/drivers/staging/comedi/drivers/jr3_pci.c
https://bitbucket.org/wisechild/galaxy-nexus · C · 1026 lines · 838 code · 102 blank · 86 comment · 131 complexity · ce4ceeb43a2fcc36ff0913df66f2b9fd MD5 · raw file
- /*
- comedi/drivers/jr3_pci.c
- hardware driver for JR3/PCI force sensor board
- COMEDI - Linux Control and Measurement Device Interface
- Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
- */
- /*
- Driver: jr3_pci
- Description: JR3/PCI force sensor board
- Author: Anders Blomdell <anders.blomdell@control.lth.se>
- Status: works
- Devices: [JR3] PCI force sensor board (jr3_pci)
- The DSP on the board requires initialization code, which can
- be loaded by placing it in /lib/firmware/comedi.
- The initialization code should be somewhere on the media you got
- with your card. One version is available from http://www.comedi.org
- in the comedi_nonfree_firmware tarball.
- Configuration options:
- [0] - PCI bus number - if bus number and slot number are 0,
- then driver search for first unused card
- [1] - PCI slot number
- */
- #include "../comedidev.h"
- #include <linux/delay.h>
- #include <linux/ctype.h>
- #include <linux/firmware.h>
- #include <linux/jiffies.h>
- #include <linux/slab.h>
- #include <linux/timer.h>
- #include <linux/kernel.h>
- #include "comedi_pci.h"
- #include "jr3_pci.h"
- #define PCI_VENDOR_ID_JR3 0x1762
- #define PCI_DEVICE_ID_JR3_1_CHANNEL 0x3111
- #define PCI_DEVICE_ID_JR3_1_CHANNEL_NEW 0x1111
- #define PCI_DEVICE_ID_JR3_2_CHANNEL 0x3112
- #define PCI_DEVICE_ID_JR3_3_CHANNEL 0x3113
- #define PCI_DEVICE_ID_JR3_4_CHANNEL 0x3114
- static int jr3_pci_attach(struct comedi_device *dev,
- struct comedi_devconfig *it);
- static int jr3_pci_detach(struct comedi_device *dev);
- static struct comedi_driver driver_jr3_pci = {
- .driver_name = "jr3_pci",
- .module = THIS_MODULE,
- .attach = jr3_pci_attach,
- .detach = jr3_pci_detach,
- };
- static DEFINE_PCI_DEVICE_TABLE(jr3_pci_pci_table) = {
- {
- PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL,
- PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
- PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_1_CHANNEL_NEW,
- PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
- PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_2_CHANNEL,
- PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
- PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_3_CHANNEL,
- PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
- PCI_VENDOR_ID_JR3, PCI_DEVICE_ID_JR3_4_CHANNEL,
- PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0}, {
- 0}
- };
- MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
- struct jr3_pci_dev_private {
- struct pci_dev *pci_dev;
- int pci_enabled;
- volatile struct jr3_t *iobase;
- int n_channels;
- struct timer_list timer;
- };
- struct poll_delay_t {
- int min;
- int max;
- };
- struct jr3_pci_subdev_private {
- volatile struct jr3_channel *channel;
- unsigned long next_time_min;
- unsigned long next_time_max;
- enum { state_jr3_poll,
- state_jr3_init_wait_for_offset,
- state_jr3_init_transform_complete,
- state_jr3_init_set_full_scale_complete,
- state_jr3_init_use_offset_complete,
- state_jr3_done
- } state;
- int channel_no;
- int serial_no;
- int model_no;
- struct {
- int length;
- struct comedi_krange range;
- } range[9];
- const struct comedi_lrange *range_table_list[8 * 7 + 2];
- unsigned int maxdata_list[8 * 7 + 2];
- u16 errors;
- int retries;
- };
- /* Hotplug firmware loading stuff */
- static int comedi_load_firmware(struct comedi_device *dev, char *name,
- int (*cb)(struct comedi_device *dev,
- const u8 *data, size_t size))
- {
- int result = 0;
- const struct firmware *fw;
- char *firmware_path;
- static const char *prefix = "comedi/";
- struct jr3_pci_dev_private *devpriv = dev->private;
- firmware_path = kmalloc(strlen(prefix) + strlen(name) + 1, GFP_KERNEL);
- if (!firmware_path) {
- result = -ENOMEM;
- } else {
- firmware_path[0] = '\0';
- strcat(firmware_path, prefix);
- strcat(firmware_path, name);
- result = request_firmware(&fw, firmware_path,
- &devpriv->pci_dev->dev);
- if (result == 0) {
- if (!cb)
- result = -EINVAL;
- else
- result = cb(dev, fw->data, fw->size);
- release_firmware(fw);
- }
- kfree(firmware_path);
- }
- return result;
- }
- static struct poll_delay_t poll_delay_min_max(int min, int max)
- {
- struct poll_delay_t result;
- result.min = min;
- result.max = max;
- return result;
- }
- static int is_complete(volatile struct jr3_channel *channel)
- {
- return get_s16(&channel->command_word0) == 0;
- }
- struct transform_t {
- struct {
- u16 link_type;
- s16 link_amount;
- } link[8];
- };
- static void set_transforms(volatile struct jr3_channel *channel,
- struct transform_t transf, short num)
- {
- int i;
- num &= 0x000f; /* Make sure that 0 <= num <= 15 */
- for (i = 0; i < 8; i++) {
- set_u16(&channel->transforms[num].link[i].link_type,
- transf.link[i].link_type);
- udelay(1);
- set_s16(&channel->transforms[num].link[i].link_amount,
- transf.link[i].link_amount);
- udelay(1);
- if (transf.link[i].link_type == end_x_form)
- break;
- }
- }
- static void use_transform(volatile struct jr3_channel *channel,
- short transf_num)
- {
- set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
- }
- static void use_offset(volatile struct jr3_channel *channel, short offset_num)
- {
- set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
- }
- static void set_offset(volatile struct jr3_channel *channel)
- {
- set_s16(&channel->command_word0, 0x0700);
- }
- struct six_axis_t {
- s16 fx;
- s16 fy;
- s16 fz;
- s16 mx;
- s16 my;
- s16 mz;
- };
- static void set_full_scales(volatile struct jr3_channel *channel,
- struct six_axis_t full_scale)
- {
- printk("%d %d %d %d %d %d\n",
- full_scale.fx,
- full_scale.fy,
- full_scale.fz, full_scale.mx, full_scale.my, full_scale.mz);
- set_s16(&channel->full_scale.fx, full_scale.fx);
- set_s16(&channel->full_scale.fy, full_scale.fy);
- set_s16(&channel->full_scale.fz, full_scale.fz);
- set_s16(&channel->full_scale.mx, full_scale.mx);
- set_s16(&channel->full_scale.my, full_scale.my);
- set_s16(&channel->full_scale.mz, full_scale.mz);
- set_s16(&channel->command_word0, 0x0a00);
- }
- static struct six_axis_t get_min_full_scales(volatile struct jr3_channel
- *channel)
- {
- struct six_axis_t result;
- result.fx = get_s16(&channel->min_full_scale.fx);
- result.fy = get_s16(&channel->min_full_scale.fy);
- result.fz = get_s16(&channel->min_full_scale.fz);
- result.mx = get_s16(&channel->min_full_scale.mx);
- result.my = get_s16(&channel->min_full_scale.my);
- result.mz = get_s16(&channel->min_full_scale.mz);
- return result;
- }
- static struct six_axis_t get_max_full_scales(volatile struct jr3_channel
- *channel)
- {
- struct six_axis_t result;
- result.fx = get_s16(&channel->max_full_scale.fx);
- result.fy = get_s16(&channel->max_full_scale.fy);
- result.fz = get_s16(&channel->max_full_scale.fz);
- result.mx = get_s16(&channel->max_full_scale.mx);
- result.my = get_s16(&channel->max_full_scale.my);
- result.mz = get_s16(&channel->max_full_scale.mz);
- return result;
- }
- static int jr3_pci_ai_insn_read(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn, unsigned int *data)
- {
- int result;
- struct jr3_pci_subdev_private *p;
- int channel;
- p = s->private;
- channel = CR_CHAN(insn->chanspec);
- if (p == NULL || channel > 57) {
- result = -EINVAL;
- } else {
- int i;
- result = insn->n;
- if (p->state != state_jr3_done ||
- (get_u16(&p->channel->errors) & (watch_dog | watch_dog2 |
- sensor_change))) {
- /* No sensor or sensor changed */
- if (p->state == state_jr3_done) {
- /* Restart polling */
- p->state = state_jr3_poll;
- }
- result = -EAGAIN;
- }
- for (i = 0; i < insn->n; i++) {
- if (channel < 56) {
- int axis, filter;
- axis = channel % 8;
- filter = channel / 8;
- if (p->state != state_jr3_done) {
- data[i] = 0;
- } else {
- int F = 0;
- switch (axis) {
- case 0:{
- F = get_s16
- (&p->channel->filter
- [filter].fx);
- }
- break;
- case 1:{
- F = get_s16
- (&p->channel->filter
- [filter].fy);
- }
- break;
- case 2:{
- F = get_s16
- (&p->channel->filter
- [filter].fz);
- }
- break;
- case 3:{
- F = get_s16
- (&p->channel->filter
- [filter].mx);
- }
- break;
- case 4:{
- F = get_s16
- (&p->channel->filter
- [filter].my);
- }
- break;
- case 5:{
- F = get_s16
- (&p->channel->filter
- [filter].mz);
- }
- break;
- case 6:{
- F = get_s16
- (&p->channel->filter
- [filter].v1);
- }
- break;
- case 7:{
- F = get_s16
- (&p->channel->filter
- [filter].v2);
- }
- break;
- }
- data[i] = F + 0x4000;
- }
- } else if (channel == 56) {
- if (p->state != state_jr3_done) {
- data[i] = 0;
- } else {
- data[i] =
- get_u16(&p->channel->model_no);
- }
- } else if (channel == 57) {
- if (p->state != state_jr3_done) {
- data[i] = 0;
- } else {
- data[i] =
- get_u16(&p->channel->serial_no);
- }
- }
- }
- }
- return result;
- }
- static int jr3_pci_open(struct comedi_device *dev)
- {
- int i;
- struct jr3_pci_dev_private *devpriv = dev->private;
- printk("jr3_pci_open\n");
- for (i = 0; i < devpriv->n_channels; i++) {
- struct jr3_pci_subdev_private *p;
- p = dev->subdevices[i].private;
- if (p) {
- printk("serial: %p %d (%d)\n", p, p->serial_no,
- p->channel_no);
- }
- }
- return 0;
- }
- int read_idm_word(const u8 * data, size_t size, int *pos, unsigned int *val)
- {
- int result = 0;
- if (pos != 0 && val != 0) {
- /* Skip over non hex */
- for (; *pos < size && !isxdigit(data[*pos]); (*pos)++) {
- }
- /* Collect value */
- *val = 0;
- for (; *pos < size; (*pos)++) {
- int value;
- value = hex_to_bin(data[*pos]);
- if (value >= 0) {
- result = 1;
- *val = (*val << 4) + value;
- } else
- break;
- }
- }
- return result;
- }
- static int jr3_download_firmware(struct comedi_device *dev, const u8 * data,
- size_t size)
- {
- /*
- * IDM file format is:
- * { count, address, data <count> } *
- * ffff
- */
- int result, more, pos, OK;
- result = 0;
- more = 1;
- pos = 0;
- OK = 0;
- while (more) {
- unsigned int count, addr;
- more = more && read_idm_word(data, size, &pos, &count);
- if (more && count == 0xffff) {
- OK = 1;
- break;
- }
- more = more && read_idm_word(data, size, &pos, &addr);
- while (more && count > 0) {
- unsigned int dummy;
- more = more && read_idm_word(data, size, &pos, &dummy);
- count--;
- }
- }
- if (!OK) {
- result = -ENODATA;
- } else {
- int i;
- struct jr3_pci_dev_private *p = dev->private;
- for (i = 0; i < p->n_channels; i++) {
- struct jr3_pci_subdev_private *sp;
- sp = dev->subdevices[i].private;
- more = 1;
- pos = 0;
- while (more) {
- unsigned int count, addr;
- more = more
- && read_idm_word(data, size, &pos, &count);
- if (more && count == 0xffff)
- break;
- more = more
- && read_idm_word(data, size, &pos, &addr);
- printk("Loading#%d %4.4x bytes at %4.4x\n", i,
- count, addr);
- while (more && count > 0) {
- if (addr & 0x4000) {
- /* 16 bit data, never seen in real life!! */
- unsigned int data1;
- more = more
- && read_idm_word(data,
- size, &pos,
- &data1);
- count--;
- /* printk("jr3_data, not tested\n"); */
- /* jr3[addr + 0x20000 * pnum] = data1; */
- } else {
- /* Download 24 bit program */
- unsigned int data1, data2;
- more = more
- && read_idm_word(data,
- size, &pos,
- &data1);
- more = more
- && read_idm_word(data, size,
- &pos,
- &data2);
- count -= 2;
- if (more) {
- set_u16(&p->
- iobase->channel
- [i].program_low
- [addr], data1);
- udelay(1);
- set_u16(&p->
- iobase->channel
- [i].program_high
- [addr], data2);
- udelay(1);
- }
- }
- addr++;
- }
- }
- }
- }
- return result;
- }
- static struct poll_delay_t jr3_pci_poll_subdevice(struct comedi_subdevice *s)
- {
- struct poll_delay_t result = poll_delay_min_max(1000, 2000);
- struct jr3_pci_subdev_private *p = s->private;
- int i;
- if (p) {
- volatile struct jr3_channel *channel = p->channel;
- int errors = get_u16(&channel->errors);
- if (errors != p->errors) {
- printk("Errors: %x -> %x\n", p->errors, errors);
- p->errors = errors;
- }
- if (errors & (watch_dog | watch_dog2 | sensor_change)) {
- /* Sensor communication lost, force poll mode */
- p->state = state_jr3_poll;
- }
- switch (p->state) {
- case state_jr3_poll:{
- u16 model_no = get_u16(&channel->model_no);
- u16 serial_no = get_u16(&channel->serial_no);
- if ((errors & (watch_dog | watch_dog2)) ||
- model_no == 0 || serial_no == 0) {
- /*
- * Still no sensor, keep on polling. Since it takes up to 10 seconds
- * for offsets to stabilize, polling each second should suffice.
- */
- result = poll_delay_min_max(1000, 2000);
- } else {
- p->retries = 0;
- p->state =
- state_jr3_init_wait_for_offset;
- result = poll_delay_min_max(1000, 2000);
- }
- }
- break;
- case state_jr3_init_wait_for_offset:{
- p->retries++;
- if (p->retries < 10) {
- /* Wait for offeset to stabilize (< 10 s according to manual) */
- result = poll_delay_min_max(1000, 2000);
- } else {
- struct transform_t transf;
- p->model_no =
- get_u16(&channel->model_no);
- p->serial_no =
- get_u16(&channel->serial_no);
- printk
- ("Setting transform for channel %d\n",
- p->channel_no);
- printk("Sensor Model = %i\n",
- p->model_no);
- printk("Sensor Serial = %i\n",
- p->serial_no);
- /* Transformation all zeros */
- for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
- transf.link[i].link_type =
- (enum link_types)0;
- transf.link[i].link_amount = 0;
- }
- set_transforms(channel, transf, 0);
- use_transform(channel, 0);
- p->state =
- state_jr3_init_transform_complete;
- result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
- }
- } break;
- case state_jr3_init_transform_complete:{
- if (!is_complete(channel)) {
- printk
- ("state_jr3_init_transform_complete complete = %d\n",
- is_complete(channel));
- result = poll_delay_min_max(20, 100);
- } else {
- /* Set full scale */
- struct six_axis_t min_full_scale;
- struct six_axis_t max_full_scale;
- min_full_scale =
- get_min_full_scales(channel);
- printk("Obtained Min. Full Scales:\n");
- printk("%i ", (min_full_scale).fx);
- printk("%i ", (min_full_scale).fy);
- printk("%i ", (min_full_scale).fz);
- printk("%i ", (min_full_scale).mx);
- printk("%i ", (min_full_scale).my);
- printk("%i ", (min_full_scale).mz);
- printk("\n");
- max_full_scale =
- get_max_full_scales(channel);
- printk("Obtained Max. Full Scales:\n");
- printk("%i ", (max_full_scale).fx);
- printk("%i ", (max_full_scale).fy);
- printk("%i ", (max_full_scale).fz);
- printk("%i ", (max_full_scale).mx);
- printk("%i ", (max_full_scale).my);
- printk("%i ", (max_full_scale).mz);
- printk("\n");
- set_full_scales(channel,
- max_full_scale);
- p->state =
- state_jr3_init_set_full_scale_complete;
- result = poll_delay_min_max(20, 100); /* Allow 20 ms for completion */
- }
- }
- break;
- case state_jr3_init_set_full_scale_complete:{
- if (!is_complete(channel)) {
- printk
- ("state_jr3_init_set_full_scale_complete complete = %d\n",
- is_complete(channel));
- result = poll_delay_min_max(20, 100);
- } else {
- volatile struct force_array *full_scale;
- /* Use ranges in kN or we will overflow arount 2000N! */
- full_scale = &channel->full_scale;
- p->range[0].range.min =
- -get_s16(&full_scale->fx) * 1000;
- p->range[0].range.max =
- get_s16(&full_scale->fx) * 1000;
- p->range[1].range.min =
- -get_s16(&full_scale->fy) * 1000;
- p->range[1].range.max =
- get_s16(&full_scale->fy) * 1000;
- p->range[2].range.min =
- -get_s16(&full_scale->fz) * 1000;
- p->range[2].range.max =
- get_s16(&full_scale->fz) * 1000;
- p->range[3].range.min =
- -get_s16(&full_scale->mx) * 100;
- p->range[3].range.max =
- get_s16(&full_scale->mx) * 100;
- p->range[4].range.min =
- -get_s16(&full_scale->my) * 100;
- p->range[4].range.max =
- get_s16(&full_scale->my) * 100;
- p->range[5].range.min =
- -get_s16(&full_scale->mz) * 100;
- p->range[5].range.max =
- get_s16(&full_scale->mz) * 100;
- p->range[6].range.min = -get_s16(&full_scale->v1) * 100; /* ?? */
- p->range[6].range.max = get_s16(&full_scale->v1) * 100; /* ?? */
- p->range[7].range.min = -get_s16(&full_scale->v2) * 100; /* ?? */
- p->range[7].range.max = get_s16(&full_scale->v2) * 100; /* ?? */
- p->range[8].range.min = 0;
- p->range[8].range.max = 65535;
- {
- int i;
- for (i = 0; i < 9; i++) {
- printk("%d %d - %d\n",
- i,
- p->
- range[i].range.
- min,
- p->
- range[i].range.
- max);
- }
- }
- use_offset(channel, 0);
- p->state =
- state_jr3_init_use_offset_complete;
- result = poll_delay_min_max(40, 100); /* Allow 40 ms for completion */
- }
- }
- break;
- case state_jr3_init_use_offset_complete:{
- if (!is_complete(channel)) {
- printk
- ("state_jr3_init_use_offset_complete complete = %d\n",
- is_complete(channel));
- result = poll_delay_min_max(20, 100);
- } else {
- printk
- ("Default offsets %d %d %d %d %d %d\n",
- get_s16(&channel->offsets.fx),
- get_s16(&channel->offsets.fy),
- get_s16(&channel->offsets.fz),
- get_s16(&channel->offsets.mx),
- get_s16(&channel->offsets.my),
- get_s16(&channel->offsets.mz));
- set_s16(&channel->offsets.fx, 0);
- set_s16(&channel->offsets.fy, 0);
- set_s16(&channel->offsets.fz, 0);
- set_s16(&channel->offsets.mx, 0);
- set_s16(&channel->offsets.my, 0);
- set_s16(&channel->offsets.mz, 0);
- set_offset(channel);
- p->state = state_jr3_done;
- }
- }
- break;
- case state_jr3_done:{
- poll_delay_min_max(10000, 20000);
- }
- break;
- default:{
- poll_delay_min_max(1000, 2000);
- }
- break;
- }
- }
- return result;
- }
- static void jr3_pci_poll_dev(unsigned long data)
- {
- unsigned long flags;
- struct comedi_device *dev = (struct comedi_device *)data;
- struct jr3_pci_dev_private *devpriv = dev->private;
- unsigned long now;
- int delay;
- int i;
- spin_lock_irqsave(&dev->spinlock, flags);
- delay = 1000;
- now = jiffies;
- /* Poll all channels that are ready to be polled */
- for (i = 0; i < devpriv->n_channels; i++) {
- struct jr3_pci_subdev_private *subdevpriv =
- dev->subdevices[i].private;
- if (now > subdevpriv->next_time_min) {
- struct poll_delay_t sub_delay;
- sub_delay = jr3_pci_poll_subdevice(&dev->subdevices[i]);
- subdevpriv->next_time_min =
- jiffies + msecs_to_jiffies(sub_delay.min);
- subdevpriv->next_time_max =
- jiffies + msecs_to_jiffies(sub_delay.max);
- if (sub_delay.max && sub_delay.max < delay) {
- /*
- * Wake up as late as possible -> poll as many channels as possible
- * at once
- */
- delay = sub_delay.max;
- }
- }
- }
- spin_unlock_irqrestore(&dev->spinlock, flags);
- devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
- add_timer(&devpriv->timer);
- }
- static int jr3_pci_attach(struct comedi_device *dev,
- struct comedi_devconfig *it)
- {
- int result = 0;
- struct pci_dev *card = NULL;
- int opt_bus, opt_slot, i;
- struct jr3_pci_dev_private *devpriv;
- printk("comedi%d: jr3_pci\n", dev->minor);
- opt_bus = it->options[0];
- opt_slot = it->options[1];
- if (sizeof(struct jr3_channel) != 0xc00) {
- printk("sizeof(struct jr3_channel) = %x [expected %x]\n",
- (unsigned)sizeof(struct jr3_channel), 0xc00);
- return -EINVAL;
- }
- result = alloc_private(dev, sizeof(struct jr3_pci_dev_private));
- if (result < 0)
- return -ENOMEM;
- card = NULL;
- devpriv = dev->private;
- init_timer(&devpriv->timer);
- while (1) {
- card = pci_get_device(PCI_VENDOR_ID_JR3, PCI_ANY_ID, card);
- if (card == NULL) {
- /* No card found */
- break;
- } else {
- switch (card->device) {
- case PCI_DEVICE_ID_JR3_1_CHANNEL:{
- devpriv->n_channels = 1;
- }
- break;
- case PCI_DEVICE_ID_JR3_1_CHANNEL_NEW:{
- devpriv->n_channels = 1;
- }
- break;
- case PCI_DEVICE_ID_JR3_2_CHANNEL:{
- devpriv->n_channels = 2;
- }
- break;
- case PCI_DEVICE_ID_JR3_3_CHANNEL:{
- devpriv->n_channels = 3;
- }
- break;
- case PCI_DEVICE_ID_JR3_4_CHANNEL:{
- devpriv->n_channels = 4;
- }
- break;
- default:{
- devpriv->n_channels = 0;
- }
- }
- if (devpriv->n_channels >= 1) {
- if (opt_bus == 0 && opt_slot == 0) {
- /* Take first available card */
- break;
- } else if (opt_bus == card->bus->number &&
- opt_slot == PCI_SLOT(card->devfn)) {
- /* Take requested card */
- break;
- }
- }
- }
- }
- if (!card) {
- printk(" no jr3_pci found\n");
- return -EIO;
- } else {
- devpriv->pci_dev = card;
- dev->board_name = "jr3_pci";
- }
- result = comedi_pci_enable(card, "jr3_pci");
- if (result < 0)
- return -EIO;
- devpriv->pci_enabled = 1;
- devpriv->iobase = ioremap(pci_resource_start(card, 0),
- offsetof(struct jr3_t, channel[devpriv->n_channels]));
- if (!devpriv->iobase)
- return -ENOMEM;
- result = alloc_subdevices(dev, devpriv->n_channels);
- if (result < 0)
- goto out;
- dev->open = jr3_pci_open;
- for (i = 0; i < devpriv->n_channels; i++) {
- dev->subdevices[i].type = COMEDI_SUBD_AI;
- dev->subdevices[i].subdev_flags = SDF_READABLE | SDF_GROUND;
- dev->subdevices[i].n_chan = 8 * 7 + 2;
- dev->subdevices[i].insn_read = jr3_pci_ai_insn_read;
- dev->subdevices[i].private =
- kzalloc(sizeof(struct jr3_pci_subdev_private), GFP_KERNEL);
- if (dev->subdevices[i].private) {
- struct jr3_pci_subdev_private *p;
- int j;
- p = dev->subdevices[i].private;
- p->channel = &devpriv->iobase->channel[i].data;
- printk("p->channel %p %p (%tx)\n",
- p->channel, devpriv->iobase,
- ((char *)(p->channel) -
- (char *)(devpriv->iobase)));
- p->channel_no = i;
- for (j = 0; j < 8; j++) {
- int k;
- p->range[j].length = 1;
- p->range[j].range.min = -1000000;
- p->range[j].range.max = 1000000;
- for (k = 0; k < 7; k++) {
- p->range_table_list[j + k * 8] =
- (struct comedi_lrange *)&p->
- range[j];
- p->maxdata_list[j + k * 8] = 0x7fff;
- }
- }
- p->range[8].length = 1;
- p->range[8].range.min = 0;
- p->range[8].range.max = 65536;
- p->range_table_list[56] =
- (struct comedi_lrange *)&p->range[8];
- p->range_table_list[57] =
- (struct comedi_lrange *)&p->range[8];
- p->maxdata_list[56] = 0xffff;
- p->maxdata_list[57] = 0xffff;
- /* Channel specific range and maxdata */
- dev->subdevices[i].range_table = 0;
- dev->subdevices[i].range_table_list =
- p->range_table_list;
- dev->subdevices[i].maxdata = 0;
- dev->subdevices[i].maxdata_list = p->maxdata_list;
- }
- }
- /* Reset DSP card */
- devpriv->iobase->channel[0].reset = 0;
- result = comedi_load_firmware(dev, "jr3pci.idm", jr3_download_firmware);
- printk("Firmare load %d\n", result);
- if (result < 0)
- goto out;
- /*
- * TODO: use firmware to load preferred offset tables. Suggested
- * format:
- * model serial Fx Fy Fz Mx My Mz\n
- *
- * comedi_load_firmware(dev, "jr3_offsets_table", jr3_download_firmware);
- */
- /*
- * It takes a few milliseconds for software to settle as much as we
- * can read firmware version
- */
- msleep_interruptible(25);
- for (i = 0; i < 0x18; i++) {
- printk("%c",
- get_u16(&devpriv->iobase->channel[0].
- data.copyright[i]) >> 8);
- }
- /* Start card timer */
- for (i = 0; i < devpriv->n_channels; i++) {
- struct jr3_pci_subdev_private *p = dev->subdevices[i].private;
- p->next_time_min = jiffies + msecs_to_jiffies(500);
- p->next_time_max = jiffies + msecs_to_jiffies(2000);
- }
- devpriv->timer.data = (unsigned long)dev;
- devpriv->timer.function = jr3_pci_poll_dev;
- devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
- add_timer(&devpriv->timer);
- out:
- return result;
- }
- MODULE_FIRMWARE("comedi/jr3pci.idm");
- static int jr3_pci_detach(struct comedi_device *dev)
- {
- int i;
- struct jr3_pci_dev_private *devpriv = dev->private;
- printk("comedi%d: jr3_pci: remove\n", dev->minor);
- if (devpriv) {
- del_timer_sync(&devpriv->timer);
- if (dev->subdevices) {
- for (i = 0; i < devpriv->n_channels; i++)
- kfree(dev->subdevices[i].private);
- }
- if (devpriv->iobase)
- iounmap((void *)devpriv->iobase);
- if (devpriv->pci_enabled)
- comedi_pci_disable(devpriv->pci_dev);
- if (devpriv->pci_dev)
- pci_dev_put(devpriv->pci_dev);
- }
- return 0;
- }
- static int __devinit driver_jr3_pci_pci_probe(struct pci_dev *dev,
- const struct pci_device_id *ent)
- {
- return comedi_pci_auto_config(dev, driver_jr3_pci.driver_name);
- }
- static void __devexit driver_jr3_pci_pci_remove(struct pci_dev *dev)
- {
- comedi_pci_auto_unconfig(dev);
- }
- static struct pci_driver driver_jr3_pci_pci_driver = {
- .id_table = jr3_pci_pci_table,
- .probe = &driver_jr3_pci_pci_probe,
- .remove = __devexit_p(&driver_jr3_pci_pci_remove)
- };
- static int __init driver_jr3_pci_init_module(void)
- {
- int retval;
- retval = comedi_driver_register(&driver_jr3_pci);
- if (retval < 0)
- return retval;
- driver_jr3_pci_pci_driver.name = (char *)driver_jr3_pci.driver_name;
- return pci_register_driver(&driver_jr3_pci_pci_driver);
- }
- static void __exit driver_jr3_pci_cleanup_module(void)
- {
- pci_unregister_driver(&driver_jr3_pci_pci_driver);
- comedi_driver_unregister(&driver_jr3_pci);
- }
- module_init(driver_jr3_pci_init_module);
- module_exit(driver_jr3_pci_cleanup_module);
- MODULE_AUTHOR("Comedi http://www.comedi.org");
- MODULE_DESCRIPTION("Comedi low-level driver");
- MODULE_LICENSE("GPL");