drivers/staging/comedi/drivers/jr3_pci.c

   1 /*
   2  * comedi/drivers/jr3_pci.c
   3  * hardware driver for JR3/PCI force sensor board
   4  *
   5  * COMEDI - Linux Control and Measurement Device Interface
   6  * Copyright (C) 2007 Anders Blomdell <anders.blomdell@control.lth.se>
   7  *
   8  * This program is free software; you can redistribute it and/or modify
   9  * it under the terms of the GNU General Public License as published by
  10  * the Free Software Foundation; either version 2 of the License, or
  11  * (at your option) any later version.
  12  *
  13  * This program is distributed in the hope that it will be useful,
  14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16  * GNU General Public License for more details.
  17  */
  18 /*
  19  * Driver: jr3_pci
  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
  23  * Status: works
  24  * Devices: [JR3] PCI force sensor board (jr3_pci)
  25  *
  26  * Configuration options:
  27  *   None
  28  *
  29  * Manual configuration of comedi devices is not supported by this
  30  * driver; supported PCI devices are configured as comedi devices
  31  * automatically.
  32  *
  33  * The DSP on the board requires initialization code, which can be
  34  * loaded by placing it in /lib/firmware/comedi.  The initialization
  35  * code should be somewhere on the media you got with your card.  One
  36  * version is available from http://www.comedi.org in the
  37  * comedi_nonfree_firmware tarball.  The file is called "jr3pci.idm".
  38  */
  39
  40 #include <linux/kernel.h>
  41 #include <linux/module.h>
  42 #include <linux/delay.h>
  43 #include <linux/ctype.h>
  44 #include <linux/jiffies.h>
  45 #include <linux/slab.h>
  46 #include <linux/timer.h>
  47
  48 #include "../comedi_pci.h"
  49
  50 #include "jr3_pci.h"
  51
  52 #define PCI_VENDOR_ID_JR3 0x1762
  53
  54 enum jr3_pci_boardid {
  55         BOARD_JR3_1,
  56         BOARD_JR3_2,
  57         BOARD_JR3_3,
  58         BOARD_JR3_4,
  59 };
  60
  61 struct jr3_pci_board {
  62         const char *name;
  63         int n_subdevs;
  64 };
  65
  66 static const struct jr3_pci_board jr3_pci_boards[] = {
  67         [BOARD_JR3_1] = {
  68                 .name           = "jr3_pci_1",
  69                 .n_subdevs      = 1,
  70         },
  71         [BOARD_JR3_2] = {
  72                 .name           = "jr3_pci_2",
  73                 .n_subdevs      = 2,
  74         },
  75         [BOARD_JR3_3] = {
  76                 .name           = "jr3_pci_3",
  77                 .n_subdevs      = 3,
  78         },
  79         [BOARD_JR3_4] = {
  80                 .name           = "jr3_pci_4",
  81                 .n_subdevs      = 4,
  82         },
  83 };
  84
  85 struct jr3_pci_transform {
  86         struct {
  87                 u16 link_type;
  88                 s16 link_amount;
  89         } link[8];
  90 };
  91
  92 struct jr3_pci_poll_delay {
  93         int min;
  94         int max;
  95 };
  96
  97 struct jr3_pci_dev_private {
  98         struct jr3_t __iomem *iobase;
  99         struct timer_list timer;
 100 };
 101
 102 struct jr3_pci_subdev_private {
 103         struct jr3_channel __iomem *channel;
 104         unsigned long next_time_min;
 105         unsigned long next_time_max;
 106         enum { state_jr3_poll,
 107                 state_jr3_init_wait_for_offset,
 108                 state_jr3_init_transform_complete,
 109                 state_jr3_init_set_full_scale_complete,
 110                 state_jr3_init_use_offset_complete,
 111                 state_jr3_done
 112         } state;
 113         int serial_no;
 114         int model_no;
 115         struct {
 116                 int length;
 117                 struct comedi_krange range;
 118         } range[9];
 119         const struct comedi_lrange *range_table_list[8 * 7 + 2];
 120         unsigned int maxdata_list[8 * 7 + 2];
 121         u16 errors;
 122         int retries;
 123 };
 124
 125 static struct jr3_pci_poll_delay poll_delay_min_max(int min, int max)
 126 {
 127         struct jr3_pci_poll_delay result;
 128
 129         result.min = min;
 130         result.max = max;
 131         return result;
 132 }
 133
 134 static int is_complete(struct jr3_channel __iomem *channel)
 135 {
 136         return get_s16(&channel->command_word0) == 0;
 137 }
 138
 139 static void set_transforms(struct jr3_channel __iomem *channel,
 140                            struct jr3_pci_transform transf, short num)
 141 {
 142         int i;
 143
 144         num &= 0x000f;          /*  Make sure that 0 <= num <= 15 */
 145         for (i = 0; i < 8; i++) {
 146                 set_u16(&channel->transforms[num].link[i].link_type,
 147                         transf.link[i].link_type);
 148                 udelay(1);
 149                 set_s16(&channel->transforms[num].link[i].link_amount,
 150                         transf.link[i].link_amount);
 151                 udelay(1);
 152                 if (transf.link[i].link_type == end_x_form)
 153                         break;
 154         }
 155 }
 156
 157 static void use_transform(struct jr3_channel __iomem *channel,
 158                           short transf_num)
 159 {
 160         set_s16(&channel->command_word0, 0x0500 + (transf_num & 0x000f));
 161 }
 162
 163 static void use_offset(struct jr3_channel __iomem *channel, short offset_num)
 164 {
 165         set_s16(&channel->command_word0, 0x0600 + (offset_num & 0x000f));
 166 }
 167
 168 static void set_offset(struct jr3_channel __iomem *channel)
 169 {
 170         set_s16(&channel->command_word0, 0x0700);
 171 }
 172
 173 struct six_axis_t {
 174         s16 fx;
 175         s16 fy;
 176         s16 fz;
 177         s16 mx;
 178         s16 my;
 179         s16 mz;
 180 };
 181
 182 static void set_full_scales(struct jr3_channel __iomem *channel,
 183                             struct six_axis_t full_scale)
 184 {
 185         set_s16(&channel->full_scale.fx, full_scale.fx);
 186         set_s16(&channel->full_scale.fy, full_scale.fy);
 187         set_s16(&channel->full_scale.fz, full_scale.fz);
 188         set_s16(&channel->full_scale.mx, full_scale.mx);
 189         set_s16(&channel->full_scale.my, full_scale.my);
 190         set_s16(&channel->full_scale.mz, full_scale.mz);
 191         set_s16(&channel->command_word0, 0x0a00);
 192 }
 193
 194 static struct six_axis_t get_min_full_scales(struct jr3_channel __iomem
 195                                              *channel)
 196 {
 197         struct six_axis_t result;
 198
 199         result.fx = get_s16(&channel->min_full_scale.fx);
 200         result.fy = get_s16(&channel->min_full_scale.fy);
 201         result.fz = get_s16(&channel->min_full_scale.fz);
 202         result.mx = get_s16(&channel->min_full_scale.mx);
 203         result.my = get_s16(&channel->min_full_scale.my);
 204         result.mz = get_s16(&channel->min_full_scale.mz);
 205         return result;
 206 }
 207
 208 static struct six_axis_t get_max_full_scales(struct jr3_channel __iomem
 209                                              *channel)
 210 {
 211         struct six_axis_t result;
 212
 213         result.fx = get_s16(&channel->max_full_scale.fx);
 214         result.fy = get_s16(&channel->max_full_scale.fy);
 215         result.fz = get_s16(&channel->max_full_scale.fz);
 216         result.mx = get_s16(&channel->max_full_scale.mx);
 217         result.my = get_s16(&channel->max_full_scale.my);
 218         result.mz = get_s16(&channel->max_full_scale.mz);
 219         return result;
 220 }
 221
 222 static unsigned int jr3_pci_ai_read_chan(struct comedi_device *dev,
 223                                          struct comedi_subdevice *s,
 224                                          unsigned int chan)
 225 {
 226         struct jr3_pci_subdev_private *spriv = s->private;
 227         unsigned int val = 0;
 228
 229         if (spriv->state != state_jr3_done)
 230                 return 0;
 231
 232         if (chan < 56) {
 233                 unsigned int axis = chan % 8;
 234                 unsigned int filter = chan / 8;
 235
 236                 switch (axis) {
 237                 case 0:
 238                         val = get_s16(&spriv->channel->filter[filter].fx);
 239                         break;
 240                 case 1:
 241                         val = get_s16(&spriv->channel->filter[filter].fy);
 242                         break;
 243                 case 2:
 244                         val = get_s16(&spriv->channel->filter[filter].fz);
 245                         break;
 246                 case 3:
 247                         val = get_s16(&spriv->channel->filter[filter].mx);
 248                         break;
 249                 case 4:
 250                         val = get_s16(&spriv->channel->filter[filter].my);
 251                         break;
 252                 case 5:
 253                         val = get_s16(&spriv->channel->filter[filter].mz);
 254                         break;
 255                 case 6:
 256                         val = get_s16(&spriv->channel->filter[filter].v1);
 257                         break;
 258                 case 7:
 259                         val = get_s16(&spriv->channel->filter[filter].v2);
 260                         break;
 261                 }
 262                 val += 0x4000;
 263         } else if (chan == 56) {
 264                 val = get_u16(&spriv->channel->model_no);
 265         } else if (chan == 57) {
 266                 val = get_u16(&spriv->channel->serial_no);
 267         }
 268
 269         return val;
 270 }
 271
 272 static int jr3_pci_ai_insn_read(struct comedi_device *dev,
 273                                 struct comedi_subdevice *s,
 274                                 struct comedi_insn *insn,
 275                                 unsigned int *data)
 276 {
 277         struct jr3_pci_subdev_private *spriv = s->private;
 278         unsigned int chan = CR_CHAN(insn->chanspec);
 279         u16 errors;
 280         int i;
 281
 282         if (!spriv)
 283                 return -EINVAL;
 284
 285         errors = get_u16(&spriv->channel->errors);
 286         if (spriv->state != state_jr3_done ||
 287             (errors & (watch_dog | watch_dog2 | sensor_change))) {
 288                 /* No sensor or sensor changed */
 289                 if (spriv->state == state_jr3_done) {
 290                         /* Restart polling */
 291                         spriv->state = state_jr3_poll;
 292                 }
 293                 return -EAGAIN;
 294         }
 295
 296         for (i = 0; i < insn->n; i++)
 297                 data[i] = jr3_pci_ai_read_chan(dev, s, chan);
 298
 299         return insn->n;
 300 }
 301
 302 static int jr3_pci_open(struct comedi_device *dev)
 303 {
 304         struct jr3_pci_subdev_private *spriv;
 305         struct comedi_subdevice *s;
 306         int i;
 307
 308         dev_dbg(dev->class_dev, "jr3_pci_open\n");
 309         for (i = 0; i < dev->n_subdevices; i++) {
 310                 s = &dev->subdevices[i];
 311                 spriv = s->private;
 312                 if (spriv)
 313                         dev_dbg(dev->class_dev, "serial: %p %d (%d)\n",
 314                                 spriv, spriv->serial_no, s->index);
 315         }
 316         return 0;
 317 }
 318
 319 static int read_idm_word(const u8 *data, size_t size, int *pos,
 320                          unsigned int *val)
 321 {
 322         int result = 0;
 323         int value;
 324
 325         if (pos && val) {
 326                 /*  Skip over non hex */
 327                 for (; *pos < size && !isxdigit(data[*pos]); (*pos)++)
 328                         ;
 329                 /*  Collect value */
 330                 *val = 0;
 331                 for (; *pos < size; (*pos)++) {
 332                         value = hex_to_bin(data[*pos]);
 333                         if (value >= 0) {
 334                                 result = 1;
 335                                 *val = (*val << 4) + value;
 336                         } else {
 337                                 break;
 338                         }
 339                 }
 340         }
 341         return result;
 342 }
 343
 344 static int jr3_check_firmware(struct comedi_device *dev,
 345                               const u8 *data, size_t size)
 346 {
 347         int more = 1;
 348         int pos = 0;
 349
 350         /*
 351          * IDM file format is:
 352          *   { count, address, data <count> } *
 353          *   ffff
 354          */
 355         while (more) {
 356                 unsigned int count = 0;
 357                 unsigned int addr = 0;
 358
 359                 more = more && read_idm_word(data, size, &pos, &count);
 360                 if (more && count == 0xffff)
 361                         return 0;
 362
 363                 more = more && read_idm_word(data, size, &pos, &addr);
 364                 while (more && count > 0) {
 365                         unsigned int dummy = 0;
 366
 367                         more = more && read_idm_word(data, size, &pos, &dummy);
 368                         count--;
 369                 }
 370         }
 371
 372         return -ENODATA;
 373 }
 374
 375 static void jr3_write_firmware(struct comedi_device *dev,
 376                                int subdev, const u8 *data, size_t size)
 377 {
 378         struct jr3_pci_dev_private *devpriv = dev->private;
 379         struct jr3_t __iomem *iobase = devpriv->iobase;
 380         u32 __iomem *lo;
 381         u32 __iomem *hi;
 382         int more = 1;
 383         int pos = 0;
 384
 385         while (more) {
 386                 unsigned int count = 0;
 387                 unsigned int addr = 0;
 388
 389                 more = more && read_idm_word(data, size, &pos, &count);
 390                 if (more && count == 0xffff)
 391                         return;
 392
 393                 more = more && read_idm_word(data, size, &pos, &addr);
 394
 395                 dev_dbg(dev->class_dev, "Loading#%d %4.4x bytes at %4.4x\n",
 396                         subdev, count, addr);
 397
 398                 while (more && count > 0) {
 399                         if (addr & 0x4000) {
 400                                 /* 16 bit data, never seen in real life!! */
 401                                 unsigned int data1 = 0;
 402
 403                                 more = more &&
 404                                        read_idm_word(data, size, &pos, &data1);
 405                                 count--;
 406                                 /* jr3[addr + 0x20000 * pnum] = data1; */
 407                         } else {
 408                                 /* Download 24 bit program */
 409                                 unsigned int data1 = 0;
 410                                 unsigned int data2 = 0;
 411
 412                                 lo = &iobase->channel[subdev].program_lo[addr];
 413                                 hi = &iobase->channel[subdev].program_hi[addr];
 414
 415                                 more = more &&
 416                                        read_idm_word(data, size, &pos, &data1);
 417                                 more = more &&
 418                                        read_idm_word(data, size, &pos, &data2);
 419                                 count -= 2;
 420                                 if (more) {
 421                                         set_u16(lo, data1);
 422                                         udelay(1);
 423                                         set_u16(hi, data2);
 424                                         udelay(1);
 425                                 }
 426                         }
 427                         addr++;
 428                 }
 429         }
 430 }
 431
 432 static int jr3_download_firmware(struct comedi_device *dev,
 433                                  const u8 *data, size_t size,
 434                                  unsigned long context)
 435 {
 436         int subdev;
 437         int ret;
 438
 439         /* verify IDM file format */
 440         ret = jr3_check_firmware(dev, data, size);
 441         if (ret)
 442                 return ret;
 443
 444         /* write firmware to each subdevice */
 445         for (subdev = 0; subdev < dev->n_subdevices; subdev++)
 446                 jr3_write_firmware(dev, subdev, data, size);
 447
 448         return 0;
 449 }
 450
 451 static struct jr3_pci_poll_delay jr3_pci_poll_subdevice(struct comedi_subdevice *s)
 452 {
 453         struct jr3_pci_subdev_private *spriv = s->private;
 454         struct jr3_pci_poll_delay result = poll_delay_min_max(1000, 2000);
 455         struct jr3_channel __iomem *channel;
 456         u16 model_no;
 457         u16 serial_no;
 458         int errors;
 459         int i;
 460
 461         if (!spriv)
 462                 return result;
 463
 464         channel = spriv->channel;
 465         errors = get_u16(&channel->errors);
 466
 467         if (errors != spriv->errors)
 468                 spriv->errors = errors;
 469
 470         /* Sensor communication lost? force poll mode */
 471         if (errors & (watch_dog | watch_dog2 | sensor_change))
 472                 spriv->state = state_jr3_poll;
 473
 474         switch (spriv->state) {
 475         case state_jr3_poll:
 476                 model_no = get_u16(&channel->model_no);
 477                 serial_no = get_u16(&channel->serial_no);
 478
 479                 if ((errors & (watch_dog | watch_dog2)) ||
 480                     model_no == 0 || serial_no == 0) {
 481                         /*
 482                          * Still no sensor, keep on polling.
 483                          * Since it takes up to 10 seconds for offsets to
 484                          * stabilize, polling each second should suffice.
 485                          */
 486                 } else {
 487                         spriv->retries = 0;
 488                         spriv->state = state_jr3_init_wait_for_offset;
 489                 }
 490                 break;
 491         case state_jr3_init_wait_for_offset:
 492                 spriv->retries++;
 493                 if (spriv->retries < 10) {
 494                         /*
 495                          * Wait for offeset to stabilize
 496                          * (< 10 s according to manual)
 497                          */
 498                 } else {
 499                         struct jr3_pci_transform transf;
 500
 501                         spriv->model_no = get_u16(&channel->model_no);
 502                         spriv->serial_no = get_u16(&channel->serial_no);
 503
 504                         /* Transformation all zeros */
 505                         for (i = 0; i < ARRAY_SIZE(transf.link); i++) {
 506                                 transf.link[i].link_type = (enum link_types)0;
 507                                 transf.link[i].link_amount = 0;
 508                         }
 509
 510                         set_transforms(channel, transf, 0);
 511                         use_transform(channel, 0);
 512                         spriv->state = state_jr3_init_transform_complete;
 513                         /* Allow 20 ms for completion */
 514                         result = poll_delay_min_max(20, 100);
 515                 }
 516                 break;
 517         case state_jr3_init_transform_complete:
 518                 if (!is_complete(channel)) {
 519                         result = poll_delay_min_max(20, 100);
 520                 } else {
 521                         /* Set full scale */
 522                         struct six_axis_t min_full_scale;
 523                         struct six_axis_t max_full_scale;
 524
 525                         min_full_scale = get_min_full_scales(channel);
 526                         max_full_scale = get_max_full_scales(channel);
 527                         set_full_scales(channel, max_full_scale);
 528
 529                         spriv->state = state_jr3_init_set_full_scale_complete;
 530                         /* Allow 20 ms for completion */
 531                         result = poll_delay_min_max(20, 100);
 532                 }
 533                 break;
 534         case state_jr3_init_set_full_scale_complete:
 535                 if (!is_complete(channel)) {
 536                         result = poll_delay_min_max(20, 100);
 537                 } else {
 538                         struct force_array __iomem *fs = &channel->full_scale;
 539
 540                         /* Use ranges in kN or we will overflow around 2000N! */
 541                         spriv->range[0].range.min = -get_s16(&fs->fx) * 1000;
 542                         spriv->range[0].range.max = get_s16(&fs->fx) * 1000;
 543                         spriv->range[1].range.min = -get_s16(&fs->fy) * 1000;
 544                         spriv->range[1].range.max = get_s16(&fs->fy) * 1000;
 545                         spriv->range[2].range.min = -get_s16(&fs->fz) * 1000;
 546                         spriv->range[2].range.max = get_s16(&fs->fz) * 1000;
 547                         spriv->range[3].range.min = -get_s16(&fs->mx) * 100;
 548                         spriv->range[3].range.max = get_s16(&fs->mx) * 100;
 549                         spriv->range[4].range.min = -get_s16(&fs->my) * 100;
 550                         spriv->range[4].range.max = get_s16(&fs->my) * 100;
 551                         spriv->range[5].range.min = -get_s16(&fs->mz) * 100;
 552                         /* the next five are questionable */
 553                         spriv->range[5].range.max = get_s16(&fs->mz) * 100;
 554                         spriv->range[6].range.min = -get_s16(&fs->v1) * 100;
 555                         spriv->range[6].range.max = get_s16(&fs->v1) * 100;
 556                         spriv->range[7].range.min = -get_s16(&fs->v2) * 100;
 557                         spriv->range[7].range.max = get_s16(&fs->v2) * 100;
 558                         spriv->range[8].range.min = 0;
 559                         spriv->range[8].range.max = 65535;
 560
 561                         use_offset(channel, 0);
 562                         spriv->state = state_jr3_init_use_offset_complete;
 563                         /* Allow 40 ms for completion */
 564                         result = poll_delay_min_max(40, 100);
 565                 }
 566                 break;
 567         case state_jr3_init_use_offset_complete:
 568                 if (!is_complete(channel)) {
 569                         result = poll_delay_min_max(20, 100);
 570                 } else {
 571                         set_s16(&channel->offsets.fx, 0);
 572                         set_s16(&channel->offsets.fy, 0);
 573                         set_s16(&channel->offsets.fz, 0);
 574                         set_s16(&channel->offsets.mx, 0);
 575                         set_s16(&channel->offsets.my, 0);
 576                         set_s16(&channel->offsets.mz, 0);
 577
 578                         set_offset(channel);
 579
 580                         spriv->state = state_jr3_done;
 581                 }
 582                 break;
 583         case state_jr3_done:
 584                 result = poll_delay_min_max(10000, 20000);
 585                 break;
 586         default:
 587                 break;
 588         }
 589
 590         return result;
 591 }
 592
 593 static void jr3_pci_poll_dev(unsigned long data)
 594 {
 595         struct comedi_device *dev = (struct comedi_device *)data;
 596         struct jr3_pci_dev_private *devpriv = dev->private;
 597         struct jr3_pci_subdev_private *spriv;
 598         struct comedi_subdevice *s;
 599         unsigned long flags;
 600         unsigned long now;
 601         int delay;
 602         int i;
 603
 604         spin_lock_irqsave(&dev->spinlock, flags);
 605         delay = 1000;
 606         now = jiffies;
 607
 608         /* Poll all channels that are ready to be polled */
 609         for (i = 0; i < dev->n_subdevices; i++) {
 610                 s = &dev->subdevices[i];
 611                 spriv = s->private;
 612
 613                 if (now > spriv->next_time_min) {
 614                         struct jr3_pci_poll_delay sub_delay;
 615
 616                         sub_delay = jr3_pci_poll_subdevice(s);
 617
 618                         spriv->next_time_min = jiffies +
 619                                                msecs_to_jiffies(sub_delay.min);
 620                         spriv->next_time_max = jiffies +
 621                                                msecs_to_jiffies(sub_delay.max);
 622
 623                         if (sub_delay.max && sub_delay.max < delay)
 624                                 /*
 625                                  * Wake up as late as possible ->
 626                                  * poll as many channels as possible at once.
 627                                  */
 628                                 delay = sub_delay.max;
 629                 }
 630         }
 631         spin_unlock_irqrestore(&dev->spinlock, flags);
 632
 633         devpriv->timer.expires = jiffies + msecs_to_jiffies(delay);
 634         add_timer(&devpriv->timer);
 635 }
 636
 637 static struct jr3_pci_subdev_private *
 638 jr3_pci_alloc_spriv(struct comedi_device *dev, struct comedi_subdevice *s)
 639 {
 640         struct jr3_pci_dev_private *devpriv = dev->private;
 641         struct jr3_pci_subdev_private *spriv;
 642         int j;
 643         int k;
 644
 645         spriv = comedi_alloc_spriv(s, sizeof(*spriv));
 646         if (!spriv)
 647                 return NULL;
 648
 649         spriv->channel = &devpriv->iobase->channel[s->index].data;
 650
 651         for (j = 0; j < 8; j++) {
 652                 spriv->range[j].length = 1;
 653                 spriv->range[j].range.min = -1000000;
 654                 spriv->range[j].range.max = 1000000;
 655
 656                 for (k = 0; k < 7; k++) {
 657                         spriv->range_table_list[j + k * 8] =
 658                                 (struct comedi_lrange *)&spriv->range[j];
 659                         spriv->maxdata_list[j + k * 8] = 0x7fff;
 660                 }
 661         }
 662         spriv->range[8].length = 1;
 663         spriv->range[8].range.min = 0;
 664         spriv->range[8].range.max = 65536;
 665
 666         spriv->range_table_list[56] = (struct comedi_lrange *)&spriv->range[8];
 667         spriv->range_table_list[57] = (struct comedi_lrange *)&spriv->range[8];
 668         spriv->maxdata_list[56] = 0xffff;
 669         spriv->maxdata_list[57] = 0xffff;
 670
 671         dev_dbg(dev->class_dev, "p->channel %p %p (%tx)\n",
 672                 spriv->channel, devpriv->iobase,
 673                 ((char __iomem *)spriv->channel -
 674                  (char __iomem *)devpriv->iobase));
 675
 676         return spriv;
 677 }
 678
 679 static int jr3_pci_auto_attach(struct comedi_device *dev,
 680                                unsigned long context)
 681 {
 682         struct pci_dev *pcidev = comedi_to_pci_dev(dev);
 683         static const struct jr3_pci_board *board;
 684         struct jr3_pci_dev_private *devpriv;
 685         struct jr3_pci_subdev_private *spriv;
 686         struct comedi_subdevice *s;
 687         int ret;
 688         int i;
 689
 690         if (sizeof(struct jr3_channel) != 0xc00) {
 691                 dev_err(dev->class_dev,
 692                         "sizeof(struct jr3_channel) = %x [expected %x]\n",
 693                         (unsigned int)sizeof(struct jr3_channel), 0xc00);
 694                 return -EINVAL;
 695         }
 696
 697         if (context < ARRAY_SIZE(jr3_pci_boards))
 698                 board = &jr3_pci_boards[context];
 699         if (!board)
 700                 return -ENODEV;
 701         dev->board_ptr = board;
 702         dev->board_name = board->name;
 703
 704         devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
 705         if (!devpriv)
 706                 return -ENOMEM;
 707
 708         ret = comedi_pci_enable(dev);
 709         if (ret)
 710                 return ret;
 711
 712         devpriv->iobase = pci_ioremap_bar(pcidev, 0);
 713         if (!devpriv->iobase)
 714                 return -ENOMEM;
 715
 716         ret = comedi_alloc_subdevices(dev, board->n_subdevs);
 717         if (ret)
 718                 return ret;
 719
 720         dev->open = jr3_pci_open;
 721         for (i = 0; i < dev->n_subdevices; i++) {
 722                 s = &dev->subdevices[i];
 723                 s->type         = COMEDI_SUBD_AI;
 724                 s->subdev_flags = SDF_READABLE | SDF_GROUND;
 725                 s->n_chan       = 8 * 7 + 2;
 726                 s->insn_read    = jr3_pci_ai_insn_read;
 727
 728                 spriv = jr3_pci_alloc_spriv(dev, s);
 729                 if (spriv) {
 730                         /* Channel specific range and maxdata */
 731                         s->range_table_list     = spriv->range_table_list;
 732                         s->maxdata_list         = spriv->maxdata_list;
 733                 }
 734         }
 735
 736         /*  Reset DSP card */
 737         writel(0, &devpriv->iobase->channel[0].reset);
 738
 739         ret = comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
 740                                    "comedi/jr3pci.idm",
 741                                    jr3_download_firmware, 0);
 742         dev_dbg(dev->class_dev, "Firmare load %d\n", ret);
 743         if (ret < 0)
 744                 return ret;
 745         /*
 746          * TODO: use firmware to load preferred offset tables. Suggested
 747          * format:
 748          *     model serial Fx Fy Fz Mx My Mz\n
 749          *
 750          *     comedi_load_firmware(dev, &comedi_to_pci_dev(dev)->dev,
 751          *                          "comedi/jr3_offsets_table",
 752          *                          jr3_download_firmware, 1);
 753          */
 754
 755         /*
 756          * It takes a few milliseconds for software to settle as much as we
 757          * can read firmware version
 758          */
 759         msleep_interruptible(25);
 760         for (i = 0; i < 0x18; i++) {
 761                 dev_dbg(dev->class_dev, "%c\n",
 762                         get_u16(&devpriv->iobase->channel[0].
 763                                 data.copyright[i]) >> 8);
 764         }
 765
 766         /*  Start card timer */
 767         for (i = 0; i < dev->n_subdevices; i++) {
 768                 s = &dev->subdevices[i];
 769                 spriv = s->private;
 770
 771                 spriv->next_time_min = jiffies + msecs_to_jiffies(500);
 772                 spriv->next_time_max = jiffies + msecs_to_jiffies(2000);
 773         }
 774
 775         setup_timer(&devpriv->timer, jr3_pci_poll_dev, (unsigned long)dev);
 776         devpriv->timer.expires = jiffies + msecs_to_jiffies(1000);
 777         add_timer(&devpriv->timer);
 778
 779         return 0;
 780 }
 781
 782 static void jr3_pci_detach(struct comedi_device *dev)
 783 {
 784         struct jr3_pci_dev_private *devpriv = dev->private;
 785
 786         if (devpriv) {
 787                 del_timer_sync(&devpriv->timer);
 788
 789                 if (devpriv->iobase)
 790                         iounmap(devpriv->iobase);
 791         }
 792         comedi_pci_disable(dev);
 793 }
 794
 795 static struct comedi_driver jr3_pci_driver = {
 796         .driver_name    = "jr3_pci",
 797         .module         = THIS_MODULE,
 798         .auto_attach    = jr3_pci_auto_attach,
 799         .detach         = jr3_pci_detach,
 800 };
 801
 802 static int jr3_pci_pci_probe(struct pci_dev *dev,
 803                              const struct pci_device_id *id)
 804 {
 805         return comedi_pci_auto_config(dev, &jr3_pci_driver, id->driver_data);
 806 }
 807
 808 static const struct pci_device_id jr3_pci_pci_table[] = {
 809         { PCI_VDEVICE(JR3, 0x1111), BOARD_JR3_1 },
 810         { PCI_VDEVICE(JR3, 0x3111), BOARD_JR3_1 },
 811         { PCI_VDEVICE(JR3, 0x3112), BOARD_JR3_2 },
 812         { PCI_VDEVICE(JR3, 0x3113), BOARD_JR3_3 },
 813         { PCI_VDEVICE(JR3, 0x3114), BOARD_JR3_4 },
 814         { 0 }
 815 };
 816 MODULE_DEVICE_TABLE(pci, jr3_pci_pci_table);
 817
 818 static struct pci_driver jr3_pci_pci_driver = {
 819         .name           = "jr3_pci",
 820         .id_table       = jr3_pci_pci_table,
 821         .probe          = jr3_pci_pci_probe,
 822         .remove         = comedi_pci_auto_unconfig,
 823 };
 824 module_comedi_pci_driver(jr3_pci_driver, jr3_pci_pci_driver);
 825
 826 MODULE_AUTHOR("Comedi http://www.comedi.org");
 827 MODULE_DESCRIPTION("Comedi low-level driver");
 828 MODULE_LICENSE("GPL");
 829 MODULE_FIRMWARE("comedi/jr3pci.idm");