[context];
692 dev->board_ptr = board;
693 dev->board_name = board->name;
695 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
699 ret = comedi_pci_enable(dev);
703 if (pci_resource_len(pcidev, 0) < board->n_subdevs * sizeof(*block))
706 dev->mmio = pci_ioremap_bar(pcidev, 0);
712 ret = comedi_alloc_subdevices(dev, board->n_subdevs);
716 dev->open = jr3_pci_open;
717 for (i = 0; i < dev->n_subdevices; i++) {
718 s = &dev->subdevices[i];
719 s->type = COMEDI_SUBD_AI;
720 s->subdev_flags = SDF_READABLE | SDF_GROUND;
721 s->n_chan = 8 * 7 + 2;
722 s->insn_read = jr3_pci_ai_insn_read;
724 spriv = jr3_pci_alloc_spriv(dev, s);
728 /* Channel specific range and maxdata */
729 s->range_table_list = spriv->range_table_list;
730 s->maxdata_list = spriv->maxdata_list;
734 for (i = 0; i < dev->n_subdevices; i++)
735 writel(0, &block[i].reset);
737 ret = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
739 jr3_download_firmware, 0);
740 dev_dbg(dev->class_dev, "Firmware load %d\n", ret);
744 * TODO: use firmware to load preferred offset tables. Suggested
746 * model serial Fx Fy Fz Mx My Mz\n
748 * comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
749 * "comedi/jr3_offsets_table",
750 * jr3_download_firmware, 1);
754 * It takes a few milliseconds for software to settle as much as we
755 * can read firmware version
757 msleep_interruptible(25);
758 jr3_pci_show_copyright(dev);
760 /* Start card timer */
761 for (i = 0; i < dev->n_subdevices; i++) {
762 s = &dev->subdevices[i];
765 spriv->next_time_min = jiffies + msecs_to_jiffies(500);
768 setup_timer(&devpriv->timer, jr3_pci_poll_dev, (unsigned long)dev);
769 devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
770 add_timer(&devpriv->timer);
775 static void jr3_pci_detach(struct comedi_device *dev)
777 struct jr3_pci_dev_private *devpriv = dev->private;
780 del_timer_sync(&devpriv->timer);
782 comedi_pci_detach(dev);
785 static struct comedi_driver jr3_pci_driver = {
786 .driver_name = "jr3_pci",
787 .module = THIS_MODULE,
788 .auto_attach = jr3_pci_auto_attach,
789 .detach = jr3_pci_detach,
792 static int jr3_pci_pci_probe(struct pci_dev *dev,
793 const struct pci_device_id *id)
795 return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
798 static const struct pci_device_id jr3_pci_pci_table[] = {
799 { PCI_VDEVICE(JR3, 0x1111), BOARD_JR3_1 },
800 { PCI_VDEVICE(JR3, 0x3111), BOARD_JR3_1 },
801 { PCI_VDEVICE(JR3, 0x3112), BOARD_JR3_2 },
802 { PCI_VDEVICE(JR3, 0x3113), BOARD_JR3_3 },
803 { PCI_VDEVICE(JR3, 0x3114), BOARD_JR3_4 },
806 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
808 static struct pci_driver jr3_pci_pci_driver = {
810 .id_table = jr3_pci_pci_table,
811 .probe = jr3_pci_pci_probe,
812 .remove = comedi_pci_auto_unconfig,
814 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
816 MODULE_AUTHOR("Comedi http://www.comedi.org");
817 MODULE_DESCRIPTION("Comedi driver for JR3/PCI force sensor board");
818 MODULE_LICENSE("GPL");